CN117376671A - Unmanned aerial vehicle image shooting method and device, unmanned aerial vehicle and storage medium - Google Patents
Unmanned aerial vehicle image shooting method and device, unmanned aerial vehicle and storage medium Download PDFInfo
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- H—ELECTRICITY
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The application is applicable to unmanned aerial vehicle technical field, provides an unmanned aerial vehicle image shooting method, device, unmanned aerial vehicle and storage medium, unmanned aerial vehicle includes camera and exposure lamp, the method includes: acquiring a current image shot by the camera; detecting whether the exposure degree of the current image meets a preset requirement; if the exposure degree of the current image does not meet the preset requirement, brightness adjustment is carried out on the exposure lamp; and controlling the camera to shoot an image based on the exposure lamp after brightness adjustment. By adopting the method, the influence of environmental factors on the image shooting of the unmanned aerial vehicle can be reduced as much as possible, and the quality of the image shot by the camera of the unmanned aerial vehicle during autonomous navigation is improved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle image shooting method, an unmanned aerial vehicle image shooting device, an unmanned aerial vehicle and a storage medium.
Background
With the wide application of unmanned aerial vehicles in various industries, the requirements of users on unmanned aerial vehicles are also improved, for example, the requirements on real-time recognition capability of obstacles during the movement navigation of unmanned aerial vehicles are provided. At present, navigation of the unmanned aerial vehicle mainly adopts two modes, namely laser navigation and visual navigation, and the visual navigation is widely used due to the cost performance advantage. The visual navigation relies on the recognition of the characteristic points of the camera to the object to a great extent, and the accuracy of navigation is determined by the quality of the image shot by the unmanned aerial vehicle camera, so that the use flexibility and maneuverability of the unmanned aerial vehicle are directly related.
Therefore, how to reduce the influence of environmental factors on the image shooting of the unmanned aerial vehicle as much as possible and improve the quality of the image shot by the camera during autonomous navigation of the unmanned aerial vehicle is a problem to be considered currently.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle image shooting method, an unmanned aerial vehicle image shooting device, an unmanned aerial vehicle and a storage medium, which can reduce the influence of environmental factors on image shooting of the unmanned aerial vehicle during autonomous navigation as far as possible and improve the quality of images shot by a camera of the unmanned aerial vehicle during autonomous navigation.
In a first aspect, an embodiment of the present application provides an image capturing method of an unmanned aerial vehicle, where the unmanned aerial vehicle includes a camera and an exposure lamp, and the method includes:
acquiring a current image shot by the camera;
detecting whether the exposure degree of the current image meets a preset requirement;
if the exposure degree of the current image does not meet the preset requirement, brightness adjustment is carried out on the exposure lamp;
and controlling the camera to shoot an image based on the exposure lamp after brightness adjustment.
In a possible implementation manner of the first aspect, the step of detecting whether the exposure degree of the current image meets a preset requirement includes:
performing edge extraction on the current image, and extracting an image contour in the current image;
determining a maximum value of pixels in an image contour range in the current image;
and determining whether the exposure degree of the current image meets a preset requirement according to the maximum value of the pixels.
In a possible implementation manner of the first aspect, the step of adjusting the brightness of the exposure lamp if the exposure degree of the current image does not meet the preset requirement includes:
if the exposure degree of the current image is lower than a first preset exposure degree threshold value, adjusting the brightness of the exposure lamp according to a first preset adjusting standard, wherein the first preset adjusting standard is used for improving the brightness of the exposure lamp;
and if the exposure degree of the current image is higher than a second preset exposure degree threshold value, adjusting the brightness of the exposure lamp according to a second preset adjusting standard, wherein the second preset adjusting standard is used for reducing the brightness of the exposure lamp.
In a possible implementation manner of the first aspect, the method further includes:
if the exposure degree of the current image is higher than a second preset exposure degree threshold value, reading the current brightness value of the exposure lamp;
if the current brightness value of the exposure lamp is zero, determining that other light sources exist in the current environment of the unmanned aerial vehicle;
and sending an alarm prompt to an upper computer of the unmanned aerial vehicle, wherein the alarm prompt is used for prompting the upper computer that other light sources exist in the current environment of the unmanned aerial vehicle.
In a possible implementation manner of the first aspect, the step of controlling the camera to capture an image based on the exposure light after the brightness adjustment includes:
acquiring an image newly shot by the camera based on the exposure lamp after brightness adjustment in real time, and judging whether the exposure degree of the image newly shot meets the preset requirement;
if the exposure degree of the newly shot image meets the preset requirement, stopping adjusting the brightness of the exposure lamp, and controlling the camera to continuously shoot the image based on the current brightness of the exposure lamp;
and if the exposure degree of the newly shot image does not meet the preset requirement, continuing to adjust the brightness of the exposure lamp until the exposure degree of the newly shot image meets the preset requirement.
In a possible implementation manner of the first aspect, the method further includes:
acquiring a mode control instruction issued by an upper computer, wherein the mode control instruction is used for indicating the working mode of the exposure lamp;
determining the working mode of the exposure lamp according to the mode control instruction;
and controlling the exposure lamp to switch to the working mode.
In a possible implementation manner of the first aspect, the exposure lamp is an annular LED lamp, and the camera is disposed at a center position of the annular LED lamp.
In a second aspect, embodiments of the present application provide an unmanned aerial vehicle image capturing device, unmanned aerial vehicle includes camera and exposure lamp, include:
the image acquisition unit is used for acquiring a current image shot by the camera;
the exposure detection unit is used for detecting whether the exposure degree of the current image meets the preset requirement;
an exposure adjusting unit, configured to adjust brightness of the exposure lamp if the exposure degree of the current image does not meet the preset requirement;
and the shooting control unit is used for controlling the camera to shoot images based on the exposure lamp after brightness adjustment.
In a third aspect, an embodiment of the present application provides a unmanned aerial vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the unmanned aerial vehicle image capturing method according to the first aspect when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program, which when executed by a processor implements the unmanned aerial vehicle image capturing method according to the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product for causing a drone to perform the method for capturing images of a drone as described in the first aspect above, when the computer program product is run on the drone.
In this embodiment of the application, through obtaining the current image that unmanned aerial vehicle camera was shot, detect whether the exposure degree of current image satisfies the requirement of predetermineeing, if the exposure degree of current image does not satisfy the requirement of predetermineeing, then right the exposure lamp carries out the brightness adjustment, and the brightness adjustment through the exposure lamp is come as far as possible to ensure unmanned aerial vehicle shooting luminance, reduces environmental factor to unmanned aerial vehicle image shooting's influence, and the recontrolled the camera is based on the exposure lamp shooting image after the brightness adjustment to obtain the image that the exposure degree satisfies the requirement of predetermineeing. According to the scheme, the quality of images shot by the camera during autonomous navigation of the unmanned aerial vehicle can be improved, and the improvement of the image quality is more beneficial to assisting autonomous navigation of the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle in an unmanned aerial vehicle image shooting method according to an embodiment of the present application;
fig. 2 is a flowchart of an implementation of an image capturing method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a flowchart of a specific implementation of step S102 in the unmanned aerial vehicle image capturing method provided in the embodiment of the present application;
fig. 4 is a flowchart of a specific implementation of step S103 in the unmanned aerial vehicle image capturing method provided in the embodiment of the present application;
fig. 5 is a flowchart of a specific implementation of determining whether other light sources exist in the unmanned aerial vehicle image capturing method provided in the embodiment of the present application;
fig. 6 is a flowchart of a specific implementation of step S104 in the unmanned aerial vehicle image capturing method provided in the embodiment of the present application;
fig. 7 is a flowchart of a specific implementation of controlling an exposure lamp to switch working modes according to an instruction of an upper computer in the unmanned aerial vehicle image shooting method provided by the embodiment of the application;
fig. 8 is a block diagram of a unmanned aerial vehicle image capturing device according to an embodiment of the present application;
fig. 9 is a schematic diagram of a drone provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The unmanned aerial vehicle image shooting method provided by the embodiment of the application can be applied to intelligent equipment needing to execute image shooting, and particularly can comprise an unmanned aerial vehicle.
Referring to fig. 1, an embodiment of the present application provides a unmanned aerial vehicle 1 including a camera 11 and an exposure lamp 12.
As a possible embodiment of the present application, the exposure lamp 12 is a ring-shaped LED lamp, and the camera 11 is disposed at a center position of the ring-shaped LED lamp.
In one possible implementation, the exposure lamp body comprises an exposure lamp control board and an annular LED lamp panel, wherein the exposure lamp control board integrates a CAN bus interface and a USB bus interface which are communicated with the unmanned aerial vehicle, and is used for realizing control and data interaction with an upper computer of the unmanned aerial vehicle. The annular LED lamp panel comprises an annular light-emitting source formed by 6 paths of LEDs.
In some embodiments, memory is integrated on board for storing parameters or specific image data. And the on-board integrated 2-path LED driving circuit outputs 6 paths of LED interfaces outside each path of pairs, and the LED control is controlled by PWM, EN and IIC signals of the master control.
In this embodiment, the EN signal is active, and the PWM duty cycle value is 0, i.e., indicates that the current exposure lamp is on, but the brightness is zero. The EN signal is inactive, i.e., indicates that the current exposure lamp is not on, and the PWM duty cycle value cannot be adjusted when the exposure lamp is not on.
In this embodiment, the camera is disposed at the center of the annular LED lamp, and the exposure control of the annular LED lamp is controlled by the PWM signal, EN signal, and IIC signal of the exposure lamp control board. The PWM signal controls the flicker frequency of the LED, and the brightness of the exposure lamp is controlled by the duty ratio of the PWM signal. The EN signal directly controls the on and off of the exposure lamp, and the IIC controls the light emitting mode of each of the 6 LEDs, such as blinking according to frequency, on/off, brightness control, etc.
In this embodiment of the application, constitute the exposure lamp through constituteing annular LED lamp, place annular LED lamp center with the camera, both be favorable to adjusting the luminance of exposure lamp so that effective supplementary camera shoots the image, improve the quality of shooting the image, simultaneously, annular LED lamp does not bring hardware volume increase, reducible unnecessary power dissipation.
Fig. 2 shows an implementation flow of the unmanned aerial vehicle image capturing method provided in the embodiment of the present application, where the method flow includes steps S101 to S104. In this embodiment, the unmanned aerial vehicle includes camera and exposure lamp, and the concrete implementation principle of each step is as follows:
s101: and acquiring the current image shot by the camera.
The unmanned aerial vehicle is navigated through the image that the camera was shot in the operation in-process and is kept away the barrier. In this embodiment, a current image captured by a camera is obtained in real time. The current image is an image of the unmanned aerial vehicle in the visual field range of the camera at the current position.
S102: and detecting whether the exposure degree of the current image meets the preset requirement.
The unmanned aerial vehicle shooting image is used for assisting autonomous navigation of the unmanned aerial vehicle and avoiding obstacle, and the quality of shooting images directly influences the flight stability of the unmanned aerial vehicle. In this embodiment, the exposure degree of the image is used as an index for evaluating the image quality, and whether the image shot by the camera of the unmanned aerial vehicle in the current environment is qualified or not and whether the unmanned aerial vehicle can be effectively assisted in flying is determined by detecting whether the exposure degree of the current image meets the preset requirement or not.
Detecting whether the exposure meets the preset requirements includes determining whether the image is overexposed or underexposed. As a possible implementation manner of the present application, the exposure degree in the current image is obtained, and whether the exposure degree meets the preset requirement is detected, and fig. 3 shows a specific implementation flow of detecting whether the exposure degree of the current image meets the preset requirement in the embodiment of the present application, which is described in detail below:
a1: and extracting the edge of the current image, and extracting the image contour in the current image.
A2: and determining the maximum value of pixels in the image contour range in the current image.
In this embodiment, the pixel values within the range of the image contour extracted from the current image are calculated, and the maximum pixel value is determined, and the extraction of the image contour and the calculation of the pixel values can refer to the prior art.
A3: and determining whether the exposure degree of the current image meets a preset requirement according to the maximum value of the pixels.
In the embodiment of the application, the maximum value of the pixels in the image contour range in the current image can represent the exposure degree of the current image. Searching the exposure corresponding to the maximum value of the pixel in a preset exposure comparison table, and judging whether the exposure meets the preset requirement or not, wherein the preset exposure comparison table comprises the corresponding relation between the pixel value and the exposure.
In some embodiments, the preset exposure level comparison table includes a mapping relationship among a pixel value, an image size and an exposure level, after determining a maximum value of a pixel in an image contour range in the current image, the image size of the current image is obtained, and the exposure level corresponding to the maximum value of the pixel and the image size is searched in the preset exposure level comparison table, so as to determine whether the exposure level meets a preset requirement.
In the embodiment of the application, the exposure degree of the images is different, the pixel values of the images are different, the image contour is obtained by extracting the image edge, and the exposure degree of the images can be rapidly determined according to the maximum value of the pixels in the image contour range in the images.
S103: and if the exposure degree of the current image does not meet the preset requirement, adjusting the brightness of the exposure lamp.
The quality of the image shot by the unmanned aerial vehicle depends on the quality of the ambient light, particularly, when the unmanned aerial vehicle is in dark conditions such as a dark corridor, a mountain hole and the like, illumination needs to be kept for a long time, and when the light source is too strong, poor image quality can be caused, so that the unmanned aerial vehicle is limited in application due to poor image quality. In this embodiment, unmanned aerial vehicle is provided with the exposure lamp and is regarded as the auxiliary light source that the camera was shot, when detecting that the exposure degree of image does not satisfy the requirement of predetermineeing, through the light source that guarantees image shooting to guarantee that the exposure degree of shot image can accord with the requirement of predetermineeing, avoid overexposure or exposure degree too low, reduce the environmental factor of unmanned aerial vehicle's place environment as far as possible and influence the quality of shooting the image.
As a possible implementation manner of the present application, fig. 4 shows a specific implementation flow of brightness adjustment for the exposure lamp if the exposure degree of the current image does not meet the preset requirement in the embodiment of the present application, which is described in detail below:
b1: and if the exposure degree of the current image is lower than a first preset exposure degree threshold value, adjusting the brightness of the exposure lamp according to a first preset adjusting standard, wherein the first preset adjusting standard is used for improving the brightness of the exposure lamp.
B2: and if the exposure degree of the current image is higher than a second preset exposure degree threshold value, adjusting the brightness of the exposure lamp according to a second preset adjusting standard, wherein the second preset adjusting standard is used for reducing the brightness of the exposure lamp. Wherein the second preset exposure threshold is greater than the first preset exposure threshold.
When the exposure degree of the current image is lower than a first preset exposure degree threshold value, the exposure degree of the current image is too low, the image brightness is too dark, and the brightness of an exposure lamp needs to be improved. And when the exposure degree of the current image is higher than a second preset exposure degree threshold value, the current image is overexposed, the image brightness is too bright, and the brightness of an exposure lamp needs to be reduced.
In one possible embodiment, the brightness of the exposure lamp is adjusted by PWM pulse width modulation. Specifically, the brightness of the exposure lamp is adjusted by adjusting the duty ratio value of PWM. And if the exposure degree of the current image is lower than a first preset exposure degree threshold value, adjusting the brightness of the exposure lamp by increasing the duty ratio value of PWM. And if the exposure degree of the current image is higher than a second preset exposure degree threshold value, adjusting the brightness of the exposure lamp by reducing the duty ratio value of PWM.
In some embodiments, the first preset adjustment criterion specifically includes increasing the duty cycle value by one-half based on the duty cycle value of the current PWM. The second preset adjustment criterion specifically includes reducing the duty cycle value at the current PWM by half.
In this application embodiment, through adjusting PWM's duty cycle value and adjusting the luminance of exposure lamp, avoid the image overexposure or the darkness of shooting through the regulation of luminance to guarantee that the image quality of shooting is qualified effective.
As a possible implementation manner of the present application, as shown in fig. 5, the image capturing method for an unmanned aerial vehicle provided in the embodiment of the present application further includes:
c1: and if the exposure degree of the current image is higher than a second preset exposure degree threshold value, reading the current brightness value of the exposure lamp.
C2: and if the current brightness value of the exposure lamp is zero, determining that other light sources exist in the current environment of the unmanned aerial vehicle.
In some embodiments, the current brightness value of the exposure lamp may be determined by reading the duty cycle value of the exposure lamp PWM, if the duty cycle value is zero, i.e., the brightness of the exposure lamp is zero.
And C3: and sending an alarm prompt to an upper computer of the unmanned aerial vehicle, wherein the alarm prompt is used for prompting the upper computer that other light sources exist in the current environment of the unmanned aerial vehicle.
In the embodiment of the application, although the current image is overexposed, the brightness value of the exposure lamp is zero, which means that the camera of the unmanned aerial vehicle is influenced by other light sources, so that the shot image is disqualified. At this time, can send the warning suggestion to unmanned aerial vehicle's host computer, the suggestion host computer this unmanned aerial vehicle present place the environment have other light source shadow, and ambient light intensity is too big and leads to image shooting inequality to the host computer makes corresponding control decision according to this.
S104: and controlling the camera to shoot an image based on the exposure lamp after brightness adjustment.
In the embodiment of the application, after the brightness of the exposure lamp is adjusted, the camera is controlled to shoot an image based on the brightness of the current exposure lamp.
As a possible implementation manner of the present application, fig. 6 shows a specific implementation procedure of controlling the camera to capture an image based on the exposure lamp after brightness adjustment in the embodiment of the present application:
d1: and acquiring an image newly shot by the camera based on the exposure lamp after brightness adjustment in real time, and judging whether the exposure degree of the image newly shot meets the preset requirement.
D2: and if the exposure degree of the newly shot image meets the preset requirement, stopping adjusting the brightness of the exposure lamp, and controlling the camera to continuously shoot the image based on the current brightness of the exposure lamp.
In the embodiment of the application, after brightness adjustment is performed on the exposure lamp, exposure detection is performed on a newly shot image in real time, and whether the exposure meets a preset requirement is judged. If the preset requirement is met, the quality of the newly shot image is qualified, the brightness of the exposure lamp does not need to be continuously adjusted, the current brightness of the exposure lamp is suitable for shooting, and the camera is controlled to continuously shoot the image based on the current brightness of the exposure lamp.
D3: and if the exposure degree of the newly shot image does not meet the preset requirement, continuing to adjust the brightness of the exposure lamp until the exposure degree of the newly shot image meets the preset requirement.
In the embodiment of the application, after brightness adjustment is performed on the exposure lamp, exposure detection is performed on a newly shot image in real time, and whether the exposure meets a preset requirement is judged. If the preset requirement is not met, the quality of the newly shot image is proved to be unqualified, the current brightness of the exposure lamp is not suitable for shooting, the brightness of the exposure lamp is required to be continuously adjusted, the adjusting standard can refer to the first preset adjusting standard and the second preset adjusting standard, and after the brightness of the exposure lamp is adjusted, the steps D1-D3 are repeated until the exposure degree of the shot image meets the preset requirement.
As a possible implementation manner of the present application, as shown in fig. 7, the method for capturing an image of an unmanned aerial vehicle provided in the embodiment of the present application further includes:
e1: and acquiring a mode control instruction issued by the upper computer, wherein the mode control instruction is used for indicating the working mode of the exposure lamp.
E2: and determining the working mode of the exposure lamp according to the mode control instruction. The operation modes of exposure include auxiliary illumination mode, blinking mode, warning mode, and lamp communication mode.
E3: and controlling the exposure lamp to switch to the working mode.
In the embodiment of the application, the unmanned aerial vehicle can receive the mode control instruction of the upper computer, analyze the mode control instruction, determine the working mode of the exposure lamp, and control the exposure lamp to run based on the working mode. The light source main controller receives an exposure mode instruction issued by the unmanned aerial vehicle upper computer through communication, analyzes the instruction, and enables the light source to be switched to a corresponding mode, so that the corresponding mode of the annular exposure lamp is controlled, the servo performance of the exposure lamp is realized, and the working mode of exposure has expansibility.
From the above, in this application embodiment, through obtaining the current image that unmanned aerial vehicle camera was shot, detect whether the exposure degree of current image satisfies the requirement of predetermineeing, if the exposure degree of current image does not satisfy the requirement of predetermineeing, then right the exposure lamp carries out the brightness adjustment, and the brightness adjustment through the exposure lamp comes as far as possible to ensure unmanned aerial vehicle shooting luminance, reduces environmental factor to unmanned aerial vehicle image shooting's influence, and the control again the camera is based on the exposure lamp shooting image after the brightness adjustment to obtain the image that the exposure degree satisfies the requirement of predetermineeing. According to the scheme, the quality of images shot by the camera during autonomous navigation of the unmanned aerial vehicle can be improved, and the improvement of the image quality is more beneficial to assisting autonomous navigation of the unmanned aerial vehicle.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Corresponding to the unmanned aerial vehicle image capturing method described in the above embodiments, fig. 8 shows a block diagram of the unmanned aerial vehicle image capturing device provided in the embodiment of the present application, where the unmanned aerial vehicle includes a camera and an exposure lamp, and for convenience of explanation, only the portions related to the embodiment of the present application are shown.
Referring to fig. 8, the unmanned aerial vehicle image photographing apparatus includes: an image acquisition unit 81, an exposure detection unit 82, an exposure adjustment unit 83, a photographing control unit 84, wherein:
an image acquisition unit 81, configured to acquire a current image captured by the camera;
an exposure detection unit 82, configured to detect whether the exposure degree of the current image meets a preset requirement;
an exposure adjustment unit 83, configured to perform brightness adjustment on the exposure lamp if the exposure degree of the current image does not meet the preset requirement;
and a photographing control unit 84 for controlling the camera to photograph an image based on the brightness-adjusted exposure lamp.
As a possible embodiment of the present application, the exposure detection unit 82 includes:
the contour extraction module is used for carrying out edge extraction on the current image and extracting the image contour in the current image;
the contour calculation module is used for determining the maximum value of pixels in the image contour range in the current image;
and the exposure detection module is used for determining whether the exposure of the current image meets the preset requirement according to the maximum value of the pixels.
As a possible embodiment of the present application, the exposure adjusting unit 83 includes:
the first adjusting module is used for adjusting the brightness of the exposure lamp according to a first preset adjusting standard if the exposure degree of the current image is lower than a first preset exposure degree threshold value, and the first preset adjusting standard is used for improving the brightness of the exposure lamp;
and the second adjusting module is used for adjusting the brightness of the exposure lamp according to a second preset adjusting standard if the exposure degree of the current image is higher than a second preset exposure degree threshold value, and the second preset adjusting standard is used for reducing the brightness of the exposure lamp.
As a possible implementation manner of the present application, the unmanned aerial vehicle image capturing device further includes:
a brightness value reading unit, configured to read a current brightness value of the exposure lamp if the exposure degree of the current image is higher than a second preset exposure degree threshold;
the environment light source determining unit is used for determining that other light sources exist in the current environment of the unmanned aerial vehicle if the current brightness value of the exposure lamp is zero;
the warning prompt unit is used for sending warning prompts to the upper computer of the unmanned aerial vehicle, and the warning prompts are used for prompting to the upper computer that other light sources exist in the current environment of the unmanned aerial vehicle.
As a possible embodiment of the present application, the photographing control unit includes:
the shooting detection module is used for acquiring an image newly shot by the camera based on the exposure lamp after brightness adjustment in real time and judging whether the exposure degree of the newly shot image meets the preset requirement;
the first shooting control module is used for stopping adjusting the brightness of the exposure lamp if the exposure degree of the newly shot image meets the preset requirement, and controlling the camera to continuously shoot the image based on the current brightness of the exposure lamp;
and the second shooting control module is used for continuously adjusting the brightness of the exposure lamp if the exposure degree of the newly shot image does not meet the preset requirement until the exposure degree of the newly shot image meets the preset requirement.
As a possible implementation manner of the present application, the unmanned aerial vehicle image capturing device further includes:
the instruction acquisition unit is used for acquiring a mode control instruction issued by the upper computer, wherein the mode control instruction is used for indicating the working mode of the exposure lamp;
a mode determining unit for determining a working mode of the exposure lamp according to the mode control instruction;
and the mode control unit is used for controlling the exposure lamp to switch to the working mode.
As a possible implementation manner of the present application, the exposure lamp is composed of an annular LED lamp, and the camera is disposed at the center of the annular LED lamp.
From the above, in this application embodiment, through obtaining the current image that unmanned aerial vehicle camera was shot, detect whether the exposure degree of current image satisfies the requirement of predetermineeing, if the exposure degree of current image does not satisfy the requirement of predetermineeing, then right the exposure lamp carries out the brightness adjustment, and the brightness adjustment through the exposure lamp comes as far as possible to ensure unmanned aerial vehicle shooting luminance, reduces environmental factor to unmanned aerial vehicle image shooting's influence, and the control again the camera is based on the exposure lamp shooting image after the brightness adjustment to obtain the image that the exposure degree satisfies the requirement of predetermineeing. According to the scheme, the quality of images shot by the camera during autonomous navigation of the unmanned aerial vehicle can be improved, and the improvement of the image quality is more beneficial to assisting autonomous navigation of the unmanned aerial vehicle.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
The embodiment of the application also provides a computer readable storage medium, which stores a computer program, and the computer program realizes the steps of any unmanned aerial vehicle image shooting method as shown in fig. 2 to 7 when being executed by a processor.
The embodiment of the application also provides a unmanned aerial vehicle, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps of any unmanned aerial vehicle image shooting method shown in fig. 2 to 7 are realized when the processor executes the computer program.
The embodiments of the present application also provide a computer program product that, when run on a drone, causes the drone to perform steps that implement any one of the drone image capturing methods as represented in fig. 2-7.
Fig. 9 is a schematic diagram of a drone according to an embodiment of the present application. As shown in fig. 9, the unmanned aerial vehicle 9 of this embodiment includes: a processor 90, a memory 91 and a computer program 92 stored in said memory 91 and executable on said processor 90. The processor 90, when executing the computer program 92, implements the steps in the various unmanned aerial vehicle image capturing method embodiments described above, such as steps S101 to S104 shown in fig. 2. Alternatively, the processor 90, when executing the computer program 92, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the units 81 to 84 shown in fig. 8.
By way of example, the computer program 92 may be partitioned into one or more modules/units that are stored in the memory 91 and executed by the processor 90 to complete the present application. The one or more modules/units may be a series of computer readable instruction segments capable of performing a specific function describing the execution of the computer program 92 in the drone 9.
The drone 9 may include, but is not limited to, a processor 90, a memory 91. It will be appreciated by those skilled in the art that fig. 9 is merely an example of the drone 9 and is not meant to be limiting of the drone 9, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the drone 9 may also include input and output devices, network access devices, buses, etc.
The processor 90 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal storage unit of the drone 9, such as a hard disk or a memory of the drone 9. The memory 91 may also be an external storage device of the unmanned aerial vehicle 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the unmanned aerial vehicle 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the drone 9. The memory 91 is used for storing the computer program and other programs and data required by the drone. The memory 91 may also be used for temporarily storing data that has been output or is to be output.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an apparatus/terminal device, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. An unmanned aerial vehicle image shooting method, wherein the unmanned aerial vehicle comprises a camera and an exposure lamp, the method comprising:
acquiring a current image shot by the camera;
detecting whether the exposure degree of the current image meets a preset requirement;
if the exposure degree of the current image does not meet the preset requirement, brightness adjustment is carried out on the exposure lamp;
and controlling the camera to shoot an image based on the exposure lamp after brightness adjustment.
2. The method according to claim 1, wherein the step of detecting whether the exposure degree of the current image meets a preset requirement comprises:
performing edge extraction on the current image, and extracting an image contour in the current image;
determining a maximum value of pixels in an image contour range in the current image;
and determining whether the exposure degree of the current image meets a preset requirement according to the maximum value of the pixels.
3. The method according to claim 1, wherein the step of adjusting the brightness of the exposure lamp if the exposure degree of the current image does not meet the preset requirement comprises:
if the exposure degree of the current image is lower than a first preset exposure degree threshold value, adjusting the brightness of the exposure lamp according to a first preset adjusting standard, wherein the first preset adjusting standard is used for improving the brightness of the exposure lamp;
and if the exposure degree of the current image is higher than a second preset exposure degree threshold value, adjusting the brightness of the exposure lamp according to a second preset adjusting standard, wherein the first preset adjusting standard is used for reducing the brightness of the exposure lamp.
4. The method according to claim 1, wherein the method further comprises:
if the exposure degree of the current image is higher than a second preset exposure degree threshold value, reading the current brightness value of the exposure lamp;
if the current brightness value of the exposure lamp is zero, determining that other light sources exist in the current environment of the unmanned aerial vehicle;
and sending an alarm prompt to an upper computer of the unmanned aerial vehicle, wherein the alarm prompt is used for prompting the upper computer that other light sources exist in the current environment of the unmanned aerial vehicle.
5. The method according to claim 1, wherein the step of controlling the camera to take an image based on the brightness-adjusted exposure lamp comprises:
acquiring an image newly shot by the camera based on the exposure lamp after brightness adjustment in real time, and judging whether the exposure degree of the image newly shot meets the preset requirement;
if the exposure degree of the newly shot image meets the preset requirement, stopping adjusting the brightness of the exposure lamp, and controlling the camera to continuously shoot the image based on the current brightness of the exposure lamp;
and if the exposure degree of the newly shot image does not meet the preset requirement, continuing to adjust the brightness of the exposure lamp until the exposure degree of the newly shot image meets the preset requirement.
6. The method according to claim 1, wherein the method further comprises:
acquiring a mode control instruction issued by an upper computer, wherein the mode control instruction is used for indicating the working mode of the exposure lamp;
determining the working mode of the exposure lamp according to the mode control instruction;
and controlling the exposure lamp to switch to the working mode.
7. The method of claim 1, wherein the exposure light is a ring LED light, and the camera is positioned at a center of the ring LED light.
8. Unmanned aerial vehicle image shooting device, its characterized in that, unmanned aerial vehicle includes camera and exposure lamp, includes:
the image acquisition unit is used for acquiring a current image shot by the camera;
the exposure detection unit is used for detecting whether the exposure degree of the current image meets the preset requirement;
an exposure adjusting unit, configured to adjust brightness of the exposure lamp if the exposure degree of the current image does not meet the preset requirement;
and the shooting control unit is used for controlling the camera to shoot images based on the exposure lamp after brightness adjustment.
9. A drone comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the drone image capture method of any one of claims 1 to 7.
10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the unmanned aerial vehicle image capturing method according to any one of claims 1 to 7.
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| CN117615484A (en) * | 2024-01-24 | 2024-02-27 | 金品计算机科技(天津)有限公司 | AI-based visual detection light source control method, system, equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117615484A (en) * | 2024-01-24 | 2024-02-27 | 金品计算机科技(天津)有限公司 | AI-based visual detection light source control method, system, equipment and medium |
| CN117615484B (en) * | 2024-01-24 | 2024-05-03 | 金品计算机科技(天津)有限公司 | AI-based visual detection light source control method, system, equipment and medium |
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