CN107370946A - The flight filming apparatus and method of adjust automatically picture-taking position - Google Patents
The flight filming apparatus and method of adjust automatically picture-taking position Download PDFInfo
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- CN107370946A CN107370946A CN201710621701.0A CN201710621701A CN107370946A CN 107370946 A CN107370946 A CN 107370946A CN 201710621701 A CN201710621701 A CN 201710621701A CN 107370946 A CN107370946 A CN 107370946A
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- unmanned vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
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Abstract
The invention belongs to the technical field of unmanned vehicle control, in order to solve unmanned vehicle present in prior art carry out closely it is interior to portrait when, the complicated technical problem of existing adjustment process, there is provided the flight filming apparatus and method of a kind of adjust automatically picture-taking position；The flight filming apparatus includes：Memory, a variety of predetermined portrait exposal models are provided with it, and every kind of portrait exposal model corresponds to diverse location and/or ratio of the face in predetermined image template respectively；Controller, after certain nominator is received as exposal model signal, based on position of the face in the predetermined image template and/or account for the ratio of the whole predetermined image template, the controller automatically generates to characterize and adjusts the unmanned vehicle and need the specified location parameter that reaches and limit the flight restriction parameter that the unmanned vehicle flies within a predetermined range.
Description
Technical field
The present invention relates to the technical field of unmanned vehicle control, more particularly to a kind of technology taken photo by plane with unmanned vehicle
Field, more particularly, to the flight filming apparatus and method of a kind of adjust automatically picture-taking position.
Background technology
In the prior art, for the shooting of portrait, camera installation is often carried by a photographer, then by taking
The coverage shown in scape device adjusts camera lens direction, lens zoom, self-position etc. in real time, to find a suitable bat
Act as regent and put and angle, in this case, because the coverage adjustment of photographer is very unsophisticated, it is only necessary to before and after photographer
The posture or angle of camera installation are carried in either change of walking about.But for some particular surroundings, such as in rock-climbing, trip
Swimming etc. is under scenario, is carried camera installation by photographer and is shot and just seems extremely difficult.
It is increasingly ripe with small miniature unmanned vehicle technology, multi-rotor aerocraft due to can hovering, flight
It is stable, therefore become the mainstream solution of current aerial photography unmanned aerial vehicle；And solve some to be carried by photographer
Camera installation carries out shooting irrealizable application scenarios.
But inventor has found during the present invention is realized：Existing unmanned vehicle is mainly used in the bat to distant view
Take the photograph, and under the scene of vista shot, the small range of aircraft body position is moved, and does not interfere with final actual bat substantially
Effect is taken the photograph, such as when shooting distant view, even if aircraft top to bottom, left and right, front and rear move several meters, as long as head luffing angle,
The angle of aircraft itself does not change, and actual photographed effect also is difficult to find out difference, so substantially seldom considering
The convenience that a small range adjusts to camera site.So for the portrait scene of closer distance, just produce in fact
One original new problem do not recognized, that is, because portrait accounts for the large percentage of whole shooting picture, it is necessary to should
Portrait object is placed near the middle position of whole picture, and this operation, generally requires locus of the user to aircraft
Carry out the adjustment work in multiple dimensions.It is multiple specific that this adjustment process is related to communication delay response, instruction selection etc.
Operating procedure, particularly with being unfamiliar with for the new hand of operation, it appears operating process is very cumbersome.
The content of the invention
In order to solve unmanned vehicle present in prior art carry out closely it is interior to portrait when, existing tune
The complicated technical problem of journey is had suffered, present invention offer one kind can adjust unmanned vehicle flight path automatically, in time and adjust automatically
The flight filming apparatus and method of whole picture-taking position.
To achieve these goals, technical scheme provided by the invention includes：
One aspect of the present invention provides a kind of flight filming apparatus of adjust automatically picture-taking position, the flight filming apparatus bag
The video camera shot to portrait is included, loads the head of the video camera, and carry the unmanned vehicle of the head；Its
It is characterised by, the flight filming apparatus also includes：
Memory, a variety of predetermined portrait exposal models, and every kind of portrait exposal model difference are provided with it
Diverse location and/or ratio of the corresponding face in predetermined image template；
Controller, after certain nominator is received as exposal model signal, based on face in the predetermined image template
In position and/or account for the ratio of the whole predetermined image template, the controller automatically generate sign adjustment it is described nobody
Aircraft needs the specified location parameter reached and limits the flight restriction ginseng that the unmanned vehicle flies within a predetermined range
Number.
Preferably, generation characterizes adjusts the specified location parameter bag that the unmanned vehicle needs to reach to the embodiment of the present invention
Including the unmanned vehicle needs the relative displacement parameter that adjusts and/or needs space coordinate parameters and/or the institute reached
State the anglec of rotation that head needs to adjust.
The embodiment of the present invention preferably, limits the flight restriction parameter bag that the unmanned vehicle flies within a predetermined range
Include：Put or using the current location of the unmanned vehicle as datum mark on the basis of face, limit the unmanned vehicle
The ultimate range that moving direction all directions move in top to bottom, left and right, front and rear.
The embodiment of the present invention preferably, when the unmanned vehicle fly to the preset range limitation boundary position,
And do not find yet can according to the nominator as exposal model signal when, controller generation controls the unmanned vehicle
Return to initial position, find the flight signal of correct face again.
The embodiment of the present invention preferably, a variety of predetermined portrait exposal models include recent photograph pattern, middle-range according to pattern,
Long distance shines pattern；And recent photograph pattern also includes major part and shines pattern according to pattern, whole body according to pattern, half body；And people in different mode
Position of the face in image template is different with the ratio for accounting for whole image template, and different mode is stored with respectively in the memory
Under, corresponding relative displacement parameter between unmanned vehicle and face.
Preferably, a variety of predetermined portrait exposal models also include multiple face exposal models to the embodiment of the present invention,
And in multiple face exposal models, based on the position center of gravity of the multiple face set, generation adjusts the unmanned vehicle
Need the location parameter reached.
Preferably, generation characterizes adjusts the specified location parameter bag that the unmanned vehicle needs to reach to the embodiment of the present invention
Include：In the translation parameters of vertical height and horizontal direction, the translation parameters causes in viewfinder range the unmanned vehicle
Face center overlaps in the center of face and image template；And between the unmanned vehicle and subject
Spacing parameter so that the ratio that face accounts for described image template meets pre-provisioning request.
Another aspect of the present invention also provides a kind of flight image pickup method of adjust automatically picture-taking position, it is characterised in that institute
The method of stating includes：
A variety of predetermined portrait exposal models are stored, and every kind of portrait exposal model corresponds to face predetermined respectively
Diverse location and/or ratio in image template；
After certain nominator is received as exposal model signal, the position based on face in the predetermined image template
And/or the ratio of the whole predetermined image template is accounted for, automatically generate and characterize the finger that the adjustment unmanned vehicle needs to reach
The flight restriction parameter that location parameter and the limitation unmanned vehicle fly within a predetermined range.
The embodiment of the present invention preferably, limits the flight restriction parameter bag that the unmanned vehicle flies within a predetermined range
Include：Put or using the current location of the unmanned vehicle as datum mark on the basis of face, limit the unmanned vehicle
The ultimate range that moving direction all directions move in top to bottom, left and right, front and rear.
The embodiment of the present invention preferably, when the unmanned vehicle fly to the preset range limitation boundary position,
And do not find yet can according to the nominator as exposal model signal when, controller generation controls the unmanned vehicle
Return to initial position, find the flight signal of correct face again.
Using above-mentioned technical proposal provided by the invention, at least one of following beneficial effect can be obtained：
1st, whole image template ratio and/or position are accounted for according to the face size and preassigned pattern human face that recognize, from
Move into and characterize the specified location parameter that adjustment unmanned vehicle needs to reach, so as to establish a sky to unmanned vehicle automatically
Between the aerial mission that is adjusted of position.
2nd, unmanned vehicle can just be based on certain nominator as exposal model signal, automatic flight can extremely be completed to refer to this
Position corresponding to determining portrait exposal model, complete the automatic shooting of portrait mode of figure.I.e. aerial photography aircraft is only needed simply according to thing
Position and ratio standard of the face first set in whole viewfinder range, the locus of aerial photography aircraft itself is adjusted, from
And intelligence completes the technique effect of shooting effect adjustment.
3rd, the flight restriction parameter that limitation unmanned vehicle flies within a predetermined range is automatically generated, so works as unmanned flight
During device flight indoors, reduce because the displacement of unmanned vehicle adjustment causes greatly very much the probability with the collision of indoor barrier；Separately
On the one hand, because the displacement of unmanned vehicle adjustment causes greatly very much may unexpectedly grab during adjustment position
The face of some passerby passed by；And flight restriction parameter is generated, the scope of unmanned vehicle flight can be also reduced, so can also
Reduce the probability for clapping passerby by mistake；So as to improve the experience of user.
4th, further, when the unmanned vehicle flies to the boundary position of preset range limitation, and do not look for yet
To can according to the nominator as exposal model signal when, it is initial that controller generation controls the unmanned vehicle to return
Position, the flight signal for finding correct face again；Flight filming apparatus is enabled more accurately to find the face specified, from
And generate the image for meeting demand.
The further feature and advantage of invention will illustrate in the following description, also, partly become aobvious from specification
And be clear to, or understood by implementing technical scheme.The purpose of the present invention and other advantages can be by illustrating
Specifically noted structure and/or flow are realized and obtained in book, claims and accompanying drawing.
Brief description of the drawings
Fig. 1 is a kind of structural frames of the flight filming apparatus for adjust automatically picture-taking position that the embodiment of the present invention one provides
Figure.
Fig. 2 is a kind of flow chart of the flight image pickup method for adjust automatically picture-taking position that the embodiment of the present invention one provides.
Fig. 3 is a kind of flow chart of the flight image pickup method for adjust automatically picture-taking position that the embodiment of the present invention two provides.
Embodiment
Embodiments of the present invention are described in detail below with reference to drawings and Examples, and how the present invention is applied whereby
Technological means solves technical problem, and the implementation process for reaching technique effect can fully understand and implement according to this.Need to illustrate
, these specific descriptions are to allow those of ordinary skill in the art to be more prone to, clearly understand the present invention, rather than to this hair
Bright limited explanation；And if conflict is not formed, each embodiment in the present invention and each spy in each embodiment
Sign can be combined with each other, and the technical scheme formed is within protection scope of the present invention.
In addition, can be in the control system of a such as group controller executable instruction the flow of accompanying drawing illustrates the step of
Middle execution, although also, show logical order in flow charts, in some cases, can be with different from herein
Order performs shown or described step.
Below by the drawings and specific embodiments, technical scheme is described in detail：
Embodiment one
As shown in figure 1, on the one hand the present embodiment provides a kind of flight filming apparatus of adjust automatically picture-taking position, flight is clapped
The video camera 300 that device includes shooting portrait, the head 200 of loading video camera 300 are taken the photograph, and carries nobody of head
Aircraft 100；Preferably, unmanned vehicle 100 is multi-rotor aerocraft, this multi-rotor aerocraft can complete in the air certain
Individual position long period hovering is motionless, and fixed point completes the shooting to some special object.
The flight filming apparatus that the present embodiment provides also includes：
Memory, a variety of predetermined portrait exposal models are provided with it, and every kind of portrait exposal model corresponds to respectively
Diverse location and/or ratio of the face in predetermined image template；
Controller, after certain nominator is received as exposal model signal, based on face in predetermined image template
Position and/or the ratio for accounting for whole predetermined image template, controller, which automatically generates, characterizes what adjustment unmanned vehicle needs reached
The flight restriction parameter that specified location parameter and limitation unmanned vehicle fly within a predetermined range.
Preferably, the present embodiment provide above-mentioned memory and controller be arranged on inside unmanned vehicle 100, certainly on
State memory and/or perform above-mentioned control function controller can also be arranged on control unmanned vehicle ground remote control device or
In the smart machine of person's Loading Control unmanned vehicle application program.With reference to Fig. 1, nothing is arranged on memory and controller
It is illustrated inside people's aircraft 100：
The internal memory of memory 110 contains a variety of predetermined portrait exposal models in unmanned vehicle 100, and every kind of portrait is clapped
Correspond to diverse location and/or ratio of the face in predetermined image template respectively according to pattern.Preferably, a variety of predetermined portraits are clapped
Include recent photograph pattern according to pattern, middle-range shines pattern according to pattern, long distance；And recent photograph pattern also includes major part and shines mould according to pattern, half body
Formula, whole body shine pattern；And position of the face in image template is different with the ratio for accounting for whole image template in different mode,
It is stored with respectively under different mode in memory, corresponding relative displacement parameter between unmanned vehicle and face；It is a kind of optional
The embodiment selected, these different modes can be corresponded to different face locations, whole image template ratio is accounted for, correspond to nobody
Corresponding relative displacement parameter stores in LUT (Look up table, look-up table) form between aircraft and face,
So controller can directly invoke various parameters corresponding with this pattern according to the pattern specified, can be with look-up table
Including predetermined calculation formula, after good model is set, according to the parameter of different demands, specific formula can be preset, so
Controller can also be by being calculated certain parameter to be output.Face accounts for the ratio of picture taking lens, position in different mode
It is all different, so needing video camera also different relative to the relative position of face；This position and the appropriate degree of ratio, can be with
By experienced developer, by pre-determined mode, to set, (or the storage content of memory 110 is rewritable feelings
Under condition, there is user voluntarily to change, can also be in unmanned vehicle in the case of mixed-media network modules mixed-media networking, online upgrading obtains), this
Kind appropriate degree position it is specifically chosen, can make face placed in the middle, or allow face lower middle；Compare in this appropriate degree
The specifically chosen of example such as can be to allow face accounting 75, or allow face accounting 33% etc., and suitable with position and ratio
When pattern, the relative position being previously stored between face and video camera, for example, camera lens focal length face distance be 1
Rice, 3 meters etc.；But no matter using above-mentioned any specific numerical value selection, as long as have selected certain specific exposal model, just
It can find and correspond to video camera optimum position in this pattern；Adjusted actually by this automatically viewfinder range, video camera 130
Under the adjustment of unmanned vehicle and head, predetermined optimum photographing position is reached automatically, without any artificial interference and adjustment.
In the technical scheme that the present embodiment provides, when unmanned vehicle enters certain nominator as screening-mode, taking
The object with face characteristic is identified in the range of scape.Face possesses the feature of highly significant, including eyes, nose, mouth in itself
Bar etc. characteristic point, and the feature such as eye spacing, so identifying and judging from any picture.Especially, it is professional to take the photograph
Camera is equipped with the focusing system and " face light-metering, spot light-metering, surrounding light-metering " photometric system of " " at 5 points, 9 points, can so allow and take the photograph
In camera automatic identification picture whether the face of someone, and automatically using face as shooting main body；Then, video camera is being focused
With will all be adjusted in terms of spectrum assignment for the situation of face.
After certain nominator is received as exposal model signal, position based on face in predetermined image template and account for
The ratio of whole predetermined image template, controller 120, which automatically generates, characterizes the specified location that adjustment unmanned vehicle needs to reach
The flight restriction parameter that parameter and limitation unmanned vehicle fly within a predetermined range, flight execution unit 130 is according to generation table
The flight that the specified location parameter that requisitioning whole unmanned vehicle needs to reach is flown within a predetermined range with limitation unmanned vehicle
Displacement of the parameter adjust automatically relative to face is limited, and is flown to specified location；I.e. user passes through ground remote control device or intelligence
Energy equipment sends certain nominator as exposal model signal (such as major part shines pattern), controller 120 to unmanned vehicle 100
Shone according to the major part stored in advance in memory 120 in pattern, it is desirable to which video camera automatically generates with respect to the location parameter between face
Unmanned vehicle needs flight path, and limits flight parameter as exposal model is corresponding with nominator.
Preferably, the specified location parameter that generation characterizes adjustment unmanned vehicle and needs to reach flies the present embodiment including nobody
The space coordinate parameters and/or head that the relative displacement parameter and/or needs that row device needs needs adjust reach need what is adjusted
The anglec of rotation；Can generate relative displacement that unmanned vehicle directly flies (including on three-dimensional up and down, it is left and right, preceding
Afterwards)；Coordinate parameters can also be generated, unmanned vehicle are allowed according to face coordinate and destination coordinate, according to air line distance, adjustment
Heading, fly to specified location；It can also increase and head angle is adjusted on the basis of unmanned vehicle flight path
It is whole, to realize to the accurate crawl of portrait.
Preferably, the specified location parameter that generation characterizes adjustment unmanned vehicle and needs to reach includes the present embodiment：Nobody
Aircraft vertical height and horizontal direction translation parameters, translation parameters cause the face in viewfinder range center and
Face center overlaps in image template；And the spacing parameter between unmanned vehicle and subject so that face
The ratio for accounting for image template meets pre-provisioning request.
And in the present embodiment, according to the face recognized, establish a locus to unmanned vehicle and adjust
Whole aerial mission, the final purpose of the aerial mission are to adjust its model of finding a view by changing the locus of aerial photography aircraft
Enclose, the appropriate location being placed in so as to the face for recognizing this in viewfinder range.For example, a typical appropriate location can be
The central position on the lower side that face is placed in viewfinder range；Or a typical appropriate location can be placed in face to find a view
At left side vertical line in scope according to the division of " well " word lattice；It can also be face being placed on laterally and drawn according to golden section ratio
At the viewfinder range divided.
It can also further establish a locus to unmanned vehicle according to the face size recognized and adjust
Whole aerial mission, it by changing the space of aerial photography aircraft is to adjust its viewfinder range that the final purpose of the aerial mission, which is,
Interior face proportion size, so as to which the face for recognizing this occupies the proper proportion of viewfinder range.For example one typical
Proper proportion can be face is occupied in whole viewfinder range 75% area；For another example, typical proper proportion can be with
It is that will occupy 90% area of whole viewfinder range, then now can be using the eyes in face as characteristic point, to adjust
Whole position of the face in viewfinder range；For another example, a typical proper proportion can also occupy face entirely to find a view
/ 9th of scope (confirm area and position by " well " word lattice, allow face substantially to divide in " well " stroke of viewfinder range
Nine grid middle layout in).
Pattern is shone for major part, aerial photography aircraft detects in current viewfinder range with the presence or absence of the face detected first
Object, if it does not exist, then continuing standby；If there is face, then the object adjusted the face as follow-up viewfinder range
Basis.When face be present, first in the case where the distance of the current aerial photography aircraft of holding and subject is constant, adjustment
The translation of current aerial photography aircraft locus, i.e. vertical height and horizontal direction, by adjustment position viewfinder range
Face, in the center of whole viewfinder range.And then, continue between adjusting between aerial photography aircraft and subject
Away from, that is, aerial photography aircraft is moved up in the side of moving forward and backward, so as to allow the face in viewfinder range to become big or diminution,
The problem of so as to reach adjustment face proportion, in the case where major part shines pattern, face proportion should be more than 80%.
According to above-mentioned Controlling principle, pattern is shone according to pattern, whole body for half body, is also only needed by adjusting aerial photography aircraft
Locus, so as to indirectly cause position and ratio of the face in whole viewfinder range reach default standard or bar
Part, video camera can directly automatically begin to shoot.
Therefore, whole image template ratio and/or position are accounted for according to the face size and preassigned pattern human face that recognize,
Automatically the specified location parameter reached is needed into sign adjustment unmanned vehicle, so as to establish one automatically to unmanned vehicle
The aerial mission that locus is adjusted.And unmanned vehicle just can be based on certain nominator as exposal model signal, oneself
Dynamic flight can extremely be completed to complete the automatic shooting of portrait mode of figure as the corresponding position of exposal model with the nominator.Take photo by plane
Aircraft only needs simply to take photo by plane winged according to position of the face being previously set in whole viewfinder range and ratio standard, adjustment
The row device locus of itself, so as to which intelligence completes the technique effect of shooting effect adjustment.
Preferably, the flight restriction parameter that limitation unmanned vehicle flies within a predetermined range includes the present embodiment：With people
On the basis of face point or using the current location of the unmanned vehicle as datum mark, limit unmanned vehicle up and down, or so,
The ultimate range of movable direction all directions movement.Also need to limit the distance range that unmanned plane carries out position adjustment,
For example, downward 1 meter from the initial position of unmanned vehicle, the number ranges such as upward 1.5 meters, the height of usual people is matched；Such as
Left and right range of translation is no more than 2 meters, for example movable scope is no more than 4 meters etc..Limitation unmanned vehicle is automatically generated pre-
Determine the flight restriction parameter of flight in scope, so when unmanned vehicle flight indoors, reduce because unmanned vehicle is adjusted
Whole displacement causes greatly very much the probability with the collision of indoor barrier；On the other hand, because the displacement of unmanned vehicle adjustment is too big
Cause during adjustment position, may may unexpectedly to grab the face of some passerby passed by；And generate flight restriction ginseng
Number, can also reduce the scope of unmanned vehicle flight, so the probability for clapping passerby by mistake can also be reduced；So as to improve the body of user
Test.And generally under some pattern, user is contemplated to be what is substantially judged for the relative position of itself and unmanned plane, institute
To be not in that major part to be implemented shines self-timer, then situation of the initial position of user distance unmanned plane more than 3 meters, so
Unmanned plane adjusts in limited range, will not unexpectedly grab the face of some passerby passed by, undesirable so as to implement
Shooting.Most probable application scenarios are that user have selected major part and shine self-timer, then itself apart from unmanned plane probably at 1 meter or so,
Then unmanned plane is adjusted so that itself actual range with user object is maintained at 0.7 meter or so, so as to obtain ideal
Photo.For example, it is also possible to the first man face that point, especially video camera recognize on the basis of face is joined as flight restriction
Several benchmark, such as increase on the specified location parameter basis that the above-mentioned generation sign adjustment unmanned vehicle referred to needs to reach
Add predetermined error rate (such as ± 10%) as limitation unmanned vehicle flight restriction parameter；Due to using some face as
Benchmark first determines the limitation scope of shooting adjustment, though screening-mode is then next changed, or in coverage newly
Subject (new face) is increased, the position adjustment of follow-up unmanned vehicle is also limited, so as to avoid adjusting range
Accident caused by excessive.
It should be added that above-mentioned unmanned vehicle needs the specified location parameter reached and above-mentioned flight restriction
Parameter is in some cases, however not excluded that is limited to 0 in some direction.
As shown in Fig. 2 on the other hand the present embodiment also provides a kind of flight image pickup method of adjust automatically picture-taking position, should
Method includes：
S100, a variety of predetermined portrait exposal models of storage, and every kind of portrait exposal model corresponds to face pre- respectively
Determine the diverse location and/or ratio in image template；
S200, after certain nominator is received as exposal model signal, the position based on face in predetermined image template
The ratio of whole predetermined image template is put and/or accounted for, automatically generates and characterizes the specified location that adjustment unmanned vehicle needs to reach
The flight restriction parameter that parameter and limitation unmanned vehicle fly within a predetermined range.
The present embodiment preferably, limits the flight restriction parameter that unmanned vehicle flies within a predetermined range in step S200
Including：The point on the basis of face, limit the maximum that unmanned vehicle moves in top to bottom, left and right, front and rear moving direction all directions
Distance.
Embodiment two
The present embodiment on the basis of embodiment one, when unmanned vehicle fly to preset range limitation boundary position,
And do not find yet can according to nominator as exposal model signal when, controller generation control unmanned vehicle return initial bit
Put, find the flight signal of correct face again.
As shown in figure 3, the flight image pickup method that the present embodiment provides further comprises：
S300, when unmanned vehicle fly to preset range limitation boundary position, and do not find yet can according to specify
During portrait exposal model signal, controller generation control unmanned vehicle returns to initial position, finds flying for correct face again
Row signal.
Specifically, if limitation without flight restriction parameter, may unmanned unmanned vehicle in first step face recognition
When, surprisingly grab what is passed by, for example, the face of some object outside 3 meters, then carries out position adjustment using the face as object；
If not distance limitation, unmanned plane may surpass the object and fly past 2.4 meters of, be shot, in fact, due to adding
Distance limitation, aircraft just can appreciate that after by the flight close to limiting distance, captured wrong mesh before
Mark, so as to abandon the task, returns to initial position, finds correct user object again.
Embodiment three
The present embodiment adds the applied field of multiple face exposal models on the basis of embodiment one or embodiment two
Scape.Specifically, a variety of predetermined portrait exposal models also include multiple face exposal models, and multiple face exposal models
In, based on the position center of gravity of multiple face set, generation adjustment unmanned vehicle needs the location parameter reached.Further,
The face set for only needing to recognize these replaces face object single in such scheme as current process object,
New object adjustment basis can be used as based on the position center of gravity of these face set, that is to say, that allow each of face set
The center of gravity for the concrete condition that individual face is distributed in viewfinder range is as adjustment basis, by the space bit for changing aerial photography aircraft
Put to cause the center of gravity to turn into the center of viewfinder range, similar reason can also for the accounting ratio data of face shooting
Obtain and set by experience or calculating；Then then can directly be adjusted according to the mode similar with above-described embodiment,
Or adjusted based on some specific screening-modes.
Using above-mentioned technical proposal provided by the invention, at least one of following beneficial effect can be obtained：
1st, whole image template ratio and/or position are accounted for according to the face size and preassigned pattern human face that recognize, from
Move into and characterize the specified location parameter that adjustment unmanned vehicle needs to reach, so as to establish a sky to unmanned vehicle automatically
Between the aerial mission that is adjusted of position.
2nd, unmanned vehicle can just be based on certain nominator as exposal model signal, automatic flight can extremely be completed to refer to this
Position corresponding to determining portrait exposal model, complete the automatic shooting of portrait mode of figure.I.e. aerial photography aircraft is only needed simply according to thing
Position and ratio standard of the face first set in whole viewfinder range, the locus of aerial photography aircraft itself is adjusted, from
And intelligence completes the technique effect of shooting effect adjustment.
3rd, the flight restriction parameter that limitation unmanned vehicle flies within a predetermined range is automatically generated, so works as unmanned flight
During device flight indoors, reduce because the displacement of unmanned vehicle adjustment causes greatly very much the probability with the collision of indoor barrier；Separately
On the one hand, because the displacement of unmanned vehicle adjustment causes greatly very much may unexpectedly grab during adjustment position
The face of some passerby passed by；And flight restriction parameter is generated, the scope of unmanned vehicle flight can be also reduced, so can also
Reduce the probability for clapping passerby by mistake；So as to improve the experience of user.
4th, further, when unmanned vehicle flies to the boundary position of preset range limitation, and do not find yet can be by
When taking nominator's picture exposal model signal, controller generation control unmanned vehicle returns to initial position, finds correct people again
The flight signal of face；Flight filming apparatus is enabled more accurately to find the face specified, so as to generate the figure for meeting demand
Picture.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, execution the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Finally it should be noted that described above is only highly preferred embodiment of the present invention, not the present invention is appointed
What formal limitation.Any those skilled in the art, it is without departing from the scope of the present invention, all available
The way and technology contents of the disclosure above make many possible variations and simple replacement etc. to technical solution of the present invention, these
Belong to the scope of technical solution of the present invention protection.
Claims (10)
1. a kind of flight filming apparatus of adjust automatically picture-taking position, the flight filming apparatus includes what portrait was shot
Video camera, the head of the video camera is loaded, and carry the unmanned vehicle of the head；Characterized in that, the flight
Filming apparatus also includes：
Memory, a variety of predetermined portrait exposal models are provided with it, and every kind of portrait exposal model corresponds to respectively
Diverse location and/or ratio of the face in predetermined image template；
Controller, after certain nominator is received as exposal model signal, based on face in the predetermined image template
Position and/or the ratio for accounting for the whole predetermined image template, the controller automatically generate sign and adjust the unmanned flight
Device needs the specified location parameter reached and limits the flight restriction parameter that the unmanned vehicle flies within a predetermined range.
2. device according to claim 1, it is characterised in that generation, which characterizes, adjusts what the unmanned vehicle needs reached
Specified location parameter, which includes the unmanned vehicle, needs the relative displacement parameter adjusted and/or the space for needing to reach to sit
Mark parameter and/or the head need the anglec of rotation adjusted.
3. device according to claim 1, it is characterised in that limit what the unmanned vehicle flew within a predetermined range
Flight restriction parameter includes：Put or using the current location of the unmanned vehicle as datum mark, limited on the basis of face
The ultimate range that the unmanned vehicle moves in top to bottom, left and right, front and rear moving direction all directions.
4. device according to claim 1, it is characterised in that limited when the unmanned vehicle flies to the preset range
The boundary position of system, and do not find yet can according to the nominator as exposal model signal when, controller generation control
The unmanned vehicle returns to initial position, finds the flight signal of correct face again.
5. device according to claim 1, it is characterised in that a variety of predetermined portrait exposal models include recent photograph mould
Formula, middle-range shine pattern according to pattern, long distance；And recent photograph pattern also includes major part and shines pattern according to pattern, whole body according to pattern, half body；And
And position of the face in image template is different with the ratio for accounting for whole image template in different mode, in the memory respectively
It is stored with different mode, corresponding relative displacement parameter between unmanned vehicle and face.
6. device according to claim 5, it is characterised in that a variety of predetermined portrait exposal models also include multiple
Face exposal model, and in multiple face exposal models, based on the position center of gravity of the multiple face set, generation adjustment institute
State the location parameter that unmanned vehicle needs to reach.
7. device according to claim 1, it is characterised in that generation, which characterizes, adjusts what the unmanned vehicle needs reached
Specified location parameter includes：In the translation parameters of vertical height and horizontal direction, the translation parameters makes the unmanned vehicle
Face in viewfinder range center and image template in face center overlap；And the unmanned vehicle with
Spacing parameter between subject so that the ratio that face accounts for described image template meets pre-provisioning request.
8. a kind of flight image pickup method of adjust automatically picture-taking position, it is characterised in that methods described includes：
A variety of predetermined portrait exposal models are stored, and every kind of portrait exposal model corresponds to face in predetermined image respectively
Diverse location and/or ratio in template；
After certain nominator is received as exposal model signal, position based on face in the predetermined image template and/
Or the ratio of the whole predetermined image template is accounted for, automatically generate and characterize the specific bit that the adjustment unmanned vehicle needs to reach
Put parameter and limit the flight restriction parameter that the unmanned vehicle flies within a predetermined range.
9. according to the method for claim 8, it is characterised in that limit what the unmanned vehicle flew within a predetermined range
Flight restriction parameter includes：Put or using the current location of the unmanned vehicle as datum mark, limited on the basis of face
The ultimate range that the unmanned vehicle moves in top to bottom, left and right, front and rear moving direction all directions.
10. according to the method for claim 8, it is characterised in that when the unmanned vehicle flies to the preset range
The boundary position of limitation, and do not find yet can according to the nominator as exposal model signal when, controller generation control
The unmanned vehicle is made to return to initial position, find the flight signal of correct face again.
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| CN111580546A (en) * | 2020-04-13 | 2020-08-25 | 深圳蚁石科技有限公司 | Automatic returning method and device for unmanned aerial vehicle |
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Application publication date: 20171121 |