CN106657781A

CN106657781A - Target object photographing method and target object photographing device

Info

Publication number: CN106657781A
Application number: CN201611179958.7A
Authority: CN
Inventors: 吴珂
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2016-12-19
Filing date: 2016-12-19
Publication date: 2017-05-10
Anticipated expiration: 2036-12-19
Also published as: CN106657781B

Abstract

The invention discloses a target object photographing method and a target object photographing device. The method comprises steps: the current positions of a movable photographing device and a to-be-photographed target object are determined; according to the current positions of the movable photographing device and the target object, whether obstacles exist between the movable photographing device and the target object is determined; when obstacle distribution information is acquired; and the movable photographing device is controlled to carry out avoidance photographing on the target object according to the obstacle distribution information. According to the technical scheme of the invention, the movable photographing device can be controlled to carry out avoidance photographing on the target object according to the obstacle distribution information, the obstacles thus can not block photographing of the movable photographing device on the target object, the obstacles can be prevented from influencing the photographing effects, and the target object can be ensured to have good photographing effects as much as possible.

Description

The image pickup method and device of destination object

Technical field

It relates to technique for taking field, more particularly to the image pickup method and device of destination object.

Background technology

At present, capture apparatus such as unmanned plane is may move when shooting to reference object, in order to reach expected shooting Effect, is shot according to the establishing shot parameters such as route, shooting angle that shoot for setting in advance, but in reality In shooting process, it is understood that there may be affect the barrier of photographing request, so as to affect shooting effect, but correlation technique without this side The solution in face.

The content of the invention

The embodiment of the present disclosure provides the image pickup method and device of destination object.The technical scheme is as follows：

According to the first aspect of the embodiment of the present disclosure, there is provided a kind of image pickup method of destination object, including：

It is determined that removable capture apparatus and the respective current location of destination object to be captured, wherein, the removable bat Equipment is taken the photograph for shooting the destination object；

According to the removable capture apparatus and the respective current location of the destination object, the removable shooting is determined Whether there is barrier between equipment and the destination object；

When there is the barrier, the distribution of obstacles information of the barrier is obtained；

Control the removable capture apparatus carries out avoidance bat according to the distribution of obstacles information to the destination object Take the photograph.

In one embodiment, it is described to control the removable capture apparatus according to the distribution of obstacles information to described Destination object carries out avoidance shooting, including：

Obtain pre-set image and shoot strategy；

Tactful and described distribution of obstacles information is shot according to the pre-set image, it is determined that avoiding route；

Avoidance shooting is carried out to the destination object according to the avoidance route, wherein, the pre-set image shoots strategy Including it is following at least one：

The destination object is followed to be shot；

Shot according to default shooting angle；

Displaying ratio of the predetermined patterns of the destination object in shooting image reaches preset ratio.

In one embodiment, it is described that avoidance shooting is carried out to the destination object according to the avoidance route, including：

Control the removable capture apparatus and current moving direction is adjusted according to the avoidance route so that the target pair As not blocked by the barrier.

Control the removable capture apparatus and current moving direction is adjusted into the first default moving direction so that the mesh Mark object is not blocked by the barrier.

In one embodiment, the distribution of obstacles information include it is following at least one：

The distributing position of the barrier, the height above sea level of the barrier, the number of the barrier, the barrier Shape.

In one embodiment, methods described also includes：

When there is no the barrier, control the removable capture apparatus according to the second default moving direction continue into Row movement, to carry out normal photographing to the destination object；

Or

When there is no the barrier, the current location of the destination object and the removable capture apparatus are determined Current relative position relation between current location；

When the current relative position relation is mismatched with default relative position relation, current moving direction is adjusted, made Obtain the current relative position relation to match with the default relative position relation.

In one embodiment, it is described to determine removable capture apparatus and the respective present bit of destination object to be captured Put, including：

The respective current location is determined by following at least one mode：

By the global location of each self installation on the removable capture apparatus and the terminal associated with the destination object System, positions the respective current location；

Or

By the big-dipper satellite of each self installation on the removable capture apparatus and the terminal associated with the destination object Navigation system, positions the respective current location；

Or

Obtain the current taken image of the destination object that the removable capture apparatus are photographed；

The current taken image is contrasted with the default shooting image of live-action map, is determined described respective current Position.

In one embodiment, it is described according to the removable capture apparatus and the respective present bit of the destination object Put, determine and whether there is between the removable capture apparatus and the destination object barrier, including：

Determined by following at least one mode and be whether there is between the removable capture apparatus and the destination object Barrier：

According to live-action map and the respective current location, the removable capture apparatus and the destination object are determined Between whether there is barrier；

Or

When the removable capture apparatus are located at its current location, the office that the current location of the destination object is located Portion's environment is shot, and obtains the current environment image of the local environment；

Determined according to the current environment image and be whether there is between the removable capture apparatus and the destination object Barrier；

Or

When the removable capture apparatus are located at its current location, to destination object transmitting obstacle detection letter Number；

According to the corresponding result of detection of the obstacle detection signal, the removable capture apparatus and the target are determined Whether there is barrier between object.

In one embodiment, the distribution of obstacles information for obtaining the barrier, including：

The corresponding distribution of obstacles information in the respective current location is extracted from the live-action map；

Or

The current environment image is analyzed, is obtained and may move described in the local environment capture apparatus and described The distribution of obstacles information between destination object；

Or

According to the corresponding result of detection of the obstacle detection signal, the distribution of obstacles information is determined.

According to the second aspect of the embodiment of the present disclosure, there is provided a kind of filming apparatus of destination object, including：

First determining module, for determining removable capture apparatus and the respective current location of destination object to be captured, Wherein, the removable capture apparatus are used to shoot the destination object；

Second determining module, for according to the removable capture apparatus and the respective current location of the destination object, Determine and whether there is between the removable capture apparatus and the destination object barrier；

Acquisition module, for when there is the barrier, obtaining the distribution of obstacles information of the barrier；

First control module, for controlling the removable capture apparatus according to the distribution of obstacles information to the mesh Mark object carries out avoidance shooting.

In one embodiment, first control module includes：

First acquisition submodule, for obtaining pre-set image strategy is shot；

First determination sub-module, for shooting tactful and described distribution of obstacles information according to the pre-set image, it is determined that Avoid route；

Shooting submodule, for carrying out avoidance shooting to the destination object according to the avoidance route, wherein, it is described pre- If image taking strategy include it is following at least one：

The destination object is followed to be shot；

Shot according to default shooting angle；

In one embodiment, the shooting submodule includes：

Control unit, current moving direction is adjusted for controlling the removable capture apparatus according to the avoidance route, So that the destination object is not blocked by the barrier.

In one embodiment, first control module includes：

Control submodule, the first default movement is adjusted to for controlling the removable capture apparatus by current moving direction Direction so that the destination object is not blocked by the barrier.

In one embodiment, described device also includes：

Second control module, for when there is no the barrier, controlling the removable capture apparatus according to second Default moving direction proceeds movement, to carry out normal photographing to the destination object；

Or

3rd determining module, for when there is no the barrier, determining current location and the institute of the destination object State the current relative position relation between the current location of removable capture apparatus；

Adjusting module, for when the current relative position relation is mismatched with default relative position relation, adjustment to be worked as Front moving direction so that the current relative position relation matches with the default relative position relation.

In one embodiment, first determining module includes：

Second determination sub-module, for determining the respective current location by following at least one mode：

Or

In one embodiment, second determining module includes：

3rd determination sub-module, for determining the removable capture apparatus and the mesh by following at least one mode Whether there is barrier between mark object：

Or

In one embodiment, the acquisition module includes：

Extracting sub-module, for extracting the corresponding barrier in the respective current location from the live-action map Distributed intelligence；

Or

Second acquisition submodule, for being analyzed to the current environment image, obtains described in the local environment The distribution of obstacles information between removable capture apparatus and the destination object；

Or

4th determination sub-module, for according to the corresponding result of detection of the obstacle detection signal, determining the obstacle Thing distributed intelligence.

According to the third aspect of the embodiment of the present disclosure, there is provided a kind of filming apparatus of destination object, including：

Processor；

For storing the memory of processor executable；

Wherein, the processor is configured to：

The technical scheme that embodiment of the disclosure is provided can include following beneficial effect：

Embodiment of the disclosure provide technical scheme, determine removable capture apparatus and destination object it is respective work as Behind front position, barrier can be whether there is based between both this determinations, and when it is determined that there is barrier, obtain the barrier Hinder the distribution of obstacles information of thing, and then control removable capture apparatus is carried out according to the distribution of obstacles information to destination object Avoid and shoot so that barrier will not stop that removable capture apparatus shoot to destination object, so as to avoid barrier shadow Shooting effect is rung, to guarantee that destination object is always maintained at good shooting effect as far as possible.

It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not The disclosure can be limited.

Description of the drawings

Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the enforcement for meeting the disclosure Example, and be used to explain the principle of the disclosure together with specification.

Fig. 1 is a kind of flow chart of the image pickup method of the destination object according to an exemplary embodiment.

Fig. 2 is the flow chart of the image pickup method of another kind of destination object according to an exemplary embodiment.

Fig. 3 is the flow chart of the image pickup method of another destination object according to an exemplary embodiment.

Fig. 4 is the flow chart of the image pickup method of another destination object according to an exemplary embodiment.

Fig. 5 A are the flow charts of the image pickup method of another destination object according to an exemplary embodiment.

Fig. 5 B are the flow charts of the image pickup method of another destination object according to an exemplary embodiment.

Fig. 6 is a kind of block diagram of the filming apparatus of the destination object according to an exemplary embodiment.

Fig. 7 is the block diagram of the filming apparatus of another kind of destination object according to an exemplary embodiment.

Fig. 8 is the block diagram of the filming apparatus of another destination object according to an exemplary embodiment.

Fig. 9 is the block diagram of the filming apparatus of another destination object according to an exemplary embodiment.

Figure 10 A are the block diagrams of the filming apparatus of another destination object according to an exemplary embodiment.

Figure 10 B are the block diagrams of the filming apparatus of another destination object according to an exemplary embodiment.

Figure 11 is the block diagram of the filming apparatus suitable for destination object according to an exemplary embodiment.

Specific embodiment

Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Explained below is related to During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with the disclosure.Conversely, they be only with it is such as appended The example of the consistent apparatus and method of some aspects described in detail in claims, the disclosure.

In order to solve above-mentioned technical problem, the embodiment of the present disclosure provides a kind of image pickup method of destination object, the method In can be used for photographing program, system or the device of destination object, and the corresponding executive agent of the method can be removable shooting Equipment or equipment such as server, mobile phone, computer etc. of removable capture apparatus can be controlled.

As shown in figure 1, the method comprising the steps of S101 is to step S104：

In step S101, it is determined that removable capture apparatus and the respective current location of destination object to be captured, wherein, Removable capture apparatus are used for photographic subjects object；

Removable capture apparatus can be that unmanned plane etc. is provided with camera and the equipment that can be automatically moved.

In step s 102, according to removable capture apparatus and the respective current location of destination object, it is determined that removable clap Take the photograph between equipment and destination object and whether there is barrier；

Barrier is can to stop the object that removable capture apparatus are shot to destination object, and stops removable bat Taking the photograph the object that equipment shot to destination object can include：Part blocks removable capture apparatus to be carried out to destination object The object (can still photograph partial target object from the angle of removable capture apparatus) of shooting is blocked completely removable The object (clapping fall short object completely from the angle of removable capture apparatus) that capture apparatus are shot to destination object.

Destination object can be any object, such as can be people, object, certain landscape, certain building, and destination object can To be static or move.

In step s 103, when there is barrier, the distribution of obstacles information of barrier is obtained；

In step S104, the removable capture apparatus of control carry out avoidance bat according to distribution of obstacles information to destination object Take the photograph.

After removable capture apparatus and the respective current location of destination object are determined, can be based on both this determinations Between whether there is barrier, and when it is determined that there is barrier, obtain the distribution of obstacles information of the barrier, and then control Removable capture apparatus carry out avoidance shooting according to the distribution of obstacles information to destination object so that barrier will not stop can Follow shot equipment shoots to destination object, so as to avoid barrier from affecting shooting effect, to guarantee target pair as far as possible As being always maintained at good shooting effect.

As shown in Fig. 2 in one embodiment, step S104 shown in above-mentioned Fig. 1 can include step A1 to step A3：

In step A1, obtain pre-set image and shoot strategy；

In step A2, strategy and distribution of obstacles information are shot according to pre-set image, it is determined that avoiding route；

The avoidance route at least indicates avoidance direction, and (avoiding direction includes：The new moving direction of removable capture apparatus And/or the new shooting direction of the camera on removable capture apparatus, wherein, the camera on removable capture apparatus can lead to To cross adjust up and down shooting height or carry out 360 degree in space and rotate to adjust shooting direction), can also include specifically keeping away Allow path.

In addition, when it is determined that avoiding route, can be combined with removable capture apparatus and the respective present bit of destination object Put.

In step A3, avoidance shooting is carried out to destination object according to route is avoided, wherein, pre-set image shoots strategy bag Include it is following at least one：

Destination object is followed to be shot, wherein, it can be removable capture apparatus one to follow destination object to carry out shooting Directly predeterminable range (such as 1 meter, 2 meters) is kept to be shot with destination object；

Shot according to default shooting angle；

Displaying ratio of the predetermined patterns of destination object in shooting image reaches preset ratio.

When the removable capture apparatus of control are carried out avoiding and shot to destination object, pre-set image can be obtained and shoot plan Slightly, and then according to pre-set image strategy and distribution of obstacles information are shot, avoidance route is cooked up automatically, with according to the avoidance Route shoots during moving to destination object, and so as to reach the effect for shooting is avoided, and obstacle is avoided as far as possible Thing affects pre-set image to shoot the desired shooting effect of tactful corresponding user so that the shooting effect of destination object as far as possible It is straight to keep preferable states.

For example：When pre-set image shoots strategy to follow destination object to be shot, clap if there is causing may move The barrier (such as door, screen) that the equipment of taking the photograph cannot be shot immediately following destination object, then executive agent can be according to following bat Take the photograph strategy and distribution of obstacles information recalculates a shooting route and avoids route, then bypassed according to the avoidance route The barriers such as door, screen continue to be shot immediately following destination object, so as to reach the effect of track shot.

Again for example：Reach when pre-set image shoots displaying ratio of predetermined patterns of the strategy for destination object in shooting image During to preset ratio (when behaving such as destination object, displaying ratio of the face in shooting image reaching 40% etc.), if there is So that barrier (such as potted landscape) of the face displaying ratio less than 40%, then executive agent can be according to the shooting strategy and obstacle Thing distributed intelligence recalculates a shooting route and avoids route, then carries out one according to the avoidance route and the barrier Misplace or bypass destination object is shot after the barrier, so that face displaying ratio shoots effect higher than 20% Really.

In addition, pre-set image shoots including but not limited to above-mentioned three kinds of strategy shoots strategy, for example, it is also possible to including target Predetermined position of the predetermined patterns of object in shooting image shows (such as predetermined patterns are shown centered in shooting image).

As shown in figure 3, in one embodiment, step A3 shown in above-mentioned Fig. 2 can include step B1：

In step bl is determined., removable capture apparatus are controlled and adjusts current moving direction according to route is avoided so that target pair As not blocked by barrier, wherein, adjusting current moving direction can include：According to the removable shooting for avoiding instruction in route The new moving direction adjustment of equipment may move the current moving direction of capture apparatus, and/or according to instruction in avoidance route The new shooting direction of camera adjusts the current shooting direction of the camera on removable capture apparatus.

Carry out avoiding shoot when, can control removable capture apparatus according to avoid the avoidance direction that indicates in route and When adjust current moving direction, to move according to avoiding direction so that destination object is not blocked by barrier, and then Shooting effect expected from user can be as much as possible reached, being avoided as much as barrier affects the shooting effect of destination object, Certainly, if having preset moving direction in advance, after cut-through thing, current moving direction can be adjusted to default shifting Dynamic direction, to continue to be shot according to former moving direction.

In addition, if further indicates collision avoidance path in the avoidance route, then after current moving direction is adjusted, can be always Shooting is moved according to the collision avoidance path, so as to avoid barrier to affect the shooting effect of destination object as far as possible, similarly, If having preset mobile route in advance, after cut-through thing, can continue to be shot according to former mobile route.

As shown in figure 4, in one embodiment, step S104 shown in above-mentioned Fig. 1 can include step C1：

In step C1, current moving direction is adjusted to the first default moving direction by the removable capture apparatus of control, is made Obtain destination object not blocked by barrier, certainly, the first default moving direction can be the mobile side of removable capture apparatus To or removable capture apparatus on camera shooting direction, and the first default moving direction is making of predefining out Barrier cannot block the moving direction that removable capture apparatus are shot to destination object.

Carry out avoiding shoot when, can controlling removable capture apparatus, that current moving direction is adjusted in time into first is pre- If moving direction, so that destination object is not blocked by barrier, to reach shooting effect expected from user as far as possible, to the greatest extent may be used It is avoided that barrier have impact on the shooting effect of destination object.

In one embodiment, distribution of obstacles information include it is following at least one：

The distributing position of barrier, the height above sea level of barrier, the number of barrier, the shape of barrier.

Avoidance route can determine that by above-mentioned distribution of obstacles information, for example, in the distributing position of acquired disturbance thing Afterwards, strategy, removable capture apparatus and the respective current location of destination object are shot with reference to pre-set image, can be according to these three Positional information and pre-set image shoot the tactful corresponding acquisition parameters (shooting distance, desired default shooting such as track shot The parameters such as angle, the displaying ratio of predetermined patterns), avoidance route is determined, to adjust moving direction etc. according to avoidance route, from And avoiding obstacles shoot the corresponding expected shooting effect of strategy to reach to preset as far as possible；

Again for example：After the height above sea level of acquired disturbance thing, with reference to pre-set image shoot strategy, removable capture apparatus and The corresponding height above sea level in the respective current location of destination object, can according to these three height above sea levels, related positional information and Pre-set image shoots the tactful corresponding acquisition parameters (shooting distance, desired default shooting angle, default portion such as track shot The parameters such as the displaying ratio of position), avoidance route is determined, with according to route adjustment moving direction etc. is avoided, so as to avoid obstacle Thing, to reach the corresponding expected shooting effect of default shooting strategy as far as possible.

Again for example：After the shape of acquired disturbance thing, with reference to pre-set image strategy, removable capture apparatus and target are shot The respective current location of object, can be according to related positional information, the profile of the barrier and profile size and pre-set image Shoot tactful corresponding acquisition parameters (shooting distance, desired default shooting angle such as track shot, the display of predetermined patterns Ratio etc.), avoidance route is determined, with according to route adjustment moving direction etc. is avoided, so as to the profile border along barrier is kept away Barrier is opened, to reach the corresponding expected shooting effect of default shooting strategy as far as possible；

Certainly, determine in the distributing position according to barrier, the height above sea level of barrier, the shape of barrier and avoid route When, the number of barrier is can be combined with, so that the avoidance route determined can avoid all of barrier, to the greatest extent may be used Expected shooting effect can be reached.

As shown in Figure 5A, in one embodiment, the method shown in above-mentioned Fig. 1 may also include step S501：

In step S501, when there is no barrier, the removable capture apparatus of control are according to the second default moving direction Proceed movement, to carry out normal photographing to destination object；

When there is no barrier, removable capture apparatus can be controlled and proceed to move according to the second default moving direction It is dynamic, to carry out normal photographing to destination object, so as to not affecting normal shooting direction, shooting path etc..

Or

As shown in Figure 5 B, in one embodiment, the method shown in above-mentioned Fig. 1 may also include step S502 and step S503：

In step S502, when there is no barrier, the current location of destination object and removable capture apparatus are determined Current location between current relative position relation；

In step S503, when current relative position relation is mismatched with default relative position relation, adjustment is when reach Dynamic direction so that current relative position relation matches with default relative position relation, wherein, it is mesh to preset relative position relation When mark object is at the default display location in picture, the relative position relation between destination object and removable capture apparatus, For example, when default display location of the destination object in picture is respectively centre position, left side, right side, presets relative position and close System can be respectively destination object in front, left front, right front of removable capture apparatus etc..

Require because user is also possible to the display location to destination object in picture, and destination object and removable bat The relative position relation taken the photograph between equipment directly affects display location of the destination object in picture again, thus, when not existing During barrier, if because moving direction is provided with the reasons such as deviation, mobile route are provided with deviation or destination object is moved And cause the current relative position relation to mismatch with default relative position relation, then illustrate that destination object is not pre- in picture If at position, therefore, it is possible to adjust current moving direction so that current relative position relation and default relative position relation phase Match somebody with somebody, so that display location of the destination object in picture meets always as far as possible the preset requirement of user.

In one embodiment, step S101 in above-mentioned Fig. 1, that is, determine removable capture apparatus and target to be captured The respective current location of object, can be performed as：

Respective current location is determined by following at least one mode：

By the global positioning system (GPS of each self installation on removable capture apparatus and the terminal associated with destination object System, Global Positioning System, global positioning system), position respective current location；

The terminal of destination object association can be mobile phone, panel computer that destination object is carried with or configured etc..

Or

By the Beidou satellite navigation system of each self installation on removable capture apparatus and the terminal associated with destination object, Position respective current location；

Or

Obtain the current taken image of the destination object that removable capture apparatus are photographed；

Current taken image is contrasted with the default shooting image of live-action map, respective current location is determined, its In, live-action map can be the various maps such as Baidu map, high moral map in correlation technique.

The default shooting image of live-action map can be in the live-action map that diverse location and shooting angle are photographed The image of each actual geographic position, thus, current taken image and the default shooting image of live-action map are contrasted, can be with Removable capture apparatus and the respective current location of destination object are determined respectively.

In one embodiment, step S102 in above-mentioned Fig. 1, i.e., according to removable capture apparatus and destination object each Current location, it is determined that removable whether there is barrier between capture apparatus and destination object, can be performed as：

Determined by following at least one mode and whether there is between removable capture apparatus and destination object barrier：

According to live-action map and respective current location, it is determined that removable whether there is between capture apparatus and destination object Barrier；

Determine may move according to live-action map and respective current location and whether there is between capture apparatus and destination object The mode of barrier has a lot, for example, it may be determined that going out station location marker of the two current locations in live-action map, Ran Hou Latticing straight line between the two station location markers, if having object such as building, bus station etc. on the straight line, illustrates that presence can The barrier of shooting is blocked, if illustrating there is no barrier without any object on the straight line, certainly, this embodiment party Formula also is adapted for further disturbance of analysis thing distributed intelligence.

Or

When removable capture apparatus are located at its current location, the local environment that the current location of destination object is located is entered Row shoots, and obtains the current environment image of local environment；

The local environment that the current location of destination object is located can be destination object be currently located room, the one of building Angle, garden etc..

Determined may move according to current environment image and whether there is between capture apparatus and destination object barrier；

The removable mode that whether there is barrier between capture apparatus and destination object is determined according to current environment image Have a lot, for example, can be with the presence or absence of destination object, destination object displaying ratio in the picture according in current environment image Whether no up to standard, destination object display location in the picture is to preset the factors such as display location to determine whether there is obstacle Thing.

Or

When removable capture apparatus are located at its current location, to destination object obstacle detection signal is launched；

According to the corresponding result of detection of obstacle detection signal, it is determined that it is removable between capture apparatus and destination object whether There is barrier.

By launching obstacle detection signal to destination object, so according to result of detection determine removable capture apparatus and Mode between destination object with the presence or absence of barrier has a lot, for example, to destination object transmitting radar, ultrasonic wave, infrared ray Deng ray detection signal etc., so according to the result of detection of these detectable signals (such as receive time of echo, echo it is uniform Property etc.) determine between both with the presence or absence of barrier.

In one embodiment, step S102 in above-mentioned Fig. 1, that is, obtain the distribution of obstacles information of barrier, can quilt Perform and be：

The corresponding distribution of obstacles information in respective current location is extracted from live-action map；

Building, bus station, flowers, plants and trees being distributed in due to record each actual geographic position in live-action map etc. is each Information in kind is planted, therefore, it is possible to analyze the current location of removable capture apparatus and working as destination object from live-action map Distributed intelligence in kind between front position, and the material object between both may block removable capture apparatus photographic subjects Object, thus, these distributed intelligences in kind can be defined as distribution of obstacles information, certainly, extracting distribution of obstacles letter During breath, height above sea level in kind that should also be with reference to removable capture apparatus, destination object and between both is so that carry The distribution of obstacles information of taking-up is more accurate, for example, if the height above sea level in kind of certain between both is less than removable The height above sea level of capture apparatus and destination object, then the material object will not block removable capture apparatus photographic subjects object, thus, Can not be using the distributed intelligence in kind as distribution of obstacles information.

Or

Current environment image is analyzed, the barrier that may move in local environment between capture apparatus and destination object is obtained Hinder thing distributed intelligence；

When distribution of obstacles information is obtained, current environment image can also be analyzed, obtain and be located at destination object The distributed intelligence in kind for being capable of shelter target object before, and then the distributed intelligence in kind is defined as into distribution of obstacles letter Breath.

Or

According to the corresponding result of detection of obstacle detection signal, distribution of obstacles information is determined, wherein, obstacle detection letter Number corresponding result of detection can be each portion of barrier for receiving time of echo, the distribution density of echo, detecting Uniformity, infrared scan result of position etc..

According to the corresponding result of detection of obstacle detection signal, it may be determined that go out Position Approximate, shape, residing height above sea level The various distributed intelligences such as degree, longitudinal depth of barrier.

The image pickup method of the above-mentioned destination object that the correspondence embodiment of the present disclosure is provided, the embodiment of the present disclosure also provides a kind of mesh The filming apparatus of mark object.

As shown in fig. 6, the device includes the first determining module 601, the second determining module 602, acquisition module 603 and first Control module 604：

First determining module 601, be configured to determine that removable capture apparatus and destination object to be captured it is respective work as Front position, wherein, removable capture apparatus are configured to photographic subjects object；

Second determining module 602, is configured to according to may move capture apparatus and the respective current location of destination object, really Surely may move and whether there is barrier between capture apparatus and destination object；

Acquisition module 603, when being configured as existing barrier, obtains the distribution of obstacles information of barrier；

First control module 604, is configured to control removable capture apparatus according to distribution of obstacles information to target pair As carrying out avoidance shooting.

After the first determining module 601 determines removable capture apparatus and the respective current location of destination object, second Determining module 602 can whether there is barrier based between both this determinations, and when it is determined that there is barrier so that obtain Delivery block 603 can obtain the distribution of obstacles information of the barrier, and then the first control module 604 can control removable bat Take the photograph equipment carries out avoidance shooting according to the distribution of obstacles information to destination object so that barrier will not stop removable shooting Equipment shoots to destination object, so as to avoid barrier from affecting shooting effect, to guarantee that destination object is protected always as far as possible Hold good shooting effect.

As shown in fig. 7, in one embodiment, the first control module 604 shown in above-mentioned Fig. 6 can be obtained including first Submodule 6041, the first determination sub-module 6042 and shooting submodule 6043：

First acquisition submodule 6041, is configured to obtain pre-set image shooting strategy；

First determination sub-module 6042, is configured to shoot strategy and distribution of obstacles information according to pre-set image, it is determined that Avoid route；

Shooting submodule 6043, is configured to carry out avoidance shooting to destination object according to avoidance route, wherein, preset figure As shoot strategy include it is following at least one：

Destination object is followed to be shot；

Shot according to default shooting angle；

When the removable capture apparatus of control are carried out avoiding and shot to destination object, the first acquisition submodule 6041 can be obtained Take pre-set image and shoot strategy, and then the first determination sub-module 6042 shoots strategy and distribution of obstacles letter according to pre-set image Breath, avoidance route is cooked up automatically so that shooting submodule 6043 during being moved according to the avoidance route to mesh Mark object is shot, and so as to reach the effect for shooting is avoided, and avoids barrier to affect pre-set image to shoot strategy as far as possible right The desired shooting effect of user answered so that the shooting effect of destination object is always maintained at as far as possible preferable states.

As shown in figure 8, in one embodiment, shooting submodule 6043 can include control unit 60431：

Control unit 60431, is configured to control removable capture apparatus according to the current moving direction of avoidance route adjustment, So that destination object is not blocked by barrier.

When carrying out avoiding shooting, control unit 60431 can control removable capture apparatus according to avoidance route middle finger The avoidance direction for showing adjusts in time current moving direction, with according to avoid direction move so that destination object not by Barrier is blocked, and then can as much as possible reach shooting effect expected from user, and being avoided as much as barrier affects target The shooting effect of object, certainly, if having preset moving direction in advance, after cut-through thing, can be by currently movement side To default moving direction is adjusted to, to continue to be shot according to former moving direction.

As shown in figure 9, in one embodiment, the first control module 604 shown in above-mentioned Fig. 6 can also include 6044：

Control submodule 6044, is configured to control removable capture apparatus current moving direction is adjusted into first to preset Moving direction so that destination object is not blocked by barrier.

Carry out avoiding shoot when, control submodule 6044 can control removable capture apparatus by current moving direction and When be adjusted to the first default moving direction so that destination object is not blocked by barrier, to reach user's expection as far as possible Shooting effect, avoid barrier to have impact on the shooting effect of destination object as far as possible.

Avoidance route can determine that by above-mentioned distribution of obstacles information, for example,

After the distributing position of acquired disturbance thing, with reference to pre-set image strategy, removable capture apparatus and target pair are shot As respective current location, can according to these three positional informations and pre-set image shoot tactful corresponding acquisition parameters (such as with With parameters such as shooting distance, desired default shooting angle, the displaying ratios of predetermined patterns for shooting), avoidance route is determined, With according to route adjustment moving direction etc. is avoided, so as to avoiding obstacles shoot tactful corresponding expection to reach to preset as far as possible Shooting effect；

As shown in Figure 10 A, in one embodiment, the device shown in above-mentioned Fig. 6 may also include the second control module 1001：

Second control module 1001, when being configured as there is no barrier, the removable capture apparatus of control are according to second Default moving direction proceeds movement, to carry out normal photographing to destination object；

When there is no barrier, the second control module 1001 can control removable capture apparatus according to the second default shifting Dynamic direction proceeds movement, to carry out normal photographing to destination object, so as to not affecting normal shooting direction, shooting path Deng.

Or

As shown in Figure 10 B, in one embodiment, the device shown in above-mentioned Fig. 6 may also include the 3rd determining module 1002 With adjusting module 1003：

3rd determining module 1002, when being configured as there is no barrier, determine the current location of destination object with can Current relative position relation between the current location of follow shot equipment；

Adjusting module 1003, when being configured as current relative position relation and mismatching with default relative position relation, adjusts Whole current moving direction so that current relative position relation matches with default relative position relation.

Require because user is also possible to the display location to destination object in picture, and destination object and removable bat The relative position relation taken the photograph between equipment directly affects display location of the destination object in picture again, thus, when not existing During barrier, if because moving direction is provided with the reasons such as deviation, mobile route are provided with deviation or destination object is moved And cause the current relative position relation to mismatch with default relative position relation, then illustrate that destination object is not pre- in picture If at position, thus, adjusting module 1003 can adjust current moving direction so that current relative position relation is relative with default Position relationship matches, so that display location of the destination object in picture meets always as far as possible the default of user wanting Ask.

In one embodiment, the first determining module 601 shown in above-mentioned Fig. 6 can include the second determination sub-module：

Second determination sub-module, is configured to following at least one mode and determines respective current location：

By the global positioning system of each self installation on removable capture apparatus and the terminal associated with destination object, positioning Respective current location；

Or

Current taken image is contrasted with the default shooting image of live-action map, respective current location is determined.

In one embodiment, the second determining module 602 shown in above-mentioned Fig. 6 can include the 3rd determination sub-module：

3rd determination sub-module, is configured to following at least one mode and determines removable capture apparatus and target pair Whether there is barrier as between：

Or

In one embodiment, the acquisition module 603 shown in above-mentioned Fig. 6 can include：

Extracting sub-module, is configured to extract the corresponding distribution of obstacles letter in respective current location from live-action map Breath；

Building, bus station, flowers, plants and trees being distributed in due to record each actual geographic position in live-action map etc. is each Information in kind is planted, thus, extracting sub-module can analyze current location and the mesh of removable capture apparatus from live-action map Distributed intelligence in kind between the current location of mark object, and the material object between both may block removable shooting and set Standby photographic subjects object, thus, these distributed intelligences in kind can be defined as distribution of obstacles information by extracting sub-module, when So, when distribution of obstacles information is extracted, should also be with reference to removable capture apparatus, destination object and the material object between both Height above sea level so that the distribution of obstacles information for extracting is more accurate

Or

Second acquisition submodule, is configured to be analyzed current environment image, obtains to be may move in local environment and claps The distribution of obstacles information taken the photograph between equipment and destination object；

When distribution of obstacles information is obtained, the second acquisition submodule can also be analyzed to current environment image, obtain The distributed intelligence in kind for being capable of shelter target object that must be located at before destination object, and then the distributed intelligence in kind is defined as Distribution of obstacles information.

Or

4th determination sub-module, is configured to according to the corresponding result of detection of obstacle detection signal, determines barrier point Cloth information.

Processor；

For storing the memory of processor executable；

Wherein, processor is configured to：

Above-mentioned processor is also configured to：

The control removable capture apparatus are kept away the destination object according to the distribution of obstacles information Allow shooting, including：

Obtain pre-set image and shoot strategy；

The destination object is followed to be shot；

Shot according to default shooting angle；

Above-mentioned processor is also configured to：

It is described that avoidance shooting is carried out to the destination object according to the avoidance route, including：

Above-mentioned processor is also configured to：

The distribution of obstacles information include it is following at least one：

Above-mentioned processor is also configured to：

Methods described also includes：

Or

Above-mentioned processor is also configured to：

It is described to determine removable capture apparatus and the respective current location of destination object to be captured, including：

The respective current location is determined by following at least one mode：

Or

Above-mentioned processor is also configured to：

It is described according to the removable capture apparatus and the respective current location of the destination object, determine described removable Whether there is barrier between capture apparatus and the destination object, including：

Or

Above-mentioned processor is also configured to：

The distribution of obstacles information for obtaining the barrier, including：

Or

Figure 11 is a kind of block diagram of the filming apparatus 1100 for destination object according to an exemplary embodiment, should Device is applied to terminal device.For example, device 1100 can be mobile phone, and computer, digital broadcast terminal, information receiving and transmitting sets It is standby, game console, tablet device, Medical Devices, body-building equipment, individual number assistant etc..

With reference to Figure 11, device 1100 can be included with next or at least two components：Process assembly 1102, memory 1104, power supply module 1106, multimedia groupware 1108, audio-frequency assembly 1110, input/output (I/O) interface 1112, sensor group Part 1114, and communication component 1116.

The integrated operation of the usual control device 1100 of process assembly 1102, such as with display, call, data communication, The associated operation of camera operation and record operation.Process assembly 1102 can include one or at least two processors 1120 Execute instruction, to complete all or part of step of above-mentioned method.Additionally, process assembly 1102 can include one or at least Two modules, the interaction being easy between process assembly 1102 and other assemblies.For example, process assembly 1102 can include multimedia Module, to facilitate the interaction between multimedia groupware 1108 and process assembly 1102.

Memory 1104 is configured to store various types of data to support the operation in device 1100.These data Example includes the instruction of any storage object for operating on device 1100 or method, contacts user data, telephone directory number According to, message, picture, video etc..Memory 1104 can by any kind of volatibility or non-volatile memory device or it Combination realize that such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM) is erasable Except programmable read only memory (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, soon Flash memory, disk or CD.

Power supply module 1106 provides power supply for the various assemblies of device 1100.Power supply module 1106 can include power management System, one or at least two power supplys, and other generate, manage and distribute the component that power supply is associated with for device 1100.

Multimedia groupware 1108 is included in the screen of one output interface of offer between described device 1100 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 is touched including one or at least two Sensor is touched with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or cunning The border of action, but also the detection duration related to the touch or slide and pressure.In some embodiments In, multimedia groupware 1108 includes a front-facing camera and/or post-positioned pick-up head.When device 1100 is in operator scheme, such as When screening-mode or video mode, front-facing camera and/or post-positioned pick-up head can receive outside multi-medium data.Before each Put camera and post-positioned pick-up head can be a fixed optical lens system or with focusing and optical zoom capabilities.

Audio-frequency assembly 1110 is configured to output and/or input audio signal.For example, audio-frequency assembly 1110 includes a wheat Gram wind (MIC), when device 1100 is in operator scheme, such as call model, logging mode and speech recognition mode, microphone quilt It is configured to receive external audio signal.The audio signal for being received can be further stored in memory 1104 or via communication Component 1116 sends.In certain embodiments, audio-frequency assembly 1110 also includes a loudspeaker, for exports audio signal.

I/O interfaces 1112 are that interface, above-mentioned peripheral interface module are provided between process assembly 1102 and peripheral interface module Can be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and Locking press button.

Sensor cluster 1114 includes one or at least two sensors, for providing the shape of various aspects for device 1100 State is assessed.For example, sensor cluster 1114 can detect the opening/closed mode of device 1100, the relative positioning of component, example If the component is the display and keypad of device 1100, sensor cluster 1114 can be with detection means 1100 or device The position of 1100 1 components changes, and user is presence or absence of with what device 1100 was contacted, and the orientation of device 1100 or acceleration/subtract The temperature change of speed and device 1100.Sensor cluster 1114 can include proximity transducer, be configured to not any Physical contact when the neighbouring object of detection presence.Sensor cluster 1114 can also include optical sensor, and such as CMOS or CCD schemes As sensor, for used in imaging applications.In certain embodiments, the sensor cluster 1114 can also include acceleration Sensor, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.

Communication component 1116 is configured to facilitate the communication of wired or wireless way between device 1100 and other equipment.Dress Putting 1100 can access based on the wireless network of communication standard, such as WiFi, 2G or 3G, or combinations thereof.It is exemplary at one In embodiment, communication component 1116 receives the broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel Information.In one exemplary embodiment, the communication component 1116 also includes near-field communication (NFC) module, to promote short distance Communication.For example, RF identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra broadband can be based in NFC module (UWB) technology, bluetooth (BT) technology and other technologies are realizing.

In the exemplary embodiment, device 1100 can by one or at least two application specific integrated circuits (ASIC), Digital signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field-programmable gate array Row (FPGA), controller, microcontroller, microprocessor or other electronic building bricks are realized, for performing said method.

In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided Such as include the memory 1104 of instruction, above-mentioned instruction can be performed to complete said method by the processor 1120 of device 1100.Example Such as, the non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, soft Disk and optical data storage devices etc..

A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by said apparatus 1100 During computing device so that said apparatus 1100 are able to carry out a kind of image pickup method of destination object, including：

It is determined that removable capture apparatus and the respective current location of destination object to be captured, wherein,

The removable capture apparatus are used to shoot the destination object；

Obtain pre-set image and shoot strategy；

Avoidance shooting is carried out to the destination object according to the avoidance route, wherein,

The pre-set image shoot strategy include it is following at least one：

The destination object is followed to be shot；

Shot according to default shooting angle；

In one embodiment, methods described also includes：

Or

The respective current location is determined by following at least one mode：

Or

The corresponding distribution of obstacles information in the respective current location is extracted from the live-action map；Or

Or

Art technology user person will readily occur to the disclosure after considering specification and putting into practice disclosure disclosed herein Other embodiments.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes Or adaptations follow the disclosure general principle and including the disclosure it is undocumented in the art it is known often Know or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following Claim point out.

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

Claims

1. a kind of image pickup method of destination object, it is characterised in that include：

It is determined that removable capture apparatus and the respective current location of destination object to be captured, wherein, the removable shooting sets It is ready for use on the shooting destination object；

According to the removable capture apparatus and the respective current location of the destination object, the removable capture apparatus are determined Whether there is barrier and the destination object between；

Control the removable capture apparatus carries out avoidance shooting according to the distribution of obstacles information to the destination object.

2. method according to claim 1, it is characterised in that

The control removable capture apparatus carry out avoidance bat according to the distribution of obstacles information to the destination object Take the photograph, including：

Obtain pre-set image and shoot strategy；

Avoidance shooting is carried out to the destination object according to the avoidance route, wherein, the pre-set image shoots strategy to be included Below at least one：

The destination object is followed to be shot；

Shot according to default shooting angle；

3. method according to claim 2, it is characterised in that

Control the removable capture apparatus and current moving direction is adjusted according to the avoidance route so that the destination object is not Blocked by the barrier.

4. method according to claim 1, it is characterised in that

Control the removable capture apparatus and current moving direction is adjusted into the first default moving direction so that the target pair As not blocked by the barrier.

5. method according to claim 1, it is characterised in that

The distributing position of the barrier, the height above sea level of the barrier, the number of the barrier, the shape of the barrier Shape.

6. method according to claim 1, it is characterised in that methods described also includes：

When there is no the barrier, controlling the removable capture apparatus and proceeding to move according to the second default moving direction It is dynamic, to carry out normal photographing to the destination object；

Or

When there is no the barrier, determine that the current location of the destination object is current with the removable capture apparatus Current relative position relation between position；

When the current relative position relation is mismatched with default relative position relation, current moving direction is adjusted so that institute State current relative position relation to match with the default relative position relation.

7. method according to claim 1, it is characterised in that

The respective current location is determined by following at least one mode：

By the global positioning system of each self installation on the removable capture apparatus and the terminal associated with the destination object, Position the respective current location；

Or

By the Beidou satellite navigation of each self installation on the removable capture apparatus and the terminal associated with the destination object System, positions the respective current location；

Or

The current taken image is contrasted with the default shooting image of live-action map, the respective present bit is determined Put.

8. method according to any one of claim 1 to 7, it is characterised in that

It is described according to the removable capture apparatus and the respective current location of the destination object, determine the removable shooting Whether there is barrier between equipment and the destination object, including：

Determined by following at least one mode and whether there is between the removable capture apparatus and the destination object obstacle Thing：

According to live-action map and the respective current location, determine between the removable capture apparatus and the destination object With the presence or absence of barrier；

Or

When the removable capture apparatus are located at its current location, the local ring that the current location of the destination object is located Border is shot, and obtains the current environment image of the local environment；

Determined according to the current environment image and whether there is between the removable capture apparatus and the destination object obstacle Thing；

Or

When the removable capture apparatus are located at its current location, to the destination object obstacle detection signal is launched；

According to the corresponding result of detection of the obstacle detection signal, the removable capture apparatus and the destination object are determined Between whether there is barrier.

9. method according to claim 8, it is characterised in that

The current environment image is analyzed, is obtained and may move described in the local environment capture apparatus and the target The distribution of obstacles information between object；Or

10. a kind of filming apparatus of destination object, it is characterised in that include：

Second determining module, for according to the removable capture apparatus and the respective current location of the destination object, it is determined that Whether there is barrier between the removable capture apparatus and the destination object；

First control module, for controlling the removable capture apparatus according to the distribution of obstacles information to the target pair As carrying out avoidance shooting.

11. devices according to claim 10, it is characterised in that

First control module includes：

First acquisition submodule, for obtaining pre-set image strategy is shot；

First determination sub-module, for shooting tactful and described distribution of obstacles information according to the pre-set image, it is determined that avoiding Route；

Shooting submodule, for carrying out avoidance shooting to the destination object according to the avoidance route, wherein, the default figure As shoot strategy include it is following at least one：

The destination object is followed to be shot；

Shot according to default shooting angle；

12. devices according to claim 11, it is characterised in that

The shooting submodule includes：

Control unit, current moving direction is adjusted for controlling the removable capture apparatus according to the avoidance route so that The destination object is not blocked by the barrier.

13. devices according to claim 10, it is characterised in that

First control module includes：

Control submodule, the first default movement side is adjusted to for controlling the removable capture apparatus by current moving direction To so that the destination object is not blocked by the barrier.

14. devices according to claim 10, it is characterised in that

15. devices according to claim 10, it is characterised in that described device also includes：

Second control module, for when there is no the barrier, controlling the removable capture apparatus default according to second Moving direction proceeds movement, to carry out normal photographing to the destination object；

Or

3rd determining module, for when there is no the barrier, determine the current location of the destination object with it is described can Current relative position relation between the current location of follow shot equipment；

Adjusting module, for when the current relative position relation is mismatched with default relative position relation, adjustment to be when reach Dynamic direction so that the current relative position relation matches with the default relative position relation.

16. devices according to claim 10, it is characterised in that

First determining module includes：

Or

17. devices according to any one of claim 10 to 16, it is characterised in that

Second determining module includes：

3rd determination sub-module, for determining the removable capture apparatus and the target pair by following at least one mode Whether there is barrier as between：

Or

18. devices according to claim 17, it is characterised in that

The acquisition module includes：

Extracting sub-module, for extracting the corresponding distribution of obstacles in the respective current location from the live-action map Information；Or

Second acquisition submodule, for being analyzed to the current environment image, obtains removable described in the local environment The distribution of obstacles information between dynamic capture apparatus and the destination object；Or

4th determination sub-module, for according to the corresponding result of detection of the obstacle detection signal, determining the barrier point Cloth information.

19. a kind of filming apparatus of destination object, it is characterised in that include：

Processor；

For storing the memory of processor executable；

Wherein, the processor is configured to：