WO2017020856A1 - Dispositif et procédé de photographie utilisant un drone pour suivre et photographier automatiquement un objet mobile - Google Patents

Dispositif et procédé de photographie utilisant un drone pour suivre et photographier automatiquement un objet mobile Download PDF

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Publication number
WO2017020856A1
WO2017020856A1 PCT/CN2016/093490 CN2016093490W WO2017020856A1 WO 2017020856 A1 WO2017020856 A1 WO 2017020856A1 CN 2016093490 W CN2016093490 W CN 2016093490W WO 2017020856 A1 WO2017020856 A1 WO 2017020856A1
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WIPO (PCT)
Prior art keywords
moving object
drone
load
platform
flight platform
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PCT/CN2016/093490
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English (en)
Chinese (zh)
Inventor
黄立
刘华斌
王效杰
顾兴
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普宙飞行器科技（深圳）有限公司
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Publication of WO2017020856A1 publication Critical patent/WO2017020856A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • 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

Definitions

  • the invention relates to a moving object automatic locking photographing device and a photographing method.
  • the traditional sports aerial photography technology or the professional shooting based on the stability of the gimbal there are difficulties in the details of the long motion process, and it is necessary to set a plurality of viewing angles in a designated place, and to select the best details in the later stage, and the shooting equipment is constructed and Control debugging is difficult and costly;
  • the emerging follow-up shooting technology based on the UAV flight platform has lower cost and can lock moving objects, but only the rear shooting angle can be set, more exciting details can not be captured, and there is no tracking based.
  • the region of interest of the algorithm is adjusted, and the specific parameters of the locked moving object, such as the shooting angle and the shooting distance, cannot be arbitrarily adjusted.
  • the utility model relates to an automatic locking shooting device for a moving object by using a drone, comprising a drone flight platform, a load stabilization device, a motion camera and a mobile control terminal, wherein:
  • the bottom of the UAV flight platform is fixed with a load stabilizer.
  • the motion camera is fixed on the load stabilizer.
  • the mobile control terminal is carried by the moving target.
  • the mobile control terminal obtains the real-time image of the motion camera from the UAV flight platform through the data link. State information, and according to the instruction of the moving object to automatically lock the feedback of the shooting algorithm, control the flight platform of the drone with the moving object;
  • the UAV flight platform has an automatic hovering and GPS navigation flight function, and the route is planned by GPS;
  • the load stabilizing device is used for stabilizing the motion camera load and feeding back the load attitude in real time; the load stabilizing device ensures that the motion camera load can filter out motion disturbances from outside the load, maintaining a fixed viewing angle without jitter.
  • the motion camera as an image acquisition source device, provides high-definition scene data that is of most interest to the user.
  • the load stabilizing device will stabilize the motion camera load to ensure that the motion camera can capture high quality HD images for moving objects;
  • the mobile control terminal acquires the real-time image and related state information of the motion camera from the UAV flight platform through the data link, and automatically controls the unmanned aerial vehicle flight platform to shoot with the moving object according to the instruction of the moving object automatically locking the shooting algorithm feedback. ;
  • the mobile control terminal is equipped with an automatic locking imaging algorithm for moving objects, real-time intelligent calculation based on image and status information, combined with image tracking and GPS trend following or prediction, and finally realizes that the moving camera load locks the moving object and simultaneously captures the most moving objects. Good angle image.
  • the UAV flight platform can perform GPS navigation flight, set multiple waypoints to fly in sequence, and automatically hover when idle.
  • the UAV flight platform has a data link, and transmits a real-time image and status information of the loaded camera load to the mobile control terminal of the data link, and receives from the mobile control terminal connected to the data link. Intelligent control information to track moving shots.
  • the load stabilizing device can stabilize the three dimensions of pitch, roll and azimuth for the mounted moving camera load.
  • the motion camera is optimized for shooting moving objects, and has faster exposure time and motion compensation under the premise of ensuring image quality, ensuring that the motion details of the object can be photographed.
  • the mobile control terminal can establish a data link based on WIFI or digital transmission on the unmanned aerial vehicle flight platform, thereby performing image and status information transmission and control signal uploading.
  • the mobile control terminal has a GPS positioning function and is carried or fixed by a moving object.
  • a photographing method for automatically locking a moving object by using a drone characterized in that the method comprises the following steps:
  • the mobile control terminal analyzes the data preprocessing, performs screening or serialization modeling, estimates the motion state of the target to be tracked, and establishes a cumulative tracking pipeline for target tracking processing;
  • the mobile control terminal comprehensive decision data processing based on the target motion estimation and tracking processing data, generates comprehensive decision data, and transmits it to the drone flight platform through the data link to control the load and the next movement of the drone.
  • UAV flight plan prediction compare the motion curve of the target with the motion curve of the drone, calculate the difference between the two running trajectories, and set the standard according to the trajectory of the UAV's motion trajectory to the target trajectory. Flight plan for man and machine;
  • Target position search and positioning In order to ensure that the target of interest has a good shooting effect, the target needs to be located at the center of the motion camera, so the target search positioning is performed;
  • Flight and load stability decision The flight joint prediction scheme and the load stability control scheme are integrated, and the decision of the trade-off is made, and the final joint control scheme is obtained.
  • the moving target of the present invention carries a mobile control terminal, and the mobile control terminal is carried by the moving object, can perform real-time GPS positioning, and can run a moving object automatic locking shooting algorithm;
  • the UAV flight platform of the present invention can transmit telemetry data including the motion posture of the UAV and the load stabilizing device to the mobile control terminal through the data link in real time, and real-time images of the moving object target captured by the motion camera;
  • the mobile control terminal of the invention is based on the attitude of the unmanned aerial vehicle and the load stabilizing device, the real-time image of the moving target, the real-time GPS positioning information of the moving object, the automatic target locking tracking algorithm of the moving object, and the control of the drone and the load stabilizing device.
  • the solution is sent to the drone and load stabilizer via the data link.
  • the following or predictive algorithm combines the GPS trajectory calculation tracking and prediction algorithm with the image tracking and prediction algorithm, which has better robustness.
  • the invention needs to be combined with the unmanned aerial vehicle flight platform, equipped with a load stabilizing device, a motion camera, and a mobile control terminal to complete the wonderful detail shooting for the moving object.
  • Figure 1 is a block diagram showing the overall assembly of the system of the present invention
  • FIG. 3 is a flow chart of an automatic locking shooting algorithm for a moving object according to the present invention.
  • the present invention includes: a drone flight platform 10, a load stabilizing device 20, a motion camera 30, and a mobile control terminal 40.
  • the motion camera 30 is fixed to the load stabilizing device 20, and the load stabilizing device 20 and the motion camera 30 is again carried on the UAV flight platform 10; the digital transmission device of the UAV flight platform 10 establishes a data link with the mobile control terminal 40.
  • the bottom of the UAV flight platform 10 is fixed with a load stabilizing device 20, the motion camera 30 is fixed on the load stabilizing device 20, the mobile control terminal 40 is carried by the moving target, and the mobile control terminal 40 is obtained from the UAV flight platform 10 via the data link.
  • the real-time image of the motion camera 30 and related state information, and according to the instruction of the moving object automatically locking the feedback of the shooting algorithm, controlling the drone flight platform to shoot with the moving object
  • a data link is established with the mobile control terminal 40 by the data transmission device of the drone flight platform 10.
  • the UAV flight platform 10 is composed of intelligent flight control, ESC, motor, propeller, frame, power lithium battery, and digital transmission device components, and is used for carrying a moving camera and a load stabilizing device for moving objects accompanying flight;
  • a load stabilizing device 20 is fixed to the bottom of the drone flight platform for stabilizing the motion camera 30 at a specified viewing angle
  • the motion camera 30 is used as an image acquisition source device for capturing wonderful details of moving objects
  • the mobile control terminal 40 acquires the real-time image and load status of the moving object through the data link to the UAV flight platform, and transmits the load and the control signal of the flight platform, and has a GPS positioning function, and is carried by the moving object for motion. GPS positioning of objects;
  • the mobile control terminal 40 is provided with an automatic locking imaging algorithm for moving objects, which is an algorithm application running on the mobile control terminal, which inputs real-time images, load states, etc. as auxiliary parameters for motion state analysis of moving objects, and outputs the flight platform of the unmanned aerial vehicle.
  • the flight control command ensures that the front of the moving object or the image of the user's interest is in the central area of the shooting result.
  • the device provided by the invention can realize moving object following or pre-shooting to obtain the best motion detail shooting effect.
  • a shooting method for automatically locking a shooting device using a no-face surface includes the following steps:
  • the data source comes from the real-time image and attitude data generated by the flight control, load stabilizer and motion camera from the front end of the drone, and is transmitted to the mobile control terminal through the data link, wherein the data source mainly includes none.
  • Man-machine attitude data pitch angle, yaw angle and roll angle
  • the camera's attitude data is obtained by the load stabilizer, the real-time image data obtained by the camera, and the UAV position coordinates and target position coordinates obtained by the GPS positioning system;
  • the mobile control terminal After receiving the data source collected in real time, the mobile control terminal enters the processing flow of the automatic locking imaging algorithm of the moving object.
  • the first step is data analysis preprocessing, which refines, detects and analyzes all the original data.
  • the real-time image data is processed to output the relative position of the target center and the image center in the image, and the output camera motion is up, down, left, and right.
  • Deflection control parameters processing the GPS sequence position of the drone and the GPS sequence position of the target, and outputting the direction and speed of movement of the drone and the target;
  • the mobile control terminal is carried by the moving object target, so that the moving object target also has the GPS positioning function; the real-time image of the moving object target, the complete attitude angle of the load, and the real-time GPS position of the drone through the data link
  • the downlink control arrives at the mobile control terminal.
  • the moving object automatic locking shooting algorithm APP will perform the motion state analysis of the load and the moving object target from the image feature and the motion curve according to the information, combined with the GPS position of the moving object;
  • the dimension of the feature called the target location tracking sub-algorithm, is selected while the moving target object is selected, and the impact template of the moving target is saved as an important reference data for real-time tracking calculation; the real-time image is continuously updated, and the moving target is utilized.
  • Influencing the template to match in real time detecting the target, so that the target is continuously positioned. If it is about to deviate from the field of view, it will calculate according to the complete attitude parameter of the motion camera. After calculating the deviation angle, upload the control command of the load stabilization device to ensure Load stabilizers can be adjusted and reversed Deviation angle off target. From the dimension of the motion curve, called the flight platform trajectory correction sub-algorithm, according to the sequence position of the UAV flight platform obtained by the GPS positioning system and the sequence position of the moving object target, the motion curves of the two can be calculated.
  • the adjustment command is issued to the UAV flight platform in real time to ensure that the UAV flight curve can maintain a stable distance to the moving object target as much as possible, as well as the flight curve of the same shape.
  • the target positioning tracking sub-algorithm is first used to continuously locate the target, and the moving camera offset angle is continuously adjusted by the load stabilization device to ensure that the target is at the center of the image. Then use the flight platform trajectory correction sub-algorithm to adjust the motion direction of the drone, so that the trajectory of the drone is consistent with the trajectory of the target, ensuring that the target does not deviate from the camera field of view, and adjust the speed of the drone. , to ensure that the target has a suitable proportion in the image.
  • the tangential direction of the current time point on the motion trajectory curve is used as the predicted value of the moving direction of the target next time, and the moving speed of the current target is calculated according to the target position information of the first two moments.
  • UAV flight plan prediction compare the motion curve of the target and the motion curve of the drone, and the direction of motion of the target and the next moment of the drone, calculate the difference between the running track and the moving direction of the drone, according to the drone
  • Target position search and positioning In order to ensure that the target of interest has a good shooting effect, the target needs to be located at the center of the motion camera, so the target search positioning is performed.
  • Flight and load stability decision-making The flight joint prediction scheme and the load stability control scheme are integrated, and the decision of the trade-off is made, and the final joint control scheme can be obtained.
  • the angular velocity, acceleration, and magnetic field of the current load stabilizing device are obtained by a three-axis gyro, a three-axis accelerometer, and a three-axis magnetic compass.
  • Flight and load stability decision The integrated flight prediction scheme and the load stability control scheme, through the trade-off decision, the final joint control scheme is obtained.
  • the motor is controlled to ensure the camera is stable.
  • the displacement in the X direction is adjusted by the left and right rotation of the camera
  • the displacement in the Y direction is adjusted by the up and down rotation of the camera
  • the UAV flight platform has a GPS navigation flight mode, which can sequentially set a plurality of waypoints to be flighted; can be controlled to hover at a specified altitude at any time; there is wireless data transmission Function, can be connected to the mobile control terminal to become a data link, The image is transmitted down and the state control information is bidirectionally transmitted; the load stabilizing device can be fixed and the motion camera is carried for stable shooting of the moving object object.
  • the load stabilizing device comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetic compass to form a closed-loop feedback control system, which can be used to stabilize the motion camera to a specified viewing angle, Disturbed by external high frequency or small motion, such as the vibration of the drone or the wind blowing.
  • the load stabilizing device consists of three parts:
  • Three-axis gyro The angular velocity of the output load stabilizing device x, y, z.
  • Three-axis accelerometer The acceleration of the output load stabilizing device x, y, z.
  • Three-axis magnetic compass The magnetic field of the output load stabilizing device x, y, z.
  • the attitude parameters and positioning parameters of the load stabilizing device can be obtained through calculation, and when there is external interference, it can be adjusted in real time to achieve the purpose of stabilizing the motion camera.
  • the motion camera has a high-definition photo shooting or high-definition video recording function, and has a large-capacity SD card storage; and is optimized for shooting of moving objects, and is suitable for the field of sports aerial photography.
  • the mobile control terminal may be a mobile phone or a tablet, and an Android or IOS operating system is installed, and the mobile APP configured with a moving object automatic locking shooting algorithm may be executed, and has a GPS positioning function, which can be the same
  • the UAV flight platform establishes a data link, and the image data and motion camera status information can be transmitted from the data link to the mobile control terminal and finally to the algorithm APP.
  • the algorithm APP transmits the precise control information to none.
  • Man-machine flight platform, load stabilizer and motion camera. Moving objects will be bundled or carry mobile control terminals, which also have GPS positioning capabilities.
  • the moving object automatically locks the shooting algorithm, combines the motion object trajectory calculation and prediction based on the moving object GPS positioning, and runs a real-time image tracking locking algorithm to pull the object of interest into the motion camera. Central area for better sports shooting.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif utilisant un drone pour suivre et photographier automatiquement un objet mobile, comprenant : une plate-forme de vol de drone, un dispositif de stabilisation de charge, un appareil de prise de vues, et un terminal mobile, l'appareil de prise de vues étant fixé à la plate-forme de vol de drone par l'intermédiaire du dispositif de stabilisation de charge et étant configuré pour capturer une image d'un objet mobile, et le terminal mobile est disposé sur l'objet mobile et peut acquérir des informations d'emplacement de l'objet mobile. Selon des informations d'emplacement de la plate-forme de vol de drone et de l'objet mobile, une trajectoire de vol de la plate-forme de vol de drone et un emplacement relatif de l'appareil de prise de vues par rapport à la plate-forme de vol de drone sont réglés. En outre, une orientation de l'appareil de prise de vues est réglée en fonction de l'image capturée par l'appareil de prise de vues, ce qui permet à l'appareil de prise de vues de suivre l'objet mobile. L'invention concerne également un procédé utilisant un drone pour suivre et photographier automatiquement un objet mobile, un drone et un terminal de commande.
PCT/CN2016/093490 2015-08-05 2016-08-05 Dispositif et procédé de photographie utilisant un drone pour suivre et photographier automatiquement un objet mobile WO2017020856A1 (fr)

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