CN112804441B - Unmanned aerial vehicle control method and device - Google Patents

Unmanned aerial vehicle control method and device Download PDF

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Publication number
CN112804441B
CN112804441B CN201911115513.6A CN201911115513A CN112804441B CN 112804441 B CN112804441 B CN 112804441B CN 201911115513 A CN201911115513 A CN 201911115513A CN 112804441 B CN112804441 B CN 112804441B
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target shooting
unmanned aerial
aerial vehicle
vehicle
information
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CN112804441A (en
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董嵩松
吴丽红
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a control method and a device of an unmanned aerial vehicle, comprising the following steps: acquiring current vehicle motion information, unmanned aerial vehicle state information and a target shooting mode; determining a target shooting area corresponding to a target shooting mode; controlling the unmanned aerial vehicle to fly to a target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information; selecting a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in a target shooting area and preset reference image parameters; and controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle. Because the target shooting mode corresponds to the target shooting area, the unmanned aerial vehicle can fly to the target shooting area, and the target shooting angle and the target shooting position matched with the preset reference image parameters are selected by changing the height information and the angle information of the unmanned aerial vehicle in the target shooting area, so that a user can shoot a high-quality video.

Description

Unmanned aerial vehicle control method and device
Technical Field
The invention relates to the technical field of unmanned aerial vehicle automatic driving, in particular to a control method and a control device for an unmanned aerial vehicle.
Background
With the improvement of living standard of people, more people select a tour mode of self-driving tour. During a self-driving tour, people need to keep track of scenery along the way to share it with friends.
Currently, people often use drones for landscape recording along the way. Wherein, mainly utilize unmanned aerial vehicle's automation to follow the shooting function and shoot the scenery video on the way, specific principle includes: the unmanned aerial vehicle determines the position of the vehicle through a signal generator arranged in the vehicle or in an operation handle of the unmanned aerial vehicle; and then, the vehicle is followed according to preset fixed height information and fixed angle information so as to realize the automatic following shooting function of the unmanned aerial vehicle.
However, at present, the unmanned aerial vehicle can only follow the vehicle by preset fixed height information and fixed angle information, so that the picture shot by the unmanned aerial vehicle is monotonous, and a user cannot shoot a high-quality scenery video along the way.
Disclosure of Invention
In view of this, the present invention is directed to a method and an apparatus for controlling an unmanned aerial vehicle, so that the unmanned aerial vehicle can adjust height information and angle information to follow a vehicle, and the images captured by the unmanned aerial vehicle are rich, so that a user can capture high-quality images of scenery along the way.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a first aspect provides a method of controlling a drone, the method comprising:
acquiring current vehicle motion information;
acquiring current state information of the unmanned aerial vehicle;
acquiring a target shooting mode;
determining a target shooting area corresponding to the target shooting mode;
controlling the unmanned aerial vehicle to fly to the target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information;
selecting a target shooting position and a target shooting angle according to image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters;
and controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle.
Further, the selecting a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters includes:
controlling the unmanned aerial vehicle to shoot video images of at least two different angles at a first position; the first position is any position in the target shooting area;
respectively acquiring image parameters corresponding to the at least two video images;
when the image parameter corresponding to any one of the video images is matched with a preset reference image parameter, determining that the angle corresponding to the image parameter corresponding to the matched video image is a target shooting angle and the position of the target shooting angle is the target shooting position;
when the image parameters corresponding to the video images are not matched with the preset reference image parameters, controlling the unmanned aerial vehicle to shoot video images at least two different angles at a second position; the second position is any position except the first position in the target shooting area;
and returning to execute the image parameters respectively corresponding to the at least two video images.
Further, the respectively obtaining the image parameters corresponding to the at least two video images includes:
respectively acquiring exposure and brightness contrast corresponding to the at least two video images;
when the image parameter corresponding to any one of the video images is matched with a preset reference image parameter, determining that an angle corresponding to the image parameter corresponding to the matched video image is a target shooting angle, and the first position is the target shooting position, including:
and when the exposure and the brightness contrast corresponding to any one of the video images are in the exposure range and the brightness range contrast range, determining that the angle corresponding to the matched exposure and brightness contrast is a target shooting angle, and setting the position of the target shooting angle as the target shooting position.
Further, the unmanned aerial vehicle is connected with a vehicle, and the target shooting area comprises first relative area position information between the unmanned aerial vehicle and the vehicle; the unmanned aerial vehicle state information includes: unmanned aerial vehicle position information and flight state information;
according to the vehicle motion information and the unmanned aerial vehicle state information, controlling the unmanned aerial vehicle to fly to the target shooting area, including:
determining second relative position information between the unmanned aerial vehicle and the vehicle according to the vehicle motion information and the unmanned aerial vehicle position information;
determining position deviation information according to the second relative position information and the first relative area position information;
and controlling the unmanned aerial vehicle to fly to the target shooting area according to the position deviation information and the flight state information.
Further, the selecting a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters includes:
and selecting a target shooting position and a target shooting angle by the vehicle according to the unmanned aerial vehicle, image parameters corresponding to the image shot in the target shooting area and preset reference image parameters.
Further, the selecting a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters includes:
sending image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters to a cloud server;
receiving a target shooting position and a target shooting angle returned by the cloud server; and the target shooting position and the target shooting angle are determined by the cloud server according to image parameters corresponding to the image shot in the target shooting area and preset reference image parameters.
Compared with the prior art, the control method of the unmanned aerial vehicle has the following advantages:
the control method of the unmanned aerial vehicle can acquire current vehicle motion information and unmanned aerial vehicle state information, can determine a target shooting area corresponding to the target shooting mode after the target shooting mode is determined, controls the unmanned aerial vehicle to fly to the target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information, selects a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters, and controls the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle according to image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and the preset reference image parameters. The target shooting mode corresponds to a target shooting area, so that the unmanned aerial vehicle can fly to the target shooting area, a shooting angle and a shooting position matched with preset reference image parameters are selected by changing self height information and angle information in the target shooting area, concretely, the self height information and angle information need to be adjusted in the target shooting area, the shooting angle and the shooting position matched with the preset reference image parameters are found in a self-adaptive manner, shooting is carried out at the best shooting position and the best shooting angle selected in the self-adaptive manner, a better-quality picture is obtained, the shooting angle is the target shooting angle, the shooting position is the target shooting position, the unmanned aerial vehicle can shoot a video at the target shooting angle in the target shooting area, the richness of the picture shot by the unmanned aerial vehicle is improved, and a user can shoot a high-quality video.
Another objective of the present invention is to provide a control apparatus for an unmanned aerial vehicle, so that the unmanned aerial vehicle can adjust the height information and the angle information to follow the vehicle, so that the pictures captured by the unmanned aerial vehicle are rich, and the user can capture high-quality scenery videos along the way.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the device comprises:
the first acquisition module is used for acquiring current vehicle motion information;
the second acquisition module is used for acquiring the current state information of the unmanned aerial vehicle;
the third acquisition module is used for acquiring a target shooting mode;
the determining module is used for determining a target shooting area corresponding to the target shooting mode;
the first control module is used for controlling the unmanned aerial vehicle to fly to the target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information;
the selection module is used for selecting a target shooting position and a target shooting angle according to image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters;
and the second control module is used for controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle.
Further, the selection module comprises:
the first control sub-module is used for controlling the unmanned aerial vehicle to shoot video images of at least two different angles at a first position in the target shooting area; the first position is any position in the target shooting area;
the first obtaining submodule is used for respectively obtaining image parameters corresponding to the at least two video images;
the first determining sub-module is used for determining that the angle corresponding to the image parameter corresponding to the matched video image is a target shooting angle and the position of the target shooting angle is the target shooting position when the image parameter corresponding to any video image is matched with a preset reference image parameter;
the second control sub-module is used for controlling the unmanned aerial vehicle to shoot video images at least two different angles at a second position in the target shooting area when the image parameters corresponding to the video images are not matched with the preset reference image parameters; the second position is any position except the first position in the target shooting area;
and the return sub-module is used for returning and executing the image parameters corresponding to the at least two video images respectively.
Further, the first obtaining sub-module includes:
a first obtaining unit, configured to obtain exposure and brightness contrast corresponding to the at least two video images, respectively;
the first determination submodule includes:
and the determining unit is used for determining that the corresponding angle of the matched exposure and brightness contrast is the target shooting angle and the position of the target shooting angle is the target shooting position when the exposure and brightness contrast corresponding to any video image is in the exposure range and the brightness range contrast range.
Further, the unmanned aerial vehicle is connected with a vehicle, and the target shooting area comprises first relative area position information between the unmanned aerial vehicle and the vehicle; the unmanned aerial vehicle state information includes: unmanned aerial vehicle position information and flight state information;
the first control module includes:
the second determining submodule is used for determining second relative position information between the unmanned aerial vehicle and the vehicle according to the vehicle motion information and the unmanned aerial vehicle position information;
the third determining submodule is used for determining position deviation information according to the second relative position information and the first relative area position information;
and the third control sub-module is used for controlling the unmanned aerial vehicle to fly to the target shooting area according to the position deviation information and the flight state information.
Further, the selection module comprises:
the first selection submodule is used for selecting a target shooting position and a target shooting angle by the vehicle according to image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters.
Further, the selection module comprises:
the sending submodule is used for sending image parameters corresponding to the images shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters to a cloud server;
the receiving submodule is used for receiving a target shooting position and a target shooting angle returned by the cloud server; and the target shooting position and the target shooting angle are determined by the cloud server according to image parameters corresponding to the image shot in the target shooting area and preset reference image parameters.
A third aspect provides a vehicle comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling a drone according to the first aspect.
The control device of the unmanned aerial vehicle has the same advantages as the control method of the unmanned aerial vehicle compared with the prior art, and the vehicle has the same advantages as the control method of the unmanned aerial vehicle compared with the prior art, so that the description is omitted.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method for an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3 is a flowchart of a method for selecting a target shooting position and a target shooting angle according to a second embodiment of the present invention;
fig. 4 is a flowchart of a control method for an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 5 is a block diagram of a control apparatus of an unmanned aerial vehicle according to a fourth embodiment of the present invention;
fig. 6 is a block diagram of a selecting module according to a fifth embodiment of the present invention;
fig. 7 is a block diagram of a selecting module according to a sixth embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example one
Fig. 1 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
step 101, obtaining current vehicle motion information.
In the embodiment of the present invention, the vehicle may obtain the current vehicle motion information in real time, and the vehicle motion information may include: at least one of a traveling speed of the vehicle, a steering wheel angle of the vehicle, navigation information of the vehicle, and Global Positioning System (GPS) information of the vehicle.
And 102, acquiring current unmanned aerial vehicle state information.
In the embodiment of the present invention, the drone may be in communication connection with a vehicle, and the vehicle may obtain current state information of the drone in real time, where the state information of the drone may include: unmanned aerial vehicle positional information and flight status information. The unmanned aerial vehicle position information can comprise GPS information of the unmanned aerial vehicle; the flight status information may include the flight height of the drone and the flight speed of the drone.
And step 103, acquiring a target shooting mode.
In the embodiment of the invention, the user can select the target shooting mode, or a default shooting mode is prestored in the vehicle. When the user selects the target shooting mode, the user can click the option of 'selecting the shooting mode' in the main interface of the display of the vehicle, the preview interface of the selected shooting mode is entered, the option corresponding to the target shooting mode is selected in the preview interface, and then the vehicle can respond to the target shooting mode selected by the user and determine the target shooting area. When a default photographing mode is pre-stored in the vehicle, the vehicle may perform determination of the target photographing region in response to the default photographing mode.
And step 104, determining a target shooting area corresponding to the target shooting mode.
In the embodiment of the invention, different target shooting modes correspond to different target shooting areas, the corresponding relation between the target shooting modes and the different target shooting areas can be stored in the vehicle in advance, and the target shooting areas corresponding to the target shooting modes can be determined after the target shooting modes are obtained.
In the embodiment of the invention, after the target shooting mode is determined, a target shooting area corresponding to the target shooting mode can be determined, wherein the target shooting area comprises first relative area position information between the unmanned aerial vehicle and the vehicle.
And 105, controlling the unmanned aerial vehicle to fly to a target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information.
In the embodiment of the invention, the unmanned aerial vehicle is probably not in the target shooting area currently, and after the target shooting area is determined, the unmanned aerial vehicle is controlled to move towards the target shooting area until the target shooting area is reached.
In practical application, the target shooting area changes along with the movement of the vehicle, so the vehicle needs to determine second relative position information between the current unmanned aerial vehicle and the vehicle according to the vehicle motion information and the unmanned aerial vehicle position information, and when the second relative position information is matched with the first relative area position information, it is indicated that the unmanned aerial vehicle is in the target shooting area at the moment. When the second relative position information is not matched with the first relative area position information, the unmanned aerial vehicle is indicated to be not in the target shooting area at the moment, the vehicle can determine position deviation information according to the second relative position information and the first relative area position information, and the unmanned aerial vehicle is controlled to fly to the target shooting area according to the position deviation information.
And 106, selecting a target shooting position and a target shooting angle according to image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters.
In the embodiment of the invention, the unmanned aerial vehicle is required to be always kept in the target shooting area to select the subsequent target shooting position and the target shooting angle. The target shooting position may be understood as a position where an image consistent with a preset reference image parameter can be shot. The target shooting angle can be understood as a shooting angle corresponding to an image which is consistent with the preset reference image parameters and can be shot at the target shooting position.
In addition, the unmanned aerial vehicle can shoot video images at multiple angles at any position of the target shooting area in the target shooting area, image information corresponding to the video images is compared with preset reference image parameters, and a video image with the image information corresponding to the video image matched with the preset reference image parameters is selected, wherein the shooting angle corresponding to the video image is also a target shooting angle, and the current shooting position is also a target shooting position. If the position is not matched with the image which is consistent with the preset reference image parameter, the unmanned aerial vehicle can be controlled to fly to another position in the target shooting area to carry out the process until the target shooting position and the target shooting angle are determined. In the process, the unmanned aerial vehicle can determine the target shooting position and the target shooting angle by changing the self height information and the angle information in the target shooting area.
And step 107, controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle.
In the embodiment of the invention, the unmanned aerial vehicle can be controlled by the vehicle to shoot at the target shooting position and the target shooting angle, so that the target video can be obtained, the unmanned aerial vehicle is in communication connection with the vehicle, the unmanned aerial vehicle can transmit the target video to the vehicle, and a user can watch the target video in the vehicle.
In the embodiment of the invention, the vehicle can be in communication connection with the mobile terminal, so that a user can click a 'selection shooting mode' option in an Application program (APP) corresponding to the mobile terminal, enter a preview interface of the selection shooting mode, select an option corresponding to a target shooting mode in the preview interface, the mobile terminal sends the target shooting mode to the vehicle, the vehicle can select a subsequent target shooting position and a target shooting angle in response to the target shooting mode selected by the user, the vehicle can control the unmanned aerial vehicle to shoot a target video, the vehicle can also transmit the target video to the mobile terminal, the user can watch the target video through the mobile terminal, and the target video can be shared to other users through the mobile terminal.
The vehicle can also with unmanned aerial vehicle remote control unit communication connection, when vehicle and unmanned aerial vehicle remote control unit communication connection, the user can click "select to shoot mode" option in the main interface of unmanned aerial vehicle remote control unit's display, get into and select to shoot mode preview interface, select the option that the mode corresponds is shot to the target in this preview interface, unmanned aerial vehicle remote control unit shoots the mode with this target and sends this target to the vehicle, respond to the target shooting mode that the user selected, the vehicle can carry out the selection of follow-up target shooting position and target shooting angle, and the vehicle can shoot position and target shooting angle and send to unmanned aerial vehicle remote control unit, unmanned aerial vehicle remote control unit control unmanned aerial vehicle shoots with target shooting position and target shooting angle, in order to obtain the target video.
The control method of the unmanned aerial vehicle in the embodiment of the invention can obtain current vehicle motion information and unmanned aerial vehicle state information, can determine a target shooting area corresponding to the target shooting mode after determining the target shooting mode, control the unmanned aerial vehicle to fly to the target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information, select a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters, according to image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and the preset reference image parameters, and control the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle. The target shooting mode corresponds to a target shooting area, so that the unmanned aerial vehicle can fly to the target shooting area, a shooting angle and a shooting position matched with preset reference image parameters are selected by changing the height information and the angle information of the unmanned aerial vehicle in the target shooting area, specifically, the height information and the angle information of the unmanned aerial vehicle in the target shooting area need to be adjusted, the shooting angle and the shooting position matched with the preset reference image parameters are found in a self-adaptive mode, shooting is carried out at the best shooting position and the best shooting angle selected in the self-adaptive mode, a better picture is obtained, the shooting angle is the target shooting angle, the shooting position is the target shooting position, the unmanned aerial vehicle can shoot a video at the target shooting angle in the target shooting area, the richness of the picture shot by the unmanned aerial vehicle is improved, and a user can shoot a high-quality video.
Example two
Fig. 2 is a flowchart of a control method for an unmanned aerial vehicle according to a second embodiment of the present invention, where a target shooting area includes first relative area position information between the unmanned aerial vehicle and a vehicle; unmanned aerial vehicle state information includes: unmanned aerial vehicle position information and flight state information; as shown in fig. 2, the method includes:
step 201, obtaining the current vehicle motion information.
In the embodiment of the present invention, this step is similar to the implementation process of step 101 described above, and is not described in detail here.
And 202, acquiring current unmanned aerial vehicle state information.
In the embodiment of the present invention, this step is similar to the implementation process of step 102 described above, and is not described in detail here.
And step 203, acquiring a target shooting mode.
In the embodiment of the invention, a driver or a passenger can select a shooting mode in a vehicle central control or a mobile phone interface, and the vehicle central control or the mobile phone interface provides a plurality of shooting modes, wherein the target shooting mode can comprise: any one of a front shooting mode, a side shooting mode, a top shooting mode, a close-up shooting mode or a long-range shooting mode can meet different shooting requirements of a driver or a passenger.
And step 204, determining a target shooting area corresponding to the target shooting mode.
In the embodiment of the present invention, this step is similar to the implementation process of step 104 described above, and is not described in detail here.
And step 205, controlling the unmanned aerial vehicle to fly to a target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information.
In the embodiment of the invention, different target shooting modes correspond to different target shooting areas, and the corresponding relation between the target shooting areas and the target shooting areas can be stored in the vehicle in advance, so that the target shooting areas corresponding to the target shooting modes can be determined after the vehicle acquires the target shooting modes.
For example, the object capturing area corresponding to the vehicle-ahead capturing mode is an area in front of the vehicle and where the distance between the vehicle and the object capturing area is within a first preset distance range, and the correspondence relationship between the vehicle-ahead capturing mode and the corresponding object capturing area may be stored in the vehicle in advance. The vehicle can obtain the current position information of the vehicle through a GPS in the driving process, the current position information of the vehicle can comprise at least one of the current longitude and latitude of the vehicle and a space coordinate value under a space coordinate system, and the vehicle can calculate the longitude and latitude corresponding to a shooting mode in front of the vehicle and a space coordinate value of a region boundary under the space coordinate system according to the current position information of the vehicle and the corresponding relation between the shooting mode in front of the vehicle and a target shooting region corresponding to the shooting mode in front of the vehicle, which is stored in the vehicle in advance.
In the embodiment of the present invention, a specific implementation manner of step 205 may include the following steps:
and step 2051, determining second relative position information between the unmanned aerial vehicle and the vehicle according to the vehicle motion information and the unmanned aerial vehicle position information.
In the embodiment of the invention, the vehicle needs to determine the second relative position information between the unmanned aerial vehicle and the vehicle according to the navigation information of the vehicle, the GPS information of the vehicle and the GPS information of the unmanned aerial vehicle in the vehicle motion information.
And step 2052, determining position deviation information according to the second relative position information and the first relative area position information.
In this embodiment of the present invention, the position deviation information is a difference between the second relative position information and the first relative area position information, in other words, the position deviation information may represent a relative relationship between the current position of the drone and the target shooting area, and the position deviation information may represent a spatial distance between the current position of the drone and the target shooting area. The vehicle may determine the position deviation information based on the second relative position information and the first relative area position information corresponding to the target photographing area.
For example, a coordinate system may be used to obtain first relative area position information and second relative position information, the area boundary space coordinate value of the first relative area position information may include (10, 5, 15), the second relative position information may be (15, 2, 10), the position deviation information may be the first relative area position information (10, 5, 15) minus the second relative position information may be (15, 2, 10), and position deviation information (-5, 3, 5) may be obtained, the position deviation information indicates that the drone needs to fly 5 meters negatively in the X direction, 3 meters positively in the Y direction, and 5 meters in the Z direction.
And step 2053, controlling the unmanned aerial vehicle to fly to a target shooting area according to the position deviation information.
In the embodiment of the invention, the vehicle can control the unmanned aerial vehicle to fly to the target shooting area according to the position deviation information.
For example, the vehicle may control the drone to fly to the position of the drone corresponding to the target shooting area according to the positional deviation information (-5, 3, 5), which indicates that the drone needs to fly 5 meters in the negative direction in the X direction, 3 meters in the positive direction in the Y direction, and 5 meters in the Z direction.
And step 206, selecting a target shooting position and a target shooting angle by the vehicle according to image parameters corresponding to the images shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters.
In an embodiment of the present invention, fig. 3 is a flowchart of a method for selecting a target shooting position and a target shooting angle according to a second embodiment of the present invention, and as shown in fig. 3, a specific implementation manner of step 206 may include the following steps:
step 2061, controlling the unmanned aerial vehicle to shoot at least two video images with different angles at a first position in the target shooting area. The first position is any position in the target shooting area.
In the embodiment of the invention, the video image is a video shot by the unmanned aerial vehicle at a certain same position of the target shooting position, the first position is any position in the target shooting area, and the vehicle controls the unmanned aerial vehicle to shoot the video images at least two different angles.
Optionally, the number of the video images shot by the unmanned aerial vehicle is not limited in the embodiment of the present invention. Unmanned aerial vehicle can shoot the video image of two different angles, also can shoot the video image of three different angles, can also shoot the video image of four different angles.
In addition, the angle of one rotation of the unmanned aerial vehicle can be preset, and the embodiment of the invention does not specifically limit the angle of one rotation of the unmanned aerial vehicle, for example, 3 microdegrees of one rotation can be preset, and 5 microdegrees of one rotation can also be preset. The embodiment of the present invention does not specifically limit the duration of the video image.
Step 2062, obtaining image parameters corresponding to at least two video images respectively.
In this embodiment of the present invention, the vehicle may perform analysis processing on at least two video images respectively to obtain image parameters corresponding to the at least two video images, where the image parameters may include: exposure, brightness and/or contrast.
Alternatively, the vehicle may obtain the exposure, brightness and/or contrast corresponding to at least two video images respectively. After the corresponding image parameters are acquired, the vehicle performs the following matching procedure.
Step 2063, when the image parameter corresponding to any video image is matched with the preset reference image parameter, determining that the angle corresponding to the image parameter corresponding to the matched video image is the target shooting angle, and the position of the target shooting angle is the target shooting position.
In the embodiment of the present invention, a preset reference image parameter may be prestored in the vehicle, and the preset reference image parameter may include: exposure range, brightness range, and/or contrast range.
When the exposure, brightness and/or contrast corresponding to any video image is within the exposure range, the brightness range and/or the contrast range, determining that the angle corresponding to the matched exposure, brightness and/or contrast is the target shooting angle, and the position of the target shooting angle is the target shooting position, namely the first position is the target shooting position.
Step 2064, when the image parameters corresponding to the video images are not matched with the preset reference image parameters, controlling the unmanned aerial vehicle to shoot the video images of at least two different angles at the second position in the target shooting area. And the second position is any position in the target shooting area except the first position.
In the embodiment of the present invention, when the exposure level, the brightness and/or the contrast corresponding to any video image is within the exposure level range, the brightness range and/or the contrast range, it is determined that the angle corresponding to the matched exposure level, brightness and/or contrast is the target shooting angle, and the position of the target shooting angle is the target shooting position, that is, the second position is the target shooting position.
Step 2065, returning to execute and respectively obtaining the image parameters corresponding to the at least two video images.
In the embodiment of the present invention, this step is similar to the implementation of step 2062, and is not described in detail here.
The vehicle then executes steps 2063 and 2064 until the target photographing angle and the target photographing position are determined.
And step 207, controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle.
In the embodiment of the present invention, this step is similar to the implementation process of step 107 described above, and is not described in detail here.
In the shooting process, it is necessary to determine whether the image parameters corresponding to the video image shot by any unmanned aerial vehicle are matched with the preset reference image parameters in real time, that is, determine whether the current shooting angle is the target shooting angle, and when the image parameters corresponding to the video image shot by any unmanned aerial vehicle are not matched with the preset reference image parameters, return to the execution step 206 to re-determine the target shooting angle and shoot the video image.
In the embodiment of the invention, the current vehicle motion information and the unmanned aerial vehicle state information can be acquired, after the target shooting mode is determined, the target shooting area corresponding to the target shooting mode is determined, the unmanned aerial vehicle is controlled to fly to the target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information, the unmanned aerial vehicle is controlled to shoot at least two video images with different angles at a first position in the target shooting area, image parameters corresponding to the at least two video images are respectively acquired, when the image parameters corresponding to any video image are matched with the preset reference image parameters, the angle corresponding to the matched image parameters corresponding to the video image is determined to be the target shooting angle, the position where the target shooting angle is located is the target shooting position, the image parameters corresponding to the at least two video images are respectively acquired in a return execution mode, and the unmanned aerial vehicle is controlled to shoot at the target shooting position and the target shooting angle. The target shooting mode corresponds to a target shooting area, so that the unmanned aerial vehicle can fly to the target shooting area, a shooting angle and a shooting position matched with preset reference image parameters are selected by changing self height information and angle information in the target shooting area, concretely, the self height information and angle information need to be adjusted in the target shooting area, the shooting angle and the shooting position matched with the preset reference image parameters are found in a self-adaptive manner, shooting is carried out at the best shooting position and the best shooting angle selected in the self-adaptive manner, a better-quality picture is obtained, the shooting angle is the target shooting angle, the shooting position is the target shooting position, the unmanned aerial vehicle can shoot a video at the target shooting angle in the target shooting area, the richness of the picture shot by the unmanned aerial vehicle is improved, and a user can shoot a high-quality video.
EXAMPLE III
Fig. 4 is a flowchart of a control method for an unmanned aerial vehicle according to a third embodiment of the present invention, where a target shooting area includes first relative area position information between the unmanned aerial vehicle and a vehicle; the unmanned aerial vehicle state information includes: unmanned aerial vehicle position information and flight state information; as shown in fig. 4, the method includes:
and 301, acquiring current vehicle motion information.
In the embodiment of the present invention, this step is similar to the implementation process of step 101 described above, and is not described in detail here.
And step 302, acquiring the current state information of the unmanned aerial vehicle.
In the embodiment of the present invention, this step is similar to the implementation process of step 102 described above, and is not described in detail here.
And step 303, acquiring a target shooting mode.
In the embodiment of the present invention, this step is similar to the implementation process of step 103 and step 203 described above, and is not described in detail here.
And step 304, determining a target shooting area corresponding to the target shooting mode.
In the embodiment of the present invention, this step is similar to the implementation process of step 104 described above, and is not described in detail here.
And 305, controlling the unmanned aerial vehicle to fly to a target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information.
In the embodiment of the invention, different target shooting modes correspond to different target shooting areas, and the corresponding relation between the target shooting areas and the target shooting areas can be stored in the vehicle in advance, so that the target shooting areas corresponding to the target shooting modes can be determined after the vehicle acquires the target shooting modes.
In the embodiment of the invention, the cloud server can be in communication connection with the vehicle, and can receive the vehicle motion information, the unmanned aerial vehicle state information and the target shooting mode sent by the vehicle, wherein the cloud server can quickly perform relevant data processing, so that the relevant data processing is performed in the cloud server, and the final processing result can be quickly obtained.
Step 306, sending image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters to a cloud server.
Since the cloud server can perform the related data processing quickly, the step 306 is performed in the cloud server, and the following target shooting position and target shooting angle can be obtained in time.
Step 307, receiving a target shooting position and a target shooting angle returned by the cloud server; the target shooting position and the target shooting angle are determined by the cloud server according to image parameters corresponding to the images shot in the target shooting area and preset reference image parameters.
In the embodiment of the invention, the vehicle can receive the target shooting position and the target shooting angle returned by the cloud server, and record the video in the following steps according to the target shooting position and the target shooting angle.
And 308, controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle.
In the embodiment of the present invention, this step is similar to the implementation process of step 107 described above, and is not described in detail here.
In the embodiment of the invention, the current vehicle motion information and the unmanned aerial vehicle state information can be acquired, after the target shooting mode is determined, the unmanned aerial vehicle is controlled to fly to the target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information, image parameters corresponding to images shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters are sent to the cloud server, the target shooting position and the target shooting angle returned by the cloud server are received, and the unmanned aerial vehicle is controlled to shoot at the target shooting position and the target shooting angle. The target shooting mode corresponds to a target shooting area, so that the unmanned aerial vehicle can fly to the target shooting area, a shooting angle and a shooting position matched with preset reference image parameters are selected by changing self height information and angle information in the target shooting area, concretely, the self height information and angle information need to be adjusted in the target shooting area, the shooting angle and the shooting position matched with the preset reference image parameters are found in a self-adaptive manner, shooting is carried out at the best shooting position and the best shooting angle selected in the self-adaptive manner, a better-quality picture is obtained, the shooting angle is the target shooting angle, the shooting position is the target shooting position, the unmanned aerial vehicle can shoot a video at the target shooting angle in the target shooting area, the richness of the picture shot by the unmanned aerial vehicle is improved, and a user can shoot a high-quality video.
Example four
Fig. 5 is a block diagram of a control device of an unmanned aerial vehicle according to a fourth embodiment of the present invention, and as shown in fig. 5, the control device 400 of the unmanned aerial vehicle includes:
a first obtaining module 401, configured to obtain current vehicle motion information;
a second obtaining module 402, configured to obtain current state information of the unmanned aerial vehicle;
a third obtaining module 403, configured to obtain a target shooting mode;
a determining module 404, configured to determine a target shooting area corresponding to a target shooting mode;
the first control module 405 is configured to control the unmanned aerial vehicle to fly to a target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information;
the selection module 406 is configured to select a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters;
and a second control module 407, configured to control the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle.
The specific implementation of each module in the embodiments of the present invention has been introduced in detail at the method side, and thus is not described herein again.
According to the control device of the unmanned aerial vehicle, the current vehicle motion information and the unmanned aerial vehicle state information can be respectively obtained through the first obtaining module and the second obtaining module, the third obtaining module is used for obtaining the target shooting mode, the target shooting area corresponding to the target shooting mode can be determined through the determining module, the unmanned aerial vehicle is controlled to fly to the target shooting area through the first control module according to the vehicle motion information and the unmanned aerial vehicle state information, the target shooting position and the target shooting angle are selected through the selecting module according to the image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and the preset reference image parameters, and the unmanned aerial vehicle is controlled to shoot at the target shooting position and the target shooting angle through the second control module. The target shooting mode corresponds to a target shooting area, so that the unmanned aerial vehicle can fly to the target shooting area, a shooting angle and a shooting position matched with preset reference image parameters are selected by changing the height information and the angle information of the unmanned aerial vehicle in the target shooting area, specifically, the height information and the angle information of the unmanned aerial vehicle in the target shooting area need to be adjusted, the shooting angle and the shooting position matched with the preset reference image parameters are found in a self-adaptive mode, shooting is carried out at the best shooting position and the best shooting angle selected in the self-adaptive mode, a better picture is obtained, the shooting angle is the target shooting angle, the shooting position is the target shooting position, the unmanned aerial vehicle can shoot a video at the target shooting angle in the target shooting area, the richness of the picture shot by the unmanned aerial vehicle is improved, and a user can shoot a high-quality video.
EXAMPLE five
The fifth embodiment of the present invention provides a control device for an unmanned aerial vehicle, where the control device for the unmanned aerial vehicle includes:
the first acquisition module is used for acquiring current vehicle motion information;
the second acquisition module is used for acquiring the current state information of the unmanned aerial vehicle;
the third acquisition module is used for acquiring a target shooting mode;
the determining module is used for determining a target shooting area corresponding to the target shooting mode;
the first control module is used for controlling the unmanned aerial vehicle to fly to a target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information;
the selection module is used for selecting a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters;
and the second control module is used for controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle.
Optionally, the selection module comprises:
the first control sub-module is used for controlling the unmanned aerial vehicle to shoot at least two video images with different angles at a first position in the target shooting area; the first position is any position in the target shooting area;
the first acquisition sub-module is used for respectively acquiring image parameters corresponding to at least two video images;
the first determining sub-module is used for determining that the angle corresponding to the image parameter corresponding to the matched video image is a target shooting angle and the position of the target shooting angle is a target shooting position when the image parameter corresponding to any video image is matched with a preset reference image parameter;
the second control sub-module is used for controlling the unmanned aerial vehicle to shoot the video images of at least two different angles at a second position in the target shooting area when the image parameters corresponding to the video images are not matched with the preset reference image parameters; the second position is any position in the target shooting area except the first position;
and the return sub-module is used for returning and executing the image parameters corresponding to the at least two video images respectively.
Optionally, the first obtaining sub-module includes:
the first acquisition unit is used for respectively acquiring the exposure, the brightness and/or the contrast corresponding to at least two video images;
the first determination sub-module includes:
and the determining unit is used for determining that the angle corresponding to the matched exposure, brightness and/or contrast is the target shooting angle and the position of the target shooting angle is the target shooting position when the exposure, brightness and/or contrast corresponding to any video image is within the exposure range, the brightness range and/or the contrast range.
Optionally, the target shooting area includes first relative area position information between the unmanned aerial vehicle and the vehicle; unmanned aerial vehicle state information includes: unmanned aerial vehicle position information and flight state information;
the first control module includes:
the second determining submodule is used for determining second relative position information between the unmanned aerial vehicle and the vehicle according to the vehicle motion information and the unmanned aerial vehicle position information;
the third determining submodule is used for determining position deviation information according to the second relative position information and the first relative area position information;
and the third control sub-module is used for controlling the unmanned aerial vehicle to fly to the target shooting area according to the position deviation information and the flight state information.
Optionally, fig. 6 is a block diagram of a selecting module according to a fifth embodiment of the present invention, and as shown in fig. 6, the selecting module 500 includes:
the first selecting submodule 501 is configured to select, by the vehicle, a target shooting position and a target shooting angle according to an image parameter corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and a preset reference image parameter.
The specific implementation of each module in the embodiments of the present invention has been introduced in detail at the method side, and thus is not described herein again.
The control device of the unmanned aerial vehicle in the embodiment of the invention can respectively acquire the current vehicle motion information and the unmanned aerial vehicle state information through the first acquisition module and the second acquisition module, and then the third acquisition module can determine the target shooting area corresponding to the target shooting mode through the determination module after acquiring the target shooting mode. The target shooting mode corresponds to a target shooting area, so that the unmanned aerial vehicle can fly to the target shooting area, a shooting angle and a shooting position matched with preset reference image parameters are selected by changing self height information and angle information in the target shooting area, concretely, the self height information and angle information need to be adjusted in the target shooting area, the shooting angle and the shooting position matched with the preset reference image parameters are found in a self-adaptive manner, shooting is carried out at the best shooting position and the best shooting angle selected in the self-adaptive manner, a better-quality picture is obtained, the shooting angle is the target shooting angle, the shooting position is the target shooting position, the unmanned aerial vehicle can shoot a video at the target shooting angle in the target shooting area, the richness of the picture shot by the unmanned aerial vehicle is improved, and a user can shoot a high-quality video.
EXAMPLE six
An embodiment of the present invention provides a control device for an unmanned aerial vehicle, where the control device for the unmanned aerial vehicle includes:
the first acquisition module is used for acquiring current vehicle motion information;
the second acquisition module is used for acquiring the current state information of the unmanned aerial vehicle;
the third acquisition module is used for acquiring a target shooting mode;
the determining module is used for determining a target shooting area corresponding to the target shooting mode;
the first control module is used for controlling the unmanned aerial vehicle to fly to a target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information;
the selection module is used for selecting a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters;
and the second control module is used for controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle.
Optionally, the selection module comprises:
the first control sub-module is used for controlling the unmanned aerial vehicle to shoot at least two video images with different angles at a first position in the target shooting area; the first position is any position in the target shooting area;
the first acquisition sub-module is used for respectively acquiring image parameters corresponding to at least two video images;
the first determining submodule is used for determining that the angle corresponding to the image parameter corresponding to the matched video image is the target shooting angle and the position of the target shooting angle is the target shooting position when the image parameter corresponding to any video image is matched with the preset reference image parameter;
the second control sub-module is used for controlling the unmanned aerial vehicle to shoot the video images of at least two different angles at a second position in the target shooting area when the image parameters corresponding to the video images are not matched with the preset reference image parameters; the second position is any position in the target shooting area except the first position;
and the return sub-module is used for returning and executing the image parameters corresponding to the at least two video images respectively.
Optionally, the first obtaining sub-module includes:
the first acquisition unit is used for respectively acquiring the exposure, brightness and/or contrast corresponding to at least two video images;
the first determination submodule includes:
and the determining unit is used for determining that the angle corresponding to the matched exposure, brightness and/or contrast is the target shooting angle and the position of the target shooting angle is the target shooting position when the exposure, brightness and/or contrast corresponding to any video image is within the exposure range, the brightness range and/or the contrast range.
Optionally, the target shooting area includes first relative area position information between the unmanned aerial vehicle and the vehicle; unmanned aerial vehicle state information includes: unmanned aerial vehicle position information and flight state information;
the first control module includes:
the second determining submodule is used for determining second relative position information between the unmanned aerial vehicle and the vehicle according to the vehicle motion information and the unmanned aerial vehicle position information;
the third determining submodule is used for determining position deviation information according to the second relative position information and the first relative area position information;
and the third control sub-module is used for controlling the unmanned aerial vehicle to fly to the target shooting area according to the position deviation information and the flight state information.
Optionally, fig. 7 is a block diagram of a structure of a selection module according to a sixth embodiment of the present invention, and as shown in fig. 7, the selection module 600 includes:
the sending submodule 601 is configured to send image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters to the cloud server;
the receiving submodule 602 is configured to receive a target shooting position and a target shooting angle returned by the cloud server; the target shooting position and the target shooting angle are determined by the cloud server according to image parameters corresponding to the images shot in the target shooting area and preset reference image parameters.
The specific implementation of each module in the embodiment of the present invention has been described in detail at the method side, and therefore, the detailed description thereof is omitted here.
The control device of the unmanned aerial vehicle in the embodiment of the invention can respectively acquire the current vehicle motion information and the unmanned aerial vehicle state information through the first acquisition module and the second acquisition module, and then the third acquisition module can determine the target shooting area corresponding to the target shooting mode through the determination module after acquiring the target shooting mode. The target shooting mode corresponds to a target shooting area, so that the unmanned aerial vehicle can fly to the target shooting area, a shooting angle and a shooting position matched with preset reference image parameters are selected by changing self height information and angle information in the target shooting area, concretely, the self height information and angle information need to be adjusted in the target shooting area, the shooting angle and the shooting position matched with the preset reference image parameters are found in a self-adaptive manner, shooting is carried out at the best shooting position and the best shooting angle selected in the self-adaptive manner, a better-quality picture is obtained, the shooting angle is the target shooting angle, the shooting position is the target shooting position, the unmanned aerial vehicle can shoot a video at the target shooting angle in the target shooting area, the richness of the picture shot by the unmanned aerial vehicle is improved, and a user can shoot a high-quality video.
An embodiment of the present invention further provides a vehicle, including: a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method of controlling a drone of any one of embodiments one, two, and three.
The specific implementation manner of the vehicle implementing the control method of the unmanned aerial vehicle in the embodiment of the invention has been described in detail at the method side, and therefore, the detailed description is omitted here.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (13)

1. A control method of an unmanned aerial vehicle is characterized by being applied to a vehicle, and the method comprises the following steps:
acquiring current vehicle motion information;
acquiring current state information of the unmanned aerial vehicle;
responding to the selection of a user on a shooting mode preview interface to acquire a target shooting mode;
determining a target shooting area corresponding to the target shooting mode;
controlling the unmanned aerial vehicle to fly to the target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information;
selecting a target shooting position and a target shooting angle according to image parameters corresponding to images shot by the unmanned aerial vehicle in the target shooting area by changing self position information and angle information and preset reference image parameters;
controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle;
the vehicle motion information comprises the running speed of the vehicle, the steering wheel angle of the vehicle, the navigation information of the vehicle and the global positioning system information of the vehicle; the shooting mode preview interface is displayed on a display of the vehicle, and the target shooting mode comprises a close-range shooting mode or a distant-range shooting mode; and the selection of the target shooting position and the target shooting angle is determined according to whether the image parameters corresponding to the image shot by any unmanned aerial vehicle are matched with the preset reference image parameters or not.
2. The method of claim 1, wherein selecting the target shooting position and the target shooting angle according to the image parameters corresponding to the image shot by the unmanned aerial vehicle by changing the position information and the angle information of the unmanned aerial vehicle in the target shooting area and preset reference image parameters comprises:
controlling the unmanned aerial vehicle to shoot video images of at least two different angles at a first position; the first position is any position in the target shooting area;
respectively acquiring image parameters corresponding to the at least two video images;
when the image parameter corresponding to any one of the video images is matched with a preset reference image parameter, determining that the angle corresponding to the image parameter corresponding to the matched video image is a target shooting angle and the position of the target shooting angle is the target shooting position;
when the image parameters corresponding to the video images are not matched with the preset reference image parameters, controlling the unmanned aerial vehicle to shoot video images at least two different angles at a second position; the second position is any position except the first position in the target shooting area;
and returning to execute the image parameters respectively corresponding to the at least two video images.
3. The method according to claim 2, wherein said respectively obtaining image parameters corresponding to the at least two video images comprises:
respectively acquiring exposure and brightness contrast corresponding to the at least two video images;
when the image parameter corresponding to any one of the video images is matched with a preset reference image parameter, determining that an angle corresponding to the image parameter corresponding to the matched video image is a target shooting angle, and the first position is the target shooting position, including:
and when the exposure and the brightness contrast corresponding to any one of the video images are in the exposure range and the brightness range contrast range, determining that the angle corresponding to the matched exposure and brightness contrast is a target shooting angle, and the position of the target shooting angle is the target shooting position.
4. The method of claim 1, wherein the drone is connected to a vehicle, the target capture area includes first relative area location information between the drone and the vehicle; the unmanned aerial vehicle state information includes: unmanned aerial vehicle position information and flight state information;
according to the vehicle motion information and the unmanned aerial vehicle state information, controlling the unmanned aerial vehicle to fly to the target shooting area, including:
determining second relative position information between the unmanned aerial vehicle and the vehicle according to the vehicle motion information and the unmanned aerial vehicle position information;
determining position deviation information according to the second relative position information and the first relative area position information;
and controlling the unmanned aerial vehicle to fly to the target shooting area according to the position deviation information and the flight state information.
5. The method of claim 1, wherein selecting a target shooting position and a target shooting angle according to image parameters corresponding to an image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters comprises:
and selecting a target shooting position and a target shooting angle by the vehicle according to the unmanned aerial vehicle, image parameters corresponding to the image shot in the target shooting area and preset reference image parameters.
6. The method of claim 1, wherein selecting the target shooting position and the target shooting angle according to the image parameters corresponding to the image shot by the unmanned aerial vehicle by changing the position information and the angle information of the unmanned aerial vehicle in the target shooting area and preset reference image parameters comprises:
sending image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters to a cloud server;
receiving a target shooting position and a target shooting angle returned by the cloud server; and the target shooting position and the target shooting angle are determined by the cloud server according to image parameters corresponding to the image shot in the target shooting area and preset reference image parameters.
7. The utility model provides a control device of unmanned aerial vehicle which characterized in that is applied to the vehicle, the device includes:
the first acquisition module is used for acquiring current vehicle motion information;
the second acquisition module is used for acquiring the current state information of the unmanned aerial vehicle;
the third acquisition module is used for responding to the selection of the user on the shooting mode preview interface to acquire the target shooting mode;
the determining module is used for determining a target shooting area corresponding to the target shooting mode;
the first control module is used for controlling the unmanned aerial vehicle to fly to the target shooting area according to the vehicle motion information and the unmanned aerial vehicle state information;
the selection module is used for selecting a target shooting position and a target shooting angle according to image parameters corresponding to images shot by the unmanned aerial vehicle in the target shooting area by changing self position information and angle information and preset reference image parameters;
the second control module is used for controlling the unmanned aerial vehicle to shoot at the target shooting position and the target shooting angle;
the vehicle motion information comprises the running speed of the vehicle, the steering wheel angle of the vehicle, the navigation information of the vehicle and the global positioning system information of the vehicle; the shooting mode preview interface is displayed on a display of the vehicle, and the target shooting mode comprises a close-range shooting mode or a long-range shooting mode; and the selected target shooting position and the target shooting angle are determined according to whether the image parameters corresponding to the images shot by any unmanned aerial vehicle are matched with the preset reference image parameters or not.
8. The apparatus of claim 7, wherein the selection module comprises:
the first control sub-module is used for controlling the unmanned aerial vehicle to shoot video images of at least two different angles at a first position in the target shooting area; the first position is any position in the target shooting area;
the first obtaining sub-module is used for respectively obtaining image parameters corresponding to the at least two video images;
the first determining sub-module is used for determining that the angle corresponding to the image parameter corresponding to the matched video image is a target shooting angle and the position of the target shooting angle is the target shooting position when the image parameter corresponding to any video image is matched with a preset reference image parameter;
the second control sub-module is used for controlling the unmanned aerial vehicle to shoot video images at least two different angles at a second position in the target shooting area when the image parameters corresponding to the video images are not matched with the preset reference image parameters; the second position is any position except the first position in the target shooting area;
and the return submodule is used for returning and executing the image parameters corresponding to the at least two video images respectively.
9. The apparatus of claim 8, wherein the first acquisition submodule comprises:
the first acquisition unit is used for respectively acquiring the exposure and the brightness contrast corresponding to the at least two video images;
the first determination submodule includes:
and the determining unit is used for determining that the corresponding angle of the exposure and the brightness contrast which are matched is the target shooting angle and the position of the target shooting angle is the target shooting position when the exposure and the brightness contrast which are corresponding to any one of the video images are in the exposure range and the brightness range contrast range.
10. The apparatus of claim 7, wherein the drone is connected to a vehicle, the target capture area includes first relative area location information between the drone and the vehicle; the unmanned aerial vehicle state information includes: unmanned aerial vehicle position information and flight state information;
the first control module includes:
the second determining submodule is used for determining second relative position information between the unmanned aerial vehicle and the vehicle according to the vehicle motion information and the unmanned aerial vehicle position information;
the third determining submodule is used for determining position deviation information according to the second relative position information and the first relative area position information;
and the third control sub-module is used for controlling the unmanned aerial vehicle to fly to the target shooting area according to the position deviation information and the flight state information.
11. The apparatus of claim 7, wherein the selection module comprises:
the first selection submodule is used for selecting a target shooting position and a target shooting angle by the vehicle according to image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters.
12. The apparatus of claim 7, wherein the selection module comprises:
the sending submodule is used for sending image parameters corresponding to the image shot by the unmanned aerial vehicle in the target shooting area and preset reference image parameters to a cloud server;
the receiving submodule is used for receiving a target shooting position and a target shooting angle returned by the cloud server; and the target shooting position and the target shooting angle are determined by the cloud server according to image parameters corresponding to the image shot in the target shooting area and preset reference image parameters.
13. A vehicle, characterized in that the vehicle comprises: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling a drone of any one of claims 1 to 6.
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