CN108513080A - A kind of control method and device of light filling - Google Patents
A kind of control method and device of light filling Download PDFInfo
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- CN108513080A CN108513080A CN201810356334.0A CN201810356334A CN108513080A CN 108513080 A CN108513080 A CN 108513080A CN 201810356334 A CN201810356334 A CN 201810356334A CN 108513080 A CN108513080 A CN 108513080A
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
The present invention provides a kind of control method and device of light filling, wherein this method includes：Detect intensity of illumination of the unmanned plane under current flight environment；Determine light levels corresponding with intensity of illumination；The light levels calculated between determining light levels and goal gradient are poor；Light filling is carried out to the filming apparatus being arranged on unmanned plane according to light levels difference.The control method and device of light filling provided by the invention carry out light filling according to the intensity of illumination under the current flight environment detected according to corresponding light levels difference, and the flexibility of light filling control is higher, and light filling effect is preferable.
Description
Technical field
The present invention relates to light filling control technology fields, in particular to a kind of control method and device of light filling.
Background technology
Unmanned plane (Unmanned Aerial Vehicle, UAV) is referred to using radio robot and is provided for oneself
The UAV device of presetting apparatus manipulation.With the rapid development of unmanned air vehicle technique, unmanned plane is applied to map
The fields such as mapping, Forest servey, rescue and relief work, logistics express delivery, high-altitude shooting.Wherein, in high-altitude, shooting field unmanned plane is wide
General application.
It is on current unmanned plane to be provided with the filming apparatus such as video monitoring equipment, video camera, camera with camera function more,
The image information obtained by above-mentioned filming apparatus further realizes the functions such as target positioning, tracking, avoidance.However, above-mentioned bat
Device is taken the photograph often to be limited by ambient lighting when applying at night, and in illumination deficiency, shoot the clarity of image
It will substantially reduce.
The relevant technologies provide a kind of control method of light filling to improve the clarity of shooting at night image, and this method passes through
The brightness that is artificially arranged in advance carries out light filling, no matter which kind of environment, be all made of a kind of brightness and carry out light filling, control mode is fixed,
Cause light filling effect poor.
Invention content
In view of this, the purpose of the present invention is to provide a kind of control method and device of light filling, to improve light filling control
Flexibility, light filling effect is preferable.
In a first aspect, the present invention provides a kind of control method of light filling, the method includes：
Detect intensity of illumination of the unmanned plane under current flight environment；
Determine light levels corresponding with the intensity of illumination；
The light levels calculated between determining light levels and goal gradient are poor；
Light filling is carried out to the filming apparatus being arranged on the unmanned plane according to the light levels difference.
With reference to first aspect, the present invention provides the first possible embodiments of first aspect, wherein described true
Before fixed light levels corresponding with the intensity of illumination, further include：
Obtain multiple default illumination threshold values；
Two adjacent default illumination threshold values are subjected to grade classification successively, obtain multiple light levels；
Establish the correspondence between each light levels and intensity of illumination；
Determination light levels corresponding with the intensity of illumination, including：
According to the correspondence of foundation, light levels corresponding with the intensity of illumination of detection are determined.
The possible embodiment of with reference to first aspect the first, second the present invention provides first aspect are possible
Embodiment, wherein each light levels include upper limit illumination threshold value and lower limit illumination threshold value, and remove first light levels
The lower limit illumination threshold value of other outer light levels is the upper limit illumination threshold of a upper light levels for other light levels
The upper limit illumination threshold value of value, other light levels in addition to the last one light levels is the next of other light levels
The lower limit illumination threshold value of light levels.
Second of possible embodiment with reference to first aspect, the third the present invention provides first aspect are possible
Embodiment, wherein the last one described light levels are goal gradient；It is described to calculate determining light levels and goal gradient
Between light levels it is poor, including：
The last one described light levels and the light levels of the determination are subjected to subtraction, obtain corresponding illumination
Rank difference；The light levels difference reduces with the raising of the light levels of the determination.
Second of possible embodiment with reference to first aspect, the 4th kind the present invention provides first aspect are possible
Embodiment, wherein it is described light filling is carried out to the filming apparatus that is arranged on the unmanned plane according to the light levels difference before,
Further include：
The intensity of illumination is adjusted into the upper limit illumination threshold value to light levels corresponding with the intensity of illumination.
With reference to first aspect, the present invention provides the 5th kind of possible embodiments of first aspect, wherein it is described according to
The light levels difference carries out light filling to the filming apparatus being arranged on the unmanned plane, including：
Determine rank difference number corresponding with the light levels difference calculated；
It one by one is adjusted to the goal gradient from the determining light levels according to the rank difference number, with to institute
It states the filming apparatus being arranged on unmanned plane and carries out light filling.
With reference to first aspect, the present invention provides the 6th kind of possible embodiments of first aspect, wherein using infrared
Light compensating lamp carries out light filling to the filming apparatus being arranged on the unmanned plane.
Second aspect, the present invention also provides a kind of control device of light filling, described device includes：
Detection module, for detecting intensity of illumination of the unmanned plane under current flight environment；
Determining module, for determining light levels corresponding with the intensity of illumination；
Computing module, it is poor for calculating the light levels between determining light levels and goal gradient；
Supplementary lighting module, for carrying out light filling to the filming apparatus being arranged on the unmanned plane according to the light levels difference.
In conjunction with second aspect, the present invention provides the first possible embodiments of second aspect, wherein further includes：
Module is established, for obtaining multiple default illumination threshold values；Two adjacent default illumination threshold values are carried out successively etc.
Grade divides, and obtains multiple light levels；Establish the correspondence between each light levels and intensity of illumination；
Determining module is specifically used for the correspondence according to foundation, determines corresponding with the intensity of illumination of detection
Light levels.
In conjunction with the first possible embodiment of second aspect, second the present invention provides second aspect is possible
Embodiment, wherein each light levels include upper limit illumination threshold value and lower limit illumination threshold value, and remove first light levels
The lower limit illumination threshold value of other outer light levels is the upper limit illumination threshold of a upper light levels for other light levels
The upper limit illumination threshold value of value, other light levels in addition to the last one light levels is the next of other light levels
The lower limit illumination threshold value of light levels.
The control method and device of light filling provided by the invention detect illumination of the unmanned plane under current flight environment first
Intensity；Then light levels corresponding with intensity of illumination are determined；It calculates again between determining light levels and goal gradient
Light levels are poor；Light filling finally is carried out to the filming apparatus being arranged on unmanned plane according to light levels difference, that is, it is according to detection
Intensity of illumination under the current flight environment arrived carries out light filling according to corresponding light levels difference, improves the flexible of light filling control
Property, light filling effect is preferable.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart of the control method for light filling that the embodiment of the present invention is provided；
The flow chart of the control method of another light filling provided Fig. 2 shows the embodiment of the present invention；
Fig. 3 shows the flow chart of the control method for another light filling that the embodiment of the present invention is provided；
Fig. 4 shows a kind of application schematic diagram of the control method for light filling that the embodiment of the present invention is provided；
Fig. 5 shows a kind of structural schematic diagram of the control device for light filling that the embodiment of the present invention is provided；
Fig. 6 shows the structural schematic diagram of the control device for another light filling that the embodiment of the present invention is provided.
Main element symbol description：
11, detection module；22, determining module；33, computing module；44, supplementary lighting module；55, module is established；66, mould is adjusted
Block；1000, processor；2000, memory；3000, bus.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
Applying the component of example can be arranged and designed with a variety of different configurations.Therefore, below to provide in the accompanying drawings the present invention
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on the embodiment of the present invention, the institute that those skilled in the art are obtained without making creative work
There is other embodiment, shall fall within the protection scope of the present invention.
In view of the control method of the light filling provided in the related technology is to carry out light filling by the brightness being artificially arranged in advance,
No matter which kind of environment, be all made of a kind of brightness and carry out light filling, control mode is fixed, and causes light filling effect poor.Based on this, this hair
Bright embodiment provides a kind of control method of light filling, and to improve the flexibility of light filling control, light filling effect is preferable.
Referring to Fig. 1, an embodiment of the present invention provides a kind of control method of light filling, the executive agent of this method can be nothing
Man-machine controller or other control chips, the above method specifically comprise the following steps：
The intensity of illumination of S101, detection unmanned plane under current flight environment；
Wherein, the intensity of illumination in the control method of light filling provided in an embodiment of the present invention on unmanned plane by being arranged
The strength information of illuminance transducer detection.Above-mentioned intensity of illumination refers to the luminous flux of received visible light on unit area,
Unit is lux (Lux or Lx).
S102, determination light levels corresponding with intensity of illumination；
For the ease of carrying out light filling according to light levels difference, the control method of light filling provided in an embodiment of the present invention is based on inspection
The intensity of illumination of survey determines corresponding light levels.In the embodiment of the present invention according to each intensity of illumination and each light levels it
Between default correspondence, determine corresponding with above-mentioned intensity of illumination light levels.Wherein, the number of light levels can by with
Family is flexibly arranged, to adapt to different flight environment of vehicle.In addition, with the increase of intensity of illumination, corresponding light levels are also got over
It is high.
S103, the light levels calculated between determining light levels and goal gradient are poor；
Goal gradient in the embodiment of the present invention is higher than light levels, as determining light levels are higher, the illumination etc.
Light levels difference between grade and goal gradient is smaller, also means that light filling amount is fewer.
S104, light filling is carried out to the filming apparatus being arranged on unmanned plane according to light levels difference.
The control method of light filling provided in an embodiment of the present invention is based on the light levels difference being calculated to being set on unmanned plane
The filming apparatus set carries out light filling.The embodiment of the present invention can control the light filling being arranged on unmanned plane based on above-mentioned light levels difference
Equipment carries out light filling to above-mentioned filming apparatus.
In order to further increase the clarity that filming apparatus shoots image, the embodiment of the present invention can control above-mentioned light filling and set
It sets on the object that light is irradiated under unmanned plane current flight environment, to achieve the purpose that light filling.
The control method of light filling provided in an embodiment of the present invention detects illumination of the unmanned plane under current flight environment first
Intensity；Then light levels corresponding with intensity of illumination are determined；It calculates again between determining light levels and goal gradient
Light levels are poor；Light filling finally is carried out to the filming apparatus being arranged on unmanned plane according to light levels difference, that is, it is according to detection
Intensity of illumination under the current flight environment arrived carries out light filling according to corresponding light levels difference, improves the flexible of light filling control
Property, light filling effect is preferable.
In order to determine that light levels corresponding with the intensity of illumination of detection, the embodiment of the present invention have also pre-established each light
According to the correspondence between grade and intensity of illumination, as shown in Fig. 2, the foundation of above-mentioned correspondence is especially by following steps reality
It is existing:
S201, multiple default illumination threshold values are obtained；
S202, two adjacent default illumination threshold values are subjected to grade classification successively, obtain multiple light levels；
S203, correspondence between each light levels and intensity of illumination is established.
Here, the control method of light filling provided in an embodiment of the present invention, first to each default illumination threshold value of acquisition into
Then all default illumination threshold values after sequence are carried out grade classification, obtain multiple light levels by row sequence two-by-two, last true
Fixed intensity of illumination corresponding with each light levels, the intensity of illumination will fall into each light levels and correspond to adjacent two in advance
If in illumination threshold value.
Wherein, above-mentioned default illumination threshold value can be artificial empirically determined, can also be that test of many times determines, can be with
It is that other modes determine, and the corresponding illumination siding-to-siding block length of two of arbitrary neighborhood default illumination threshold values can be identical, also may be used
With difference, the embodiment of the present invention does not do this specific limitation.
In the embodiment of the present invention, each light levels include upper limit illumination threshold value and lower limit illumination threshold value, and remove first
The lower limit illumination threshold value of other light levels outside a light levels is the upper limit of a upper light levels for other light levels
The upper limit illumination threshold value of illumination threshold value, other light levels in addition to the last one light levels is the next of other light levels
The lower limit illumination threshold value of a light levels.That is, there are threshold value coincidences between two adjacent light levels, so that it is guaranteed that each
Light compensating apparatus can be controlled in a threshold range, to generate the light filling effect of gradual change type, light filling effect to filming apparatus
Fruit is preferable, further such that the picture quality of filming apparatus intake is higher, practicability is stronger.
It is worth noting that the goal gradient in the embodiment of the present invention can be the last one light levels, can also be
Other light levels, and when the last one light levels is goal gradient, light levels difference will be with determining light levels
Raising and reduce, that is, the corresponding light levels of the intensity of illumination detected are higher, also just closer to the last one illumination etc.
Grade, at this point, light levels difference is also just smaller, then required light filling is also fewer；When other light levels are goal gradients
(such as intermediate light levels), if it is determined that light levels be less than above-mentioned intermediate light levels, similarly it is found that light levels difference will
Reduce with the raising of determining light levels, then needed for light filling it is also fewer, if it is determined that light levels be more than
Above-mentioned intermediate light levels, light levels difference will increase with the raising of determining light levels, at this time, it would be desirable to more
Light drops.
In view of the control method of light filling provided in an embodiment of the present invention is to carry out light filling according to light levels difference, because
This, the embodiment of the present invention directly can be adjusted to goal gradient step by step according to current light levels, can also be strong by illumination
Degree is adjusted to after the upper limit illumination threshold value of light levels corresponding with the intensity of illumination, step by step further according to current light levels
It is adjusted to goal gradient.Next it is made a concrete analysis of in two kinds of situation.
The first situation：Referring to Fig. 3, the embodiment of the present invention directly according to current light levels step by step be promoted to target
Grade is realized especially by following steps：
S301, determination rank difference number corresponding with the light levels of calculating difference；
S302, it one by one is adjusted to goal gradient from determining light levels according to rank difference number, on unmanned plane
The filming apparatus of setting carries out light filling.
The embodiment of the present invention determines rank difference number corresponding with the light levels difference calculated, such as embodiment of the present invention first
Goal gradient be highest level, be the tenth grade, the light levels of calculating are the 5th grades, then, light levels with
Five rank difference numbers are differed between goal gradient, at this moment, the embodiment of the present invention will step by step be mended from current light grade
Light, in the case of the single control of light filling, when light luminance is in the critical condition of light compensating lamp switching, light compensating lamp
The jumping phenomenon of gradation of image can be caused by toggling, and carried out light filling by the light compensation method of gradual change type, ensured unmanned plane vision
The intensity of illumination energy smooth change of system, while ensureing the clarity of shooting image, to ensure picture quality.
Wherein, above-mentioned gradual change light filling is promoted step by step to goal gradient from current light grade, is only needed in lifting process
Corresponding grade is fallen into, the intermediate value intensity of illumination or other intensities of illumination of grade are such as fallen into.
The second situation：The embodiment of the present invention is mending the filming apparatus being arranged on unmanned plane according to light levels difference
Before light, intensity of illumination is also adjusted to the upper limit illumination threshold value to light levels corresponding with the intensity of illumination.That is, of the invention
Embodiment is to carry out light filling using upper limit illumination threshold value as the reference point of light filling.
As it can be seen that the control method of light filling provided in an embodiment of the present invention not only can directly according to current light levels by
It is promoted to grade goal gradient, intensity of illumination can also be adjusted to the upper limit illumination to light levels corresponding with the intensity of illumination
It carries out light filling after threshold value step by step again, further improves the flexibility of light filling control.
For any one of the above situation, the embodiment of the present invention can be realized by multiple hysteresis loop comparator combinations
Gradual control.The outstanding feature of above-mentioned hysteresis loop comparator is when input signal gradually increases or is gradually reduced, and there are two thresholds for it
Value, and it is unequal, transmission characteristic is the shape for having hysteresis loop.For the ease of to light filling provided in an embodiment of the present invention
Further understanding for control method, is next specifically described in conjunction with hysteresis loop comparator.As shown in figure 4, implementing in the present invention
In example, the upper limit illumination threshold value and lower limit illumination threshold value of each hysteresis loop comparator correspond to a light levels, threshold value 1 and threshold value
2 correspond to first light levels, and threshold value 2 and threshold value 3 correspond to second light levels, and so on, n pairs of threshold value n-1 and threshold value
Answer the last one light levels (i.e. goal gradient).For any one hysteresis loop comparator, using the intensity of illumination of detection as defeated
Enter signal, then the grading control signal of light filling equipment is responded as output, and each grading control signal corresponds to illumination etc.
It is differential.So, when grading control signal is 0, light filling equipment remains off, namely without carrying out light filling；When control is believed
Number be 1 when, light filling equipment be level-one brightness carry out light filling；When it is 2 to control signal, light filling equipment is that two level brightness is mended
Light；And so on, when it is n to control signal, light filling equipment is that maximum brightness carries out light filling.
Wherein, the embodiment of the present invention can carry out light filling by the brightness of one light filling equipment of gradual control, can also be same
When control more light filling equipment and carry out light fillings, that is, the higher corresponding light filling equipment opened of the series of required light filling is also more.It examines
Consider the stable of infrared light compensating lamp, calorific value is low, low energy consumption, good characteristic with long service life, in the embodiment of the present invention
Light filling equipment be preferably infrared light compensating lamp, which can be to avoid to flight environment of vehicle using sightless infrared band
Interference.
It is worth noting that the embodiment of the present invention is intensity of illumination of the real-time detection unmanned plane under current flight environment,
When the intensity of illumination changes with current flight environment, different light-filling strategies will be corresponding with.In current light intensity
In the case of higher and higher, corresponding light levels are also just higher and higher, then, correspond to the illumination etc. of current light grade
It is differential smaller and smaller, that is, light filling equipment will need to reduce light filling amount step by step to reduce light filling, similarly, in current light intensity
In the case of lower and lower, corresponding light levels are also just lower and lower, then, correspond to the illumination etc. of current light grade
It is differential increasing, that is, light filling equipment will need to increase light filling amount step by step to increase light filling.As it can be seen that the embodiment of the present invention can
Neatly to control light filling, practicability is more preferably.
The control method of light filling provided in an embodiment of the present invention detects illumination of the unmanned plane under current flight environment first
Intensity；Then light levels corresponding with intensity of illumination are determined；It calculates again between determining light levels and goal gradient
Light levels are poor；Light filling finally is carried out to the filming apparatus being arranged on unmanned plane according to light levels difference, that is, it is according to detection
Intensity of illumination under the current flight environment arrived carries out light filling according to corresponding light levels difference, improves the flexible of light filling control
Property, light filling effect is preferable.
Based on same inventive concept, the control of light filling corresponding with the control method of light filling is additionally provided in the embodiment of the present invention
Device processed, due to the control method of principle and the above-mentioned light filling of the embodiment of the present invention that the device in the embodiment of the present invention solves the problems, such as
It is similar, therefore the implementation of device may refer to the implementation of method, overlaps will not be repeated.As shown in figure 5, implementing for the present invention
The control device schematic diagram for the light filling that example is provided, the control device of the light filling include：
Detection module 11, for detecting intensity of illumination of the unmanned plane under current flight environment；
Determining module 22, for determining light levels corresponding with intensity of illumination；
Computing module 33, it is poor for calculating the light levels between determining light levels and goal gradient；
Supplementary lighting module 44, for carrying out light filling to the filming apparatus being arranged on unmanned plane according to light levels difference.
In one embodiment, the control device of above-mentioned light filling further includes：
Module 55 is established, for obtaining multiple default illumination threshold values；Two adjacent default illumination threshold values are carried out successively
Grade classification obtains multiple light levels；Establish the correspondence between each light levels and intensity of illumination；
Determining module 22 is specifically used for the correspondence according to foundation, determines illumination corresponding with the intensity of illumination of detection
Grade.
In specific implementation, each light levels include upper limit illumination threshold value and lower limit illumination threshold value, and remove first
The lower limit illumination threshold value of other light levels outside light levels is the upper limit light of a upper light levels for other light levels
According to threshold value, the upper limit illumination threshold value of other light levels in addition to the last one light levels is the next of other light levels
The lower limit illumination threshold value of light levels.
In another embodiment, the last one light levels is goal gradient；Computing module 33, being specifically used for will most
The latter light levels and the light levels determined carry out subtraction, and it is poor to obtain corresponding light levels；Light levels difference with
It the raising of the light levels determined and reduces.
In another embodiment, the control device of above-mentioned light filling further includes：
Adjustment module 66, for intensity of illumination to be adjusted to the upper limit illumination threshold to light levels corresponding with the intensity of illumination
Value.
In specific implementation, above-mentioned supplementary lighting module 44 is specifically used for the poor corresponding grade of the light levels for determining with calculating
Poor number；According to rank difference number it one by one is adjusted to goal gradient from determining light levels, with to being arranged on unmanned plane
Filming apparatus carries out light filling.
In specific implementation, light filling is carried out to the filming apparatus being arranged on unmanned plane using infrared light compensating lamp.
As shown in fig. 6, the control device schematic diagram of another light filling provided by the embodiment of the present invention, the control of the light filling
Device processed includes：Processor 1000, memory 2000 and bus 3000, the storage of memory 2000 execute instruction, when device is run
When, it is communicated by bus 3000 between processor 1000 and memory 2000, processor 1000 executes to be stored in memory 2000
Following execute instruction：
Detect intensity of illumination of the unmanned plane under current flight environment；
Determine light levels corresponding with intensity of illumination；
The light levels calculated between determining light levels and goal gradient are poor；
Light filling is carried out to the filming apparatus being arranged on unmanned plane according to light levels difference.
In one embodiment, above-mentioned processor 1000 is additionally operable to, and obtains multiple default illumination threshold values；By adjacent two
A default illumination threshold value carries out grade classification successively, obtains multiple light levels；Establish each light levels and intensity of illumination it
Between correspondence；According to the correspondence of foundation, light levels corresponding with the intensity of illumination of detection are determined.
In specific implementation, each light levels include upper limit illumination threshold value and lower limit illumination threshold value, and remove first
The lower limit illumination threshold value of other light levels outside light levels is the upper limit light of a upper light levels for other light levels
According to threshold value, the upper limit illumination threshold value of other light levels in addition to the last one light levels is the next of other light levels
The lower limit illumination threshold value of light levels.
In another embodiment, the last one light levels is goal gradient；Above-mentioned processor 1000, is specifically used for
The last one light levels and the light levels determined are subjected to subtraction, it is poor to obtain corresponding light levels；Light levels
Difference reduces with the raising of determining light levels.
In another embodiment, above-mentioned processor 1000 is additionally operable to, and intensity of illumination is adjusted and is arrived and the intensity of illumination
The upper limit illumination threshold value of corresponding light levels.
In specific implementation, above-mentioned processor 1000 is specifically used for the poor corresponding grade of the light levels for determining with calculating
Poor number；According to rank difference number it one by one is adjusted to goal gradient from determining light levels, with to being arranged on unmanned plane
Filming apparatus carries out light filling.
In specific implementation, light filling is carried out to the filming apparatus being arranged on unmanned plane using infrared light compensating lamp.
The computer program product of the control method for the progress light filling that the embodiment of the present invention is provided, including store program
The computer readable storage medium of code, the instruction that program code includes can be used for executing the method in previous methods embodiment,
Specific implementation can be found in embodiment of the method, and details are not described herein.
The control device for the light filling that the embodiment of the present invention is provided can be that the specific hardware or be installed in equipment is set
Standby upper software or firmware etc..The technique effect of the device that the embodiment of the present invention is provided, realization principle and generation and aforementioned
Embodiment of the method is identical, and to briefly describe, device embodiment part does not refer to place, can refer to corresponding in preceding method embodiment
Content.It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, dress
The specific work process with unit is set, can refer to the corresponding process in above method embodiment, details are not described herein.
In embodiment provided by the present invention, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Volume function divides, formula that in actual implementation, there may be another division manner, in another example, multiple units or component can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the invention can be integrated in a processing unit, also may be used
It, can also be during two or more units be integrated in one unit to be that each unit physically exists alone.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of control method of light filling, which is characterized in that including：
Detect intensity of illumination of the unmanned plane under current flight environment；
Determine light levels corresponding with the intensity of illumination；
The light levels calculated between determining light levels and goal gradient are poor；
Light filling is carried out to the filming apparatus being arranged on the unmanned plane according to the light levels difference.
2. according to the method described in claim 1, it is characterized in that, in determination illumination corresponding with the intensity of illumination etc.
Before grade, further include：
Obtain multiple default illumination threshold values；
Two adjacent default illumination threshold values are subjected to grade classification successively, obtain multiple light levels；
Establish the correspondence between each light levels and intensity of illumination；
Determination light levels corresponding with the intensity of illumination, including：
According to the correspondence of foundation, light levels corresponding with the intensity of illumination of detection are determined.
3. according to the method described in claim 2, it is characterized in that, each light levels include upper limit illumination threshold value and lower limit
Illumination threshold value, and the lower limit illumination threshold value of other light levels in addition to first light levels is other light levels
The upper limit illumination threshold value of a upper light levels, the upper limit illumination threshold value of other light levels in addition to the last one light levels
For the lower limit illumination threshold value of next light levels of other light levels.
4. according to the method described in claim 3, it is characterized in that, the last one described light levels are goal gradient；It is described
The light levels calculated between determining light levels and goal gradient are poor, including：
The last one described light levels and the light levels of the determination are subjected to subtraction, obtain corresponding light levels
Difference；The light levels difference reduces with the raising of the light levels of the determination.
5. according to the method described in claim 3, it is characterized in that, it is described according to the light levels difference on the unmanned plane
Before the filming apparatus of setting carries out light filling, further include：
The intensity of illumination is adjusted into the upper limit illumination threshold value to light levels corresponding with the intensity of illumination.
6. according to the method described in claim 1, it is characterized in that, it is described according to the light levels difference on the unmanned plane
The filming apparatus of setting carries out light filling, including：
Determine rank difference number corresponding with the light levels difference calculated；
It one by one is adjusted to the goal gradient from the determining light levels according to the rank difference number, with to the nothing
The filming apparatus of man-machine upper setting carries out light filling.
7. according to the method described in claim 1, it is characterized in that, bat using infrared light compensating lamp to being arranged on the unmanned plane
It takes the photograph device and carries out light filling.
8. a kind of control device of light filling, which is characterized in that including：
Detection module, for detecting intensity of illumination of the unmanned plane under current flight environment；
Determining module, for determining light levels corresponding with the intensity of illumination；
Computing module, it is poor for calculating the light levels between determining light levels and goal gradient；
Supplementary lighting module, for carrying out light filling to the filming apparatus being arranged on the unmanned plane according to the light levels difference.
9. device according to claim 8, which is characterized in that further include：
Module is established, for obtaining multiple default illumination threshold values；Two adjacent default illumination threshold values are carried out grade successively to draw
Point, obtain multiple light levels；Establish the correspondence between each light levels and intensity of illumination；
Determining module is specifically used for the correspondence according to foundation, determines light corresponding with the intensity of illumination of detection
According to grade.
10. device according to claim 9, which is characterized in that each light levels include upper limit illumination threshold value under
Illumination threshold value is limited, and the lower limit illumination threshold value of other light levels in addition to first light levels is other described light levels
A upper light levels upper limit illumination threshold value, the upper limit illumination threshold of other light levels in addition to the last one light levels
The lower limit illumination threshold value of value next light levels of other light levels for described in.
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