CN106125767B

CN106125767B - Aircraft control method and device and aircraft

Info

Publication number: CN106125767B
Application number: CN201610796286.8A
Authority: CN
Inventors: 谢焱; 吴珂; 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: 2020-03-17
Anticipated expiration: 2036-08-31
Also published as: CN106125767A

Abstract

The disclosure relates to an aircraft control method and device and an aircraft. The method comprises the following steps: acquiring flight data of an aircraft; judging whether the aircraft is in a backlight shooting state or not according to the flight data; and adjusting the shooting angle of the aircraft under the condition that the aircraft is judged to be in the backlight shooting state. According to the method and the device, the flying or shooting angle is automatically adjusted when the aircraft is judged to be in the backlight shooting state, the situation that the shooting picture is unqualified and the like due to factors such as backlight and the like when the aircraft executes a shooting task is avoided, and therefore the reasonable shooting picture can be obtained.

Description

Aircraft control method and device and aircraft

Technical Field

The disclosure relates to the field of aircrafts, in particular to an aircraft control method and device and an aircraft.

Background

At present, in the process of performing a flight task by an aircraft, a backlight shooting situation sometimes occurs. When an object is shot under the backlight condition, the background part of the shot image is too bright, the shot object which is really concerned is too dark, the shooting effect is poor, and the use of the picture is influenced. In the related art, an image captured in a backlight is usually subjected to image processing at a later stage for use. However, since this method needs time-consuming image processing, the timely use of the image is often delayed, and the processed image is not ideal in effect and is difficult to meet the use requirement.

Disclosure of Invention

The embodiment of the disclosure provides an aircraft control method and device and an aircraft. The technical scheme is as follows:

according to a first aspect of embodiments of the present disclosure, there is provided a control method of an aircraft, including: acquiring flight data of an aircraft; judging whether the aircraft is in a backlight shooting state or not according to the flight data; and adjusting the shooting angle of the aircraft under the condition that the aircraft is judged to be in the backlight shooting state.

Wherein the flight data comprises a plurality of flight data, and acquiring the flight data of the aircraft comprises: setting priorities for the various flight data, and sequentially acquiring the flight data according to the sequence of the priorities from big to small; judging whether the aircraft is in a backlight shooting state according to the flight data comprises the following steps: and when one kind of flight data is acquired, judging whether the aircraft is in the backlight shooting state or not according to the flight data or by combining other flight data acquired before the flight data until the aircraft is judged to be in the backlight shooting state or the last kind of flight data is judged.

Wherein the flight data includes at least one of: flight environment data; flight characteristic data of the aircraft itself; and the aircraft acquires data in the flight process.

Wherein the flight environment data includes at least one of: geographic location, time of flight, and weather data; the flight characteristic data includes: a direction of flight; the collected data includes at least one of: collected light values in the flight environment; an image of the flight environment is acquired.

Wherein, under the condition that the flight data includes the flight environment data and the flight characteristic data, the judging whether the aircraft is in a backlight shooting state according to the flight data includes: determining the position of the sun according to the flight environment data; and judging whether the aircraft is in the backlight shooting state or not according to the position of the sun and the flight characteristic data.

Wherein, in the event that the flight environment data includes the time of flight, the weather data, and the geographic location, the determining the location of the sun from the flight environment data comprises: judging whether the flying environment has the sun or not according to the flying time and the weather data; and when the sun is judged to exist in the flight environment, determining the position according to the geographic position and the flight time.

Wherein, under the condition that the flight data includes the collected data and the collected data includes the light value, the judging whether the aircraft is in a backlight shooting state according to the flight data includes: judging whether the light value is larger than a preset light value threshold value or not; and when the light value is judged to be larger than the preset light value threshold value, determining that the aircraft is in the backlight shooting state.

Wherein, in a case that the flight data includes the flight characteristic data and the flight environment data, the flight characteristic data includes the flight direction, and the flight environment data includes the flight time, the weather data, and the geographic location, the acquiring flight data of the aircraft includes: acquiring the flight time and the weather data; judging whether the flying environment has the sun or not according to the flying time and the weather data; under the condition that the sun is judged to exist in the flying environment, acquiring the geographical position and the flying direction, determining the position of the sun according to the geographical position and the flying time, and judging whether the flying direction is over against the position of the sun; and acquiring the light value under the condition that the flying direction is not over against the position of the sun.

Wherein, under the condition that the collected data further includes an image in the flying environment, when the light value is greater than the preset light value threshold value, determining that the aircraft is in a backlight shooting state includes: determining an image area with a brightness value larger than a preset brightness value in the image under the condition that the light value is larger than the preset light value threshold value, judging whether the image area is larger than a preset area threshold value, and determining that the aircraft is in the backlight shooting state under the condition that the image area is larger than the preset area threshold value; or under the condition that the light value is larger than the preset light value threshold value, determining the contrast between a light area and a dark area in the image, judging whether the contrast is higher than the preset contrast threshold value, and under the condition that the contrast is higher than the preset contrast threshold value, determining that the aircraft is in the backlight shooting state.

Wherein, under the condition that the flight data includes the collected data and the collected data includes the image in the flight environment, the judging whether the aircraft is in a backlight shooting state according to the flight data includes: determining an image area of the image with a brightness value greater than a predetermined brightness value, determining whether the image area is greater than a predetermined area threshold, and determining that the aircraft is in the backlight shooting state if the image area is determined to be greater than the predetermined area threshold; or determining the contrast between a bright area and a dark area in the image, judging whether the contrast is higher than a preset contrast threshold value, and determining that the aircraft is in the backlight shooting state under the condition that the contrast is higher than the preset contrast threshold value.

Wherein, in a case where the flight data includes the flight environment data and the flight environment data includes the time of flight and the weather data, the acquiring flight data of the aircraft includes: acquiring the flight time and the weather data; judging whether the flying environment has the sun or not according to the flying time and the weather data; and acquiring images in the flight environment under the condition that the sun is judged to exist in the flight environment.

Wherein, the flight environment data further includes the geographical position, the flight data includes the flight characteristic data, and the flight characteristic data includes the flight direction, and under the condition that it is judged that there is the sun in the flight environment, acquiring the image in the flight environment includes: determining the position of the sun according to the geographic position and the time of flight; judging whether the flight direction is over against the position of the sun or not; and acquiring the image under the condition that the flying direction is not over against the position of the sun.

Wherein the adjusting the shooting angle of the aircraft comprises: keeping the shooting angle of a camera of the aircraft unchanged, and adjusting the flight direction of the aircraft; or keeping the flight direction of the aircraft unchanged, and adjusting the shooting angle of the camera.

According to a second aspect of embodiments of the present disclosure, there is provided a control device of an aircraft, comprising: a first acquisition module configured to acquire flight data of an aircraft; the judging module is configured to judge whether the aircraft is in a backlight shooting state according to the flight data; an adjusting module configured to adjust a shooting angle of the aircraft if it is determined that the aircraft is in the backlight shooting state.

According to a third aspect of embodiments of the present disclosure, there is provided an aircraft comprising a control device of the aircraft as described above.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a control device of an aircraft, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: acquiring flight data of an aircraft; judging whether the aircraft is in a backlight shooting state or not according to the flight data; and adjusting the shooting angle of the aircraft under the condition that the aircraft is judged to be in the backlight shooting state.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

in the above embodiment, by acquiring the flight data, before shooting the image, it is determined in advance whether the image is in a backlight shooting state according to the flight data, and if the image is in backlight shooting, the shooting angle is adjusted. According to the embodiment of the invention, the flying or shooting angle is automatically adjusted when the aircraft is judged to be in the backlight shooting state, so that the condition that the shot picture is unqualified and the like due to factors such as backlight and the like when the aircraft executes a shooting task is avoided, and a reasonable shot picture can be obtained.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flow chart illustrating a method of controlling an aircraft according to an exemplary embodiment.

FIG. 2 is a flowchart illustrating a step 102 in a method of controlling an aircraft according to an exemplary embodiment.

FIG. 3 is a flowchart illustrating step 201 of a method of controlling an aircraft according to an exemplary embodiment.

FIG. 4 is a flowchart illustrating step 102 of a method of controlling an aircraft according to an exemplary embodiment.

FIG. 5 is a flowchart illustrating step 101 of a method of controlling an aircraft according to an exemplary embodiment.

FIG. 6 is a flowchart illustrating step 101 of a method of controlling an aircraft according to an exemplary embodiment.

FIG. 7 is a flowchart illustrating a step 603 in a method of controlling an aircraft according to an exemplary embodiment.

FIG. 8 is a block diagram illustrating a control device of an aircraft according to an exemplary embodiment.

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

FIG. 10 is a block diagram illustrating a determination module 802 in a control device of an aircraft according to an exemplary embodiment.

Fig. 11 is a block diagram illustrating a first determination submodule 1001 in a control device of an aircraft according to an exemplary embodiment.

FIG. 12 is a block diagram illustrating a determination module 802 in a control device of an aircraft according to an exemplary embodiment.

Fig. 13 is a block diagram illustrating an acquisition module 801 in a control device of an aircraft according to an exemplary embodiment.

Fig. 14 is a block diagram illustrating a third determination submodule 1202 in the control device of the aircraft according to an exemplary embodiment.

Fig. 15 is a block diagram illustrating an acquisition module 801 in a control device of an aircraft according to an exemplary embodiment.

Fig. 16 is a block diagram illustrating a first acquisition submodule 1503 in the control device of the aircraft according to an exemplary embodiment.

FIG. 17 is a block diagram illustrating a control device suitable for use with an aircraft in accordance with an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Fig. 1 is a flow chart illustrating a method for controlling an aircraft according to an exemplary embodiment, as shown in fig. 1, for use in an aircraft terminal, comprising the following steps 101 and 103:

in step 101, acquiring flight data of an aircraft;

in step 102, judging whether the aircraft is in a backlight shooting state according to the flight data;

in step 103, if it is determined that the aircraft is in the backlight shooting state, adjusting a shooting angle of the aircraft.

In the embodiment, by acquiring flight data of the aircraft, before shooting an image, whether the aircraft is in a backlight shooting state is judged in advance according to the flight data, and if the aircraft is in the backlight shooting state, shooting is performed after a shooting angle is adjusted. Through the embodiment of the disclosure, when the aircraft is in the backlight shooting state, the shooting angle of the aircraft is automatically adjusted, so that the condition that the shooting picture is unqualified due to factors such as backlight and the like when the aircraft executes a shooting task is avoided, and the aircraft can directly shoot to obtain a reasonable shooting picture.

In one embodiment, the flight data includes a plurality of flight data, and acquiring the flight data of the aircraft includes: setting priorities for the various flight data, and sequentially acquiring the flight data according to the sequence of the priorities from big to small; judging whether the aircraft is in a backlight shooting state according to the flight data comprises the following steps: and when one kind of flight data is acquired, judging whether the aircraft is in the backlight shooting state or not according to the flight data or by combining other flight data acquired before the flight data until the aircraft is judged to be in the backlight shooting state or the last kind of flight data is judged. In this embodiment, different priorities are set for different flight data, the flight data is acquired according to the priorities of the flight data from the flight data with the highest priority, then it is determined whether a backlight avoidance measure needs to be taken according to the acquired flight data, if necessary, a shooting angle is adjusted, if not, the flight data with the next priority is acquired again, and it is determined whether a backlight avoidance measure needs to be taken, and the steps are sequentially performed. When the data with higher priority meets the condition of taking backlight evasion measures, the acquisition of other data is automatically stopped, so that the execution efficiency is improved. For example, the priority of acquiring the set flight environment data, the flight characteristic data and the collected data is reduced in sequence.

For example, the priority of parameter acquisition can be set from high to low as: time-of-flight data > weather conditions > geographical location information, flight direction and angle data > light values/camera terminal image recognition.

For example, when it is determined that the time of flight is at night, detection or collection of other data such as weather conditions may not be performed. And when the flying time is judged to be day, detecting that the weather condition is cloudy, and not executing detection or collection of other parameters. Optionally, the geographic position information, the flight direction and the angle data may be acquired simultaneously or sequentially; the light value detection and the acquisition of the camera terminal image can be carried out simultaneously or sequentially.

In one embodiment, the flight data includes at least one of: flight environment data; flight characteristic data of the aircraft itself; and the aircraft acquires data in the flight process.

In one embodiment, the flight environment data includes at least one of: geographic location, time of flight, and weather data; the flight characteristic data includes: flight direction (and flight angle, etc.); the collected data includes at least one of: collected light values in the flight environment; an image of the flight environment is acquired. Wherein the geographic location may include: the current flight altitude, the current flight longitude and latitude and the like, and the current geographic position can be acquired through a GPS positioning system or a ground navigation system and the like. The time of flight may include: specific time of flight, day or night, etc. The weather data may include: sunny, cloudy, rainy, and the like. The weather data may be obtained from weather stations or platforms providing local weather conditions via a network, or may be obtained by associating third party equipment, such as a cell phone terminal, with the aircraft terminal. The collected light values in the flight environment may be collected by a light sensor. When the collected light value is high, backlight shooting may occur, and backlight avoidance measures need to be taken, whereas when the light value is low, backlight shooting may not occur, and therefore backlight shooting measures do not need to be taken. For example, a minimum threshold of a light value at which backlight shooting may occur in different flight environments, such as different flight times, weather data, flight heights, flight angles, and flight directions, may be obtained in advance by a light sensor, and in an actual flight process, it is determined whether backlight shooting may occur at a current light value by using the minimum threshold; in addition, whether backlight shooting is generated or not can be judged by identifying the acquired images in the flight environment. The flight data can be used as a basis for judging whether the image shot by the aircraft generates a backlight condition. For example, if the flight time is at night, it is determined that no backlight occurs, and it is not necessary to perform backlight avoidance; or at night, because other light sources may exist, the judgment can be combined with the flight time, the light value and the like, namely if the night is night and the light value is low, the backlight avoidance does not need to be executed. If the day is daytime and the day is clear, judging that backlight evasion needs to be executed; and if the weather is rainy or cloudy, judging that backlight avoidance is not needed, and the like.

In an embodiment, as shown in fig. 2, in the case that the flight data includes the flight environment data and the flight characteristic data, in step 102, determining whether the aircraft is in a backlight shooting state according to the flight data includes:

in step 201, determining the position of the sun according to the flight environment data;

in step 202, it is determined whether the aircraft is in the backlight shooting state according to the position of the sun and the flight characteristic data.

In this embodiment, the position of the sun is first obtained according to flight environment data, which includes the geographical location of the aircraft, the flight time, weather data, and the like. The position of the sun can be obtained according to the flight time, weather data and the geographic position of the aircraft, if the position is at night or on non-sunny days such as raining, cloudy days and the like, the conclusion that no sun exists can be obtained, at the moment, the backlight condition can not occur, and backlight avoidance is not needed. When the vehicle is in the daytime and sunny days, whether the backlight shooting occurs or not needs to be determined according to the flight direction of the aircraft and the position of the sun. For example, when it is determined that the position of the sun is east and the flying direction of the aircraft is east, it can be inferred that the aircraft is flying toward the sun, and a backlight shooting occurs, and thus it is necessary to adjust the shooting angle.

In one embodiment, as shown in fig. 3, in the case that the flight environment data includes the flight time, the weather data and the geographic location, determining the position of the sun according to the flight environment data in step 201 includes:

in step 301, judging whether the flying environment has the sun according to the flying time and the weather data;

in step 302, when it is determined that the sun is present in the flight environment, the position is determined according to the geographic position and the flight time.

In this embodiment, whether the time period is a time period in which the sun does not fall can be determined according to the local time of the aircraft, if so, whether the time period is sunny or cloudy, namely weather in which the sun can be seen is determined according to weather conditions, and if so, the sun is determined; and then determining the position of the sun according to the current geographic position and the local time. The mapping table of the geographic position, the time and the position of the sun can be established in advance, the latitude and the longitude of the current flight are determined according to the established mapping table and the current geographic position, and then the position of the sun at the latitude and the longitude at the time is determined according to the local time. The flight time, weather data and the like can be acquired through networking, and the geographic position can be acquired through GPS positioning.

In an embodiment, as shown in fig. 4, in a case that the flight data includes the collected data and the collected data includes the light value, in step 102, determining whether the aircraft is in a backlight shooting state according to the flight data includes:

in step 401, determining whether the light value is greater than a predetermined light value threshold;

in step 402, in the case that it is determined that the light value is greater than the predetermined light value threshold, it is determined that the aircraft is in the backlight shooting state.

In this embodiment, a lowest threshold of light values for which backlight shooting occurs under different flight environment data (that is, a predetermined light value threshold corresponding to different flight environment data) is obtained in advance, and in an actual flight process, it is determined whether a current light value is greater than the lowest threshold (that is, the predetermined light value threshold in step 401) when an image is shot, and if the current light value is greater than the lowest threshold, backlight shooting may occur, so that a backlight avoiding measure needs to be taken, that is, a shooting angle needs to be adjusted. The adjustment of the shooting angle can be accomplished by changing the flight direction and/or changing the direction of the camera.

In an embodiment, as shown in fig. 5, in a case where the flight data includes the flight characteristic data and the flight environment data, the flight characteristic data includes the flight direction, and the flight environment data includes the flight time, the weather data, and the geographic location, in step 101, the acquiring flight data of the aircraft includes:

in step 501, the flight time and the weather data are acquired;

in step 502, judging whether the flying environment has the sun according to the flying time and the weather data;

in step 503, when it is determined that there is a sun in the flying environment, acquiring the geographic position and the flying direction, determining the position of the sun according to the geographic position and the flying time, and determining whether the flying direction is directly opposite to the position of the sun;

in step 504, the light value is obtained if it is determined that the flight direction is not directly facing the position of the sun.

In this embodiment, since whether the sun is present is important for whether the aircraft is in the backlight shooting state, once it is determined that the sun is present and the flight direction of the aircraft is directly opposite to the position of the sun, it may be directly determined that the aircraft is in the backlight shooting state, and in the case that the flight direction of the aircraft is not directly opposite to the sun, backlight shooting may also be generated, and in this case, further determination may be made according to the current light value in the environment where the aircraft is located. The steps of making further determination by the light value refer to steps 401 to 402, which are not described herein again. Therefore, in this embodiment, first, the flight time and the weather data need to be acquired, then, whether the sun exists in the flight environment is judged according to the flight time and the weather data, if the sun exists, the geographic position and the flight direction are acquired to determine the position of the sun, and whether the flight direction of the aircraft is directly opposite to the sun is judged, and if the flight direction of the aircraft is not directly opposite to the position of the sun, the light value also needs to be acquired.

In an embodiment, in a case that the acquired data further includes an image in the flight environment, the determining that the aircraft is in a backlighted shooting state when the light value is greater than the preset light value threshold includes:

under the condition that the light value is larger than the preset light value threshold value, determining the image area of which the brightness value is larger than the preset brightness value in the image, judging whether the image area is larger than a preset area threshold value, and when the image area is larger than the preset area threshold value, determining that the aircraft is in the backlight shooting state; or, under the condition that the light value is larger than the preset light value threshold value, determining the contrast between a light area and a dark area in the image, judging whether the contrast is higher than a preset contrast threshold value, and when the contrast is higher than the preset contrast threshold value, determining that the aircraft is in the backlight shooting state.

In the embodiment, whether the backlight shooting occurs or not can be judged by calculating the proportion of the area with the overlarge light value in the camera framing picture, or whether the backlight shooting occurs or not can be determined by judging whether the shooting picture is in the situation with the overlarge contrast.

When judging whether backlight shooting occurs or not by calculating the proportion of an area with an overlarge light value in a camera framing picture, firstly judging whether the current light value exceeds a preset threshold value, wherein the preset threshold value can be preset by a user, and if the current light value exceeds the preset threshold value, shooting a current image; and judging the image area with the brightness value larger than the preset brightness value in the current image, if the image area is larger than the preset area threshold value, the brightness value of part of the area on the shooting picture is too large due to the fact that the current light value is too strong, the probability of generating backlight shooting is large, and therefore the shooting angle needs to be adjusted. For example, the light values obtained by the light sensor are set to 0-100 from full black to brightest, where 0 is darkest and 100 is brightest. The user can set in advance that when the light sensor monitors that the ambient light value reaches a certain threshold value, for example, the light value exceeds 80 (a specific numerical value user can set by himself), and the range exceeds a certain range of the camera viewing picture (for example, the range exceeds 70 percent of the picture), the light is judged to be too strong (the probability of backlight is larger).

When determining whether backlight shooting can occur by judging whether a shot picture is in a situation of high contrast, firstly determining the contrast between a bright area and a dark area in a shot current image, then determining whether the contrast is higher than a preset contrast threshold value, and adjusting a shooting angle when the contrast is higher than the preset threshold value. The contrast refers to the measurement of different brightness levels between the brightest white and the darkest black of bright and dark areas in an image, and the larger the difference range is, the larger the contrast is, and the smaller the difference range is, the smaller the contrast is. For example, if the brightness value of the brightest pixel region in the captured current image is a, the brightness value of the darkest pixel region is B, and the difference (or ratio) between a and B, i.e., the contrast, is higher than a predetermined contrast threshold, it is considered that there is a high probability that the backlight capturing is currently occurring, and thus the capturing angle needs to be adjusted. In the above embodiment, only the brightness value of the captured image needs to be simply analyzed (the image area with the brightness value greater than the predetermined brightness value or the contrast between the brightest area and the darkest area is calculated), so that a complicated image processing process is avoided, and the efficiency of judging whether the backlight exists is high.

In an embodiment, as shown in fig. 6, in the case that the flight data includes the flight environment data and the flight environment data includes the flight time and the weather data, in step 101, the acquiring flight data of the aircraft includes:

in step 601, acquiring the flight time and the weather data;

in step 602, determining whether the flying environment has the sun according to the flying time and the weather data;

in step 603, in the case that it is determined that there is a sun in the flight environment, an image in the flight environment is acquired.

In this embodiment, in the case of the sun, it may be further determined whether the aircraft is in a backlight shooting state by acquiring an image in the current flight environment. Therefore, in this embodiment, in order to determine whether the sun exists, the current flight time and weather data of the aircraft need to be acquired first, whether the sun exists in the flight environment is determined according to the flight time and the weather data, and when the sun exists, the image in the flight environment is collected to determine whether the aircraft is in the backlight shooting state. In the embodiment, the judgment of the existence of the sun in the flying environment is carried out, and the step of collecting the image is executed under the condition of the existence of the sun, so that the resource waste caused by directly collecting the image for analysis in cloudy days or at night is avoided.

In an embodiment, as shown in fig. 7, in step 603, in a case that the flight environment data further includes the geographic location, the flight data includes the flight characteristic data, and the flight characteristic data includes the flight direction, in a case that it is determined that there is a sun in the flight environment, acquiring the image in the flight environment includes:

in step 701, determining the position of the sun according to the geographical position and the flight time;

in step 702, determining whether the flight direction is directly opposite to the position of the sun;

in step 703, the image is collected when it is determined that the flight direction is not directly facing the position of the sun.

In this embodiment, if the flight direction of the aircraft is directly opposite to the sun, it can be directly determined that the aircraft is in a backlight shooting state; if the flight direction of the aircraft is not directly opposite to the sun, the possibility of generating backlight shooting exists, and in order to avoid the possibility, judgment can be carried out through the collected images. Therefore, in the embodiment, in the case that the sun is determined, the position of the sun needs to be determined according to the geographical position and the flight time, then whether the aircraft is directly facing the sun is determined according to the flight direction, and the image is collected again in the case that the aircraft is not directly facing the sun.

In an embodiment, in step 103, the adjusting the shooting angle of the aircraft includes: keeping the shooting angle of a camera of the aircraft unchanged, and adjusting the flight direction of the aircraft; or keeping the flight direction of the aircraft unchanged, and adjusting the shooting angle of the camera.

In this embodiment, the adjustment of the shooting angle is realized by adjusting the flight direction and/or adjusting the shooting angle of the camera, and can be specifically selected according to the actual situation. If the shooting angle of the camera is adjustable, the angle of the camera can be preferentially selected to be adjusted, and if the purpose of avoiding backlight shooting cannot be achieved due to the fact that the maximum range of the adjustment angle of the camera is limited, the mode of adjusting the flight direction can be selected to adjust the shooting angle.

The following are embodiments of the apparatus of the present disclosure that may be used to perform the method embodiments of the present disclosure described above.

Fig. 8 is a block diagram illustrating a control device of an aircraft that may be implemented as part or all of an electronic device via software, hardware, or a combination of both, according to an exemplary embodiment. As shown in fig. 8, the control device of the aircraft includes:

in an acquisition module 801, configured to acquire flight data of an aircraft;

in the determining module 802, the aircraft is configured to determine whether the aircraft is in a backlight shooting state according to the flight data;

in the adjusting module 803, it is configured to adjust the shooting angle of the aircraft if it is determined that the aircraft is in the backlight shooting state.

In the embodiment, by acquiring flight data of an aircraft, before shooting an image, whether the aircraft is in a backlight shooting state is judged in advance according to the flight data, and if the aircraft is in the backlight shooting state, shooting is performed after a shooting angle is adjusted. Through the embodiment of the disclosure, the shooting angle of the aircraft is automatically adjusted under the condition that the aircraft is judged to be in backlight shooting, so that the condition that the shooting picture is unqualified due to factors such as backlight and the like when the aircraft executes a shooting task is avoided, and a reasonable shooting picture can be obtained.

In one embodiment, as shown in fig. 9, the flight data includes a plurality of flight data, and the obtaining module 801 includes:

the priority setting sub-module 901 is configured to set priorities for the plurality of types of flight data, and sequentially acquire the flight data according to the priority from large to small;

the determining module 802 includes:

first judgment sub-module 902: and each time one kind of flight data is acquired, judging whether the aircraft is in the backlight shooting state or not according to the flight data or by combining other flight data acquired before the flight data until the aircraft is judged to be in the backlight shooting state or the last kind of flight data is judged.

In this embodiment, different priorities are set for different flight data, the flight data is acquired according to the priorities of the flight data from the flight data with the highest priority, then it is determined whether a backlight avoidance measure needs to be taken according to the acquired flight data, if necessary, a shooting angle is adjusted, if not, the flight data with the next priority is acquired again, and it is determined whether a backlight avoidance measure needs to be taken, and the steps are sequentially performed. When the data with higher priority meets the condition of taking backlight evasion measures, the acquisition of other data is automatically stopped, so that the execution efficiency is improved. For example, the priority of acquiring the set flight environment data, the flight characteristic data and the collected data is reduced in sequence.

In one embodiment, the flight environment data includes at least one of: geographic location, time of flight, and weather data; the flight characteristic data includes: flight direction (and flight angle, etc.); the collected data includes at least one of: collected light values in the flight environment; an image of the flight environment is acquired. Wherein the geographic location may include: the current flight altitude, the current flight longitude and latitude and the like, and the current geographic position can be acquired through a GPS positioning system or a ground navigation system and the like. The time of flight may include: specific time of flight, day or night, etc. The weather data may include: sunny, cloudy, rainy, and the like. The weather data may be obtained from weather stations or platforms providing local weather conditions via a network, or may be obtained by associating third party equipment, such as a cell phone terminal, with the aircraft terminal. The collected light values in the flight environment may be collected by a light sensor. When the collected light value is high, backlight shooting may occur, and backlight avoidance measures need to be taken, whereas when the light value is low, backlight shooting may not occur, and therefore backlight shooting measures do not need to be taken.

In one embodiment, as shown in fig. 10, in the case that the flight data includes the flight environment data and the flight characteristic data, the determining module 802 includes:

in a first determination submodule 1001, configured to determine the position of the sun from said flight environment data;

in the second determination submodule 1002, it is configured to determine whether the aircraft is in the backlight shooting state according to the position of the sun and the flight characteristic data.

In this embodiment, first, the first determining sub-module 1001 obtains the position of the sun according to flight environment data, where the flight environment data may include a geographic position, a flight time, weather data, and the like, and then the second determining sub-module 1002 determines whether the aircraft is in the backlight shooting state according to the position of the sun and the flight characteristic data, where the flight characteristic data may include a flight direction, an angle, and the like. The position of the sun can be obtained according to the flight time, weather data and the geographic position of the aircraft, if the position is at night or on non-sunny days such as raining, cloudy days and the like, the conclusion that no sun exists can be obtained, at the moment, the backlight condition can not occur, and backlight avoidance is not needed. When the vehicle is in the daytime and sunny days, whether the backlight shooting occurs or not needs to be determined according to the flight direction of the aircraft and the position of the sun. For example, when it is determined that the position of the sun is east and the flying direction of the aircraft is east, it can be inferred that the aircraft is flying toward the sun, and a backlight shooting occurs, and thus it is necessary to adjust the shooting angle.

In one embodiment, as shown in fig. 11, in the case where the flight environment data includes the flight time, the weather data, and the geographic location, the first determination submodule 1001 includes:

in a third determining sub-module 1101, configured to determine whether there is a sun in the flight environment according to the flight time and the weather data;

in the second determination submodule 1102, it is configured to determine the position of the sun according to the geographical position and the flight time, if it is determined that there is a sun in the flight environment.

In this embodiment, the third determining submodule 1101 may determine whether the time period is a time period in which the sun does not fall according to the local time of the aircraft, and if so, determine whether the time period is a sunny day or a cloudy day or the like according to the weather condition, that is, the weather meeting the sunlight, and if so, determine that the sun exists; the second determination submodule 1102 then determines the position of the sun based on the current geographic position and the local time. The mapping table of the geographic position, the time and the position of the sun can be established in advance, the latitude and the longitude of the current flight are determined according to the established mapping table and the current geographic position, and then the position of the sun at the latitude and the longitude at the time is determined according to the local time.

In an embodiment, as shown in fig. 12, in the case that the flight data includes the collected data and the collected data includes the light value, the determining module 802 includes:

in the fourth determining sub-module 1201, it is configured to determine whether the light value is greater than a predetermined light value threshold;

in a third determination submodule 1202, it is configured to determine that the aircraft is in the backlight shooting state if it is determined that the light value is greater than the predetermined light value threshold.

In this embodiment, the lowest threshold of the light values for which the backlight shooting occurs under different flight environment data is obtained in advance, and in the actual flight process, it is determined by the fourth determining sub-module 1201 whether the current light value is greater than the lowest threshold (that is, the predetermined light value threshold mentioned above), and if the current light value is greater than the lowest threshold, the backlight shooting may occur, so that a backlight avoiding measure needs to be taken, that is, the shooting angle needs to be adjusted. The adjustment of the shooting angle can be accomplished by changing the flight direction and/or changing the direction of the camera.

In an embodiment, as shown in fig. 13, in a case where the flight data includes the flight characteristic data and the flight environment data, the flight characteristic data includes the flight direction, and the flight environment data includes the flight time, the weather data, and the geographic location, the obtaining module 801 includes:

in the first obtaining sub-module 1301, it is configured to obtain the time of flight and the weather data;

in a fifth judging sub-module 1302, configured to judge whether there is a sun in the flight environment according to the flight time and the weather data;

in the sixth determining sub-module 1303, if it is determined that there is a sun in the flying environment, the geographic position and the flying direction are obtained, the position of the sun is determined according to the geographic position and the flying time, and it is determined whether the flying direction is directly opposite to the position of the sun;

in the second obtaining sub-module 1304, the light value is obtained when it is determined that the flight direction is not directly opposite to the position of the sun.

In this embodiment, since whether the sun is present is important for whether the aircraft is in the backlight shooting state, once it is determined that the sun is present and the flight direction of the aircraft is directly opposite to the position of the sun, it can be directly determined that the aircraft is in the backlight shooting state, and in the case that the flight direction of the aircraft is not opposite to the sun, there is a possibility that backlight shooting may occur, which needs to be determined by the light value of the aircraft during shooting. Therefore, in this embodiment, first, the first obtaining sub-module 1301 obtains the flight time and the weather data, then the fifth determining sub-module 1302 determines whether the sun exists in the flight environment according to the flight time and the weather data, if the sun exists, the sixth determining sub-module 1303 obtains the geographic position and the flight direction, determines the position of the sun, determines whether the flight direction of the aircraft is over against the sun, and if the flight direction of the aircraft is not over against the position of the sun, the second obtaining sub-module 1304 obtains the light ray value.

In one embodiment, as shown in FIG. 14, where the acquired data further includes images in the flight environment, the third determination sub-module 1202 includes:

in a fourth determination submodule 1401, configured to determine, on the condition that the light value is greater than the predetermined light value threshold value, an image area in the image whose luminance value is greater than a predetermined luminance value, determine whether the image area is greater than a predetermined area threshold value, and in the case that the image area is greater than the predetermined area threshold value, determine that the aircraft is in the backlit shot state; or

In a fifth determining sub-module 1402, it is configured to determine a contrast between a bright and dark area in the image on the condition that the light value is greater than the predetermined light value threshold, determine whether the contrast is higher than a predetermined contrast threshold, and in a case where it is determined that the contrast is higher than the predetermined contrast threshold, determine that the aircraft is in the backlit shot state.

When judging whether backlight shooting occurs or not by calculating the proportion of an area with an overlarge light value in a camera framing picture, firstly judging whether the current light value exceeds a preset threshold value, wherein the preset threshold value can be preset by a user, and if the current light value exceeds the preset threshold value, shooting a current image; the fourth determining submodule 1401 determines an image area of the current image whose brightness value is greater than a predetermined brightness value, and if the image area is greater than a predetermined area threshold, it indicates that the brightness value of a partial area on the photographed image is too large due to too strong current light value, and the probability of generating backlight photographing is large, so that the photographing angle needs to be adjusted. For example, the light values obtained by the light sensor are set to 0-100 from full black to brightest, where 0 is darkest and 100 is brightest. The user can set in advance that when the light sensor monitors that the ambient light value reaches a certain threshold value, for example, the light value exceeds 80 (a specific numerical value user can set by himself), and the range exceeds a certain range of the camera viewing picture (for example, the range exceeds 70 percent of the picture), the light is judged to be too strong (the probability of backlight is larger).

When determining whether or not a backlight shooting is to occur by judging whether or not a shot picture is in a case where the contrast is too high, first the fifth determination sub-module 1402 determines the contrast between a bright area and a dark area in a current image being shot, then determines whether or not the contrast pair is higher than a predetermined contrast threshold, and adjusts the shooting angle when the contrast is higher than the predetermined threshold. The contrast refers to the measurement of different brightness levels between the brightest white and the darkest black of bright and dark areas in an image, and the larger the difference range is, the larger the contrast is, and the smaller the difference range is, the smaller the contrast is. For example, if the brightness value of the brightest pixel region in the captured current image is a, the brightness value of the darkest pixel region is B, and the contrast, which is the difference between a and B, is higher than a predetermined contrast threshold, it is considered that there is a high probability that the backlight capturing is currently occurring, and thus the capturing angle needs to be adjusted.

In an embodiment, as shown in fig. 15, in the case that the flight data includes the flight environment data, and the flight environment data includes the flight time and the weather data, the obtaining module 801 includes:

in the second acquisition sub-module 1501, it is configured to acquire the time of flight and the weather data;

in a seventh judging sub-module 1502, it is configured to judge whether there is a sun in the flight environment according to the flight time and the weather data;

in the first acquisition sub-module 1503, it is configured to acquire an image of the flight environment if it is determined that there is a sun in the flight environment.

In this embodiment, in the case of the sun, it may be determined whether the aircraft is in a backlit shooting state by shooting a current image. Therefore, in this embodiment, in order to determine whether there is a sun, the second obtaining sub-module 1501 first obtains the current flight time and weather data of the aircraft, the seventh determining sub-module 1502 determines whether there is a sun in the flight environment according to the flight time and the weather data, and when there is a sun, the first collecting sub-module 1503 collects images in the flight environment again to determine whether the aircraft is in a backlight shooting state.

In an embodiment, as shown in fig. 16, in the case that the flight environment data further includes the geographic position, the flight data includes the flight characteristic data, and the flight characteristic data includes the flight direction, the first acquisition sub-module 1503 includes:

in a sixth determination sub-module 1601, determining a position of the sun from the geographic position and the time of flight;

in the eighth determining submodule 1602, it is determined whether the flight direction is directly opposite to the position of the sun;

in the second capturing sub-module 1603, the image is captured when it is determined that the flight direction is not directly opposite to the position of the sun.

In this embodiment, if the flight direction of the aircraft is directly opposite to the sun, it can be directly determined that the aircraft is in a backlight shooting state; and if the flight direction of the aircraft is not over against the sun, the judgment can be carried out through the collected images. Therefore, in this embodiment, in the case that the sun is determined, the sixth determination determines the position of the sun according to the geographic position and the flight time, then the eighth determination sub-module 1602 determines whether the aircraft is facing the sun according to the flight direction, and the second capturing sub-module 1603 captures the image again without facing the sun.

In one embodiment, the adjusting module 803 includes:

in the first adjusting submodule, keeping the shooting angle of a camera of the aircraft unchanged, and adjusting the flight direction of the aircraft;

and in the second adjusting submodule, keeping the flight direction of the aircraft unchanged, and adjusting the shooting angle of the camera.

In this embodiment, the adjustment of the shooting angle is realized by adjusting the flight direction and adjusting the shooting angle of the camera, and the adjustment can be specifically selected according to the actual situation. If the shooting angle of the camera is adjustable, the angle of the camera can be preferentially selected to be adjusted, and if the purpose of avoiding backlight shooting cannot be achieved due to the fact that the maximum range of the adjustment angle of the camera is limited, the mode of adjusting the flight direction can be selected to adjust the shooting angle.

According to a third aspect of embodiments of the present disclosure, there is provided an aircraft including a control device of any one of the aircraft described above.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a control device of an aircraft, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: acquiring flight data of an aircraft, judging whether the aircraft is in a backlight shooting state or not according to the flight data, and adjusting the shooting angle of the aircraft under the condition that the aircraft is judged to be in the backlight shooting state.

The processor may be further configured to:

the flight data includes a plurality of flight data, and acquiring the flight data of the aircraft includes: setting priorities for the various flight data, sequentially acquiring the flight data according to the sequence of the priorities from big to small, and judging whether the aircraft is in a backlight shooting state according to the flight data comprises the following steps: and when one kind of flight data is acquired, judging whether the aircraft is in the backlight shooting state or not according to the flight data or by combining other flight data acquired before the flight data until the aircraft is judged to be in the backlight shooting state or the last kind of flight data is judged.

Wherein, under the condition that the flight data includes the flight environment data and the flight characteristic data, the judging whether the aircraft is in a backlight shooting state according to the flight data includes:

determining the position of the sun according to the flight environment data; and judging whether the aircraft is in the backlight shooting state or not according to the position of the sun and the flight characteristic data.

Wherein, in the event that the flight environment data includes the time of flight, the weather data, and the geographic location, the determining the location of the sun from the flight environment data comprises:

judging whether the flying environment has the sun or not according to the flying time and the weather data; and when the sun is judged to exist in the flight environment, determining the position according to the geographic position and the flight time.

Wherein, under the condition that the flight data includes the collected data and the collected data includes the light value, the judging whether the aircraft is in a backlight shooting state according to the flight data includes:

judging whether the light value is larger than a preset light value threshold value or not; and when the light value is judged to be larger than the preset light value threshold value, determining that the aircraft is in the backlight shooting state.

Wherein, in a case that the flight data includes the flight characteristic data and the flight environment data, the flight characteristic data includes the flight direction, and the flight environment data includes the flight time, the weather data, and the geographic location, the acquiring flight data of the aircraft includes:

acquiring the flight time and the weather data; judging whether the flying environment has the sun or not according to the flying time and the weather data; under the condition that the sun is judged to exist in the flying environment, acquiring the geographical position and the flying direction, determining the position of the sun according to the geographical position and the flying time, and judging whether the flying direction is over against the position of the sun; and acquiring the light value under the condition that the flying direction is not over against the position of the sun.

Wherein, under the condition that the collected data further includes an image in the flying environment, when it is determined that the light value is greater than the preset light value threshold, determining that the aircraft is in a backlight shooting state includes:

determining an image area with a brightness value larger than a preset brightness value in the image under the condition that the light value is larger than the preset light value threshold value, judging whether the image area is larger than a preset area threshold value, and determining that the aircraft is in the backlight shooting state under the condition that the image area is larger than the preset area threshold value; or under the condition that the light value is larger than the preset light value threshold value, determining the contrast between a light area and a dark area in the image, judging whether the contrast is higher than the preset contrast threshold value, and under the condition that the contrast is higher than the preset contrast threshold value, determining that the aircraft is in the backlight shooting state.

Wherein, under the condition that the flight data includes the collected data and the collected data includes the image in the flight environment, the judging whether the aircraft is in a backlight shooting state according to the flight data includes:

determining an image area of the image with a brightness value greater than a predetermined brightness value, determining whether the image area is greater than a predetermined area threshold, and determining that the aircraft is in the backlight shooting state if the image area is determined to be greater than the predetermined area threshold; or determining the contrast between a bright area and a dark area in the image, judging whether the contrast is higher than a preset contrast threshold value, and determining that the aircraft is in the backlight shooting state under the condition that the contrast is higher than the preset contrast threshold value.

Wherein, in a case where the flight data includes the flight environment data and the flight environment data includes the time of flight and the weather data, the acquiring flight data of the aircraft includes:

acquiring the flight time and the weather data; judging whether the flying environment has the sun or not according to the flying time and the weather data; and acquiring images in the flight environment under the condition that the sun is judged to exist in the flight environment.

Wherein, the flight environment data further includes the geographical position, the flight data includes the flight characteristic data, and the flight characteristic data includes the flight direction, and under the condition that it is judged that there is the sun in the flight environment, acquiring the image in the flight environment includes:

determining the position of the sun according to the geographic position and the time of flight; judging whether the flight direction is over against the position of the sun or not; and acquiring the image under the condition that the flying direction is not over against the position of the sun.

Wherein the adjusting the shooting angle of the aircraft comprises:

keeping the shooting angle of a camera of the aircraft unchanged, and adjusting the flight direction of the aircraft; or keeping the flight direction of the aircraft unchanged, and adjusting the shooting angle of the camera.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

FIG. 17 is a block diagram illustrating a control device suitable for use with an aircraft, the device suitable for use with an aircraft, or the like, according to an exemplary embodiment. For example, the apparatus 1700 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Apparatus 1700 may include one or more of the following components: processing component 1702, memory 1704, power component 1706, multimedia component 1708, audio component 1710, input/output (I/O) interface 1712, sensor component 1714, and communications component 1716.

The processing component 1702 generally controls the overall operation of the apparatus 1700, such as operations associated with display, telephone calls, data communications, camera operations and recording operations, and the processing component 1702 may perform recognition analysis on the acquired images, calculate contrast of bright and dark regions, and the like. Processing component 1702 may include one or more processors 1720 to execute instructions to perform all or a portion of the steps of the above-described method. Further, processing component 1702 may include one or more modules that facilitate interaction between processing component 1702 and other components. For example, processing component 1702 may include a multimedia module to facilitate interaction between multimedia component 1708 and processing component 1702.

The memory 1704 is configured to store various types of data to support operations at the apparatus 1700. Examples of such data include instructions for any application or method operating on the apparatus 1700, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 1704 may also store acquired flight data of the aircraft, captured image data, and the like, all of which need to be stored during control of the aircraft. The memory 1704 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 1706 provides power to the various components of the device 1700. The power components 1706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 1700.

The multimedia component 1708 includes a screen providing an output interface between the device 1700 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1908 includes a front-facing camera and/or a rear-facing camera. The front camera and/or the rear camera may receive external multimedia data when the apparatus 1700 is in an operation mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability. In the present disclosure, the multimedia component 1708 may be used to obtain images in a flight environment, and may also provide a user interface for a user to view a current flight environment, flight data, and the like.

Audio component 1710 is configured to output and/or input audio signals. For example, audio component 1710 includes a Microphone (MIC) configured to receive external audio signals when apparatus 1700 is in an operating mode, such as a call mode, a record mode, and a voice recognition mode. The received audio signal may further be stored in the memory 1704 or transmitted via the communication component 1716. In some embodiments, audio component 1710 also includes a speaker for outputting audio signals. In the present disclosure, the audio component 1701 may also obtain a user's voice command and transmit it to the processing component 1702 for processing.

The I/O interface 1712 provides an interface between the processing component 1702 and peripheral interface modules, such as a keyboard, click wheel, buttons, and the like. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 1714 includes one or more sensors for providing various aspects of state assessment for the apparatus 1700. For example, sensor assembly 1714 may detect an open/closed state of apparatus 1700, the relative positioning of components, such as a display and keypad of apparatus 1700, the change in position of apparatus 1700 or a component of apparatus 1700, the presence or absence of user contact with apparatus 1700, the orientation or acceleration/deceleration of apparatus 1700, and the change in temperature of apparatus 1700. The sensor assembly 1714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 1914 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 1914 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor. In the present disclosure, the sensor component 1914 may be a light sensor configured to obtain light values in a flight environment.

The communication component 1716 is configured to facilitate communications between the apparatus 1700 and other devices in a wired or wireless manner. The apparatus 1700 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1716 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1716 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies. The communication component 1716 described in this disclosure may be used to obtain weather data for the flight environment, positioning data for the aircraft, and the like via a communication connection such as the internet.

In an exemplary embodiment, the apparatus 1700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as the memory 1704 comprising instructions, executable by the processor 1720 of the apparatus 1700 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

A non-transitory computer readable storage medium, wherein instructions in the storage medium, when executed by a processor of apparatus 1700, enable apparatus 1700 to perform the above-described method of controlling an aircraft, the method comprising:

acquiring flight data of an aircraft; judging whether the aircraft is in a backlight shooting state or not according to the flight data; and adjusting the shooting angle of the aircraft under the condition that the aircraft is judged to be in the backlight shooting state.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of controlling an aircraft, comprising:

acquiring flight data of an aircraft; the flight data includes: collecting data of the aircraft in the flight process; the data acquisition comprises the following steps: an acquired image in the flight environment;

judging whether the aircraft is in a backlight shooting state or not according to the flight data;

adjusting the shooting angle of the aircraft under the condition that the aircraft is judged to be in the backlight shooting state;

the judging whether the aircraft is in a backlight shooting state according to the flight data comprises the following steps:

determining an image area of the image with a brightness value greater than a predetermined brightness value, determining whether the image area is greater than a predetermined area threshold, and determining that the aircraft is in the backlight shooting state if the image area is determined to be greater than the predetermined area threshold; or

Determining a contrast between bright and dark regions in the image, determining whether the contrast is above a predetermined contrast threshold, and determining that the aircraft is in the backlit shot state if the contrast is determined to be above the predetermined contrast threshold.

2. The method of claim 1,

the flight data further includes at least one of: flight environment data, flight characteristic data of the aircraft itself;

the acquiring flight data of the aircraft comprises: setting priorities for various flight data, and sequentially acquiring the flight data according to the sequence of the priorities from big to small;

judging whether the aircraft is in a backlight shooting state according to the flight data, and further comprising: and when one kind of flight data is acquired, judging whether the aircraft is in the backlight shooting state or not according to the flight data or by combining other flight data acquired before the flight data until the aircraft is judged to be in the backlight shooting state or the last kind of flight data is judged.

3. The method of claim 2,

the flight environment data includes at least one of: geographic location, time of flight, and weather data;

the flight characteristic data includes: a direction of flight;

the collecting data further comprises: collected light values in the flight environment.

4. The method of claim 3, wherein in the case where the flight data includes the flight characteristic data and the flight environment data, the flight characteristic data includes the flight direction, and the flight environment data includes the time of flight, the weather data, and the geographic location, the obtaining flight data for the aircraft comprises:

acquiring the flight time and the weather data;

judging whether the flying environment has the sun or not according to the flying time and the weather data;

under the condition that the sun is judged to exist in the flying environment, acquiring the geographical position and the flying direction, determining the position of the sun according to the geographical position and the flying time, and judging whether the flying direction is over against the position of the sun;

and acquiring the light value under the condition that the flying direction is not over against the position of the sun.

5. The method of claim 3, wherein said determining from said flight data whether said aircraft is in a backlighted shot condition further comprises:

determining an image area with a brightness value larger than a preset brightness value in the image under the condition that the light value is larger than a preset light value threshold value, judging whether the image area is larger than a preset area threshold value, and determining that the aircraft is in the backlight shooting state under the condition that the image area is larger than the preset area threshold value; or

And under the condition that the light value is greater than a preset light value threshold value, determining the contrast between a light area and a dark area in the image, judging whether the contrast is higher than a preset contrast threshold value, and under the condition that the contrast is higher than the preset contrast threshold value, determining that the aircraft is in the backlight shooting state.

6. The method of claim 3, wherein where the flight data includes the flight environment data and the flight environment data includes the time of flight and the weather data, the obtaining flight data for the aircraft comprises:

acquiring the flight time and the weather data;

and acquiring images in the flight environment under the condition that the sun is judged to exist in the flight environment.

7. The method of claim 3, wherein, in the event that the flight environment data further includes the geographic location, the flight data includes the flight characteristic data, and the flight characteristic data includes the flight direction, acquiring the image in the flight environment in the event that a sun is determined to be in the flight environment comprises:

determining the position of the sun according to the geographic position and the time of flight;

judging whether the flight direction is over against the position of the sun or not;

and acquiring the image under the condition that the flying direction is not over against the position of the sun.

8. The method of claim 1, wherein the adjusting the camera angle of the aircraft comprises:

keeping the shooting angle of a camera of the aircraft unchanged, and adjusting the flight direction of the aircraft; or

Keeping the flight direction of the aircraft unchanged, and adjusting the shooting angle of the camera.

9. A control device for an aircraft, comprising:

a first acquisition module configured to acquire flight data of an aircraft; the flight data includes: collecting data of the aircraft in the flight process; the data acquisition comprises the following steps: an acquired image in the flight environment;

the judging module is configured to judge whether the aircraft is in a backlight shooting state according to the flight data;

an adjusting module configured to adjust a shooting angle of the aircraft if it is determined that the aircraft is in the backlight shooting state;

10. An aircraft, characterized in that it comprises a control device of the aircraft according to claim 9.

11. A control device for an aircraft, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to: