CN110708473B - High dynamic range image exposure control method, aerial camera and unmanned aerial vehicle - Google Patents
High dynamic range image exposure control method, aerial camera and unmanned aerial vehicle Download PDFInfo
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- CN110708473B CN110708473B CN201911113131.XA CN201911113131A CN110708473B CN 110708473 B CN110708473 B CN 110708473B CN 201911113131 A CN201911113131 A CN 201911113131A CN 110708473 B CN110708473 B CN 110708473B
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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
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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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
- H04N23/741—Circuitry for compensating brightness variation in the scene by increasing the dynamic range of the image compared to the dynamic range of the electronic image sensors
Abstract
The embodiment of the invention relates to a high dynamic range image exposure control method, an aerial camera and an unmanned aerial vehicle, wherein the high dynamic range image exposure control method applied to the unmanned aerial vehicle comprises the following steps: firstly, acquiring the exposure time of a current frame, the gain of the current frame, the exposure time of a previous frame and the gain of the previous frame of the high dynamic range image, and then when the exposure time of the current frame and the exposure time of the previous frame meet a preset number of lines; and/or when the gain of the current frame and the gain of the previous frame meet the preset multiple, generating corresponding exposure control information, and further controlling the exposure of the high dynamic range image according to the corresponding exposure control information, so as to finally avoid the occurrence of image brightness oscillation.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to a high dynamic range image exposure control method, an aerial camera and an unmanned aerial vehicle.
[ background of the invention ]
Aircraft, such as Unmanned Aerial Vehicles (UAVs), also known as drones, are now finding increasingly widespread use. Unmanned aerial vehicle has small, light in weight, flexible, the reaction is quick, unmanned, operation requires low advantage, carries on the camera of taking photo by plane through the cloud platform, can also realize image real-time transmission, high-risk area detection function, is satellite remote sensing and traditional aerial remote sensing's powerful replenishment. In recent years, unmanned aerial vehicles have wide application prospects in disaster investigation and rescue, air monitoring, power transmission line inspection, aerial photography, aerial survey and military fields
In the aerial photography process, an aerial photography camera is used for obtaining a high dynamic range image (HDR), the high dynamic range image is an image generated by multiple exposure, the HDR video is a video formed by generating an HDR image sequence by continuous multiple exposure, compared with a common video, the HDR video can obviously increase the details of a bright area and a dark area of the video, the video image in the aerial photography is in motion, the light and shadow range changes greatly, the HDR video is not well processed, and the condition of image brightness oscillation can be generated.
[ summary of the invention ]
In order to solve the above technical problems, embodiments of the present invention provide a high dynamic range image exposure control method, an aerial camera, and an unmanned aerial vehicle, which avoid a phenomenon of image brightness oscillation occurring in a high dynamic range image.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a high dynamic range image exposure control method is applied to an unmanned aerial vehicle, and comprises the following steps: acquiring the exposure time of a current frame, the gain of the current frame, the exposure time of a previous frame and the gain of the previous frame of the high dynamic range image;
when the exposure time of the current frame and the exposure time of the previous frame meet a preset number of lines; and/or when the gain of the current frame and the gain of the previous frame meet a preset multiple, generating corresponding exposure control information; and controlling the exposure of the high dynamic range image according to the corresponding exposure control information. Alternatively,
optionally, the current frame exposure time and the previous frame exposure time satisfy a preset number of rows; and/or, when the current frame gain and the previous frame gain meet a preset multiple, generating corresponding exposure control information, including:
when the exposure time of the current frame is not less than a first preset line number and when the exposure time of the previous frame is less than a second preset line number; and/or the presence of a gas in the atmosphere,
and when the gain of the current frame is not less than a first preset multiple and when the gain of the previous frame is less than a second preset multiple, generating corresponding exposure control information.
Optionally, the unmanned aerial vehicle is provided with a storage device, and the storage device is preset with a plurality of first preset line numbers and a plurality of first preset multiples;
the first preset line number is equal to the second preset line number;
the first preset multiple is equal to the second preset multiple.
Optionally, the controlling the exposure of the high dynamic range image according to the corresponding exposure control information includes:
obtaining exposure control data according to the exposure control information;
and controlling the exposure of the high dynamic range image according to the exposure control data.
Optionally, the exposure control data includes a shutter value, an analog gain and a digital gain corresponding to long exposure, a shutter value, an analog gain and a digital gain corresponding to medium exposure, and a shutter value, an analog gain and a digital gain corresponding to short exposure;
obtaining exposure control data according to the exposure control information includes:
obtaining a shutter value, an analog gain and a digital gain corresponding to the long exposure according to the exposure control information;
obtaining a shutter value, an analog gain and a digital gain corresponding to the intermediate exposure according to the exposure control information;
and obtaining a shutter value, an analog gain and a digital gain corresponding to the short exposure according to the exposure control information.
Optionally, the controlling the exposure of the high dynamic range image according to the exposure control data includes:
and controlling the exposure of the high dynamic range image according to the shutter value, the analog gain and the digital gain corresponding to the long exposure, the shutter value, the analog gain and the digital gain corresponding to the medium exposure and the shutter value, the analog gain and the digital gain corresponding to the short exposure.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: a high dynamic range image exposure control method and device. The high dynamic range image exposure control method and device comprises the following steps: the exposure parameter acquisition module is used for acquiring the exposure time of the current frame, the gain of the current frame, the exposure time of the previous frame and the gain of the previous frame of the high dynamic range image;
the judging module is used for judging whether the exposure time of the current frame and the exposure time of the previous frame meet the preset line number; and/or when the gain of the current frame and the gain of the previous frame meet a preset multiple, generating corresponding exposure control information;
and the control module is used for controlling the exposure of the high dynamic range image according to the corresponding exposure control information.
Optionally, the determining module is specifically configured to determine whether the exposure time of the current frame is not less than a first preset number of lines or whether the exposure time of the previous frame is less than a second preset number of lines; and/or when the gain of the current frame is not less than a first preset multiple and when the gain of the last frame is less than a second preset multiple, generating corresponding exposure control information.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an aerial camera, comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a high dynamic range image exposure control method as described above.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a flight control module; and
a memory communicatively coupled to the flight control module; wherein the memory stores instructions executable by the flight control module to enable the flight control module to perform the high dynamic range image exposure control method as described above.
Compared with the prior art, the exposure control method for the high dynamic range image provided by the embodiment of the invention can be realized by firstly acquiring the current frame exposure time, the current frame gain, the previous frame exposure time and the previous frame gain of the high dynamic range image, and then when the current frame exposure time and the previous frame exposure time meet the preset number of lines; and/or generating corresponding exposure control information when the current frame gain and the previous frame gain meet preset multiples, and further controlling the exposure of the high dynamic range image according to the corresponding exposure control information, so as to finally avoid the phenomenon of image brightness oscillation.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a high dynamic range image exposure control method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of S20 in FIG. 2;
FIG. 4 is a schematic flow chart of S30 in FIG. 2;
FIG. 5 is a block diagram of an apparatus for controlling exposure of a high dynamic range image according to an embodiment of the present invention;
FIG. 6 is a block diagram of an aerial camera according to an embodiment of the present invention;
fig. 7 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a high dynamic range image exposure control method, an aerial camera and an unmanned aerial vehicle, wherein the high dynamic range image exposure control method applied to the unmanned aerial vehicle comprises the steps of firstly obtaining the current frame exposure time, the current frame gain, the previous frame exposure time and the previous frame gain of a high dynamic range image, and then when the current frame exposure time and the previous frame exposure time meet the preset line number; and/or generating corresponding exposure control information when the current frame gain and the previous frame gain meet preset multiples, and further controlling the exposure of the high dynamic range image according to the corresponding exposure control information, so as to finally avoid the phenomenon of image brightness oscillation.
The following illustrates an application environment of the high dynamic range image exposure control method.
FIG. 1 is a schematic illustration of an environment in which an embodiment of the present invention provides an aircraft-less control method; as shown in fig. 1, the application scenario includes an unmanned aerial vehicle 10, an infrared wireless network 20, a remote control device 30, and a user 40. The user 40 can control the unmanned aerial vehicle 10 through the infrared wireless network using the remote control device 30.
Unmanned aerial vehicle 10 may be any type of powered unmanned aerial vehicle including, but not limited to, a rotor unmanned aerial vehicle, a fixed wing unmanned aerial vehicle, an umbrella wing unmanned aerial vehicle, a flapping wing unmanned aerial vehicle, a helicopter model, and the like.
The unmanned aerial vehicle 10 can have corresponding volume or power according to the needs of actual conditions, so that the loading capacity, the flight speed, the flight endurance mileage and the like which can meet the use needs are provided. One or more functional modules can be added to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can realize corresponding functions.
For example, in the present embodiment, the unmanned aerial vehicle 10 is provided with a battery module, a positioning device, an infrared emitting device, a cradle head, and an aerial camera, and the aerial camera is mounted on the unmanned aerial vehicle 10 through the cradle head to perform operations such as photographing and recording.
The pan/tilt head is used to fix the aerial camera, or to adjust the attitude of the aerial camera at will (for example, to change the shooting direction of the aerial camera), and to stably maintain the aerial camera at a set attitude. The cradle head 20 comprises a base, a motor and a motor controller, wherein the base is fixedly connected or detachably connected with the unmanned aerial vehicle and is used for carrying the aerial camera on the unmanned aerial vehicle; the motor is installed in the base to be connected with the camera of taking photo by plane, motor controller and motor electricity are connected for control motor. The cloud platform can be for multiaxis cloud platform, and it is adapted to, and the motor is a plurality of, also every axle is provided with a motor.
The motors can drive the aerial camera to rotate on one hand, so that the aerial camera can be adjusted in different shooting directions, and the motors can be manually and remotely controlled to rotate or automatically rotate by utilizing a program, so that the function of omnibearing scanning monitoring is achieved; on the other hand, in the process of aerial photography of the unmanned aerial vehicle, the disturbance of the aerial camera is counteracted in real time through the rotation of the motor, the aerial camera is prevented from shaking, and the stability of a shot picture is guaranteed.
The aerial camera comprises a camera shell and a camera connected with the camera shell, wherein a holder connecting piece is arranged on the camera shell and used for being connected with a holder, a depth camera is further installed on the camera shell, and the depth camera and a main camera are installed on the same surface of the camera shell. The depth camera can be transversely, longitudinally or obliquely arranged on the installation surface, and when the tripod head motor rotates, the depth camera and the video camera synchronously move and always face to the same direction.
After the battery module is connected to the unmanned aerial vehicle 10, the battery module can provide a power supply for the unmanned aerial vehicle 10.
The positioning device may be a GPS positioning system for acquiring real-time geographic location information of the unmanned aerial vehicle.
The infrared transmitting device is configured to send infrared access information and receive an infrared control instruction sent by a remote control device, for example, when the remote control device sends an infrared control instruction, the infrared transmitting device receives the infrared control instruction, so that the unmanned aerial vehicle 10 controls a starting state of the unmanned aerial vehicle 10 according to the infrared control instruction. After the battery module is connected to the unmanned aerial vehicle 10, the infrared transmitting device may transmit the infrared access information obtained according to the access information of the battery module to the remote control device 30.
The unmanned aerial vehicle 10 includes at least one flight control module as a control core for flight and data transmission of the unmanned aerial vehicle 10, and has the capability of monitoring, computing and manipulating flight and tasks of the unmanned aerial vehicle. The remote control device 30 may be any type of smart device, such as a mobile phone, a tablet computer, a laptop computer, or other mobile control terminal, for establishing a communication connection with the unmanned aerial vehicle 10.
The remote control device 30 is equipped with an infrared receiving device for receiving infrared access information and sending infrared control instructions for controlling the unmanned aerial vehicle. For example, the remote control device 30 may be configured to receive infrared access information generated by the UAV 10 when the battery module is normally accessed to the UAV. The remote control device 30 may also send an infrared control command generated according to the control command of the user 40 to the unmanned aerial vehicle 10 to control the starting state of the unmanned aerial vehicle 10. The remote control device 30 may also be equipped with a picture transmission module for controlling the positioning of the picture, the shooting of the picture by the pan/tilt and the return of the aiming picture. In this embodiment, the map transmission module may further modulate the binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
The remote control device 30 may also be equipped with one or more different user 40 interaction devices for collecting user 40 instructions or presenting and feeding back information to the user 40.
These interaction means include, but are not limited to: button, display screen, touch-sensitive screen, speaker and remote control action pole. For example, the remote control device 30 may be equipped with a touch display screen through which a remote control instruction of the unmanned aerial vehicle 10 by the user 40 is received.
In some embodiments, the unmanned aerial vehicle 10 and the remote control device 30 can further provide more intelligent services by fusing the existing image vision processing technology. For example, the unmanned aerial vehicle 10 may capture images by means of a dual-optical camera, and the images are analyzed by the remote control device 30, so as to realize gesture control of the user 40 on the unmanned aerial vehicle 10.
Fig. 2 is a diagram illustrating an embodiment of a high dynamic range image exposure control method according to an embodiment of the present invention. The method may be performed by the unmanned aerial vehicle of fig. 1. Specifically, referring to fig. 2, the method may include, but is not limited to, the following steps:
s10, acquiring the current frame exposure time, the current frame gain, the previous frame exposure time and the previous frame gain of the high dynamic range image.
Specifically, an image sensor chip is arranged in the unmanned aerial vehicle, and the image sensor chip can acquire the current frame exposure time, the current frame gain, the previous frame exposure time and the previous frame gain of the high dynamic range image.
The units of the current frame exposure time and the previous frame exposure time are rows. The gain unit of the current frame and the gain unit of the previous frame are multiples, and the multiple of 1 is 1024.
S20, when the exposure time of the current frame and the exposure time of the previous frame meet the preset line number; and/or generating corresponding exposure control information when the current frame gain and the previous frame gain meet a preset multiple.
Specifically, when the exposure time of the current frame is not less than a first preset number of lines and when the exposure time of the previous frame is less than a second preset number of lines; and/or when the gain of the current frame is not less than a first preset multiple and when the gain of the last frame is less than a second preset multiple, generating corresponding exposure control information.
For example, if the first preset line number and the second preset line number are both 32, when the exposure time of the current frame is ≧ 32 lines and the exposure time of the previous frame is <32, the generated exposure control information is 2-fold exposure ratio. For another example, if the first preset magnification and the second preset magnification are both 6064, the exposure control information generated is a 16-fold exposure ratio when the current frame gain is ≧ 2048 and the previous frame gain is < 2048.
The unmanned aerial vehicle is provided with a storage device, and the storage device is preset with a plurality of first preset line numbers and a plurality of first preset multiples; the first preset line number is equal to the second preset line number; the first preset multiple is equal to the second preset multiple. It is understood that the first predetermined number of rows may be set as desired, for example, the first predetermined number of rows may be sequentially set to 32, 64, 128, 758, 6064, and so on, respectively. The first preset multiple may be set to 1500, 3600, 2048, 4096, respectively, in sequence.
Among them, the storage device may be a flash memory type memory, a hard disk type memory, a micro multimedia card type memory, a card type memory (e.g., SD or XD memory), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, and an optical disk.
And S30, controlling the exposure of the high dynamic range image according to the corresponding exposure control information.
Specifically, exposure control data is obtained according to the exposure control information, and the exposure of the high dynamic range image is controlled according to the exposure control data.
The exposure control data comprises a shutter value, an analog gain and a digital gain corresponding to long exposure, a shutter value, an analog gain and a digital gain corresponding to medium exposure, and a shutter value, an analog gain and a digital gain corresponding to short exposure.
The embodiment of the invention provides an exposure control method for a high dynamic range image, which comprises the steps of firstly obtaining the exposure time of a current frame, the gain of the current frame, the exposure time of a previous frame and the gain of the previous frame of the high dynamic range image, and then when the exposure time of the current frame and the exposure time of the previous frame meet the preset number of lines; and/or generating corresponding exposure control information when the current frame gain and the previous frame gain meet preset multiples, and further controlling the exposure of the high dynamic range image according to the corresponding exposure control information, so as to finally avoid the phenomenon of image brightness oscillation.
In order to better satisfy the preset line number when the current frame exposure time and the previous frame exposure time meet; and/or, when the current frame gain and the previous frame gain satisfy a predetermined multiple, generate corresponding exposure control information, in some embodiments, referring to fig. 3, S20 includes the following steps:
and S21, generating corresponding exposure control information when the exposure time of the current frame is not less than a first preset line number and when the exposure time of the previous frame is less than a second preset line number.
For example, if the first preset line number and the second preset line number are both 32, when the exposure time of the current frame is ≧ 32 lines and the exposure time of the previous frame is <32, the generated exposure control information is 2-fold exposure ratio. For example, if the first preset line number and the second preset line number are both 64, the generated exposure control information is a 4-fold exposure ratio when the current frame exposure time is ≧ 64 lines and the previous frame exposure time is < 64. For another example, if the first preset number of lines and the second preset number of lines are both 128, then when the exposure time of the current frame is ≧ 128 lines and the exposure time of the previous frame is <128, the generated exposure control information is an exposure ratio of 8 times.
And S22, when the gain of the current frame is not less than a first preset multiple and when the gain of the previous frame is less than a second preset multiple, generating corresponding exposure control information.
To better control the exposure of the high dynamic range image according to the corresponding exposure control information, in some embodiments, referring to fig. 4, S30 includes the following steps:
s31: and obtaining exposure control data according to the exposure control information.
The exposure control data comprises a shutter value, an analog gain and a digital gain corresponding to long exposure, a shutter value, an analog gain and a digital gain corresponding to medium exposure, and a shutter value, an analog gain and a digital gain corresponding to short exposure.
Specifically, a shutter value, an analog gain and a digital gain corresponding to the long exposure are obtained according to the exposure control information; obtaining a shutter value, an analog gain and a digital gain corresponding to the intermediate exposure according to the exposure control information; and obtaining a shutter value, an analog gain and a digital gain corresponding to the short exposure according to the exposure control information.
For example, if the exposure time of the current frame is ≧ 32 lines and the exposure time of the previous frame is <32, the generated exposure control information is a 2-fold exposure ratio, and the exposure control data obtained according to the exposure control information of the 2-fold exposure ratio is:
long exposure:
shutter value-current frame exposure time x2
Analog gain of 1 times
Digital gain is 1 times
Middle exposure:
shutter value-current frame exposure time x1
Analog gain of 1 times
Digital gain is 1 times
Short exposure:
shutter value being current frame exposure time/2
Analog gain of 1 times
Digital gain is 1 times
If the exposure time of the current frame is ≧ 64 lines and the exposure time of the previous frame is <64, the generated exposure control information is a 4-fold exposure ratio, and the exposure control data obtained according to the exposure control information of the 4-fold exposure ratio is:
long exposure:
shutter value-current frame exposure time x4
Analog gain of 1 times
Digital gain is 1 times
Middle exposure:
shutter value-current frame exposure time x1
Analog gain of 1 times
Digital gain is 1 times
Short exposure:
shutter value being current frame exposure time/4
Analog gain of 1 times
Digital gain is 1 times
If the exposure time of the current frame is ≧ 128 lines and the exposure time of the previous frame is <128, the generated exposure control information is an 8-fold exposure ratio, and the exposure control data obtained according to the exposure control information of the 8-fold exposure ratio is:
long exposure:
shutter value-current frame exposure time x8
Analog gain of 1 times
Digital gain is 1 times
Middle exposure:
shutter value-current frame exposure time x1
Analog gain of 1 times
Digital gain is 1 times
Short exposure:
shutter value being current frame exposure time/8
Analog gain of 1 times
Digital gain is 1 times
S32: and controlling the exposure of the high dynamic range image according to the exposure control data.
Specifically, the exposure of the high dynamic range image is controlled according to the shutter value, the analog gain and the digital gain corresponding to the long exposure, the shutter value, the analog gain and the digital gain corresponding to the medium exposure, and the shutter value, the analog gain and the digital gain corresponding to the short exposure.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiments of the present application, the embodiments of the present application provide a high dynamic range image exposure control method apparatus 50, which is applied to an unmanned aerial vehicle. Referring to fig. 5, the apparatus 50 for controlling exposure of high dynamic range image includes: an exposure parameter acquisition module 51, a judgment module 52 and a control module 53.
The exposure parameter obtaining module 51 is configured to obtain a current frame exposure time, a current frame gain, a previous frame exposure time, and a previous frame gain of the high dynamic range image.
The judging module 52 is configured to determine whether the exposure time of the current frame and the exposure time of the previous frame meet a preset number of rows; and/or generating corresponding exposure control information when the current frame gain and the previous frame gain meet a preset multiple.
The control module 53 is configured to control the exposure of the high dynamic range image according to the corresponding exposure control information.
Therefore, in this embodiment, the current frame exposure time, the current frame gain, the previous frame exposure time, and the previous frame gain of the high dynamic range image are obtained first, and then when the current frame exposure time and the previous frame exposure time satisfy the preset number of lines; and/or generating corresponding exposure control information when the current frame gain and the previous frame gain meet preset multiples, and further controlling the exposure of the high dynamic range image according to the corresponding exposure control information, so as to finally avoid the phenomenon of image brightness oscillation.
In some embodiments, the determining module 52 is specifically configured to determine whether the exposure time of the current frame is not less than a first preset number of lines or whether the exposure time of the previous frame is less than a second preset number of lines; and/or when the gain of the current frame is not less than a first preset multiple and when the gain of the last frame is less than a second preset multiple, generating corresponding exposure control information. The unmanned aerial vehicle is provided with a storage device, and the storage device is preset with a plurality of first preset line numbers and a plurality of first preset multiples; the first preset line number is equal to the second preset line number; the first preset multiple is equal to the second preset multiple.
In some embodiments, the control module 53 includes an exposure control data acquisition unit and a control exposure unit;
the exposure control data acquisition unit is used for acquiring exposure control data according to the exposure control information; the exposure control data comprises a shutter value, an analog gain and a digital gain corresponding to long exposure, a shutter value, an analog gain and a digital gain corresponding to medium exposure and a shutter value, an analog gain and a digital gain corresponding to short exposure; the exposure control data acquisition unit is specifically used for acquiring a shutter value, an analog gain and a digital gain corresponding to the long exposure according to the exposure control information; obtaining a shutter value, an analog gain and a digital gain corresponding to the long exposure according to the exposure control information; and obtaining a shutter value, an analog gain and a digital gain corresponding to the short exposure according to the exposure control information.
The exposure control unit is used for controlling the exposure of the high dynamic range image according to the exposure control data. The exposure control unit is specifically configured to control the exposure of the high dynamic range image according to the shutter value, the analog gain, and the digital gain corresponding to the long exposure, the shutter value, the analog gain, and the digital gain corresponding to the medium exposure, and the shutter value, the analog gain, and the digital gain corresponding to the short exposure.
Fig. 6 is a schematic structural diagram of an aerial camera provided in an embodiment of the present application, where the aerial camera 500 is capable of executing the high dynamic range image exposure control method provided in the corresponding method embodiment described above, or operating the high dynamic range image exposure control device provided in the corresponding device embodiment described above.
Specifically, referring to fig. 6, the aerial camera 500 includes:
one or more processors 501 and a memory 502 communicatively coupled to the at least one processor 501, as illustrated in fig. 6 for one processor 501.
The processor 501 and the memory 502 may be connected by a bus or other means, such as the bus connection in fig. 6.
The memory 502, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (e.g., the exposure parameter acquiring module 51, the determining module 52, and the control module 53 shown in fig. 5) corresponding to the high dynamic range image exposure control method in the embodiment of the present application. The processor 501 executes various functional applications and data processing of the high dynamic range image exposure control device 50 by running non-transitory software programs, instructions and modules stored in the memory 502, that is, implements the high dynamic range image exposure control method described in any of the corresponding method embodiments described above.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the high dynamic range image exposure control apparatus 50, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 502 optionally includes memory located remotely from processor 501, which may be connected to aerial camera 500 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 502 and, when executed by the one or more processors 501, perform the high dynamic range image exposure control method of the corresponding method embodiments described above.
The aerial camera 500 can execute the exposure control method of the high dynamic range image in the corresponding method embodiment, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the aerial photography camera, reference may be made to the high dynamic range image exposure control method in the corresponding method embodiment described above.
Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle 10 according to an embodiment of the present application, where the unmanned aerial vehicle 10 may be any type of unmanned vehicle, and is capable of executing the high dynamic range image exposure control method according to the corresponding method embodiment described above, or operating the high dynamic range image exposure control method apparatus 50 according to the corresponding apparatus embodiment described above. The unmanned aerial vehicle includes: fuselage, horn, power device, infrared emitter, flight control module 110, memory 120 and communication module 130.
The machine arm is connected with the machine body; the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle; the infrared transmitting device is arranged in the machine body and used for transmitting infrared access information and receiving an infrared control instruction transmitted by the remote control device;
the flight control module has the capability of monitoring, operating and manipulating the flight and tasks of the unmanned aerial vehicle, and comprises a set of equipment for controlling the launching and recovery of the unmanned aerial vehicle. The flight control module can also modulate the binary digital signals into corresponding infrared signals in the form of optical pulses or demodulate the infrared signals in the form of optical pulses into binary digital signals.
The flight control module 110, the memory 120, and the communication module 130 establish a communication connection therebetween in a bus manner.
The flight control module 110 may be any type of flight control module 110 having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 120 is a non-transitory computer-readable storage medium, and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (for example, the exposure parameter acquiring module 51, the determining module 52, and the control module 53 shown in fig. 5) corresponding to the high dynamic range image exposure control method in the embodiment of the present invention. The flight control module 110 executes various functional applications and data processing of the high dynamic range image exposure control method apparatus 50 by running the non-transitory software program, instructions and modules stored in the memory 120, that is, implements the high dynamic range image exposure control method in any of the above method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the high dynamic range image exposure control method apparatus 50, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 120 optionally includes memory located remotely from flight control module 110, which may be connected to UAV 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one flight control module 110; the at least one flight control module 110 is configured to execute the instructions to implement the high dynamic range image exposure control method in any of the above-mentioned method embodiments, for example, to execute the above-mentioned method steps 10, 20, 30, 40, and so on, to implement the functions of the blocks 51-54 in fig. 5.
The communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module 130 including, but not limited to, a WiFi module or a bluetooth module, etc.
Further, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more flight control modules 110, for example, by one flight control module 110 in fig. 7, and can cause the one or more flight control modules 110 to execute the high dynamic range image exposure control method in any of the above-mentioned method embodiments, for example, execute the above-mentioned method steps 10, 20, 30, and so on, to implement the functions of the modules 51 to 54 in fig. 5.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the high dynamic range image exposure control method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the high dynamic range image exposure control method. For details of the high dynamic range image exposure control method provided by the embodiments of the present invention, reference may be made to the following description.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A high dynamic range image exposure control method is applied to an unmanned aerial vehicle and is characterized by comprising the following steps:
acquiring the exposure time of a current frame, the gain of the current frame, the exposure time of a previous frame and the gain of the previous frame of the high dynamic range image;
when the exposure time of the current frame and the exposure time of the previous frame meet a preset number of lines; and/or when the gain of the current frame and the gain of the previous frame meet a preset multiple, generating corresponding exposure control information;
generating an exposure ratio of the exposure control information according to the exposure time of the current frame and the exposure time of the previous frame, and obtaining exposure control data according to the exposure ratio; the exposure control data comprises a shutter value, an analog gain and a digital gain corresponding to long exposure, a shutter value, an analog gain and a digital gain corresponding to medium exposure and a shutter value, an analog gain and a digital gain corresponding to short exposure;
and controlling the exposure of the high dynamic range image according to the exposure control data.
2. The method of claim 1, wherein the current frame exposure time and the previous frame exposure time satisfy a predetermined number of rows; and/or, when the current frame gain and the previous frame gain meet a preset multiple, generating corresponding exposure control information, including:
when the exposure time of the current frame is not less than a first preset line number and when the exposure time of the previous frame is less than a second preset line number; and/or the presence of a gas in the atmosphere,
and when the gain of the current frame is not less than a first preset multiple and when the gain of the previous frame is less than a second preset multiple, generating corresponding exposure control information.
3. The method of claim 2,
the unmanned aerial vehicle is provided with a storage device, and the storage device is preset with a plurality of first preset line numbers and a plurality of first preset multiples;
the first preset line number is equal to the second preset line number;
the first preset multiple is equal to the second preset multiple.
4. The method of claim 3, wherein said controlling exposure of said high dynamic range image in accordance with said exposure control data comprises:
and controlling the exposure of the high dynamic range image according to the shutter value, the analog gain and the digital gain corresponding to the long exposure, the shutter value, the analog gain and the digital gain corresponding to the medium exposure and the shutter value, the analog gain and the digital gain corresponding to the short exposure.
5. A high dynamic range image exposure control method device is characterized by comprising the following steps:
the exposure parameter acquisition module is used for acquiring the exposure time of the current frame, the gain of the current frame, the exposure time of the previous frame and the gain of the previous frame of the high dynamic range image;
the judging module is used for judging whether the exposure time of the current frame and the exposure time of the previous frame meet the preset line number; and/or when the gain of the current frame and the gain of the previous frame meet a preset multiple, generating corresponding exposure control information;
the control module is used for generating an exposure ratio of the exposure control information according to the exposure time of the current frame and the exposure time of the previous frame, and obtaining exposure control data according to the exposure ratio; the exposure control data comprises a shutter value, an analog gain and a digital gain corresponding to long exposure, a shutter value, an analog gain and a digital gain corresponding to medium exposure and a shutter value, an analog gain and a digital gain corresponding to short exposure; the control module is further configured to control exposure of the high dynamic range image according to the exposure control data.
6. The apparatus of claim 5, wherein the determining module is specifically configured to determine the exposure time of the current frame is not less than a first predetermined number of lines and determine the exposure time of the previous frame is less than a second predetermined number of lines; and/or when the gain of the current frame is not less than a first preset multiple and when the gain of the last frame is less than a second preset multiple, generating corresponding exposure control information.
7. An aerial camera, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the high dynamic range image exposure control method of any one of claims 1-4.
8. An unmanned aerial vehicle, comprising:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a flight control module; and
a memory communicatively coupled to the flight control module; wherein the memory stores instructions executable by the flight control module to enable the flight control module to perform the high dynamic range image exposure control method of any one of claims 1 to 4.
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| PCT/CN2020/124048 WO2021093578A1 (en) | 2019-11-14 | 2020-10-27 | High dynamic range image exposure control method, aerial camera, and unmanned aerial vehicle |
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