CN106125767A

CN106125767A - The control method of aircraft, device and aircraft

Info

Publication number: CN106125767A
Application number: CN201610796286.8A
Authority: CN
Inventors: 谢焱; 吴珂; 刘华君; 刘华一君
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2016-11-16
Anticipated expiration: 2036-08-31
Also published as: CN106125767B

Abstract

The disclosure is directed to the control method of aircraft, device and aircraft.The method includes: obtain the flying quality of aircraft；Judge whether described aircraft is in reversible-light shooting state according to described flying quality；In the case of judging that described aircraft is in described reversible-light shooting state, adjust the shooting angle of described aircraft.The disclosure by automatically adjusting flight or shooting angle when judging that aircraft is in reversible-light shooting state, avoid aircraft when performing shooting task due to the generation of the situations such as the factors such as backlight cause shooting picture defective, so that it is guaranteed that rational shooting picture can be obtained.

Description

The control method of aircraft, device and aircraft

Technical field

It relates to aircraft field, particularly relate to the control method of a kind of aircraft, device and aircraft.

Background technology

At present, aircraft is during performing aerial mission, it some times happens that the situation of reversible-light shooting.In backlight situation Lower shooting object, can cause the image background part shot to cross subject that is bright and that really pay close attention to the darkest, and shooting effect is not Good, affect the use of photo.In correlation technique, it is common that the image going out reversible-light shooting carries out image procossing in the later stage, to reach To the purpose used.But this mode carries out image procossing due to needs elapsed time, often delay making in time of image With, and the image effect processed out is not highly desirable, it is difficult to meet the demand used.

Summary of the invention

Disclosure embodiment provides the control method of aircraft, device and aircraft.Described technical scheme is as follows:

First aspect according to disclosure embodiment, it is provided that the control method of a kind of aircraft, including: obtain aircraft Flying quality；Judge whether described aircraft is in reversible-light shooting state according to described flying quality；Fly described in judging In the case of row device is in described reversible-light shooting state, adjust the shooting angle of described aircraft.

Wherein, described flying quality includes multiple flying quality, and the flying quality obtaining described aircraft includes: for described Multiple flying quality arranges priority, and the order descending according to described priority obtains described flying quality successively；According to Described flying quality judges whether described aircraft is in reversible-light shooting state and includes: often get a kind of flying quality, then root It is described that other flying qualities got according to this flying quality or combination judge whether described aircraft is in Reversible-light shooting state, until judging that described aircraft is in described reversible-light shooting state or determines last a kind of flight number Till according to.

Wherein, described flying quality includes at least one of: flight environment of vehicle data；The flight of described aircraft self is special Levy data；Described aircraft collection data in flight course.

Wherein, described flight environment of vehicle data include at least one of: geographical position, flight time and weather data；Institute State flight characteristic data to include: heading；Described collection data include at least one of: the light in the flight environment of vehicle of collection Line value；Image in the described flight environment of vehicle gathered.

Wherein, in the case of described flying quality includes described flight environment of vehicle data and described flight characteristic data, institute State and judge whether described aircraft is in reversible-light shooting state according to described flying quality, including: according to described flight environment of vehicle number According to the position determining the sun；Position and described flight characteristic data according to the described sun judge whether described aircraft is in Described reversible-light shooting state.

Wherein, described flight time, described weather data and described geographical position are included in described flight environment of vehicle data In the case of, described determine that the position of the sun includes according to flight environment of vehicle data: according to described flight time and described weather data Judge whether described flight environment of vehicle has the sun；When judging described flight environment of vehicle has the sun, according to described geographical position Described position is determined with the described flight time.

Wherein, include that described collection data and described collection data include the feelings of described values of light at described flying quality Under condition, described judge whether described aircraft is in reversible-light shooting state according to described flying quality, including: judge described light Whether value is more than predetermined values of light threshold value；When judging described values of light more than described predetermined values of light threshold value, determine described Aircraft is in described reversible-light shooting state.

Wherein, including described flight characteristic data and described flight environment of vehicle data at described flying quality, described flight is special Levy data and include described heading, and described flight environment of vehicle data include described flight time, described weather data and described In the case of geographical position, the flying quality of described acquisition aircraft, including: obtain described flight time and described sky destiny According to；Judge whether described flight environment of vehicle has the sun according to described flight time and described weather data；Fly described in judging In the case of row environment has the sun, obtain described geographical position and described heading, according to described geographical position and described Flight time determines the position of the described sun, and judges the described heading position the most just to the described sun；Judging In the case of the described heading anon-normal position to the described sun, obtain described values of light.

Wherein, in the case of described collection data also include the image in described flight environment of vehicle, described when described light When value is more than described default values of light threshold value, determine that described aircraft is in reversible-light shooting state, including: big in described values of light Under conditions of described predetermined values of light threshold value, determine that in described image, brightness value, more than the image area of predetermined brightness value, is sentenced Whether disconnected described image area is more than predetermined area threshold value, and is more than the situation of described predetermined area threshold value in described image area Under, determine that described aircraft is in described reversible-light shooting state；Or, in described values of light more than described predetermined values of light threshold value Under conditions of, determine the contrast that in described image, light and shade is interregional, it is judged that whether described contrast is higher than predetermined comparison degree threshold Value, and in the case of judging that described contrast is higher than described predetermined comparison degree threshold value, determine that described aircraft is in described Reversible-light shooting state.

Wherein, include that described collection data and described collection data include in described flight environment of vehicle at described flying quality Image in the case of, described judge whether described aircraft is in reversible-light shooting state according to described flying quality, including: really In fixed described image, brightness value is more than the image area of predetermined brightness value, it is judged that whether described image area is more than predetermined area threshold Value, and in the case of judging that described image area is more than described predetermined area threshold value, determine that described aircraft is in described Reversible-light shooting state；Or, determine the contrast that in described image, light and shade is interregional, it is judged that whether described contrast is higher than predetermined Contrast threshold, and in the case of judging that described contrast is higher than described predetermined comparison degree threshold value, determine described aircraft It is in described reversible-light shooting state.

Wherein, include that described flight environment of vehicle data and described flight environment of vehicle data fly described in including at described flying quality In the case of row time and described weather data, the flying quality of described acquisition aircraft includes: obtain the described flight time and Described weather data；Judge whether described flight environment of vehicle has the sun according to described flight time and described weather data；Sentencing Break in the case of described flight environment of vehicle having the sun, gather the image in described flight environment of vehicle.

Wherein, also include that described geographical position, described flying quality include described flight spy in described flight environment of vehicle data Levy data, and in the case of described flight characteristic data include described heading, have too in judging described flight environment of vehicle In the case of sun, the image gathered in described flight environment of vehicle includes: determine institute according to described geographical position and described flight time State the position of the sun；Judge the described heading position the most just to the described sun；Judging described heading anon-normal In the case of position to the described sun, gather described image.

Wherein, the shooting angle of the described aircraft of described adjustment, including: keep the shooting angle of the photographic head of described aircraft Spend constant, adjust the heading of described aircraft；Or, the heading keeping described aircraft is constant, takes the photograph described in adjustment Shooting angle as head.

Second aspect according to disclosure embodiment, it is provided that the control device of a kind of aircraft, including: first obtains mould Block, is configured to obtain the flying quality of aircraft；Judge module, is configured to judge described flight according to described flying quality Whether device is in reversible-light shooting state；Adjusting module, is configured to judging that described aircraft is in described reversible-light shooting shape In the case of state, adjust the shooting angle of described aircraft.

The third aspect according to disclosure embodiment, it is provided that a kind of aircraft, including the control of aircraft as above Device processed.

Fourth aspect according to disclosure embodiment, it is provided that the control device of a kind of aircraft, including: processor；For The memorizer of storage processor executable；Wherein, described processor is configured to: obtain the flying quality of aircraft；Root Judge whether described aircraft is in reversible-light shooting state according to described flying quality；Described inverse judging that described aircraft is in In the case of light shooting state, adjust the shooting angle of described aircraft.

The technical scheme that disclosure embodiment provides can include following beneficial effect:

Whether above-described embodiment, by obtaining flying quality, then before shooting image, prejudge according to flying quality Being in reversible-light shooting state, if being in reversible-light shooting, then adjusting shooting angle.Disclosure embodiment is by judging flight Automatically adjust flight or shooting angle when device is in reversible-light shooting state, it is to avoid aircraft when performing shooting task due to inverse The generation of the situations such as the factors such as light cause shooting picture defective, so that it is guaranteed that rational shooting picture can be obtained.

It should be appreciated that it is only exemplary and explanatory, not that above general description and details hereinafter describe The disclosure can be limited.

Accompanying drawing explanation

Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the disclosure Example, and for explaining the principle of the disclosure together with description.

Fig. 1 is the flow chart of the control method according to the aircraft shown in an exemplary embodiment.

Fig. 2 is the flow chart of step 102 in the control method according to the aircraft shown in an exemplary embodiment.

Fig. 3 is the flow chart of step 201 in the control method according to the aircraft shown in an exemplary embodiment.

Fig. 4 is the flow chart of step 102 in the control method according to the aircraft shown in an exemplary embodiment.

Fig. 5 is the flow chart of step 101 in the control method according to the aircraft shown in an exemplary embodiment.

Fig. 6 is the flow chart of step 101 in the control method according to the aircraft shown in an exemplary embodiment.

Fig. 7 is the flow chart of step 603 in the control method according to the aircraft shown in an exemplary embodiment.

Fig. 8 is the block diagram controlling device according to the aircraft shown in an exemplary embodiment.

Fig. 9 is the block diagram of acquisition module 801 in the control device according to the aircraft shown in an exemplary embodiment.

Figure 10 is the block diagram of judge module 802 in the control device according to the aircraft shown in an exemplary embodiment.

Figure 11 be according to the aircraft shown in an exemplary embodiment control in device first determine submodule 1001 Block diagram.

Figure 12 is the block diagram of judge module 802 in the control device according to the aircraft shown in an exemplary embodiment.

Figure 13 is the block diagram of acquisition module 801 in the control device according to the aircraft shown in an exemplary embodiment.

Figure 14 be according to the aircraft shown in an exemplary embodiment control in device the 3rd determine submodule 1202 Block diagram.

Figure 15 is the block diagram of acquisition module 801 in the control device according to the aircraft shown in an exemplary embodiment.

Figure 16 is the first collection submodule 1503 in the control device according to the aircraft shown in an exemplary embodiment Block diagram.

Figure 17 is according to the block diagram controlling device being applicable to aircraft shown in an exemplary embodiment.

Detailed description of the invention

Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they are only with the most appended The example of the apparatus and method that some aspects that described in detail in claims, the disclosure are consistent.

Fig. 1 is the flow chart of the control method according to the aircraft shown in an exemplary embodiment, as it is shown in figure 1, described Method in the aircraft terminal, comprises the following steps 101-103:

In a step 101, the flying quality of aircraft is obtained；

In a step 102, judge whether described aircraft is in reversible-light shooting state according to described flying quality；

In step 103, in the case of judging that described aircraft is in described reversible-light shooting state, fly described in adjustment The shooting angle of row device.

In the present embodiment, by obtaining the flying quality of aircraft, then before shooting image, pre-according to flying quality First judging whether aircraft is in reversible-light shooting state, if being in reversible-light shooting state, then entering again after adjusting shooting angle Row shooting.By disclosure embodiment, when judging that aircraft is in reversible-light shooting state, automatically adjust the shooting of aircraft Angle, it is to avoid aircraft is going out due to situations such as the factors such as backlight cause shooting picture defective when performing shooting task It is existing, so that aircraft can directly shoot obtains rational shooting picture.

In one embodiment, described flying quality includes multiple flying quality, obtains the flying quality bag of described aircraft Including: arrange priority for described multiple flying quality, the order descending according to described priority obtains described flight successively Data；Judge whether described aircraft is in reversible-light shooting state and includes according to described flying quality: often get a kind of flight Data, then whether other flying qualities got according to this flying quality or combination judge described aircraft It is in described reversible-light shooting state, until judging that described aircraft is in described reversible-light shooting state or determines last Till planting flying quality.In the present embodiment, different priority is set for different flying qualities, from the flight that priority is the highest Data start, and obtain flying quality according to the priority of flying quality, then judge whether according to the flying quality of described acquisition Need to take backlight workaround, adjust shooting angle if necessary, if it is not required, then obtain flying of next priority again Row data, and judge whether to take backlight workaround, carry out successively.Backlight is taked to evade when the data that priority is higher meet During the condition of measure, automatically terminate the collection to other data, improve execution efficiency with this.Such as, set flight environment of vehicle data, Flight characteristic data, the acquisition priority of collection data reduce successively.

Such as, can the priority that obtains of setup parameter be respectively as follows: time of flight data from high to low > weather condition > geographical Positional information, heading and angle-data > values of light/photographic head terminal image identification.

Such as, when judging that the flight time is evening, can not perform other data such as weather condition detection or Gather.When judging that the flight time is daytime, detect weather condition be cloudy day, the most do not perform other parameters detection or Gather.Optionally, geographical location information, heading and angle-data can obtain simultaneously, it is possible to successively obtain；Values of light detects Acquisition with photographic head terminal image can be carried out simultaneously, it is possible to successively carries out.

In one embodiment, described flying quality includes at least one of: flight environment of vehicle data；Described aircraft self Flight characteristic data；Described aircraft collection data in flight course.

In one embodiment, described flight environment of vehicle data include at least one of: geographical position, flight time and weather Data；Described flight characteristic data include: heading (and flight angle etc.)；Described collection data include following at least it One: the values of light in the flight environment of vehicle of collection；Image in the described flight environment of vehicle gathered.Wherein, geographical position comprises the steps that and works as Front flying height, current flight longitude and latitude etc., described current geographic position can pass through GPS alignment system or ground-control guidance system Deng acquisition.The described flight time comprises the steps that concrete flight moment, daytime or evening etc..Weather data comprise the steps that sunny, The weather condition such as cloudy, overcast and rainy.Weather data from meteorological observatory or can provide the platform of local weather conditions to obtain by network, Can also be by as interrelated in the third party devices such as mobile phone terminal and aircraft terminal and obtain.The flight environment of vehicle of described collection In values of light can be gathered by light sensor.When the values of light collected is higher, it may occur that reversible-light shooting, Need to take backlight workaround, and when values of light is relatively low, reversible-light shooting may will not occur, therefore need not take backlight to clap Take the photograph measure.Such as, can obtain under different flight environment of vehicle by light sensor in advance, as the different flight time, weather data, Under flying height, flight angle and heading, it may occur that the lowest threshold of the values of light of reversible-light shooting, and in practical flight mistake Cheng Zhong, utilizes described lowest threshold to judge under current light value and whether reversible-light shooting can occur；Further, it is also possible to adopted by identification Image in the described flight environment of vehicle of collection judges whether to produce the situation of reversible-light shooting.Above-mentioned flying quality can be as judgement The foundation of backlight situation whether can be produced during aircraft shooting image.Such as, if the flight time is evening, then it is judged as sending out Raw backlight, evades without performing backlight；Or time at night, owing to there is likely to be other light sources, therefore can be in conjunction with Flight time and values of light etc. judge, i.e. if evening and values of light are relatively low, then need not perform backlight and evade.If Daytime and becoming a fine day, then it is judged as that needing to perform backlight evades；If in the case of rainy day or cloudy day, then be judged as need not into Row backlight is evaded, etc..

In one embodiment, as in figure 2 it is shown, include that described flight environment of vehicle data and described flight are special at described flying quality In the case of levying data, in a step 102, judge whether described aircraft is in reversible-light shooting shape according to described flying quality State, including:

In step 201, the position of the sun is determined according to described flight environment of vehicle data；

In step 202., position and described flight characteristic data according to the sun judge whether described aircraft is in Described reversible-light shooting state.

In the present embodiment, first according to the position of the flight environment of vehicle data acquisition sun, flight environment of vehicle data include flight Geographical position, flight time and weather data etc. residing for device.Can according to aircraft flight time, weather data and geographical position To obtain the position of the sun, if evening or non-fine day are as the most rainy, cloudy etc., then can draw does not has the conclusion of the sun, Backlight situation the most also would not occur, be then made without backlight and evade.And when for daytime and the time of becoming a fine day, then needing according to flying Row device heading determines whether reversible-light shooting with the position of the sun.Such as, determine that the position of the sun is east, and When aircraft flight direction is towards east, can be inferred that aircraft direction flight sunward, then backlight can be occurred to clap Take the photograph, it is therefore desirable to adjust shooting angle.

In one embodiment, as it is shown on figure 3, include described flight time, described sky destiny in described flight environment of vehicle data According to described geographical position in the case of, in step 201, determine that according to flight environment of vehicle data the position of the sun includes:

In step 301, judge whether described flight environment of vehicle has too according to described flight time and described weather data Sun；

In step 302, in the case of having the sun in judging described flight environment of vehicle, according to described geographical position and institute Stating the flight time determines described position.

In the present embodiment, can determine whether, according to the aircraft local time, time period of not falling for the sun, if Be to determine whether fine day or cloudy weather etc. according to weather condition, the weather of sunlight can be seen, if if the most true Surely there is the sun；The position of the sun is determined afterwards further according to current geographic position and local time.Can pre-build geographical position, Time and the mapping table of position of sun, determine the longitude and latitude of current flight according to the mapping table set up and current geographic position Degree, then determines under this time the orientation of the sun at this longitude and latitude further according to the local time.Wherein, flight time, weather data Etc. can be obtained by networking, geographical position can be obtained by GPS location.

In one embodiment, as shown in Figure 4, described collection data and described collection data are included at described flying quality In the case of described values of light, in a step 102, judge whether described aircraft is in backlight according to described flying quality Shooting state, including:

In step 401, it is judged that whether described values of light is more than predetermined values of light threshold value；

In step 402, in the case of judging that described values of light is more than described predetermined values of light threshold value, determine described Aircraft is in described reversible-light shooting state.

In the present embodiment, the lowest threshold of the values of light of the raw reversible-light shooting of different flight environment of vehicle data distributing is obtained in advance (namely different flight environment of vehicle data corresponding predetermined values of light threshold value), and during practical flight, determine during shooting image Current light value whether more than described lowest threshold (namely the predetermined values of light threshold value in step 401), if greater than described Low threshold, then it may happen that reversible-light shooting, it is therefore desirable to take backlight workaround, i.e. adjust shooting angle.Shooting angle Adjustment can by change of flight direction and/or change photographic head direction complete.

In one embodiment, as it is shown in figure 5, include described flight characteristic data and described flying ring at described flying quality Border data, described flight characteristic data include described heading, and described flight environment of vehicle data include described flight time, institute In the case of stating weather data and described geographical position, in a step 101, the flying quality of described acquisition aircraft, including:

In step 501, described flight time and described weather data are obtained；

In step 502, judge whether described flight environment of vehicle has too according to described flight time and described weather data Sun；

In step 503, in the case of having the sun in judging described flight environment of vehicle, obtain described geographical position and institute State heading, determine the position of the described sun according to described geographical position and described flight time, and judge described flight side To the most just position to the described sun；

In step 504, in the case of judging the described heading anon-normal position to the described sun, obtain described Values of light.

In the present embodiment, most important owing to whether having the sun whether to be in reversible-light shooting state for aircraft, one Denier judge there is the sun and also the heading of aircraft just to the position of the sun time, can directly judge that aircraft is in inverse Light shooting state, and in the case of the heading of aircraft is the most just to the sun, it is also possible to produce reversible-light shooting, this feelings Further can be judged by the current light value in aircraft local environment under condition.Determined whether by values of light Step can refer to step 401-step 402, repeat no more here.Therefore, in the present embodiment, it is necessary first to obtain the flight time And weather data, then judging whether flight environment of vehicle has the sun according to flight time and weather data, if there being the sun, then obtaining Take described geographical position and described heading, to determine the position of the sun, and judge that the heading of aircraft is the most right The sun, without just position to the sun, then also needs to obtain values of light.

In one embodiment, in the case of described collection data also include the image in described flight environment of vehicle, described work as When described values of light is more than described default values of light threshold value, determine that described aircraft is in reversible-light shooting state, including:

Under conditions of described values of light is more than described predetermined values of light threshold value, determine that in described image, brightness value is more than pre- Determine the image area of brightness value, it is judged that whether described image area is more than predetermined area threshold value, when described image area is more than institute When stating predetermined area threshold value, determine that described aircraft is in described reversible-light shooting state；Or, in described values of light more than described Under conditions of predetermined values of light threshold value, determine the contrast that in described image, light and shade is interregional, it is judged that described contrast is the highest In predetermined comparison degree threshold value, when described contrast is higher than described predetermined comparison degree threshold value, determine that described aircraft is in described Reversible-light shooting state.

In the present embodiment, can sentence by calculating the photographic head ratio situation in the excessive region of values of light in picture of finding a view Break and whether reversible-light shooting can occur, or by judging that the situation whether shooting picture is in contrast too high determines whether meeting There is reversible-light shooting.

Judging whether to occur inverse by calculating the photographic head ratio situation in the excessive region of values of light in picture of finding a view During light shooting, first judging whether current light value exceedes predetermined threshold value, described predetermined threshold value can be pre-set by user, if Exceed predetermined threshold value, then shoot a width present image；And judge that in present image, brightness value is more than the image of predetermined brightness value Area, if greater than predetermined area threshold value, then illustrates owing to current light value is too strong and cause shooting picture upper part area Brightness value is excessive, and the probability producing reversible-light shooting is bigger, it is therefore desirable to adjust shooting angle.Such as, light sensor is obtained Values of light be set as 0-100 from completely black to most bright value, wherein 0 is the most black, and 100 is the brightest.User can arrange in advance and work as light Sensor monitoring reaches certain threshold value such as values of light more than 80 (concrete numerical value user can sets itself) to ambient light value, and model Enclose exceed photographic head find a view picture certain limit time (such as exceeding picture scope 70%), it is judged that for the too strong (probability of backlight of light Bigger).

By judge shooting picture whether be in the too high situation of contrast determine whether reversible-light shooting to occur time, First determine the contrast that in captured present image, light and shade is interregional, it is then determined that described, whether comparison is higher than predetermined comparison Degree threshold value, and when contrast is higher than predetermined threshold, adjust shooting angle.Described contrast refers to light and shade in piece image Region the brightest in vain and the darkest black between the measurement of different brightness levels, disparity range is the biggest, and to represent contrast the biggest, difference Scope is the least, and to represent contrast the least.Such as, the brightness value of pixel region the brightest in captured present image is A, the darkest The brightness value of pixel region is B, and difference (or ratio) the i.e. contrast between A and B is if above predetermined contrast threshold Value, then it is assumed that the probability of current generation reversible-light shooting is bigger, it is therefore desirable to adjust shooting angle.In the above-described embodiments, only need Brightness value to shooting image to be analyzed (calculating brightness value more than the image area of predetermined brightness value, or the most simply Bright and contrast between dark areas), it is to avoid complicated image processing process, whether for, the judging efficiency of backlight is higher.

In one embodiment, as shown in Figure 6, described flight environment of vehicle data and described flight are included at described flying quality In the case of environmental data includes described flight time and described weather data, in a step 101, flying of described acquisition aircraft Row data include:

In step 601, described flight time and described weather data are obtained；

In step 602, judge whether described flight environment of vehicle has too according to described flight time and described weather data Sun；

In step 603, in the case of having the sun in judging described flight environment of vehicle, gather in described flight environment of vehicle Image.

In the present embodiment, in the case of having the sun, it is also possible to judge by obtaining the image in current flight environment Whether aircraft is in reversible-light shooting state.Therefore, in the present embodiment, in order to judge whether have the sun, it is necessary first to obtain The current flight time of aircraft and weather data, judging whether have too in flight environment of vehicle according to flight time and weather data Sun, when there being the sun, then gathers the image in flight environment of vehicle, to judge whether aircraft is in reversible-light shooting state.This enforcement In example, carry out the judgement with or without the sun in flight environment of vehicle, in the case of having the sun, just go the step performing to gather image, keep away Exempt from the cloudy day or directly gathered image evening and be analyzed and the wasting of resources that causes.

In one embodiment, as it is shown in fig. 7, in step 603, described geographical position is also included in described flight environment of vehicle data Putting, described flying quality includes described flight characteristic data, and described flight characteristic data include the situation of described heading Under, in the case of having the sun in judging described flight environment of vehicle, the image gathered in described flight environment of vehicle includes:

In step 701, determine the position of the described sun according to described geographical position and described flight time；

In a step 702, it is judged that described heading the most just position to the described sun；

In step 703, in the case of judging the described heading anon-normal position to the described sun, gather described Image.

In the present embodiment, if the heading of aircraft is just to the sun, can directly determine that aircraft is in backlight Shooting state；And if the heading of aircraft is the most just to the sun, owing to there is also the probability producing reversible-light shooting, for Evaded, then can be judged by the image gathered.Therefore, in the present embodiment in the case of judging to have the sun, Also need to determine the position of the sun according to geographical position and flight time, then determine that aircraft is the most right according to heading The sun, and in the case of the most just to the sun, gather image again.

In one embodiment, in step 103, the shooting angle of the described aircraft of described adjustment, including: fly described in holding The shooting angle of the photographic head of row device is constant, adjusts the heading of described aircraft；Or keep the flight of described aircraft Direction is constant, adjusts the shooting angle of described photographic head.

In the present embodiment, the shooting angle by adjusting heading and/or adjustment photographic head realizes shooting angle Adjustment, specifically can select according to practical situation.If the shooting angle of photographic head can timing, can adjust with prioritizing selection The angle of photographic head, due to the maximum magnitude of the adjustment angle of photographic head conditional in the case of, evade backlight if do not reached The purpose of shooting, then can adjust shooting angle in the way of selecting to adjust heading.

The following device embodiment for the disclosure, may be used for performing above-mentioned disclosed method embodiment.

Fig. 8 is the block diagram controlling device according to the aircraft shown in an exemplary embodiment, and this device can be by soft Part, hardware or both be implemented in combination with become the some or all of of electronic equipment.As shown in Figure 8, the control of this aircraft Device includes:

In acquisition module 801, it is configured to obtain the flying quality of aircraft；

In judge module 802, it is configured to judge whether described aircraft is in backlight and claps according to described flying quality Take the photograph state；

In adjusting module 803, it is configured to judging that described aircraft is in the situation of described reversible-light shooting state Under, adjust the shooting angle of described aircraft.

In the present embodiment, by obtaining the flying quality of aircraft, then before shooting image, pre-according to flying quality First judge whether described aircraft is in reversible-light shooting state, if be in reversible-light shooting state, after adjusting shooting angle Shoot again.By disclosure embodiment, in the case of judging that aircraft is in reversible-light shooting, automatically adjust aircraft Shooting angle, thus avoid aircraft and cause shooting picture defective when performing shooting task due to factors such as backlight The generation of situation, and then rational shooting picture can be obtained.

In one embodiment, as it is shown in figure 9, described flying quality includes that multiple flying quality, described acquisition module 801 wrap Include:

Priority arranges submodule 901, is configured to arrange priority for described multiple flying quality, according to described preferentially The descending order of level obtains described flying quality successively；

Described judge module 802 includes:

First judges submodule 902: be configured to often get a kind of flying quality, then according to this flying quality or combination Other flying qualities got judge whether described aircraft is in described reversible-light shooting state, until sentencing Break and till described aircraft is in described reversible-light shooting state or determines last a kind of flying quality.

In the present embodiment, arranging different priority for different flying qualities, the flying quality the highest from priority is opened Begin, obtain flying quality according to the priority of flying quality, then judge whether that needs are adopted according to the flying quality of described acquisition Take backlight workaround, adjust shooting angle if necessary, if it is not required, then obtain the flight number of next priority again According to, and judge whether to take backlight workaround, carry out successively.Backlight workaround is taked when the data that priority is higher meet Condition time, automatically terminate the collection to other data, improve execution efficiency with this.Such as, flight environment of vehicle data, flight are set Characteristic, the acquisition priority of collection data reduce successively.

In one embodiment, described flight environment of vehicle data include at least one of: geographical position, flight time and weather Data；Described flight characteristic data include: heading (and flight angle etc.)；Described collection data include following at least it One: the values of light in the flight environment of vehicle of collection；Image in the described flight environment of vehicle gathered.Wherein, geographical position comprises the steps that and works as Front flying height, current flight longitude and latitude etc., described current geographic position can pass through GPS alignment system or ground-control guidance system Deng acquisition.The described flight time comprises the steps that concrete flight moment, daytime or evening etc..Weather data comprise the steps that sunny, The weather condition such as cloudy, overcast and rainy.Weather data from meteorological observatory or can provide the platform of local weather conditions to obtain by network, Can also be by as interrelated in the third party devices such as mobile phone terminal and aircraft terminal and obtain.The flight environment of vehicle of described collection In values of light can be gathered by light sensor.When the values of light collected is higher, it may occur that reversible-light shooting, Need to take backlight workaround, and when values of light is relatively low, reversible-light shooting may will not occur, therefore need not take backlight to clap Take the photograph measure.

In one embodiment, as shown in Figure 10, described flight environment of vehicle data and described flight are included at described flying quality In the case of characteristic, described judge module 802 includes:

Determine in submodule 1001 first, be configured to determine according to described flight environment of vehicle data the position of the sun；

Judge in submodule 1002 second, be configured to the position according to the described sun and described flight characteristic data Judge whether described aircraft is in described reversible-light shooting state.

In the present embodiment, first first determines the submodule 1001 position according to the flight environment of vehicle data acquisition sun, its In, flight environment of vehicle data can include geographical position, flight time and weather data etc., and then second judges submodule 1002 basis Position and the described flight characteristic data of the described sun judge whether described aircraft is in described reversible-light shooting state, its In, flight characteristic data can include heading, angle etc..According to aircraft flight time, weather data and geographical position The position of the sun can be obtained, if evening or non-fine day are as the most rainy, cloudy etc., then can draw there is no the knot of the sun Opinion, the most also would not occur backlight situation, then be made without backlight and evade.And when for daytime and the time of becoming a fine day, then needing root Determine whether reversible-light shooting according to the position in aircraft flight direction Yu the sun.Such as, determine that the position of the sun is for eastern Side, and when aircraft flight direction is towards east, can be inferred that aircraft direction flight sunward, then can occur inverse Light shoots, it is therefore desirable to adjust shooting angle.

In one embodiment, as shown in figure 11, described flight time, described sky destiny are included in described flight environment of vehicle data According to described geographical position in the case of, described first determines that submodule 1001 includes:

Judge in submodule 1101 the 3rd, be configured to judge described according to described flight time and described weather data Whether flight environment of vehicle there is the sun；

Determine in submodule 1102 second, in the case of being configured to have the sun in judging described flight environment of vehicle, The position of the described sun is determined according to described geographical position and described flight time.

In the present embodiment, the 3rd judges that submodule 1101 can determine whether as the sun not according to the aircraft local time The time period fallen, if it is determine whether fine day or cloudy weather etc. according to weather condition, the sky of sunlight can be seen Gas, if if then determine there is the sun；Second determines that submodule 1102 is further according to current geographic position and local time afterwards Determine the position of the sun.The mapping table of geographical position, time and position of sun can be pre-build, according to the mapping set up Table and current geographic position determine the longitude and latitude of current flight, then determine this longitude and latitude under this time further according to the local time The orientation of place's sun.

In one embodiment, as shown in figure 12, described collection data and described collection data are included at described flying quality In the case of described values of light, described judge module 802 includes:

Judge in submodule 1201 the 4th, be configured to judge that whether described values of light is more than predetermined values of light threshold value；

Determine in submodule 1202 the 3rd, be configured to judging that described values of light is more than described predetermined values of light threshold In the case of value, determine that described aircraft is in described reversible-light shooting state.

In the present embodiment, the minimum threshold of the values of light of the raw reversible-light shooting of different flight environment of vehicle data distributing is obtained in advance Value, and during practical flight, judge that submodule 1201 determines that whether current light value is more than described minimum threshold by the 4th Value (namely above-mentioned predetermined values of light threshold value), if greater than described lowest threshold, then it may happen that reversible-light shooting, therefore needs Backlight workaround to be taked, i.e. adjusts shooting angle.The adjustment of shooting angle can be taken the photograph by change of flight direction and/or change As the direction of head completes.

In one embodiment, as shown in figure 13, described flight characteristic data and described flight are included at described flying quality Environmental data, described flight characteristic data include described heading, and described flight environment of vehicle data include the described flight time, In the case of described weather data and described geographical position, described acquisition module 801 includes:

Obtain in submodule 1301 first, be configured to obtain described flight time and described weather data；

Judge in submodule 1302 the 5th, be configured to judge described according to described flight time and described weather data Whether flight environment of vehicle there is the sun；

Judge in submodule 1303 the 6th, in the case of being configured to have the sun in judging described flight environment of vehicle, Obtain described geographical position and described heading, determine the position of the described sun according to described geographical position and described flight time Put, and judge the described heading position the most just to the described sun；

Obtain in submodule 1304 second, be configured to judging the described heading anon-normal position to the described sun In the case of putting, obtain described values of light.

In the present embodiment, most important owing to whether having the sun whether to be in reversible-light shooting state for aircraft, one Denier judge there is the sun and also the heading of aircraft just to the position of the sun time, can directly judge that aircraft is in inverse Light shooting state, and in the case of the heading of aircraft is the most just to the sun, it is also possible to producing reversible-light shooting, this needs Judged by the aircraft values of light when shooting.Therefore, in the present embodiment, the most described first obtains submodule 1301 obtains Flight time and weather data, the most described 5th judges that submodule 1302 judges flying ring according to flight time and weather data Whether having the sun in border, if there being the sun, the most described 6th judges that submodule 1303 obtains described geographical position and described flight Direction, and determine the position of the sun, and judge the heading of aircraft the most just to the sun, without just position to the sun Putting, the most described second obtains submodule 1304 obtains values of light.

In one embodiment, as shown in figure 14, the feelings of the image in described flight environment of vehicle are also included in described collection data Under condition, the described 3rd determines that submodule 1202 includes:

Determine in submodule 1401 the 4th, be configured to be more than in described values of light the bar of described predetermined values of light threshold value Under part, determine that in described image, brightness value is more than the image area of predetermined brightness value, it is judged that whether described image area is more than pre- Determine area threshold, and in the case of described image area is more than described predetermined area threshold value, determine that described aircraft is in institute State reversible-light shooting state；Or

Determine submodule 1402 the 5th, be configured to be more than in described values of light the condition of described predetermined values of light threshold value Under, determine the contrast that in described image, light and shade is interregional, it is judged that described contrast whether higher than predetermined comparison degree threshold value, and Judge that described contrast, higher than in the case of described predetermined comparison degree threshold value, determines that described aircraft is in described reversible-light shooting State.

Judging whether to occur inverse by calculating the photographic head ratio situation in the excessive region of values of light in picture of finding a view During light shooting, first judging whether current light value exceedes predetermined threshold value, described predetermined threshold value can be pre-set by user, if Exceed predetermined threshold value, then shoot a width present image；Described 4th determines that submodule 1401 judges brightness value in present image More than the image area of predetermined brightness value, if greater than the predetermined area presentation time, then illustrate owing to current light value is too strong and cause The brightness value of shooting picture upper part area is excessive, and the probability producing reversible-light shooting is bigger, it is therefore desirable to adjust shooting angle.Example As, the values of light that light sensor is obtained is set as 0-100 from completely black to most bright value, and wherein 0 is the most black, and 100 is the brightest.With Family can arrange in advance and reach certain threshold value such as values of light more than 80 (concrete numerical value use when light sensor monitors ambient light value Family can sets itself), and scope exceed photographic head find a view picture certain limit time (such as exceeding picture scope 70%), it is judged that for light Line too strong (probability of backlight is bigger).

By judge shooting picture whether be in the too high situation of contrast determine whether reversible-light shooting to occur time, The most described 5th determines that submodule 1402 determines the contrast that in captured present image, light and shade is interregional, it is then determined that described To comparison whether higher than predetermined comparison degree threshold value, and when contrast is higher than predetermined threshold, adjust shooting angle.Described contrast Degree refer to light and shade region in piece image the brightest in vain and the darkest black between the measurement of different brightness levels, disparity range is more Representing greatly contrast the biggest, disparity range is the least, and to represent contrast the least.Such as, the brightest in captured present image pixel region The brightness value in territory is A, and the brightness value of the darkest pixel region is B, and the difference between A and B i.e. contrast is if above predetermined Contrast threshold, then it is assumed that the current probability that reversible-light shooting occurs is bigger, it is therefore desirable to adjust shooting angle.

In one embodiment, as shown in figure 15, described flight environment of vehicle data and described flight are included at described flying quality In the case of environmental data includes described flight time and described weather data, described acquisition module 801 includes:

Obtain in submodule 1501 second, be configured to obtain described flight time and described weather data；

Judge in submodule 1502 the 7th, be configured to judge described according to described flight time and described weather data Whether flight environment of vehicle there is the sun；

Gather in submodule 1503 first, in the case of being configured to have the sun in judging described flight environment of vehicle, Gather the image in described flight environment of vehicle.

In the present embodiment, in the case of having the sun, it is also possible to judge that aircraft is by shooting a width present image No it is in reversible-light shooting state.Therefore, in the present embodiment, in order to judge whether have the sun, first second obtains submodule The 1501 current flight time obtaining aircraft and weather datas, the 7th judges that submodule 1502 is further according to flight time and weather Data judge whether have the sun in flight environment of vehicle, and when there being the sun, first gathers submodule 1503 gathers in flight environment of vehicle again Image, to judge whether aircraft is in reversible-light shooting state.

In one embodiment, as shown in figure 16, described geographical position, described flight are also included in described flight environment of vehicle data In the case of data include described flight characteristic data, and described flight characteristic data include described heading, described first Gather submodule 1503 to include:

Determine in submodule 1601 the 6th, determine the position of the described sun according to described geographical position and described flight time Put；

Judge in submodule 1602 the 8th, it is judged that described heading the most just position to the described sun；

Gather in submodule 1603 second, judging the described heading anon-normal situation to the position of the described sun Under, gather described image.

In the present embodiment, if the heading of aircraft is just to the sun, can directly determine that aircraft is in backlight Shooting state；And if the heading of aircraft the most just to the sun time, then can by gather image judge.Cause This, in the present embodiment in the case of judging to have the sun, the described 6th determines and determines too according to geographical position and flight time The position of sun, the most described 8th judge submodule 1602 according to heading determine aircraft the most just to the sun, and institute State the second collection submodule 1603 in the case of the most just to the sun, gather image again.

In one embodiment, described adjusting module 803 includes:

Adjusting in submodule first, the shooting angle keeping the photographic head of described aircraft is constant, adjusts described flight The heading of device；

Adjusting in submodule second, the heading keeping described aircraft is constant, adjusts the shooting of described photographic head Angle.

In the present embodiment, the shooting angle by adjusting heading and adjustment photographic head realizes the tune of shooting angle Whole, specifically can select according to practical situation.If the shooting angle of photographic head can timing, can with prioritizing selection adjust shooting Head angle, due to the maximum magnitude of the adjustment angle of photographic head conditional in the case of, evade reversible-light shooting if do not reached Purpose, then can adjust shooting angle to select to adjust in the way of heading.

The third aspect according to disclosure embodiment, it is provided that a kind of aircraft, including the control of any of the above-described kind of aircraft Device processed.

Fourth aspect according to disclosure embodiment, it is provided that the control device of a kind of aircraft, including: processor；For The memorizer of storage processor executable；Wherein, processor is configured to: obtain the flying quality of aircraft, according to institute State flying quality and judge whether described aircraft is in reversible-light shooting state, judging that described aircraft is in described backlight and claps In the case of taking the photograph state, adjust the shooting angle of described aircraft.

Above-mentioned processor is also configured to:

Described flying quality includes multiple flying quality, and the flying quality obtaining described aircraft includes: for described multiple Flying quality arranges priority, and the order descending according to described priority obtains described flying quality successively, according to described Flying quality judges whether described aircraft is in reversible-light shooting state and includes: often get a kind of flying quality, then according to being somebody's turn to do Other flying qualities that flying quality or combination have got judge whether described aircraft is in described backlight Shooting state, until judging that described aircraft is in described reversible-light shooting state or determines last a kind of flying quality and be Only.

Wherein, in the case of described flying quality includes described flight environment of vehicle data and described flight characteristic data, institute State and judge whether described aircraft is in reversible-light shooting state according to described flying quality, including:

The position of the sun is determined according to described flight environment of vehicle data；Position according to the described sun and described flight characteristic Data judge whether described aircraft is in described reversible-light shooting state.

Wherein, described flight time, described weather data and described geographical position are included in described flight environment of vehicle data In the case of, described determine that the position of the sun includes according to flight environment of vehicle data:

Judge whether described flight environment of vehicle has the sun according to described flight time and described weather data；When judging State time flight environment of vehicle has the sun, determine described position according to described geographical position and described flight time.

Wherein, include that described collection data and described collection data include the feelings of described values of light at described flying quality Under condition, described judge whether described aircraft is in reversible-light shooting state according to described flying quality, including:

Judge that whether described values of light is more than predetermined values of light threshold value；When judging that described values of light is more than described predetermined light During line value threshold value, determine that described aircraft is in described reversible-light shooting state.

Wherein, including described flight characteristic data and described flight environment of vehicle data at described flying quality, described flight is special Levy data and include described heading, and described flight environment of vehicle data include described flight time, described weather data and described In the case of geographical position, the flying quality of described acquisition aircraft, including:

Obtain described flight time and described weather data；Judge described according to described flight time and described weather data Whether flight environment of vehicle there is the sun；In the case of having the sun in judging described flight environment of vehicle, obtain described geographical position and Described heading, determines the position of the described sun, and judges described flight according to described geographical position and described flight time The most just position to the described sun, direction；In the case of judging the described heading anon-normal position to the described sun, Obtain described values of light.

Wherein, in the case of described collection data also include the image in described flight environment of vehicle, described when judging institute When stating values of light more than described default values of light threshold value, determine that described aircraft is in reversible-light shooting state, including:

Under conditions of described values of light is more than described predetermined values of light threshold value, determine that in described image, brightness value is more than pre- Determine the image area of brightness value, it is judged that whether described image area is more than predetermined area threshold value, and is more than in described image area In the case of described predetermined area threshold value, determine that described aircraft is in described reversible-light shooting state；Or, in described values of light Under conditions of described predetermined values of light threshold value, determine the contrast that in described image, light and shade is interregional, it is judged that described contrast Whether degree is higher than predetermined comparison degree threshold value, and in the case of judging that described contrast is higher than described predetermined comparison degree threshold value, Determine that described aircraft is in described reversible-light shooting state.

Wherein, include that described collection data and described collection data include in described flight environment of vehicle at described flying quality Image in the case of, described judge whether described aircraft is in reversible-light shooting state according to described flying quality, including:

Determine that in described image, brightness value is more than the image area of predetermined brightness value, it is judged that whether described image area is more than Predetermined area threshold value, and in the case of judging that described image area is more than described predetermined area threshold value, determine described flight Device is in described reversible-light shooting state；Or, determine the contrast that in described image, light and shade is interregional, it is judged that described contrast is No higher than predetermined comparison degree threshold value, and in the case of judging that described contrast is higher than described predetermined comparison degree threshold value, determine Described aircraft is in described reversible-light shooting state.

Wherein, include that described flight environment of vehicle data and described flight environment of vehicle data fly described in including at described flying quality In the case of row time and described weather data, the flying quality of described acquisition aircraft includes:

Obtain described flight time and described weather data；Judge described according to described flight time and described weather data Whether flight environment of vehicle there is the sun；In the case of having the sun in judging described flight environment of vehicle, gather in described flight environment of vehicle Image.

Wherein, also include that described geographical position, described flying quality include described flight spy in described flight environment of vehicle data Levy data, and in the case of described flight characteristic data include described heading, have too in judging described flight environment of vehicle In the case of sun, the image gathered in described flight environment of vehicle includes:

The position of the described sun is determined according to described geographical position and described flight time；Whether judge described heading The just position to the described sun；In the case of judging the described heading anon-normal position to the described sun, gather described Image.

Wherein, the shooting angle of the described aircraft of described adjustment, including:

The shooting angle keeping the photographic head of described aircraft is constant, adjusts the heading of described aircraft；Or, protect The heading holding described aircraft is constant, adjusts the shooting angle of described photographic head.

About the device in above-described embodiment, wherein modules performs the concrete mode of operation in relevant the method Embodiment in be described in detail, explanation will be not set forth in detail herein.

Figure 17 is that this device is suitable for according to the block diagram controlling device being applicable to aircraft shown in an exemplary embodiment In equipment such as aircraft.Such as, device 1700 can be mobile phone, computer, digital broadcast terminal, messaging devices, Game console, tablet device, armarium, body-building equipment, personal digital assistant etc..

Device 1700 can include following one or more assembly: processes assembly 1702, memorizer 1704, power supply module 1706, multimedia groupware 1708, audio-frequency assembly 1710, the interface 1712 of input/output (I/O), sensor cluster 1714, and Communications component 1716.

Process assembly 1702 and generally control the integrated operation of device 1700, such as with display, call, data communication, The operation that camera operation and record operation are associated, the image obtained can be identified analyzing by described process assembly 1702, Calculate the contrast etc. of bright dark areas.Process assembly 1702 and can include that one or more processor 1720 performs instruction, with Complete all or part of step of above-mentioned method.Additionally, process assembly 1702 can include one or more module, it is simple to place Reason assembly 1702 and other assemblies between mutual.Such as, process assembly 1702 and can include multi-media module, to facilitate many matchmakers Body assembly 1708 and process between assembly 1702 mutual.

Memorizer 1704 is configured to store various types of data to support the operation at device 1700.These data Example include on device 1700 operation any application program or the instruction of method, contact data, telephone book data, Message, picture, video etc..Memorizer 1704 described in the disclosure can also store the flying quality of the aircraft of acquisition, shooting View data etc. need all data of storage during the control of aircraft.Memorizer 1704 can be by any kind of Volatibility or non-volatile memory device or combinations thereof realize, such as static RAM (SRAM), electrically erasable Except programmable read only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, disk or CD.

The various assemblies that power supply module 1706 is device 1700 provide electric power.Power supply module 1706 can include power management System, one or more power supplys, and other generate, manage and distribute, with for device 1700, the assembly that electric power is associated.

The screen of one output interface of offer that multimedia groupware 1708 is included between described device 1700 and user.? In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, Screen may be implemented as touch screen, to receive the input signal from user.Touch panel includes that one or more touch passes Sensor is with the gesture on sensing touch, slip and touch panel.Described touch sensor can not only sense touch or slide dynamic The border made, but also detect the persistent period relevant to described touch or slide and pressure.In certain embodiments, many Media component 1908 includes a front-facing camera and/or post-positioned pick-up head.When device 1700 is in operator scheme, such as shooting mould When formula or video mode, front-facing camera and/or post-positioned pick-up head can receive the multi-medium data of outside.Each preposition shooting Head and post-positioned pick-up head can be a fixing optical lens system or have focal length and optical zoom ability.In the disclosure, Described multimedia groupware 1708 can be used to the image obtaining in flight environment of vehicle, it is also possible to provides user interface to check currently for user Flight environment of vehicle and flying quality etc..

Audio-frequency assembly 1710 is configured to output and/or input audio signal.Such as, audio-frequency assembly 1710 includes a wheat Gram wind (MIC), when device 1700 is in operator scheme, during such as call model, logging mode and speech recognition mode, mike quilt It is configured to receive external audio signal.The audio signal received can be further stored at memorizer 1704 or via communication Assembly 1716 sends.In certain embodiments, audio-frequency assembly 1710 also includes a speaker, is used for exporting audio signal.? In the disclosure, described audio-frequency assembly 1701 can also obtain the voice command of user, and is sent to process at assembly 1702 Reason.

I/O interface 1712 provides interface, above-mentioned peripheral interface module for processing between assembly 1702 and peripheral interface module Can be keyboard, put striking wheel, button etc..These buttons may include but be not limited to: home button, volume button, start button and Locking press button.

Sensor cluster 1714 includes one or more sensor, for providing the state of various aspects to comment for device 1700 Estimate.Such as, what sensor cluster 1714 can detect device 1700 opens/closed mode, the relative localization of assembly, such as institute Stating display and keypad that assembly is device 1700, sensor cluster 1714 can also detect device 1700 or device 1,700 1 The position change of individual assembly, the presence or absence that user contacts with device 1700, device 1700 orientation or acceleration/deceleration and dress Put the variations in temperature of 1700.Sensor cluster 1714 can include proximity transducer, is configured to do not having any physics The existence of object near detection during contact.Sensor cluster 1914 can also include optical sensor, as CMOS or ccd image sense Device, for using in imaging applications.In certain embodiments, this sensor cluster 1914 can also include acceleration sensing Device, gyro sensor, Magnetic Sensor, pressure transducer or temperature sensor.In the disclosure, described sensor cluster 1914 can To be light sensor, for obtaining the values of light in flight environment of vehicle.

Communications component 1716 is configured to facilitate the communication of wired or wireless mode between device 1700 and other equipment.Dress Put 1700 and can access wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.Exemplary at one In embodiment, broadcast singal or broadcast that communications component 1716 receives from external broadcasting management system via broadcast channel are relevant Information.In one exemplary embodiment, described communications component 1716 also includes near-field communication (NFC) module, to promote short distance Communication.Such as, can be based on RF identification (RFID) technology in NFC module, Infrared Data Association (IrDA) technology, ultra broadband (UWB) technology, bluetooth (BT) technology and other technologies realize.Communications component 1716 described in the disclosure can be used for by interconnection The communication connections such as net obtain the weather data of flight environment of vehicle, the location data etc. of aircraft.

In the exemplary embodiment, device 1700 can be by one or more application specific integrated circuits (ASIC), numeral Signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components realize, be used for performing said method.

In the exemplary embodiment, a kind of non-transitory computer-readable recording medium including instruction, example are additionally provided As included the memorizer 1704 of instruction, above-mentioned instruction can have been performed said method by the processor 1720 of device 1700.Example If, described non-transitory computer-readable recording medium can be ROM, random access memory (RAM), CD-ROM, tape, soft Dish and optical data storage devices etc..

A kind of non-transitory computer-readable recording medium, when the instruction in described storage medium is by the process of device 1700 When device performs so that device 1700 is able to carry out the control method of above-mentioned aircraft, and described method includes:

Obtain the flying quality of aircraft；Judge whether described aircraft is in reversible-light shooting shape according to described flying quality State；In the case of judging that described aircraft is in described reversible-light shooting state, adjust the shooting angle of described aircraft.

Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to its of the disclosure Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modification, purposes or Person's adaptations is followed the general principle of the disclosure and includes the undocumented common knowledge in the art of the disclosure Or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are by following Claim is pointed out.

It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.

Claims

1. the control method of an aircraft, it is characterised in that including:

Obtain the flying quality of aircraft；

Judge whether described aircraft is in reversible-light shooting state according to described flying quality；

In the case of judging that described aircraft is in described reversible-light shooting state, adjust the shooting angle of described aircraft.

2. the method for claim 1, it is characterised in that

Described flying quality includes multiple flying quality, and the flying quality obtaining described aircraft includes: for described multiple flight Data arrange priority, and the order descending according to described priority obtains described flying quality successively；

Judge whether described aircraft is in reversible-light shooting state and includes according to described flying quality: often get a kind of flight number According to, then other flying qualities got according to this flying quality or combination judge whether described aircraft is located In described reversible-light shooting state, until judging that described aircraft is in described reversible-light shooting state or determines last one Till flying quality.

3. method as claimed in claim 1 or 2, it is characterised in that described flying quality includes at least one of:

Flight environment of vehicle data；The flight characteristic data of described aircraft self；Described aircraft collection number in flight course According to.

4. method as claimed in claim 3, it is characterised in that

Described flight environment of vehicle data include at least one of: geographical position, flight time and weather data；

Described flight characteristic data include: heading；

Described collection data include at least one of: the values of light in the flight environment of vehicle of collection；The described flight environment of vehicle gathered In image.

5. method as claimed in claim 4, it is characterised in that include described flight environment of vehicle data and institute at described flying quality In the case of stating flight characteristic data, described judge whether described aircraft is in reversible-light shooting shape according to described flying quality State, including:

The position of the sun is determined according to described flight environment of vehicle data；

Position and described flight characteristic data according to the described sun judge whether described aircraft is in described reversible-light shooting State.

6. method as claimed in claim 5, it is characterised in that include described flight time, institute in described flight environment of vehicle data In the case of stating weather data and described geographical position, described determine that the position of the sun includes according to flight environment of vehicle data:

Judge whether described flight environment of vehicle has the sun according to described flight time and described weather data；

When judging described flight environment of vehicle has the sun, determine institute's rheme according to described geographical position and described flight time Put.

7. method as claimed in claim 4, it is characterised in that include described collection data and described at described flying quality Gather in the case of data include described values of light, described judge whether described aircraft is in backlight according to described flying quality Shooting state, including:

Judge that whether described values of light is more than predetermined values of light threshold value；

When judging described values of light more than described predetermined values of light threshold value, determine that described aircraft is in described reversible-light shooting State.

8. method as claimed in claim 7, it is characterised in that include described flight characteristic data and institute at described flying quality Stating flight environment of vehicle data, described flight characteristic data include described heading, and described flight environment of vehicle data include described in fly In the case of row time, described weather data and described geographical position, the flying quality of described acquisition aircraft, including:

Obtain described flight time and described weather data；

In the case of having the sun in judging described flight environment of vehicle, obtain described geographical position and described heading, according to Described geographical position and described flight time determine the position of the described sun, and judge described heading the most just to described too The position of sun；

In the case of judging the described heading anon-normal position to the described sun, obtain described values of light.

9. method as claimed in claim 7, it is characterised in that also include the figure in described flight environment of vehicle in described collection data In the case of Xiang, described when judging described values of light more than described default values of light threshold value, determine that described aircraft is in Reversible-light shooting state, including:

Under conditions of described values of light is more than described predetermined values of light threshold value, determine that in described image, brightness value is bright more than predetermined The image area of angle value, it is judged that whether described image area is more than predetermined area threshold value, and is more than described in described image area In the case of predetermined area threshold value, determine that described aircraft is in described reversible-light shooting state；Or

Under conditions of described values of light is more than described predetermined values of light threshold value, determine the contrast that in described image, light and shade is interregional Degree, it is judged that whether described contrast is higher than predetermined comparison degree threshold value, and judging that described contrast is higher than described predetermined comparison In the case of degree threshold value, determine that described aircraft is in described reversible-light shooting state.

10. method as claimed in claim 4, it is characterised in that include described collection data and described at described flying quality Gather in the case of data include the image in described flight environment of vehicle, described judge that described aircraft is according to described flying quality No it is in reversible-light shooting state, including:

Determine that in described image, brightness value is more than the image area of predetermined brightness value, it is judged that whether described image area is more than predetermined Area threshold, and in the case of judging that described image area is more than described predetermined area threshold value, determine at described aircraft In described reversible-light shooting state；Or

Determine the contrast that in described image, light and shade is interregional, it is judged that whether described contrast is higher than predetermined comparison degree threshold value, and In the case of judging that described contrast is higher than described predetermined comparison degree threshold value, determine that described aircraft is in described backlight and claps Take the photograph state.

11. methods as claimed in claim 10, it is characterised in that described flying quality include described flight environment of vehicle data, And in the case of described flight environment of vehicle data include described flight time and described weather data, the flight of described acquisition aircraft Data include:

Obtain described flight time and described weather data；

In the case of having the sun in judging described flight environment of vehicle, gather the image in described flight environment of vehicle.

12. methods as claimed in claim 11, it is characterised in that also include described geographical position in described flight environment of vehicle data Putting, described flying quality includes described flight characteristic data, and described flight characteristic data include the situation of described heading Under, in the case of having the sun in judging described flight environment of vehicle, the image gathered in described flight environment of vehicle includes:

The position of the described sun is determined according to described geographical position and described flight time；

Judge the described heading position the most just to the described sun；

In the case of judging the described heading anon-normal position to the described sun, gather described image.

13. the method for claim 1, it is characterised in that the shooting angle of the described aircraft of described adjustment, including:

The shooting angle keeping the photographic head of described aircraft is constant, adjusts the heading of described aircraft；Or

The heading keeping described aircraft is constant, adjusts the shooting angle of described photographic head.

The control device of 14. 1 kinds of aircraft, it is characterised in that including:

First acquisition module, is configured to obtain the flying quality of aircraft；

Judge module, is configured to judge whether described aircraft is in reversible-light shooting state according to described flying quality；

Adjusting module, is configured in the case of judging that described aircraft is in described reversible-light shooting state, adjusts described The shooting angle of aircraft.

15. 1 kinds of aircraft, it is characterised in that include the control device of aircraft described in claim 14.

The control device of 16. 1 kinds of aircraft, it is characterised in that including:

Processor；

For storing the memorizer of processor executable；

Wherein, described processor is configured to:

Obtain the flying quality of aircraft；