CN112335224A

CN112335224A - Image acquisition method and device for movable platform and storage medium

Info

Publication number: CN112335224A
Application number: CN201980040196.8A
Authority: CN
Inventors: 徐富; 黄振昊; 杨超锋; 贾向华
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2021-02-05
Also published as: WO2021035744A1

Abstract

A method, equipment and storage medium for image acquisition of a movable platform, wherein the method comprises the steps of obtaining photographing parameters of a photographing device carried by the movable platform and moving parameters of the movable platform (S101); obtaining an evaluation parameter of the image blurring degree according to the photographing parameter and the movement parameter (S102); adjusting the photographing parameters of the photographing device and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree (S103); image acquisition is performed by the photographing apparatus (S104). The fuzzy degree of the image shot by the shooting equipment is measured through the evaluation parameter of the fuzzy degree of the image, the shooting parameter of the shooting equipment and/or the moving parameter of the movable platform are/is adjusted in time according to the fuzzy degree, the image of the shooting equipment of the movable platform in the moving process can be effectively prevented from being fuzzy, the shooting definition and precision are improved, the image quality is improved, and the precision and the accuracy of surveying and mapping or inspection according to the image can be improved.

Description

Image acquisition method and device for movable platform and storage medium

Copyright declaration

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Technical Field

The embodiment of the invention relates to the technical field of inspection, in particular to an image acquisition method and equipment of a movable platform and a storage medium.

Background

With the development of remote sensing technology, movable platforms such as unmanned aerial vehicles and remote control cars are increasingly applied to surveying and mapping (such as aerial survey) and inspection tasks. For example, for an unmanned aerial vehicle, due to the characteristics of high precision, high flexibility, low cost and the like, the unmanned aerial vehicle is different from the traditional aerial manned photogrammetry, the unmanned aerial vehicle can be better applied to low-altitude photogrammetry, the limitation that the original aerial photogrammetry works on a cloud layer and the weather condition is strongly dependent on the cloud layer condition is broken through.

Due to the characteristic of low-altitude photogrammetry (operation under cloud layers) of the unmanned aerial vehicle, the unmanned aerial vehicle is more easily influenced by weather conditions such as cloud layer shielding in the shooting process of the low-altitude photogrammetry. Besides cloud layer shielding, low-altitude photogrammetry may also be influenced by shielding of other ground objects such as mountains and high buildings during flight operation.

When unmanned aerial vehicle is carrying out aerial photogrammetry or is patrolling and examining among the prior art, if the light and shade transform of surrounding environment is more outstanding, can lead to the picture of shooing to produce fuzziness, seriously influences composition precision and work efficiency.

Disclosure of Invention

The embodiment of the invention provides an image acquisition method and equipment of a movable platform and a storage medium, which are used for avoiding image blurring caused by photographing of the movable platform in the moving process and improving the image quality.

The first aspect of the embodiments of the present invention provides an image acquisition method for a movable platform, which is applied to the movable platform, and the method includes:

acquiring photographing parameters of the movable platform carrying photographing equipment and moving parameters of the movable platform;

obtaining an evaluation parameter of the image blurring degree according to the photographing parameter and the moving parameter;

adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree;

and acquiring images through the photographing equipment.

A second aspect of the embodiments of the present invention provides an image capturing method for a movable platform, which is applied to a control end, and the method includes:

acquiring photographing parameters of photographing equipment carried by a movable platform and moving parameters of the movable platform from the movable platform;

and sending an adjusting instruction to the movable platform according to the evaluation parameter of the image blurring degree so that the movable platform adjusts the photographing parameter of the photographing device and/or the moving parameter of the movable platform, and acquiring images through the photographing device.

A third aspect of an embodiment of the present invention is to provide a movable platform, including: a memory and a processor;

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

and acquiring images through the photographing equipment.

A fourth aspect of the embodiments of the present invention provides a control terminal, including: a memory and a processor;

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

A fifth aspect of embodiments of the present invention is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.

A sixth aspect of embodiments of the present invention provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method of the second aspect.

According to the image acquisition method, the image acquisition equipment and the storage medium of the movable platform provided by the embodiment of the invention, the photographing parameters of the photographing equipment carried by the movable platform and the movement parameters of the movable platform are obtained; obtaining an evaluation parameter of the image blurring degree according to the photographing parameter and the moving parameter; adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree; and acquiring images through the photographing equipment. The fuzzy degree of the image shot by the shooting equipment is measured through the evaluation parameter of the fuzzy degree of the image, the shooting parameter of the shooting equipment and/or the moving parameter of the movable platform are/is adjusted in time according to the fuzzy degree, the image of the shooting equipment of the movable platform in the moving process can be effectively prevented from being fuzzy, the shooting definition and precision are improved, the image quality is improved, and the precision and the accuracy of surveying and mapping or inspection according to the image can be improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a diagram of a system architecture according to an embodiment of the present invention;

FIG. 2 is a flowchart of an image capturing method for a movable platform according to an embodiment of the present invention;

FIG. 3 is a flowchart of an image capturing method for a movable platform according to another embodiment of the present invention;

FIG. 4 is a flowchart of an image capturing method for a movable platform according to another embodiment of the present invention;

FIG. 5 is a flowchart of an image capturing method for a movable platform according to another embodiment of the present invention;

FIG. 6 is a flowchart of an image capturing method for a movable platform according to another embodiment of the present invention;

FIG. 7 is a flowchart of an image capturing method for a movable platform according to another embodiment of the present invention;

FIG. 8 is a block diagram of a moveable platform provided by an embodiment of the present invention;

fig. 9 is a structural diagram of a control end according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

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 a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

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.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The image acquisition method of the movable platform provided by the embodiment of the present invention can be applied to a system as shown in fig. 1, where the system includes a movable platform 10 and a control end 11, where the movable platform 10 is in communication connection with the control end 11, the movable platform 10 includes, but is not limited to, a remote control car or an unmanned aerial vehicle, the control end 11 may be one or more of a remote controller, a ground control station, a smart phone, a tablet computer, and the like, and may control a power system of the movable platform 10 and/or a control system of the movable platform 10 and/or a photographing device of the movable platform 10. Specifically, the control terminal 11 may send a photographing mode setting instruction to the movable platform 10, where the photographing mode setting instruction includes any one of an automatic photographing mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long-time exposure mode instruction; in addition, when the movable platform 10 is an unmanned aerial vehicle, the control terminal 11 may further send at least one of an overlap rate setting command, a course height setting command, or a maximum speed setting command to the movable platform 10.

The following describes the image capturing process of the movable platform in detail with reference to specific embodiments.

The embodiment of the invention provides an image acquisition method of a movable platform. Fig. 2 is a flowchart of an image capturing method for a movable platform according to an embodiment of the present invention. As shown in fig. 2, an execution subject of the image capturing method for a movable platform in this embodiment is the movable platform, and the method may include:

step S101, acquiring photographing parameters of the movable platform carrying photographing equipment and moving parameters of the movable platform.

In this embodiment, the photographing parameters of the movable platform-mounted photographing apparatus may include, but are not limited to, at least one of an exposure time, a shutter speed, a shutter time, an exposure intensity, a sensitivity, or an aperture value of the photographing apparatus; the movement parameters of the movable platform include, but are not limited to, at least one of a movement velocity, a movement acceleration, or position information of the movable platform. Specifically, which photographing parameters and movement parameters can be obtained according to actual requirements in the embodiment, and all photographing parameters and movement parameters can be obtained, and then the required photographing parameters and movement parameters are screened out.

And S102, acquiring an evaluation parameter of the image blurring degree according to the photographing parameter and the moving parameter.

In the embodiment, because there is relative motion between the shooting device of the movable platform and the shot object, motion blur of the shooting device is easy to occur, especially in the case of mismatch between the shooting parameters and the movement parameters, that is, the shooting parameters are changed and the movement parameters are not adjusted adaptively, or the movement parameters are changed and the shooting parameters are not adjusted adaptively, for example, the shooting device of the movable platform uses an automatic gear mode in which the aperture, the sensitivity and the shutter speed can be adjusted simultaneously, when the light is darkened, the shutter speed needs to be reduced, and the exposure time needs to be increased so as to increase the brightness, but the speed of the movable platform is not changed during the movement, and the increase of the exposure time increases the motion blur, which results in the reduction of the shooting precision. Therefore, in this embodiment, the evaluation parameter of the image blur degree may be obtained according to the photographing parameter and the movement parameter, and the size of the image blur degree is measured by the evaluation parameter of the image blur degree, so as to determine whether the photographing parameter of the photographing apparatus and/or the movement parameter of the movable platform need to be adjusted.

In an alternative embodiment, the photographing parameter includes an exposure time of the photographing apparatus, the movement parameter includes a movement speed of the movable platform, and the evaluation parameter of the degree of image blur may be determined according to a product of the exposure time and the movement speed.

In this embodiment, the image blur degree is measured only by the exposure time and the moving speed, and when the moving speed is not changed, the exposure time is increased (that is, the shutter speed is decreased), and the image blur degree becomes larger, wherein the exposure time is increased may be caused by the change of the environment where the movable platform is located and the automatic change of the shutter speed of the photographing device to adapt to the environment change, for example, when the photographing device is in the automatic photographing mode, the shutter speed is automatically adjusted when the ambient light changes, and then, for example, in the shutter priority mode, the user can change the shutter speed of the photographing device through the control terminal; when the exposure time is not changed (i.e. the shutter speed is not changed), the moving speed is increased, and the image blurring degree is also increased; it can be seen that the exposure time is inversely proportional to the moving speed, so the evaluation parameter of the image blur degree in this embodiment can be determined according to the product of the exposure time and the moving speed, that is, the evaluation parameter L of the image blur degree is v × t, where v is the moving speed and t is the exposure time.

Of course, the evaluation parameter of the image blur degree in the embodiment of the present application is not limited to be determined according to the product of the exposure time and the moving speed, and may also be obtained by using a more complex formula, taking into account more photographing parameters and moving parameters that affect the image blur degree.

And S103, adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree.

In this embodiment, after the evaluation parameter of the image blur degree is obtained, whether the image is blurred or not may be judged according to the evaluation parameter of the image blur degree, if the image is blurred, the photographing parameter of the photographing device and/or the movement parameter of the movable platform may be adjusted according to the evaluation parameter of the image blur degree, and the image blur degree may be adjusted by adjusting the photographing parameter of the photographing device and/or the movement parameter of the movable platform, so that the image blur degree of the photographing device to be photographed next is reduced.

And step S104, acquiring images through the photographing equipment.

In the embodiment, after the photographing parameters of the photographing device and/or the moving parameters of the movable platform are adjusted according to the evaluation parameters of the image blurring degree, image acquisition is performed, so that the image blurring of the photographing device can be effectively avoided, the photographing definition and precision are improved, and the image quality is improved.

According to the image acquisition method of the movable platform, the photographing parameters of the photographing equipment carried by the movable platform and the movement parameters of the movable platform are obtained; obtaining an evaluation parameter of the image blurring degree according to the photographing parameter and the moving parameter; adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree; and acquiring images through the photographing equipment. The fuzzy degree of the image shot by the shooting equipment is measured through the evaluation parameter of the fuzzy degree of the image, the shooting parameter of the shooting equipment and/or the moving parameter of the movable platform are/is adjusted in time according to the fuzzy degree, the image of the shooting equipment of the movable platform in the moving process can be effectively prevented from being fuzzy, the shooting definition and precision are improved, the image quality is improved, and the precision and the accuracy of surveying and mapping or inspection according to the image can be improved.

The embodiment of the invention provides an image acquisition method of a movable platform. Fig. 3 is a flowchart of an image capturing method for a movable platform according to another embodiment of the present invention. In the method of this embodiment, the photographing parameter includes an exposure time of the photographing apparatus, the movement parameter includes a movement speed of the movable platform, and the evaluation parameter of the degree of image blur may be determined according to a product of the exposure time and the movement speed.

As shown in fig. 3, based on the embodiment shown in fig. 2, the image capturing method of the movable platform according to this embodiment includes:

step S201, obtaining exposure time of the movable platform carrying the photographing equipment and the moving speed of the movable platform;

step S202, determining an evaluation parameter of the image blurring degree according to the product of the exposure time and the moving speed;

step S203, adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree;

wherein the photographing parameters include at least one of exposure time, shutter speed, sensitivity, or aperture value of the photographing apparatus; the movement parameter includes at least one of a movement speed, a movement acceleration, or position information of the movable platform. In an alternative embodiment, only the exposure time of the photographing apparatus and/or the moving speed of the movable platform is adjusted.

And step S204, image acquisition is carried out through the photographing equipment.

In the embodiment, only two parameters which affect the most important degree of image blur are used: the image blurring degree is measured by the exposure time and the moving speed, the evaluation parameter of the image blurring degree is determined according to the product of the exposure time and the moving speed, the evaluation on the image blurring degree can be simplified, the calculation complexity is simplified, the calculation speed is improved, the photographing parameter of the photographing device and/or the moving parameter of the movable platform can be adjusted more timely, the image blurring of the photographing device during the moving process of the movable platform can be avoided more timely, the photographing definition and precision are improved, the image quality is improved, and the precision and accuracy of surveying and mapping according to images or inspection can be improved.

On the basis of any of the above embodiments, the adjusting the photographing parameters of the photographing apparatus and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blur includes:

and adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform when the evaluation parameters of the image blurring degree exceed a preset range.

In this embodiment, a preset range may be set in advance for the evaluation parameter of the image blur degree, and when the evaluation parameter of the image blur degree is within the preset range, it may be considered that the image blur degree is low or the image blur degree is within an acceptable range; and when the evaluation parameter of the image blurring degree exceeds the preset range, determining that the image blurring degree exceeds the acceptable range, intervening the photographing parameter of the photographing device and/or the moving parameter of the movable platform, and reducing the image blurring degree by adjusting the photographing parameter of the photographing device and/or the moving parameter of the movable platform. The evaluation parameter of the image blur degree exceeding the preset range may include various conditions, such as being greater than the maximum value of the preset range, being smaller than the minimum value of the preset range, and the like, and may be determined according to a specific formula of the evaluation parameter of the image blur degree.

In an optional embodiment, the preset range includes a preset threshold, and when the evaluation parameter of the image blur degree exceeds the preset threshold, it is determined that the evaluation parameter of the image blur degree exceeds the preset range, that is, the image blur degree exceeds the acceptable range. For example, for the embodiment of fig. 2, when the evaluation parameter L of the image blur degree is v × t, where v is the moving speed and t is the exposure time, the preset threshold may be the maximum value of the evaluation parameter L of the image blur degree, and is recorded as a preset threshold a, that is, L ═ v × t ≦ a, where the image blur degree is lower and within an acceptable range, where the preset threshold a may be a preset value (that is, a fixed absolute value) and may be in units of meters (or other Distance units), or the preset threshold may also be a predetermined multiple of a Ground sampling interval (GSD), where the Ground sampling interval is used to represent the spatial resolution, that is, the size of a Ground range (in units: meters/pixel) represented by one pixel of the acquired image, and optionally, the predetermined multiple may be 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, or a pixel of the acquired image, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0, 2.1, 2.2, 2.3, 2.4, 2.5 … … it is required to say that the smaller the predetermined multiple is, the finer the spatial resolution is, when composing according to an image, the predetermined multiple of 0.5 can satisfy professional composition requirements, the predetermined multiple of 1 can satisfy more strict composition requirements, and the predetermined multiple of 2 can satisfy ordinary less professional composition requirements. After the preset multiple is obtained, the preset multiple can be converted into a preset threshold value in meters (or other distance units) according to the ground sampling interval and the preset multiple.

Furthermore, after the evaluation parameter for judging the image blurring degree exceeds the preset threshold, prompt information can be sent to the control end so as to give an early warning to the blurring condition of the image collected by the photographing device, so that a user can take appropriate operation in time to deal with the blurring condition.

In another optional embodiment, the photographing parameters of the photographing device and/or the movement parameters of the movable platform may be adjusted when the number of times that the evaluation parameter of the degree of image blur continuously exceeds the preset threshold reaches a preset number of times. In the embodiment, considering that the influence of the condition that the evaluation parameter of the image blurring degree which happens several times continuously exceeds the preset threshold value is not large, the evaluation parameter can be ignored in the composition process, and the photographing parameter of the photographing device and/or the moving parameter of the movable platform can not be adjusted; however, when the evaluation parameter of the image blur degree continuously exceeds the preset threshold for many times and reaches the preset number of times, the composition precision is greatly affected, and therefore, the photographing parameter of the whole photographing device and/or the movement parameter of the movable platform need to be performed. The preset times can be set by a user through a control end, and can also be prestored in a movable platform.

Further, after the number of times of judging that the evaluation parameter of the image blurring degree continuously exceeds the preset threshold reaches the preset number of times, prompt information can be sent to a control end so as to give an early warning on the blurring condition of the image acquired by the photographing equipment, so that a user can timely take appropriate operation to deal with the blurring condition. Furthermore, the times that the evaluation parameter of the image blurring degree continuously exceeds the preset range can be recorded, the times that the evaluation parameter of the image blurring degree continuously exceeds the preset range are sent to the control end, and the control end displays the times to provide guidance for the operation of a user.

On the basis of the above embodiment, the preset threshold may be pre-stored in the movable platform, and of course, may also be set by the control end according to the composition requirement, and specifically may include:

receiving a preset threshold setting instruction sent by a control end; and setting the preset threshold according to the preset threshold setting instruction.

It should be noted that, a user may directly send a specific value of a preset threshold that needs to be set to the movable platform through the control end, and may also send a composition requirement to the movable platform, and the preset threshold corresponding to the composition requirement is pre-stored in the movable platform, and the movable platform selects the corresponding preset threshold after receiving the composition requirement.

In an optional embodiment, the adjusting the photographing parameter of the photographing apparatus and/or the moving parameter of the movable platform according to the evaluation parameter of the degree of image blur described in any of the above embodiments may specifically include, as shown in fig. 4:

s301, acquiring a target critical speed of the movable platform according to the evaluation parameter of the image blurring degree and the preset threshold value;

s302, adjusting the moving speed of the movable platform to be less than or equal to the target critical speed.

In the present embodiment, as an example, in the case where it is desired that the evaluation parameter L of the degree of image blur is ≦ v × t ≦ the preset threshold a, when the exposure time t is changed, in order that the evaluation parameter L of the degree of image blur does not exceed the preset threshold a, the target critical speed of the movable platform may be acquired by v ≦ a/t, and the moving speed of the movable platform may be adjusted to be less than or equal to the target critical speed.

Further, after the moving speed of the movable platform is adjusted to be less than or equal to the target critical speed, the adjusted moving speed of the movable platform can be sent to a control end.

In another optional embodiment, the adjusting the photographing parameters of the photographing apparatus and/or the moving parameters of the movable platform according to the evaluation parameters of the degree of image blur in any of the above embodiments may specifically include:

if the current photographing mode of the photographing device is a first mode, switching the current photographing mode of the photographing device into a second mode or reducing the shutter speed of the photographing device;

in the first mode, the photographing device cannot automatically adjust the shutter speed; in the second mode, the photographing apparatus can automatically adjust the shutter speed.

In this embodiment, since the photographing apparatus has a plurality of photographing modes, such as an automatic photographing mode, a shutter priority mode, an aperture priority mode, a manual exposure mode, and the like, wherein the automatic photographing mode can automatically configure various photographing parameters according to a scene, the shutter priority mode can preset a shutter speed and automatically set other photographing parameters such as an aperture value according to a scene brightness, the aperture priority mode can preset an aperture value and automatically set other photographing parameters such as a shutter speed according to a scene brightness, and the manual exposure mode can manually adjust the photographing parameters such as a shutter speed, an aperture value, and sensitivity according to a requirement. In this embodiment, it is defined that the photographing device cannot automatically adjust the shutter speed to the first mode, for example, the shutter priority mode, after a user presets a fixed shutter speed, the shutter speed remains fixed, and the photographing device automatically adjusts other photographing parameters, including an aperture value and the like. When the shutter speed cannot be automatically adjusted by the photographing device, so that the evaluation parameter of the image blurring degree exceeds a preset range, the photographing mode of the photographing device can be switched to a second mode (such as an automatic photographing mode, an aperture priority mode and the like) capable of automatically adjusting the shutter speed, and then whether the evaluation parameter of the image blurring degree exceeds the preset range is judged after the shutter speed is automatically adjusted by the photographing device, and if the evaluation parameter of the image blurring degree exceeds the preset range, the photographing parameter of the photographing device and/or the moving parameter of the movable platform are/is adjusted again; or the shutter speed of the photographing device can be directly and forcibly reduced (for example, the shutter speed is reset in an automatic photographing mode) so that the evaluation parameter of the image blurring degree is adjusted to be within the preset range.

As an example, in the case where the evaluation parameter L ═ v × t ≦ the preset threshold a for the degree of image blur is desired, when the photographing mode is in the shutter priority mode and the user presets a fixed shutter speed, at which the exposure time is fixed, the photographing apparatus automatically calculates a reasonable aperture value from the shutter speed and the light of the photographing environment, and when the moving speed v increases such that L ═ v × t > a, the photographing mode of the photographing apparatus may be adjusted to the automatic photographing mode, at which the shutter speed may be automatically controlled to increase and the exposure time t may be reduced, or the photographing mode may be directly forced to increase and decrease the shutter speed and the exposure time t such that L ═ v × t ≦ a without changing the photographing mode. Or, in another case, since the photographing mode is in the shutter priority mode, when the photographing environment changes, for example, the ambient brightness decreases, the photographing apparatus automatically increases the aperture value or adjusts the sensitivity, after the photographing apparatus collects the image and returns to the control terminal, and after the user finds that the image is blurred or noisy by checking the collected image, the photographing mode may also be controlled to be switched to the automatic photographing mode, and the shutter speed may be automatically adjusted according to the ambient brightness, or the user directly sets a higher shutter speed.

In the above embodiment, the switching the current photographing mode of the photographing device to the second mode specifically includes, as shown in fig. 5:

step S401, receiving a control instruction for adjusting a photographing mode sent by a control terminal, wherein the control instruction is used for instructing to switch the current photographing mode of the photographing device to a second mode;

and S402, adjusting the photographing mode of the photographing device according to the control instruction.

In this embodiment, the switching of the photographing mode may be controlled by the control terminal, that is, after the user performs the switching operation on the control terminal, the control terminal sends a control instruction for adjusting the photographing mode to the movable platform, and the movable platform adjusts the photographing mode of the photographing device according to the control instruction and switches to the second mode.

Further, after the photographing mode of the photographing device is adjusted according to the control instruction, photographing parameters can be adjusted according to the ambient brightness; and controlling the photographing equipment to acquire images according to the adjusted photographing parameters. In this embodiment, after the photographing mode of the photographing apparatus is switched to the second mode (for example, the automatic photographing mode) capable of automatically adjusting the shutter speed, the photographing apparatus may automatically adjust the photographing parameters according to the ambient brightness, and perform image acquisition according to the adjusted photographing parameters, so that the photographing definition and precision may be improved, and the image quality may be improved. Furthermore, after the photographing parameters are adjusted according to the ambient brightness, the adjusted photographing parameters can be sent to the control terminal, so that the adjusted photographing parameters are displayed on the control terminal, and a user can conveniently know the current photographing parameters or check whether the photographing mode is adjusted successfully.

In the above embodiment, the reducing the shutter speed of the photographing apparatus, as shown in fig. 6, may specifically include:

step S501, receiving a control instruction which is sent by a control end and used for reducing the shutter speed of the photographing equipment, and adjusting the shutter speed according to the control instruction;

and S502, controlling the photographing equipment to acquire images according to the adjusted shutter speed.

In this embodiment, the shutter speed of the photographing apparatus may be controlled by the control terminal, that is, the user sets the shutter speed on the control terminal, for example, the shutter speed is reduced, the control terminal sends a control instruction for reducing the shutter speed of the photographing apparatus to the movable platform, the movable platform adjusts the shutter speed of the photographing apparatus according to the control instruction, and then the photographing apparatus may perform image acquisition according to the adjusted shutter speed. Furthermore, after the shutter speed is adjusted according to the control instruction, the adjusted shutter speed can be sent to the control end, so that the adjusted shutter speed is displayed at the control end, and a user can conveniently know the current photographing parameters or check whether the shutter speed is adjusted successfully.

On the basis of any one of the above embodiments, the image capturing by the photographing apparatus may specifically include:

carrying out image acquisition by the photographing equipment according to equidistant photographing; alternatively, the first and second electrodes may be,

and carrying out image acquisition by the photographing equipment according to isochronous photographing.

In this embodiment, the mobile platform may perform image acquisition according to equidistant photographing in the moving process, that is, image acquisition is triggered once when the mobile platform moves a same distance, wherein the distance may be determined by positioning a positioning device of the mobile platform, for example, by performing Real-time positioning by using RTK (Real-time kinematic) equipment, IMU (Inertial measurement unit ), and the like, and calculating the moving distance by comparing the moving distance with the photographing point; the photographing device can also perform image acquisition according to isochronous photographing, that is, image acquisition is triggered once every other same time. The system comprises a control end, a movable platform, a control end and a camera, wherein the control end is used for sending an equidistant photographing setting instruction or an isochronal photographing setting instruction to the movable platform, and the user can set the image acquisition mode before the image acquisition.

Further, when image acquisition is carried out according to equidistant photographing, the control end can also send an equidistant photographing distance interval setting instruction to the movable platform; when the image acquisition is carried out according to the isochronous photographing, the control end can also send an isochronous photographing time interval setting instruction to the movable platform. The setting instructions can be set by a user at the control end.

On the basis of any one of the above embodiments, the acquiring the photographing parameters of the movable platform carrying photographing device and the moving parameters of the movable platform includes:

acquiring the photographing parameters and the moving parameters according to a preset frequency;

furthermore, the adjusting the photographing parameters of the photographing device and/or the moving parameters of the movable platform according to the evaluation parameters of the image blur degree includes:

and adjusting the photographing parameters of the photographing equipment when the photographing equipment photographs next time and/or the moving parameters of the movable platform when the photographing equipment photographs next time according to the evaluation parameters of the image blurring degree.

In this embodiment, since equidistant photographing or isochronous photographing may be adopted in the image acquisition process, that is, an image is acquired after the movable platform moves for a certain distance or a certain time, and then an image is acquired after the movable platform moves for a certain distance or a certain time, in this embodiment, the photographing parameter and the moving parameter may be acquired according to a preset frequency (for example, 5Hz), and then the evaluation parameter of the image blur degree is acquired after the photographing parameter and the moving parameter are acquired each time, that is, the frequency of acquiring the evaluation parameter of the image blur degree is the same as the preset frequency. The shooting frequency of the equidistant shooting or the isochronous shooting may be the same as the preset frequency or different from the preset frequency.

When the shooting frequency is the same as the preset frequency, the shooting parameters and the movement parameters are acquired when the current shooting is carried out, and after the evaluation parameters of the image blur degree are acquired, the shooting parameters and/or the movement parameters of the current shooting cannot be adjusted any more since the current shooting is carried out, and the shooting parameters and/or the movement parameters of the next shooting can only be adjusted according to the evaluation parameters of the image blur degree, so that the image acquisition can be carried out according to the adjusted shooting parameters and/or movement parameters when the next shooting is carried out, and the image blur can be avoided when the next shooting is ensured.

Under the condition that the photographing frequency is different from the preset frequency, the time for acquiring the photographing parameters and the movement parameters may be between two times of photographing, so that the photographing parameters and/or the movement parameters during the next photographing can be adjusted according to the evaluation parameters of the image blurring degree acquired between the two times of photographing, and the image blurring can be avoided during the next photographing.

In another optional embodiment, the photographing parameter and the movement parameter may be obtained before the photographing device takes the next photograph, the evaluation parameter of the image blur degree may be obtained according to the photographing parameter and the movement parameter, and the photographing parameter of the photographing device during the next photograph and/or the movement parameter of the movable platform during the next photograph of the photographing device may be adjusted according to the evaluation parameter of the image blur degree.

In this embodiment, the photographing parameters and the movement parameters may not be obtained at a fixed frequency, but the photographing parameters and the movement parameters may be obtained in advance before the next photographing, specifically, when the movable platform enters a predetermined distance range of the next photographing position under the equidistant photographing, or when the time reaches a predetermined time range before the next photographing time under the isochronous photographing, the photographing parameters and the movement parameters may be obtained once, so as to obtain the evaluation parameters of the image blur degree, and the photographing parameters of the photographing device when the next photographing is performed and/or the movement parameters of the movable platform when the photographing device is next photographing may be adjusted according to the evaluation parameters of the image blur degree.

On the basis of the above embodiment, after the photographing parameters and the movement parameters are obtained according to the preset frequency, the photographing parameters and/or the movement parameters may be further sent to the control end. That is, in this embodiment, the photographing parameters and the movement parameters may be sent to the control terminal according to the predetermined frequency, and the user may obtain the photographing parameters of the photographing apparatus and the movement parameters of the movable platform in real time. In an alternative embodiment, the control terminal may also obtain an evaluation parameter of the image blur degree after receiving the photographing parameter and the movement parameter, or apply the evaluation parameter to other data processing.

In another optional embodiment, after obtaining the evaluation parameter of the image blur degree according to the photographing parameter and the movement parameter, the evaluation parameter of the image blur degree may be further sent to a control terminal and displayed at the control terminal, so that a user can know the image blur degree in real time; the control end side can also judge whether the evaluation parameter of the image blurring degree exceeds a preset range, and if the evaluation parameter exceeds the preset range, prompt information is displayed at the control end so as to give an early warning to the situation that the image acquired by the photographing equipment is blurred in time.

It should be noted that the image acquisition method for the movable platform according to the foregoing embodiment may also be performed by the movable platform and the control terminal, and specifically, for example, the movable platform may obtain a photographing parameter of the photographing device carried by the movable platform and a movement parameter of the movable platform, and then send the photographing parameter and the movement parameter to the control terminal; the control end acquires an evaluation parameter of the image blurring degree according to the photographing parameter and the movement parameter, then sends the evaluation parameter of the image blurring degree to the movable platform, the movable platform adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform according to the evaluation parameter of the image blurring degree, and then the photographing device is used for image acquisition; or the control end can also send an adjusting instruction to the movable platform according to the evaluation parameter of the image blurring degree, the movable platform adjusts the photographing parameter of the photographing device and/or the moving parameter of the movable platform according to the adjusting instruction, and then the photographing device is used for image acquisition.

The embodiment of the invention provides an image acquisition method of a movable platform. Fig. 7 is a flowchart of an image capturing method for a movable platform according to another embodiment of the present invention. In the image capturing method of the movable platform of this embodiment, as shown in fig. 7, an execution main body is a control end, and the method in this embodiment may include:

step S601, acquiring photographing parameters of the movable platform carrying photographing equipment and moving parameters of the movable platform from the movable platform;

step S602, obtaining an evaluation parameter of the image blurring degree according to the photographing parameter and the movement parameter;

step S603, sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree, so that the movable platform adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform, and performing image acquisition through the photographing device.

The method described in this embodiment is implemented by using a control end, and is different from the above embodiments in that the implementation main body is changed, and the specific process is similar to that in the above embodiments and is not described herein again.

On the basis of the above embodiment, the photographing parameter includes at least one of an exposure time, a shutter speed, sensitivity, or an aperture value of the photographing apparatus;

the movement parameter includes at least one of a movement speed, a movement acceleration, or position information of the movable platform.

On the basis of any of the above embodiments, the photographing parameter includes an exposure time of the photographing apparatus, the movement parameter includes a movement speed of the movable platform, and the evaluation parameter of the degree of image blur may be determined according to a product of the exposure time and the movement speed.

On the basis of any of the above embodiments, the sending an adjustment instruction to the movable platform to enable the movable platform to adjust the photographing parameters of the photographing apparatus and/or the movement parameters of the movable platform includes:

and sending an adjusting instruction to the movable platform when the evaluation parameter of the image blurring degree exceeds a preset range so that the movable platform adjusts the photographing parameter of the photographing device and/or the moving parameter of the movable platform.

On the basis of any one of the above embodiments, the evaluation parameter of the image blur degree exceeding a preset range includes:

and the evaluation parameter of the image blurring degree exceeds a preset threshold value.

On the basis of any of the above embodiments, the method further comprises:

receiving a preset threshold setting instruction;

and setting the preset threshold according to the preset threshold setting instruction.

On the basis of any of the above embodiments, if the evaluation parameter of the image blur degree exceeds a preset range, the method further includes:

and displaying prompt information on a display component of the control end so as to give an early warning for the situation that the image collected by the photographing equipment is blurred.

and sending an adjusting instruction to the movable platform when the number of times that the evaluation parameter of the image blurring degree continuously exceeds the preset threshold reaches a preset number of times so that the movable platform adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform.

On the basis of any of the above embodiments, the method further comprises:

and recording the times that the evaluation parameter of the image blurring degree continuously exceeds the preset range, and displaying the times that the evaluation parameter of the image blurring degree continuously exceeds the preset range on a display component of the control end.

On the basis of any of the above embodiments, the sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree to enable the movable platform to adjust the movement parameter of the movable platform includes:

acquiring a target critical speed of the movable platform according to the evaluation parameter of the image blurring degree and the preset threshold;

and sending a speed adjusting instruction to the movable platform to enable the movable platform to adjust the moving speed to be less than or equal to the target critical speed.

On the basis of any of the above embodiments, after sending the speed adjustment instruction to the movable platform, the method further includes:

and acquiring the adjusted moving speed of the movable platform from the movable platform, and displaying the moving speed on a display component of the control end.

On the basis of any of the above embodiments, the sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree to enable the movable platform to adjust the photographing parameter of the photographing apparatus includes:

if the current photographing mode of the photographing device is the first mode, sending a photographing device adjusting instruction to the movable platform so that the movable platform switches the current photographing mode of the photographing device to the second mode or reduces the shutter speed of the photographing device;

On the basis of any one of the above embodiments, the sending of the photographing apparatus adjustment instruction to the movable platform includes:

and sending a control instruction for adjusting a photographing mode to the movable platform, wherein the control instruction is used for instructing to switch the current photographing mode of the photographing device into a second mode, so that the movable platform adjusts the photographing mode of the photographing device according to the control instruction, adjusts photographing parameters according to the ambient brightness, and controls the photographing device to acquire images according to the adjusted photographing parameters.

On the basis of any of the above embodiments, after the sending the control instruction for adjusting the photographing mode to the movable platform, the method further includes:

and acquiring the adjusted photographing parameters from the movable platform, and displaying the photographing parameters on a display component of the control end.

and sending a control instruction for reducing the shutter speed of the photographing equipment to the movable platform so that the movable platform adjusts the shutter speed according to the control instruction and controls the photographing equipment to acquire images according to the adjusted shutter speed.

On the basis of any of the above embodiments, after the sending the control instruction for reducing the shutter speed of the photographing apparatus to the movable platform, the method further includes:

and acquiring the adjusted shutter speed from the movable platform, and displaying the shutter speed on a display component at the control end.

On the basis of any of the above embodiments, before the movable platform performs image acquisition through the photographing apparatus, the method further includes:

and sending an equidistant photographing setting instruction or an isochronous photographing setting instruction to the movable platform.

On the basis of any of the above embodiments, the method further comprises:

when the movable platform carries out image acquisition according to equidistant photographing, sending an equidistant photographing distance interval setting instruction to the movable platform; alternatively, the first and second electrodes may be,

and when the movable platform carries out image acquisition according to isochronous photographing, sending an isochronous photographing time interval setting instruction to the movable platform.

On the basis of any one of the above embodiments, the acquiring, from the movable platform, the photographing parameters of the movable platform carrying photographing device and the movement parameters of the movable platform includes:

acquiring the photographing parameters and the moving parameters from a movable platform according to a preset frequency;

the sending of an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree to enable the movable platform to adjust the photographing parameter of the photographing device and/or the movement parameter of the movable platform includes:

and sending an adjusting instruction to the movable platform according to the evaluation parameter of the image blurring degree so that the movable platform adjusts the photographing parameter of the photographing device when the photographing device photographs next time and/or the moving parameter of the movable platform of the photographing device when the photographing device photographs next time.

On the basis of any one of the above embodiments, after the photographing parameter and the movement parameter are obtained according to the preset frequency, the method includes:

and displaying the photographing parameters and/or the moving parameters on a display component of the control end.

On the basis of any of the above embodiments, after obtaining the evaluation parameter of the image blur degree according to the photographing parameter and the movement parameter, the method further includes:

and displaying the evaluation parameter of the image blurring degree on a display component of the control end.

On the basis of any of the above embodiments, the method further comprises:

and sending a photographing mode setting instruction to the movable platform, wherein the photographing mode setting instruction comprises any one of an automatic photographing mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction or a long-time exposure mode instruction.

On the basis of any one of the above embodiments, the movable platform comprises at least one of the following: a remote control car, or an unmanned aerial vehicle.

On the basis of any embodiment, when the movable platform is an unmanned aerial vehicle, the method further comprises:

and sending at least one of an overlapping rate setting instruction, a course height setting instruction or a maximum speed setting instruction to the movable platform.

In the image acquisition method of the movable platform provided in each of the embodiments, the photographing parameters of the photographing equipment carried by the movable platform and the movement parameters of the movable platform are obtained; obtaining an evaluation parameter of the image blurring degree according to the photographing parameter and the moving parameter; adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree; and acquiring images through the photographing equipment. The fuzzy degree of the image shot by the shooting equipment is measured through the evaluation parameter of the fuzzy degree of the image, the shooting parameter of the shooting equipment and/or the moving parameter of the movable platform are/is adjusted in time according to the fuzzy degree, the image of the shooting equipment of the movable platform in the moving process can be effectively prevented from being fuzzy, the shooting definition and precision are improved, the image quality is improved, and the precision and the accuracy of surveying and mapping or inspection according to the image can be improved.

The embodiment of the invention provides a movable platform. Fig. 8 is a block diagram of a movable platform according to an embodiment of the present invention, and as shown in fig. 8, the movable platform 70 includes a memory 71 and a processor 72. More specifically, the movable platform further includes a photographing device 73, a power system 74, a communication interface 75, and the like, which are not described herein again.

Wherein the memory 71 is used for storing program codes;

the processor 72, which invokes the program code, when executed, is configured to:

acquiring photographing parameters of the movable platform carrying photographing equipment 73 and movement parameters of the movable platform;

adjusting the photographing parameters of the photographing device 73 and/or the moving parameters of the movable platform according to the evaluation parameters of the image blur degree;

image acquisition is performed by the photographing apparatus 73.

On the basis of the above embodiment, the photographing parameters include at least one of an exposure time, a shutter speed, sensitivity, or an aperture value of the photographing apparatus 73;

On the basis of the above embodiment, the photographing parameter includes the exposure time of the photographing device 73, the movement parameter includes the movement speed of the movable platform, and the evaluation parameter of the degree of image blur may be determined according to the product of the exposure time and the movement speed.

On the basis of any of the above embodiments, when the processor 72 adjusts the photographing parameters of the photographing device 73 and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blur, the processor 72 is configured to:

and adjusting the photographing parameters of the photographing device 73 and/or the moving parameters of the movable platform when the evaluation parameters of the image blurring degree exceed a preset range.

On the basis of any of the above embodiments, the processor 72 is further configured to:

receiving a preset threshold setting instruction sent by a control end;

On the basis of any of the above embodiments, if the evaluation parameter of the image blur degree exceeds a preset range, the processor 72 is further configured to:

and sending prompt information to a control end to warn the fuzzy condition of the image acquired by the photographing equipment 73.

On the basis of any of the above embodiments, when the evaluation parameter of the image blur degree exceeds a preset range, and the photographing parameter of the photographing device 73 and/or the movement parameter of the movable platform are/is adjusted, the processor 72 is configured to:

the number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches a preset number of times, and the photographing parameter of the photographing device 73 and/or the movement parameter of the movable platform are/is adjusted.

and recording the times of the evaluation parameter of the image blurring degree continuously exceeding the preset range, and sending the times of the evaluation parameter of the image blurring degree continuously exceeding the preset range to a control end.

On the basis of any of the above embodiments, when the processor 72 adjusts the movement parameter of the movable platform according to the evaluation parameter of the degree of image blur, the processor 72 is configured to:

adjusting the moving speed of the movable platform to be less than or equal to the target critical speed.

On the basis of any of the above embodiments, after the processor 72 adjusts the moving speed of the movable platform to be less than or equal to the target critical speed, the processor 72 is further configured to:

and sending the adjusted moving speed of the movable platform to a control end.

On the basis of any of the above embodiments, when the processor 72 adjusts the photographing parameters of the photographing device 73, the processor 72 is configured to:

if the current photographing mode of the photographing device 73 is the first mode, switching the current photographing mode of the photographing device 73 to the second mode, or reducing the shutter speed of the photographing device 73;

in the first mode, the photographing apparatus 73 cannot automatically adjust the shutter speed; in the second mode, the photographing apparatus 73 can automatically adjust the shutter speed.

On the basis of any of the above embodiments, when the processor 72 switches the current photographing mode of the photographing device 73 to the second mode, the processor 72 is configured to:

receiving a control instruction for adjusting the photographing mode sent by the control terminal, wherein the control instruction is used for instructing to switch the current photographing mode of the photographing device 73 to the second mode;

and adjusting the photographing mode of the photographing device 73 according to the control instruction.

On the basis of any of the above embodiments, after the processor 72 adjusts the photographing mode of the photographing device 73 according to the control instruction, the processor 72 is further configured to:

adjusting the photographing parameters according to the ambient brightness;

and controlling the photographing device 73 to acquire images according to the adjusted photographing parameters.

On the basis of any of the above embodiments, after the processor 72 adjusts the photographing parameters according to the ambient brightness, the processor 72 is further configured to:

and sending the adjusted photographing parameters to a control end.

On the basis of any of the above embodiments, in the reducing the shutter speed of the photographing apparatus 73, the processor 72 is configured to:

receiving a control instruction which is sent by a control end and used for reducing the shutter speed of the photographing equipment 73, and adjusting the shutter speed according to the control instruction;

and controlling the photographing device 73 to acquire images according to the adjusted shutter speed.

On the basis of any of the above embodiments, after the processor 72 adjusts the shutter speed according to the control instruction, the processor 72 is further configured to:

and sending the adjusted shutter speed to a control end.

On the basis of any of the above embodiments, when the processor 72 performs image capturing by the photographing device 73, the processor 72 is configured to:

image acquisition is carried out according to equidistant photographing through the photographing equipment 73; alternatively, the first and second electrodes may be,

and the image acquisition is carried out according to isochronal photographing through the photographing device 73.

On the basis of any of the above embodiments, before the processor 72 performs image acquisition by the photographing device 73, the processor 72 is further configured to:

and receiving an equidistant photographing setting instruction or an isochronous photographing setting instruction sent by the control end.

when image acquisition is carried out according to equidistant photographing, receiving an equidistant photographing distance interval setting instruction sent by a control end; alternatively, the first and second electrodes may be,

and when the image is acquired according to isochronous photographing, receiving an isochronous photographing time interval setting instruction sent by the control end.

On the basis of any of the above embodiments, when the processor 72 obtains the photographing parameters of the movable platform onboard photographing device 73 and the moving parameters of the movable platform, the processor 72 is configured to:

when the processor 72 adjusts the photographing parameters of the photographing apparatus 73 and/or the movement parameters of the movable platform according to the evaluation parameter of the degree of image blur, the processor 72 is configured to:

and adjusting the photographing parameters of the photographing device 73 when photographing next time and/or the moving parameters of the movable platform when the photographing device 73 photographs next time according to the evaluation parameters of the image blurring degree.

On the basis of any of the above embodiments, after the processor 72 acquires the photographing parameter and the movement parameter according to a preset frequency, the processor 72 is further configured to:

and sending the photographing parameters and/or the moving parameters to a control end.

On the basis of any of the above embodiments, after the processor 72 obtains the evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter, the processor 72 is further configured to:

and sending the evaluation parameter of the image blurring degree to a control end.

and receiving a photographing mode setting instruction sent by a control end, wherein the photographing mode setting instruction comprises any one of an automatic photographing mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction or a long-time exposure mode instruction.

On the basis of any of the above embodiments, when the movable platform is an unmanned aerial vehicle, the processor 72 is further configured to:

and receiving at least one of an overlapping rate setting instruction, a route height setting instruction or a maximum speed setting instruction sent by the control end.

The movable platform provided in this embodiment may be used to implement the technical solution of the method embodiment of the movable platform side, and the implementation principle and technical effect are similar, which are not described herein again.

According to the movable platform, the photographing parameters of the photographing equipment carried by the movable platform and the moving parameters of the movable platform are obtained; obtaining an evaluation parameter of the image blurring degree according to the photographing parameter and the moving parameter; adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree; and acquiring images through the photographing equipment. The fuzzy degree of the image shot by the shooting equipment is measured through the evaluation parameter of the fuzzy degree of the image, the shooting parameter of the shooting equipment and/or the moving parameter of the movable platform are/is adjusted in time according to the fuzzy degree, the image of the shooting equipment of the movable platform in the moving process can be effectively prevented from being fuzzy, the shooting definition and precision are improved, the image quality is improved, and the precision and the accuracy of surveying and mapping or inspection according to the image can be improved.

The embodiment of the invention provides a control terminal. Fig. 9 is a structural diagram of a control end according to an embodiment of the present invention, and as shown in fig. 9, the control end 80 includes a memory 81 and a processor 82. The control terminal 80 further comprises a communication interface 83.

Wherein the memory 81 is used for storing program codes;

the processor 82, invoking the program code, is configured to perform the following when the program code is executed:

On the basis of the above embodiment, the photographing parameter includes an exposure time of the photographing apparatus, the movement parameter includes a movement speed of the movable platform, and the evaluation parameter of the degree of image blur may be determined according to a product of the exposure time and the movement speed.

On the basis of any of the above embodiments, when the processor 82 sends an adjustment instruction to the movable platform to cause the movable platform to adjust the photographing parameters of the photographing apparatus and/or the movement parameters of the movable platform, the processor 82 is configured to:

On the basis of any of the above embodiments, the processor 82 is further configured to:

receiving a preset threshold setting instruction;

On the basis of any of the above embodiments, if the evaluation parameter of the image blur degree exceeds a preset range, the processor 82 is further configured to:

On the basis of any of the above embodiments, when the processor 82 sends an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur to cause the movable platform to adjust the movement parameter of the movable platform, the processor 82 is configured to:

On the basis of any of the above embodiments, after the processor 82 sends the speed adjustment instruction to the movable platform, the processor 82 is further configured to:

On the basis of any of the above embodiments, when the processor 82 sends an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree, so that the movable platform adjusts the photographing parameter of the photographing apparatus, the processor 82 is configured to:

On the basis of any of the above embodiments, when the processor 82 sends the photographing apparatus adjustment instruction to the movable platform, the processor 82 is configured to:

On the basis of any of the above embodiments, after the processor 82 sends the control instruction for adjusting the photographing mode to the movable platform, the processor 82 is further configured to:

On the basis of any of the above embodiments, after the processor 82 sends a control instruction to the movable platform to decrease the shutter speed of the photographing apparatus, the processor 82 is further configured to:

On the basis of any of the above embodiments, before the image capturing of the movable platform by the photographing apparatus, the processor 82 is further configured to:

On the basis of any of the above embodiments, when the processor 82 obtains the photographing parameters of the movable platform-mounted photographing device and the moving parameters of the movable platform from the movable platform, the processor 82 is configured to:

On the basis of any of the above embodiments, after the processor 82 acquires the photographing parameter and the movement parameter according to a preset frequency, the processor 82 is further configured to:

On the basis of any of the above embodiments, after the processor 82 obtains the evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter, the processor 82 is further configured to:

On the basis of any of the above embodiments, when the movable platform is an unmanned aerial vehicle, the processor 82 is further configured to:

The control end provided by this embodiment may be used to execute the technical solution of the method embodiment of the control end side, and the implementation principle and technical effect are similar, which are not described herein again.

The control end of the embodiment obtains the photographing parameters of the movable platform carrying photographing equipment and the moving parameters of the movable platform; obtaining an evaluation parameter of the image blurring degree according to the photographing parameter and the moving parameter; adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform according to the evaluation parameters of the image blurring degree; and acquiring images through the photographing equipment. The fuzzy degree of the image shot by the shooting equipment is measured through the evaluation parameter of the fuzzy degree of the image, the shooting parameter of the shooting equipment and/or the moving parameter of the movable platform are/is adjusted in time according to the fuzzy degree, the image of the shooting equipment of the movable platform in the moving process can be effectively prevented from being fuzzy, the shooting definition and precision are improved, the image quality is improved, and the precision and the accuracy of surveying and mapping or inspection according to the image can be improved.

In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the image capturing method of the movable platform on the movable platform side described in the above embodiments.

In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the image capturing method of the movable platform on the control end side described in the above embodiments.

In addition, the present embodiment also provides a computer program, which includes a program code, and when the computer runs the computer program, the program code executes the image capturing method of the movable platform on the movable platform side according to the above embodiment.

In addition, the present embodiment also provides a computer program, which includes a program code, and when the computer runs the computer program, the program code executes the image capturing method of the movable platform on the control end side as described in the above embodiment.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the 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

1. An image acquisition method of a movable platform is applied to the movable platform, and is characterized by comprising the following steps:

and acquiring images through the photographing equipment.

2. The method of claim 1,

the photographing parameters comprise at least one of exposure time, shutter speed, sensitivity or aperture value of the photographing device;

3. The method according to claim 1 or 2, wherein the photographing parameter includes an exposure time of the photographing apparatus, the movement parameter includes a movement speed of the movable platform, and the evaluation parameter of the degree of image blur is determined according to a product of the exposure time and the movement speed.

4. The method according to any one of claims 1 to 3, wherein the adjusting of the photographing parameters of the photographing apparatus and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blur comprises:

5. The method according to claim 4, wherein the evaluation parameter of the image blur degree exceeds a preset range, and comprises:

6. The method of claim 5, further comprising:

receiving a preset threshold setting instruction sent by a control end;

7. The method according to claim 4, wherein if the evaluation parameter of the image blur degree exceeds a preset range, the method further comprises:

and sending prompt information to a control end to warn the fuzzy condition of the image acquired by the photographing equipment.

8. The method according to claim 4, wherein the evaluation parameter of the image blur degree exceeds a preset range, and the adjusting of the photographing parameter of the photographing apparatus and/or the movement parameter of the movable platform comprises:

and adjusting the photographing parameters of the photographing equipment and/or the moving parameters of the movable platform when the times of the evaluation parameters of the image blurring degree continuously exceeding the preset threshold reach the preset times.

9. The method of claim 8, further comprising:

10. The method according to claim 5, wherein the adjusting the movement parameter of the movable platform according to the evaluation parameter of the image blur degree comprises:

11. The method of claim 10, wherein after adjusting the speed of movement of the movable platform to be less than or equal to the target threshold speed, further comprising:

and sending the adjusted moving speed of the movable platform to a control end.

12. The method according to any one of claims 4-9, wherein the adjusting the photographing parameters of the photographing apparatus comprises:

13. The method of claim 12, wherein switching the current photographing mode of the photographing device to the second mode comprises:

receiving a control instruction for adjusting a photographing mode, which is sent by a control end, wherein the control instruction is used for indicating that the current photographing mode of the photographing device is switched to a second mode;

and adjusting the photographing mode of the photographing device according to the control instruction.

14. The method of claim 13, wherein after adjusting the photographing mode of the photographing apparatus according to the control instruction, further comprising:

adjusting the photographing parameters according to the ambient brightness;

and controlling the photographing equipment to acquire images according to the adjusted photographing parameters.

15. The method of claim 14, wherein after the adjusting the photographing parameters according to the ambient brightness, the method further comprises:

and sending the adjusted photographing parameters to a control end.

16. The method of claim 12, wherein reducing the shutter speed of the photographing apparatus comprises:

receiving a control instruction which is sent by a control end and used for reducing the shutter speed of the photographing equipment, and adjusting the shutter speed according to the control instruction;

and controlling the photographing equipment to acquire images according to the adjusted shutter speed.

17. The method of claim 16, wherein after adjusting the shutter speed according to the control instruction, further comprising:

and sending the adjusted shutter speed to a control end.

18. The method according to any one of claims 1 to 3, wherein the image acquisition by the photographing apparatus comprises:

19. The method of claim 18, wherein before the image capturing by the photographing apparatus, further comprising:

20. The method of claim 18, further comprising:

21. The method according to any one of claims 1 to 20, wherein the obtaining of the photographing parameters of the movable platform onboard photographing device and the moving parameters of the movable platform comprises:

the adjusting of the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the image blur degree comprises:

22. The method of claim 21, wherein after acquiring the photographing parameters and the movement parameters according to the preset frequency, the method comprises:

23. The method according to any one of claims 1 to 22, wherein after obtaining the evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter, the method further comprises:

24. The method of any one of claims 1-23, further comprising:

25. The method of any one of claims 1-24, wherein the movable platform comprises at least one of: a remote control car, or an unmanned aerial vehicle.

26. The method of claim 25, wherein when the movable platform is an unmanned aerial vehicle, further comprising:

27. An image acquisition method of a movable platform is applied to a control end, and is characterized in that the method comprises the following steps:

28. The method of claim 27,

29. The method according to claim 27 or 28, wherein the photographing parameter comprises an exposure time of the photographing apparatus, the movement parameter comprises a movement speed of the movable platform, and the evaluation parameter of the degree of image blur is determined according to a product of the exposure time and the movement speed.

30. The method of any one of claims 27-29, wherein sending an adjustment instruction to the movable platform to cause the movable platform to adjust the photographing parameters of the photographing apparatus and/or the movement parameters of the movable platform comprises:

31. The method according to claim 30, wherein the evaluation parameter of the image blur degree exceeds a preset range, and comprises:

32. The method of claim 31, further comprising:

receiving a preset threshold setting instruction;

33. The method according to claim 30, wherein if the evaluation parameter of the image blur degree exceeds a preset range, the method further comprises:

34. The method of claim 30, wherein sending an adjustment instruction to the movable platform to cause the movable platform to adjust the photographing parameters of the photographing device and/or the movement parameters of the movable platform comprises:

35. The method of claim 34, further comprising:

36. The method of claim 31, wherein the sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree to make the movable platform adjust the movement parameter of the movable platform comprises:

37. The method of claim 36, wherein after sending the speed adjustment command to the movable platform, further comprising:

38. The method according to any one of claims 30 to 35, wherein the sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree to enable the movable platform to adjust the photographing parameter of the photographing apparatus comprises:

39. The method of claim 38, wherein sending the camera device adjustment instructions to the movable platform comprises:

40. The method of claim 39, wherein after sending the control command for adjusting the photographing mode to the movable platform, further comprising:

41. The method of claim 38, wherein sending the camera device adjustment instructions to the movable platform comprises:

42. The method of claim 41, wherein after sending the control instruction to the movable platform to decrease the shutter speed of the photographing device, further comprising:

43. The method of any one of claims 27-29, further comprising, prior to image capture by the moveable platform via the capture device:

44. The method of claim 43, further comprising:

45. The method of any one of claims 27 to 44, wherein the obtaining of the photographing parameters of the movable platform onboard photographing device and the moving parameters of the movable platform from the movable platform comprises:

46. The method of claim 45, wherein after acquiring the photographing parameters and the movement parameters according to the preset frequency, the method comprises:

47. The method according to any one of claims 27 to 46, wherein after obtaining the evaluation parameter of the image blur degree according to the photographing parameter and the movement parameter, the method further comprises:

48. The method of any one of claims 27-47, further comprising:

49. The method of any one of claims 27-48, wherein the movable platform comprises at least one of: a remote control car, or an unmanned aerial vehicle.

50. The method of claim 49, further comprising, when the movable platform is an unmanned aerial vehicle:

51. A movable platform, comprising: a memory and a processor;

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

and acquiring images through the photographing equipment.

52. The method of claim 51,

53. The method according to claim 51 or 52, wherein the photographing parameter comprises an exposure time of the photographing apparatus, the movement parameter comprises a movement speed of the movable platform, and the evaluation parameter of the degree of image blur is determined according to a product of the exposure time and the movement speed.

54. The method of any one of claims 51 to 53, wherein when the processor adjusts the photographing parameters of the photographing apparatus and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blur, the processor is configured to:

55. The method according to claim 54, wherein the evaluation parameter of the image blur degree exceeds a preset range, and comprises:

56. The method of claim 55, wherein the processor is further configured to:

receiving a preset threshold setting instruction sent by a control end;

57. The method according to claim 54, wherein if the evaluation parameter of the degree of image blur exceeds a preset range, the processor is further configured to:

58. The method of claim 54, wherein when the evaluation parameter of the image blur degree exceeds a preset range and the photographing parameter of the photographing apparatus and/or the moving parameter of the movable platform are/is adjusted, the processor is configured to:

59. The method of claim 58, wherein the processor is further configured to:

60. The method of claim 55, wherein when the processor adjusts the movement parameter of the movable platform according to the evaluation parameter of the degree of image blur, the processor is configured to:

61. The method of claim 60, wherein after the processor adjusts the speed of movement of the movable platform to be less than or equal to the target critical speed, the processor is further configured to:

and sending the adjusted moving speed of the movable platform to a control end.

62. The method of any one of claims 54-59, wherein when the processor adjusts the photographing parameters of the photographing device, the processor is configured to:

63. The method of claim 62, wherein when the processor switches the current photographing mode of the photographing device to the second mode, the processor is configured to:

64. The method of claim 63, wherein after the processor adjusts the photographing mode of the photographing apparatus according to the control instruction, the processor is further configured to:

adjusting the photographing parameters according to the ambient brightness;

65. The method of claim 64, wherein after the processor adjusts the photographing parameters according to ambient brightness, the processor is further configured to:

and sending the adjusted photographing parameters to a control end.

66. The method of claim 62, wherein in the reducing the shutter speed of the photographing device, the processor is configured to:

67. The method of claim 66, wherein after the processor adjusts shutter speed according to the control instructions, the processor is further configured to:

and sending the adjusted shutter speed to a control end.

68. The method of any one of claims 51-53, wherein upon image capture by the imaging device, the processor is configured to:

69. The method of claim 68, wherein prior to the processor performing image acquisition by the photographing device, the processor is further configured to:

70. The method of claim 68, wherein the processor is further configured to:

71. The method of any one of claims 51-70, wherein when the processor obtains the photographing parameters of the movable platform onboard photographing device and the movement parameters of the movable platform, the processor is configured to:

when the processor adjusts the photographing parameters of the photographing apparatus and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blur, the processor is configured to:

72. The method of claim 71, wherein after the processor acquires the photographing parameters and the movement parameters at a preset frequency, the processor is further configured to:

73. The method according to any one of claims 51-72, wherein after the processor obtains the evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter, the processor is further configured to:

74. The method of any one of claims 51-73, wherein the processor is further configured to:

75. The method of any one of claims 51 to 74, wherein the movable platform comprises at least one of: a remote control car, or an unmanned aerial vehicle.

76. The method of claim 75, wherein when the movable platform is an unmanned aerial vehicle, the processor is further configured to:

77. A control terminal, comprising: a memory and a processor;

the memory for storing program code;

the processor, invoking the program code, when executed, is configured to:

78. The control terminal according to claim 77,

79. The control terminal according to claim 77 or 78, wherein the photographing parameter comprises an exposure time of the photographing apparatus, the movement parameter comprises a movement speed of the movable platform, and the evaluation parameter of the degree of image blur is determined according to a product of the exposure time and the movement speed.

80. The control terminal according to any one of claims 77 to 79, wherein when the processor sends an adjustment instruction to the movable platform to cause the movable platform to adjust the photographing parameters of the photographing apparatus and/or the movement parameters of the movable platform, the processor is configured to:

81. The control terminal according to claim 80, wherein the evaluation parameter of the image blur degree exceeds a preset range, including:

82. The control terminal of claim 81, wherein the processor is further configured to:

receiving a preset threshold setting instruction;

83. The control terminal according to claim 80, wherein if the evaluation parameter of the image blur degree exceeds a preset range, the processor is further configured to:

84. The control terminal of claim 80, wherein when the processor sends an adjustment instruction to the movable platform to cause the movable platform to adjust the photographing parameters of the photographing device and/or the movement parameters of the movable platform, the processor is configured to:

85. The control terminal of claim 84, wherein the processor is further configured to:

86. The control terminal according to claim 81, wherein when the processor sends an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur to cause the movable platform to adjust the movement parameter of the movable platform, the processor is configured to:

87. The control terminal of claim 86, wherein after the processor sends a speed adjustment instruction to the movable platform, the processor is further configured to:

88. The control terminal according to any one of claims 80 to 85, wherein when the processor sends an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree to cause the movable platform to adjust the photographing parameter of the photographing apparatus, the processor is configured to:

89. The control terminal of claim 88, wherein when the processor sends a photographing device adjustment instruction to the movable platform, the processor is configured to:

90. The control terminal of claim 89, wherein after the processor sends the control instruction for adjusting the photographing mode to the movable platform, the processor is further configured to:

91. The control terminal of claim 88, wherein when the processor sends a photographing device adjustment instruction to the movable platform, the processor is configured to:

92. The control terminal of claim 91, wherein after the processor sends the control instruction to the movable platform to decrease the shutter speed of the photographing apparatus, the processor is further configured to:

93. The control terminal of any one of claims 77-79, wherein prior to image capture of the movable platform by the photographing apparatus, the processor is further configured to:

94. The control terminal of claim 93, wherein the processor is further configured to:

95. The control terminal of any one of claims 77 to 94, wherein when the processor obtains the photographing parameters of the movable platform onboard photographing device and the movement parameters of the movable platform from the movable platform, the processor is configured to:

96. The control terminal of claim 95, wherein after the processor obtains the photographing parameter and the moving parameter at a preset frequency, the processor is further configured to:

97. The control terminal according to any one of claims 77-96, wherein after the processor obtains an evaluation parameter of the degree of image blur from the photographing parameter and the movement parameter, the processor is further configured to:

98. The control terminal according to any one of claims 77-97, wherein the processor is further configured to:

99. The control terminal of any of claims 77-98, wherein the movable platform comprises at least one of: a remote control car, or an unmanned aerial vehicle.

100. The control terminal of claim 99, wherein when the movable platform is an unmanned aerial vehicle, the processor is further configured to:

101. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-26.

102. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 27-50.