WO2018036040A1 - 搭载于无人机云台上的智能设备的拍照方法和系统 - Google Patents

搭载于无人机云台上的智能设备的拍照方法和系统 Download PDF

Info

Publication number
WO2018036040A1
WO2018036040A1 PCT/CN2016/111117 CN2016111117W WO2018036040A1 WO 2018036040 A1 WO2018036040 A1 WO 2018036040A1 CN 2016111117 W CN2016111117 W CN 2016111117W WO 2018036040 A1 WO2018036040 A1 WO 2018036040A1
Authority
WO
WIPO (PCT)
Prior art keywords
face
photo
drone
size
photographing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/111117
Other languages
English (en)
French (fr)
Inventor
吕思豪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Goertek Inc
Original Assignee
Goertek Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Goertek Inc filed Critical Goertek Inc
Publication of WO2018036040A1 publication Critical patent/WO2018036040A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/161—Detection; Localisation; Normalisation
    • G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images

Definitions

  • the present invention relates to a smart device. More specifically, the present invention relates to a photographing method and system for a smart device mounted on a head of a drone, and a smart device.
  • the drone referred to as the "unmanned aerial vehicle" is a non-manned aircraft operated by radio remote control equipment and its own program control device.
  • drones such as fixed-wing UAVs, rotary-wing UAVs, UAVs, and unmanned helicopters.
  • the drone can be equipped with a camera through a pan/tilt, etc., and the camera can be rotated under the control of the pan/tilt.
  • a smart device is an electronic device equipped with an intelligent operating system and capable of installing an application (APP), such as a smart phone or a PAD.
  • APP application
  • the user can hold the smart device for self-portrait, or use the self-timer to hold the smart device for self-timer, but both of these methods have a great limit on the distance of the camera, resulting in a self-timer effect.
  • the user may also be limited by the space of the camera. For example, when the user wants to take photos of a friend who is on the top of the mountain, he or she cannot take a picture from the position of the camera and the camera is far away. I can't achieve the desired photo effect. Therefore, it is necessary to provide a new photographing scheme for the smart device, so that the user is no longer limited by the photographing space when taking photos for himself or others.
  • An object of the present invention is to provide a new technical solution for photographing a smart device, so that the user is no longer limited by the photographing space when taking photos for himself or others.
  • a photographing method of a smart device mounted on a head of a drone comprises the following steps:
  • S1. Receive a photo face parameter, and set a photo model according to the photo face parameter; wherein the photo face parameter includes a position of the face in the entire photo, and the face is relative to the whole photo The size of the piece;
  • the photo face parameter further includes a total number N of faces in the photo; in the step S2, the smart device notifies the drone to lock the gimbal when simultaneously identifying the N human face .
  • the smart device notifies the user that the photographing is to be taken by the indicator light and/or the speaker.
  • the method further includes the step of: transmitting a flight instruction to the drone, so that the drone flies to the predetermined position according to the flight instruction.
  • a smart device comprising a memory and a processor for storing instructions; the processor for operating under the control of the instructions to perform as previously described Photo method.
  • a photographing system of a smart device mounted on a head of a drone includes a photo model setting unit, a pan/tilt head adjusting unit, and a drone position adjusting unit. And a photo execution unit;
  • the photo model setting unit is configured to receive a photo face parameter, and set a photo model according to the photo face parameter; wherein the photo face parameter includes a bit of the face in the entire photo Set, and the size of the face relative to the entire photo;
  • the pan/tilt adjustment unit is configured to detect, after the photo model setting unit sets the photo model, whether to receive the notification that the drone arrives at the predetermined location, and if the drone arrives at the predetermined location And transmitting, to the drone, an instruction to control the pan/tilt to perform horizontal rotation; and performing face recognition on the lens screen captured by the smart device, and notifying the drone when the human face is recognized Lock the gimbal;
  • the UAV position adjustment unit is configured to adjust a position of the UAV after the PTZ adjustment unit recognizes a human face, including:
  • the photographing execution unit is configured to perform a photographing action after the drone position adjustment unit adjusts the position of the drone.
  • the photo model further includes a total number N of faces in the photo; the pan/tilt adjustment unit is configured to notify the drone to lock the pan/tilt when simultaneously identifying the N human face;
  • the man-machine position adjustment unit is configured to adjust the position of the drone after the pan/tilt adjustment unit simultaneously recognizes the N human face.
  • the photographing execution unit is configured to: after the drone position adjustment unit adjusts the position of the drone, first perform notification by using an indicator light and/or a speaker, and then perform the photographing action.
  • the photographing system further comprises a flight control unit; the flight control unit is configured to send a flight instruction to the drone, so that the drone flies to the predetermined position according to the flight instruction.
  • a smart device having a photograph as described above system.
  • the photographing method and system for the smart device mounted on the unmanned aerial platform of the present invention can control the drone to adjust the horizontal rotation angle of the gimbal through the face recognition, and automatically adjust the drone according to the preset photo model.
  • the location allows the smart device to capture photos that match the photo model, so that the user is no longer limited by the space of the photo when taking a photo.
  • FIG. 1 is a schematic diagram showing the steps of a photographing method of a smart device mounted on a head of a drone according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a photographing system of a smart device mounted on a head of a drone according to an embodiment of the present invention.
  • FIG. 3 is a block diagram showing a hardware configuration of a smart device according to an embodiment of the present invention.
  • the smart device referred to in the present invention refers to an electronic device equipped with an intelligent operating system, capable of installing an application (APP), and capable of taking pictures, such as a smart phone, a PAD, and the like.
  • APP application
  • pictures such as a smart phone, a PAD, and the like.
  • the photographing method provided by the embodiment of the present invention is described with reference to FIG. 1 , wherein the smart device is fixed on the pan/tilt of the drone and can be rotated with the pan/tilt.
  • the method includes the following steps:
  • the smart device receives a photo face parameter, and sets a photo model according to the photo face parameter; wherein the photo face parameter includes a position of the face in the entire photo, and the face is relative to the entire photo. size.
  • the smart device prompts the user whether the photo model needs to be set. If the user selects that the photo model does not need to be set, the photo can be directly taken; if the user selects to set the photo model, It is necessary to input a photo face parameter, which should at least include the position of the face in the entire photo and the size of the face relative to the entire photo. For example, after the user selects to set the photo model, the smart device displays a photo frame on its screen, and the user can click on the photo frame to select the position of the face in the entire photo, or the smart device is on its screen. Two input boxes are displayed on the top for the user to enter the distance from the top edge of the photo and the distance from the left edge of the photo.
  • the size of the face relative to the whole photo refers to the proportion of the face in the whole photo.
  • the smart device can provide an input box for the user to directly input a value or a range of values in the range of 0 to 1, for example, the user can Enter 0.2, that is, the area of the face accounts for 20% of the total area of the entire photo, or the user can also input 0.2 to 0.3, that is, the ratio of the area of the face to the total area of the entire photo is between 20% and 30%. .
  • the total number N of faces in the photos can also be set in the smart model.
  • the smart device detects whether the notification of the arrival of the drone to the predetermined location is received, and if the notification of the arrival of the drone to the predetermined location is received, an instruction to control the pan/tilt to perform horizontal rotation is sent to the drone; and the smart device captures The lens image is used for face recognition, and the drone is notified to lock the pan/tilt when the face is recognized.
  • the smart device may send a flight instruction to the drone, so that the drone flies to a predetermined position according to the flight instruction, and the drone notifies the smart device after flying to the predetermined position.
  • Flight instructions may include flight distance, flight direction, target altitude, etc.
  • the target height can be set to about 170 cm.
  • the drone itself may have a photographing mode. Once the user selects the photographing mode, the drone automatically generates a photographing instruction and flies to a predetermined position according to the flight instruction.
  • the smart device sends an instruction to control the pan/tilt to perform horizontal rotation to the drone after the drone reaches the predetermined position, and the smart device rotates horizontally with the pan/tilt.
  • the smart device performs face recognition on the image captured by the lens, and notifies the drone to lock the pan/tilt when the face is recognized, and the pan-tilt remains locked in a fixed posture relative to the drone. If the face photo parameter includes the total number N of faces in the photo in step S1, then in step S2, the smart device notifies the drone to lock the pan/tilt only when N faces are simultaneously recognized in the lens screen. .
  • step S2 the lens of the smart device is aligned with the photographing object.
  • the smart device compares the size of the face in the shot picture with respect to the size of the lens picture and the size of the face relative to the entire photo, and notifies the drone to move forward or backward in the horizontal direction according to the result of the size comparison.
  • the size of the face in the lens picture relative to the lens picture corresponds to the size of the face relative to the entire picture.
  • forward refers to the direction in which the drone is facing the photographed object
  • backward refers to the direction in which the unmanned object is away from the photographed object.
  • the smart device determines whether the drone should be away from or close to the photographing object according to the comparison result. If the size of the face in the lens screen relative to the lens screen is larger than the size of the face relative to the entire photo, the smart device lens is judged. The subject is too close to the subject, and the drone should move away from the subject, ie the drone should move backwards in the horizontal direction. On the other hand, if the size of the face in the lens picture relative to the size of the lens is smaller than the size of the face relative to the entire photo, it is determined that the lens of the smart device is too far away from the camera object, and the drone should be in a direction close to the camera object. Move, that is, the drone should move forward in the horizontal direction.
  • the size of the face relative to the entire photo is a specific value, the difference between the size of the face in the lens picture relative to the lens picture and the size of the face relative to the entire photo does not exceed
  • the size of the face in the lens picture relative to the size of the lens corresponds to the size of the face relative to the entire photo; 15% of the For the sake of illustration, the user can set this value by himself.
  • the size of the face relative to the entire photo is a range
  • the size of the face in the lens picture is within the range relative to the size of the lens picture, the face in the lens picture is considered to be drawn relative to the lens
  • the size of the face matches the size of the face relative to the entire photo.
  • step S3 the position of the drone can be adjusted in a progressively fine-tuning manner so that the size of the face in the lens image relative to the size of the lens image matches the size of the face relative to the entire photo.
  • step S3 may include the following step S31. -S35:
  • the smart device compares the size of the face in the lens image with respect to the size of the lens image and the size of the face relative to the entire photo. According to the comparison result, it is determined that the lens is too close to the camera object, and the drone is notified to perform in the horizontal direction.
  • the first movement is backward, for example, moving 20 cm backward in the horizontal direction; then step S32 is performed.
  • step S32 The smart device compares again the size of the face in the shot picture relative to the size of the shot picture and the size of the face relative to the entire photo: if the comparison result shows that the lens is too close to the photographed object, step S33 is performed; if the comparison result If the display lens is too far from the photographing object, step S34 is performed; if the comparison result shows that the size of the face in the shot screen relative to the shot screen matches the size of the face relative to the entire photo, step S3 ends.
  • step S33 Notifying the drone that the second backward movement is performed in the horizontal direction, for example, moving backward by 20 cm or 10 cm in the horizontal direction; then, step S35 is performed.
  • step S34 notifying the drone to move forward in the horizontal direction, the distance of the forward movement should be smaller than the distance of the first backward movement, for example, moving forward by 10 cm; then, step S35 is performed.
  • step S35 The smart device compares the size of the face in the lens image with respect to the size of the lens image and the size of the face relative to the entire photo, and finds that the size of the face in the lens image relative to the lens image conforms to the face relative to the face.
  • step S3 it is possible to cyclically "compare the size of the face in the shot screen relative to the size of the shot screen and the size of the face relative to the entire photo--informing the drone that it is moving forward in the horizontal direction according to the comparison result. Move or move backwards until "the size of the face in the shot screen relative to the lens screen matches the size of the face relative to the entire photo.”
  • step S3 the distance of the smart device from the photographing object in the horizontal direction is determined, and the size of the face in the shot screen captured by the smart device relative to the shot screen conforms to the size of the face relative to the entire photo.
  • the smart device compares the position of the face in the lens image in the lens image with the position of the face in the entire photo, and notifies the drone to move in a vertical plane according to the position comparison result.
  • the position of the face in the shot screen in the shot screen is made to match the position of the face in the entire photo.
  • step S4 the smart device compares the position of the face in the lens image in the lens screen with the position of the face in the entire photo, and if the position of the face in the lens image is found in the lens screen relative to the location
  • the position of the face in the whole photo is left, indicating that the drone should move to the left, if the position of the face in the lens screen in the lens screen is found relative to the position of the face in the whole photo.
  • On the upper side it means that the drone should move up. If it is found that the position of the face in the lens picture in the lens picture is both left and right relative to the position of the face in the whole picture, it means no one. It should move to the upper left.
  • step S4 the smart device can still adjust the position of the drone in the vertical plane by means of progressive fine adjustment, so that the position of the face in the lens picture in the lens picture conforms to the face in the entire photo.
  • step S4 the position of the smart device on the vertical plane is determined, and the position of the face in the lens screen captured by the smart device relative to the lens screen conforms to the position of the face in the entire photo.
  • step S5 the lens image has been conformed to the photo model, and the smart device performs a photographing action to obtain a photo that conforms to the photo model.
  • the smart device can also notify the user that the photo is to be taken by the indicator light and/or the speaker, and then wait for the predetermined time to perform the photographing action.
  • the predetermined time may be artificially set, for example, may be 5 seconds, and the predetermined time may be used by the photographing subject to adjust his or her expression or posture.
  • a smart device comprising a memory and a processor for storing instructions; the processor for operating under the control of the instructions to perform as previously described Photo method.
  • an embodiment of the present invention further provides a photographing system 10 that can be used for a smart device mounted on a head of a drone, and the photographing system 10 includes a photo model setting unit 11 The pan/tilt adjustment unit 12, the drone position adjustment unit 13, and the photographing execution unit 14.
  • a photo model setting unit 11 configured to receive a photo face parameter, and set a photo model according to the photo face parameter; wherein the photo face parameter includes a position of the face in the entire photo, and the face is relatively The size of the entire photo.
  • the pan/tilt adjustment unit 12 is configured to detect, after the photo model setting unit 11 sets the photo model, whether to receive the notification that the drone arrives at the predetermined position, and if the notification of the arrival of the drone to the predetermined position is received,
  • the man-machine sends an instruction to control the pan-tilt to perform horizontal rotation; face recognition is performed on the lens image captured by the smart device, and the drone is notified to lock the pan-tilt when the face is recognized.
  • the drone position adjustment unit 13 is configured to adjust the position of the drone after the pan/tilt adjustment unit 12 recognizes the face, including:
  • the photographing execution unit 14 is configured to perform a photographing action after the drone position adjusting unit 13 adjusts the position of the drone.
  • the pan/tilt adjustment unit 12 notifies the drone to lock the pan/tilt only when the N face is simultaneously recognized in the lens screen, and the drone position The adjustment unit 13 starts to adjust the position of the drone only after the pan/tilt adjustment unit 12 recognizes the N face at the same time.
  • the photographing execution unit 14 is configured to perform the notification by the indicator light and/or the speaker after the drone position adjusting unit 13 adjusts the position of the drone, and then perform the photographing action.
  • the photographing system may further include a flight control unit, and the flight control unit may be in the photo
  • the flight instruction is transmitted to the drone so that the drone flies to the predetermined position in accordance with the flight instruction.
  • the flight instruction may include information such as flight distance, flight direction, target height, etc., and the target height may be set to about 170 cm.
  • the drone itself may have a photographing mode. Once the user selects the photographing mode, the drone automatically generates a photographing instruction and flies to a predetermined position according to the flight instruction.
  • a smart device having a photographing system as described above.
  • FIG. 3 shows a block diagram of an example of a hardware configuration of a smart device that can be used to implement an embodiment of the present invention.
  • the smart device 300 provided by the embodiment of the present invention includes a memory 3020, a processor 3010, and a lens module 3030.
  • the memory 3020 is configured to store instructions for controlling the processor 3010 to perform corresponding operations to implement the present invention.
  • the photographing method of the invention is configured to store instructions for controlling the processor 3010 to perform corresponding operations to implement the present invention.
  • the smart device 300 also includes a communication device 3040, a display device 3050, an input device 3060, a speaker 3070, a microphone 3080, and the like.
  • the processor 3010 can be, for example, a central processing unit CPU, a microprocessor MCU, or the like.
  • the memory 3020 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a nonvolatile memory such as a hard disk, and the like.
  • the communication device 3040 can, for example, perform wired or wireless communication.
  • the display device 3050 is, for example, a liquid crystal display, a touch display, or the like.
  • the input device 3060 may include, for example, a touch screen, a keyboard, or the like, and the user may input an operation command, an APP function, or the like through the input device 3060. The user can input/output voice information through the speaker 3070/microphone 3080.
  • the smart device shown in Figure 3 is merely illustrative and is in no way intended to limit the invention, its application or use. Those skilled in the art will appreciate that although a plurality of devices are illustrated in Figure 3, the present invention may relate only to a portion of the devices therein. Those skilled in the art can design instructions in accordance with the disclosed embodiments of the present invention. The instructions for controlling the operation of the processor are well known in the art and will not be described in detail herein.
  • the photographing method and system for the smart device mounted on the unmanned aerial platform of the present invention can control the drone to adjust the horizontal rotation angle of the gimbal through the face recognition, and automatically adjust the drone according to the preset photo model.
  • the location allows the smart device to capture photos that match the photo model, so that the user is no longer limited by the space of the photo when taking a photo.
  • the invention can be a system, method and/or computer program product.
  • the computer program product can comprise a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement various aspects of the present invention.
  • the computer readable storage medium can be a tangible device that can hold and store the instructions used by the instruction execution device.
  • the computer readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, for example, with instructions stored thereon A raised structure in the hole card or groove, and any suitable combination of the above.
  • a computer readable storage medium as used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (eg, a light pulse through a fiber optic cable), or through a wire The electrical signal transmitted.
  • the computer readable program instructions described herein can be downloaded from a computer readable storage medium to various computing/processing devices or downloaded to an external computer or external storage device over a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in each computing/processing device .
  • Computer program instructions for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages.
  • the computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer, partly on the remote computer, or Executed entirely on a remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or wide area network (WAN), or can be connected to an external computer (eg, using an Internet service provider to access the Internet) connection).
  • the customized electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by utilizing state information of computer readable program instructions.
  • Computer readable program instructions are executed to implement various aspects of the present invention.
  • the computer readable program instructions can be provided to a general purpose computer, a special purpose computer, or a processor of other programmable data processing apparatus to produce a machine such that when executed by a processor of a computer or other programmable data processing apparatus Means for implementing the functions/acts specified in one or more of the blocks of the flowcharts and/or block diagrams.
  • the computer readable program instructions can also be stored in a computer readable storage medium that causes the computer, programmable data processing device, and/or other device to operate in a particular manner, such that the computer readable medium storing the instructions includes An article of manufacture that includes instructions for implementing various aspects of the functions/acts recited in one or more of the flowcharts.
  • the computer readable program instructions can also be loaded onto a computer, other programmable data processing device, or other device to perform a series of operational steps on a computer, other programmable data processing device or other device to produce a computer-implemented process.
  • instructions executed on a computer, other programmable data processing apparatus, or other device implement the functions/acts recited in one or more of the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagram can represent a module, a program segment, or a portion of an instruction that includes one or more components for implementing the specified logical functions.
  • Executable instructions In some implementations that are replaced, the functions noted in the box may also be The same sequence as noted in the drawings occurs. For example, two consecutive blocks may be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented in a dedicated hardware-based system that performs the specified function or function. Or it can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Astronomy & Astrophysics (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)

Abstract

一种搭载于无人机云台上的智能设备（300）的拍照方法和拍照系统（10），以及智能设备（300）。方法包括：接收照片人脸参数，按照照片人脸参数设定照片模型，照片人脸参数包括人脸在整张照片中的位置，以及人脸相对于整张照片的大小（S1）；检测是否接收到无人机到达预定位置的通知，如果接收到无人机到达预定位置的通知，则向无人机发送控制云台进行水平旋转的指令；以及对智能设备（300）捕捉到的镜头画面进行人脸识别，在识别到人脸时通知无人机锁定云台（S2）；比较镜头画面中的人脸相对于镜头画面的大小和人脸相对于整张照片的大小，并根据大小比较结果通知无人机在水平方向上向前或向后移动使得镜头画面中的人脸相对于镜头画面的大小符合人脸相对于整张照片的大小（S3）；比较镜头画面中的人脸在镜头画面中的位置和人脸在整张照片中的位置，并根据位置比较结果通知无人机在竖直平面内移动使得镜头画面中的人脸在镜头画面中的位置符合人脸在整张照片中的位置（S4）；执行拍照动作（S5）。本方法使得用户拍照时不受拍照空间限制。

Description

搭载于无人机云台上的智能设备的拍照方法和系统 技术领域
本发明涉及智能设备，更具体的，本发明涉及搭载于无人机云台上的智能设备的拍照方法和系统、以及智能设备。
背景技术
无人驾驶飞机简称“无人机”，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机。无人机具有多种类型，例如固定翼无人机、旋翼无人机、伞翼无人机等，无人直升机等。无人机可以通过云台等方式搭载相机，并且相机可以在云台的控制下进行旋转。
智能设备是指搭载有智能操作系统、可以安装应用程序(APP)的电子设备，例如智能手机、PAD等。用户可以手持智能设备进行自拍，或者使用自拍杆举着智能设备进行自拍，但是这两种方式都对拍照距离都很大限制，造成自拍效果千篇一律。用户在进行非自拍时，同样也可能会被拍照空间所局限，例如用户想为同处于山顶上的朋友拍照时，就不能够从平视拍照对象并且距离拍照对象比较远的位置进行拍照，也就无法达到想要的拍照效果。因此，有必要为智能设备提供一种新的拍照方案，使得用户在为自己或他人进行拍照时不再受到拍照空间的限制。
发明内容
本发明的一个目的是提供一种智能设备拍照的新技术方案，使得用户在为自己或他人进行拍照时不再受到拍照空间的限制。
根据本发明的第一方面，提供了一种搭载于无人机云台上的智能设备的拍照方法，所述拍照方法包括以下步骤：
S1、接收照片人脸参数，按照所述照片人脸参数设定照片模型；其中，所述照片人脸参数包括人脸在整张照片中的位置，以及人脸相对于整张照 片的大小；
S2、检测是否接收到所述无人机到达预定位置的通知，如果接收到所述无人机到达预定位置的通知，则向所述无人机发送控制所述云台进行水平旋转的指令；以及对所述智能设备捕捉到的镜头画面进行人脸识别，在识别到人脸时通知所述无人机锁定云台；
S3、比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小，并根据大小比较结果通知所述无人机在水平方向上向前或向后移动使得所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小；
S4、比较镜头画面中的人脸在镜头画面中的位置和所述人脸在整张照片中的位置，并根据位置比较结果通知所述无人机在竖直平面内移动使得所述镜头画面中的人脸在镜头画面中的位置符合所述人脸在整张照片中的位置；
S5、执行拍照动作。
可选地，所述照片人脸参数还包括照片中人脸的总个数N；在所述S2步骤中，所述智能设备在同时识别到N个人脸时通知所述无人机锁定云台。
可选地，在所述S4步骤和所述S5步骤之间，所述智能设备通过指示灯和/或扬声器通知用户即将进行拍照。
可选地，在所述S1步骤和S2步骤之间，还包括以下步骤：向所述无人机发送飞行指令，使得所述无人机按照所述飞行指令飞行到所述预定位置。
根据本发明的第二方面，提供了一种智能设备，包括存储器和处理器，所述存储器用于存储指令；所述处理器用于在所述指令的控制下进行操作以执行如前所述的拍照方法。
根据本发明的第三方面，提供了一种搭载于无人机云台上的智能设备的拍照系统，所述拍照系统包括照片模型设定单元、云台调整单元、无人机位置调整单元、以及拍照执行单元；
所述照片模型设定单元，用于接收照片人脸参数，按照所述照片人脸参数设定照片模型；其中，所述照片人脸参数包括人脸在整张照片中的位 置，以及人脸相对于整张照片的大小；
所述云台调整单元，用于在所述照片模型设定单元设定好照片模型后，检测是否接收到所述无人机到达预定位置的通知，如果接收到所述无人机到达预定位置的通知，则向所述无人机发送控制所述云台进行水平旋转的指令；以及对所述智能设备捕捉到的镜头画面进行人脸识别，在识别到人脸时通知所述无人机锁定云台；
所述无人机位置调整单元，用于在所述云台调整单元识别到人脸后，调整所述无人机的位置，包括：
比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小，并根据大小比较结果通知所述无人机在水平方向上向前或向后移动使得所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小；以及，
比较镜头画面中的人脸在镜头画面中的位置和所述人脸在整张照片中的位置，并根据位置比较结果通知所述无人机在竖直平面内移动使得所述镜头画面中的人脸在镜头画面中的位置符合所述人脸在整张照片中的位置；
所述拍照执行单元，用于在所述无人机位置调整单元调整好所述无人机的位置后，执行拍照动作。
可选地，所述照片模型还包括照片中人脸的总个数N；所述云台调整单元，用于在同时识别到N个人脸时通知所述无人机锁定云台；所述无人机位置调整单元，用于在所述云台调整单元同时识别到N个人脸后，调整所述无人机的位置。
可选地，所述拍照执行单元，用于在所述无人机位置调整单元调整好所述无人机的位置后，先通过指示灯和/或扬声器进行通知，再执行所述拍照动作。
可选地，所述拍照系统还包括飞行控制单元；所述飞行控制单元，用于向所述无人机发送飞行指令，使得所述无人机按照所述飞行指令飞行到所述预定位置。
根据本发明的第四方面，提供了一种智能设备，具有如前所述的拍照 系统。
本发明提供的搭载于无人机云台上的智能设备的拍照方法和系统，能够通过人脸识别控制无人机调整云台的水平旋转角度，并按照预设的照片模型自动调整无人机的位置，使得智能设备能够拍到符合照片模型的照片，从而使得用户拍照时不再受到拍照空间的限制。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。
图1示出了本发明实施例提供的搭载于无人机云台上的智能设备的拍照方法的步骤示意图。
图2示出了本发明实施例提供的搭载于无人机云台上的智能设备的拍照系统的框图。
图3示出了本发明实施例提供的智能设备的硬件配置的框图。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一 旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
本发明中所指的智能设备是指搭载有智能操作系统、可以安装应用程序(APP)、并且能够拍照的电子设备，例如智能手机、PAD等。
参考图1所示说明本发明实施例提供的拍照方法，其中，智能设备固定在无人机的云台上，可以随云台进行旋转，所述方法包括以下步骤：
S1、智能设备接收照片人脸参数，按照所述照片人脸参数设定照片模型；其中，所述照片人脸参数包括人脸在整张照片中的位置，以及人脸相对于整张照片的大小。
具体来说，用户在打开智能设备的拍照功能后，智能设备提示用户是否需要设定照片模型，如果用户选择不需要设定照片模型，则直接进行拍照即可；如果用户选择设定照片模型，则需要输入照片人脸参数，该照片人脸参数至少应当包括人脸在整张照片中的位置和人脸相对于整张照片的大小。例如，用户选择设定照片模型后，智能设备在其屏幕上显示一个照片框，用户在该照片框中进行点击就可以选定人脸在整张照片中的位置，或者，智能设备在其屏幕上显示两个输入框，分别供用户输入距离照片上边缘的距离和距离照片左边缘的距离。其中，人脸相对于整张照片的大小是指人脸在整张照片中所占的比例，智能设备可以提供输入框，供用户直接输入0～1范围内的数值或者数值范围，例如用户可以输入0.2，即人脸的面积占整张照片的总面积的20％，或者用户还可以输入0.2～0.3，即人脸的面积占整张照片的总面积的比例在20％～30％之间。其中，如果用户需要为多人进行拍照，还可以在智能模型中设定照片中人脸的总个数N。
S2、智能设备检测是否接收到无人机到达预定位置的通知，如果接收到无人机到达预定位置的通知，则向无人机发送控制云台进行水平旋转的指令；以及对智能设备捕捉到的镜头画面进行人脸识别，在识别到人脸时通知无人机锁定云台。
其中，可以是智能设备向所述无人机发送飞行指令，使得所述无人机按照所述飞行指令飞行到预定位置，无人机在飞行到所述预定位置后通知所述智能设备。飞行指令中可以包括飞行距离、飞行方向、目标高度等信 息，目标高度可以设置为170厘米左右。当然，也可以是无人机本身具有拍照模式，一旦用户选择该拍照模式，无人机自动生成拍照指令并按照所述飞行指令飞行到预定位置。
其中，智能设备在无人机到达预定位置后，向无人机发送控制云台进行水平旋转的指令，智能设备随云台进行水平旋转。在旋转过程中，智能设备对其镜头捕捉到的画面进行人脸识别，在识别到人脸时通知无人机锁定云台，云台锁定后相对于无人机保持固定姿态。如果在步骤S1中，人脸照片参数包括照片中人脸的总个数N，则在步骤S2中，智能设备只有在在镜头画面中同时识别到N个人脸时才通知无人机锁定云台。
步骤S2完成后，智能设备的镜头会对准拍照对象。
S3、智能设备比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小，并根据大小比较结果通知无人机在水平方向上向前或向后移动使得所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小。其中，向前是指无人机朝向拍照对象的方向，向后是指无人背离拍照对象的方向。
其中，智能设备根据比较结果判断无人机应当远离还是靠近拍照对象，如果镜头画面中的人脸相对于镜头画面的大小大于所述人脸相对于整张照片的大小，则判断智能设备的镜头距离拍照对象过近，无人机应该向远离拍照对象的方向移动，即无人机应该在水平方向上向后移动。反之，如果镜头画面中的人脸相对于镜头画面的大小小于所述人脸相对于整张照片的大小，则判断智能设备的镜头距离拍照对象过远，无人机应该向靠近拍照对象的方向移动，即无人机应该在水平方向上向前移动。
其中，如果所述人脸相对于整张照片的大小是一个具体的数值，则当镜头画面中的人脸相对于镜头画面的大小与所述人脸相对于整张照片的大小的差距不超过所述人脸相对于整张照片的大小的15％时，就认为所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小；这里的15％仅为举例说明，用户可以自行设定该数值。如果所述人脸相对于整张照片的大小为一个范围，则当镜头画面中的人脸相对于镜头画面的大小在这个范围以内时，就认为所述镜头画面中的人脸相对于镜头画 面的大小符合所述人脸相对于整张照片的大小。
步骤S3中，可以采用渐进微调的方式调整无人机的位置使得镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小，例如步骤S3可以包括以下步骤S31-S35：
S31、智能设备比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小，根据比较结果判断镜头距离拍照对象过近，通知无人机在水平方向上进行第一次向后移动，例如在水平方向上向后移动20厘米；然后执行步骤S32。
S32、智能设备再次比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小：如果比较结果显示镜头距离拍照对象过近，则执行步骤S33；如果比较结果显示镜头距离拍照对象过远，则执行步骤S34；如果比较结果显示所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小，则步骤S3结束。
S33、通知无人机在水平方向上进行第二次向后移动，例如在水平方向上向后移动20厘米或10厘米；然后执行步骤S35。
S34、通知无人机在水平方向上进行向前移动，该向前移动的距离应当小于第一次向后移动的距离，例如向前移动10厘米；然后执行步骤S35。
S35、智能设备比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小，发现镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小，步骤S3结束。
即在步骤S3中，可以循环进行“比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小——根据比较结果通知无人机在水平方向上向前移动或向后移动”，直至“所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小”。
在步骤S3完成之后，智能设备在水平方向上距离拍照对象的距离确定，智能设备捕捉到的镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小。
S4、智能设备比较镜头画面中的人脸在镜头画面中的位置和所述人脸在整张照片中的位置，并根据位置比较结果通知无人机在竖直平面内移动 使得所述镜头画面中的人脸在镜头画面中的位置符合所述人脸在整张照片中的位置。
举例说明步骤S4，智能设备比较镜头画面中的人脸在镜头画面中的位置和所述人脸在整张照片中的位置，如果发现镜头画面中的人脸在镜头画面中的位置相对于所述人脸在整张照片中的位置偏左，则说明无人机应当向左移动，如果发现镜头画面中的人脸在镜头画面中的位置相对于所述人脸在整张照片中的位置偏上，则说明无人机应当上移动，如果发现镜头画面中的人脸在镜头画面中的位置相对于所述人脸在整张照片中的位置既偏左又偏上，则说明无人应当向左上方移动。
在步骤S4中，智能设备依然可以采用渐进微调的方式调整无人机在竖直平面内的位置，使得所述镜头画面中的人脸在镜头画面中的位置符合所述人脸在整张照片中的位置。即在步骤S4中，可以循环进行“比较镜头画面中的人脸在镜头画面中的位置和所述人脸在整张照片中的位置——根据位置比较结果通知无人机在竖直平面内移动”，直至“所述镜头画面中的人脸在镜头画面中的位置符合所述人脸在整张照片中的位置”。
在步骤S4完成之后，智能设备在竖直平面上的位置确定，智能设备捕捉到的镜头画面中的人脸相对于镜头画面的位置符合所述人脸在整张照片的位置。
S5、在经过步骤S3和步骤S4之后，镜头画面已经符合照片模型，智能设备执行拍照动作，得到符合照片模型的照片。
其中，在步骤S4和步骤S5之间，智能设备还可以通过指示灯和/或扬声器通知用户即将进行拍照，然后等待预定时间后执行拍照动作。所述预定时间可以人为设定，例如可以为5秒，该预定时间可供拍照对象调整自己的表情或姿势。
根据本发明的另一方面，提供了一种智能设备，包括存储器和处理器，所述存储器用于存储指令；所述处理器用于在所述指令的控制下进行操作以执行如前所述的拍照方法。
本领域技术人员应当理解，在电子技术领域中，可以通过软件、硬件以及软件和硬件结合的方式，将上述方法体现在产品中。对应于图1所示 的拍照方法，参考图2所示，本发明的实施例还提供了一种可用于搭载于无人机云台上的智能设备的拍照系统10，所述拍照系统10包括照片模型设定单元11、云台调整单元12、无人机位置调整单元13、以及拍照执行单元14。
照片模型设定单元11，用于接收照片人脸参数，按照所述照片人脸参数设定照片模型；其中，所述照片人脸参数包括人脸在整张照片中的位置，以及人脸相对于整张照片的大小。
云台调整单元12，用于在照片模型设定单元11设定好照片模型后，检测是否接收到无人机到达预定位置的通知，如果接收到无人机到达预定位置的通知，则向无人机发送控制云台进行水平旋转的指令；对智能设备捕捉到的镜头画面进行人脸识别，在识别到人脸时通知无人机锁定云台。
无人机位置调整单元13，用于在云台调整单元12识别到人脸后，调整无人机的位置，包括：
比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小，并根据大小比较结果通知无人机在水平方向上向前或向后移动使得所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小；以及，
比较镜头画面中的人脸在镜头画面中的位置和所述人脸在整张照片中的位置，并根据位置比较结果通知无人机在竖直平面内移动使得所述镜头画面中的人脸在镜头画面中的位置符合所述人脸在整张照片中的位置；
拍照执行单元14，用于在无人机位置调整单元13调整好无人机的位置后，执行拍照动作。
如果所述照片人脸参数还包括照片中人脸的总个数N，云台调整单元12只有在在镜头画面中同时识别到N个人脸时才通知无人机锁定云台，无人机位置调整单元13只有在云台调整单元12同时识别到N个人脸后才开始调整无人机的位置。
拍照执行单元14，用于在无人机位置调整单元13调整好无人机的位置后，先通过指示灯和/或扬声器进行通知，再执行所述拍照动作。
所述拍照系统还可以包括飞行控制单元，所述飞行控制单元可以在照 片模型设定单元11设定好照片模型之后，向无人机发送飞行指令，使得所述无人机按照所述飞行指令飞行到所述预定位置。飞行指令中可以包括飞行距离、飞行方向、目标高度等信息，目标高度可以设置为170厘米左右。当然，也可以是无人机本身具有拍照模式，一旦用户选择该拍照模式，无人机自动生成拍照指令并按照所述飞行指令飞行到预定位置。
根据本发明的另一方面，提供了一种智能设备，具有如前所述的拍照系统。
图3显示了可用于实现本发明的实施例的智能设备的硬件配置的例子的框图。
本发明实施例提供的智能设备300，包括存储器3020、处理器3010、以及镜头模组3030，其中，所述存储器3020用于存储指令，所述指令用于控制处理器3010进行相应操作以实现本发明的拍照方法。
智能设备300还包括通信装置3040、显示装置3050、输入装置3060、扬声器3070、麦克风3080，等等。
处理器3010例如可以是中央处理器CPU、微处理器MCU等。存储器3020例如包括ROM(只读存储器)、RAM(随机存取存储器)、诸如硬盘的非易失性存储器等。通信装置3040例如能够进行有线或无线通信。显示装置3050例如是液晶显示屏、触摸显示屏等。输入装置3060例如可以包括触摸屏、键盘等，用户可以通过输入装置3060输入操作指令、打开APP功能等。用户可以通过扬声器3070/麦克风3080输入/输出语音信息。
图3所示的智能设备仅是解释性的，并且决不是为了要限制本发明、其应用或用途。本领域技术人员应当理解，尽管在图3中示出了多个装置，但是，本发明可以仅涉及其中的部分装置。本领域技术人员可以根据本发明所公开方案设计指令，指令如何控制处理器进行操作是本领域公知技术，故在此不再详细描述。
本发明提供的搭载于无人机云台上的智能设备的拍照方法和系统，能够通过人脸识别控制无人机调整云台的水平旋转角度，并按照预设的照片模型自动调整无人机的位置，使得智能设备能够拍到符合照片模型的照片，从而使得用户拍照时不再受到拍照空间的限制。
本发明可以是系统、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本发明的各个方面的计算机可读程序指令。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本发明操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者 完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本发明的各个方面。
这里参照根据本发明实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本发明的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本发明的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不 同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。对于本领域技术人员来说公知的是，通过硬件方式实现、通过软件方式实现以及通过软件和硬件结合的方式实现都是等价的。
以上已经描述了本发明的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。本发明的范围由所附权利要求来限定。

Claims (10)

  1. 一种搭载于无人机云台上的智能设备的拍照方法，其特征在于，所述拍照方法包括以下步骤：
    S1、接收照片人脸参数，按照所述照片人脸参数设定照片模型；其中，所述照片人脸参数包括人脸在整张照片中的位置，以及人脸相对于整张照片的大小；
    S2、检测是否接收到所述无人机到达预定位置的通知，如果接收到所述无人机到达预定位置的通知，则向所述无人机发送控制所述云台进行水平旋转的指令；以及对所述智能设备捕捉到的镜头画面进行人脸识别，在识别到人脸时通知所述无人机锁定云台；
    S3、比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小，并根据大小比较结果通知所述无人机在水平方向上向前或向后移动使得所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小；
    S4、比较镜头画面中的人脸在镜头画面中的位置和所述人脸在整张照片中的位置，并根据位置比较结果通知所述无人机在竖直平面内移动使得所述镜头画面中的人脸在镜头画面中的位置符合所述人脸在整张照片中的位置；
    S5、执行拍照动作。
  2. 根据权利要求1所述的拍照方法，其特征在于，所述照片人脸参数还包括照片中人脸的总个数N；
    在所述S2步骤中，所述智能设备在同时识别到N个人脸时通知所述无人机锁定云台。
  3. 根据权利要求1或2任一项所述的拍照方法，其特征在于，在所述S4步骤和所述S5步骤之间，所述智能设备通过指示灯和/或扬声器通知用户即将进行拍照。
  4. 根据权利要求1-3任一项所述的拍照方法，其特征在于，在所述S1步骤和S2步骤之间，还包括以下步骤：
    向所述无人机发送飞行指令，使得所述无人机按照所述飞行指令飞行到所述预定位置。
  5. 一种智能设备，包括存储器和处理器，其特征在于，所述存储器用于存储指令；所述处理器用于在所述指令的控制下进行操作以执行根据权利要求1-4任意一项所述的拍照方法。
  6. 一种搭载于无人机云台上的智能设备的拍照系统，其特征在于，所述拍照系统包括照片模型设定单元、云台调整单元、无人机位置调整单元、以及拍照执行单元；
    所述照片模型设定单元，用于接收照片人脸参数，按照所述照片人脸参数设定照片模型；其中，所述照片人脸参数包括人脸在整张照片中的位置，以及人脸相对于整张照片的大小；
    所述云台调整单元，用于在所述照片模型设定单元设定好照片模型后，检测是否接收到所述无人机到达预定位置的通知，如果接收到所述无人机到达预定位置的通知，则向所述无人机发送控制所述云台进行水平旋转的指令；以及对所述智能设备捕捉到的镜头画面进行人脸识别，在识别到人脸时通知所述无人机锁定云台；
    所述无人机位置调整单元，用于在所述云台调整单元识别到人脸后，调整所述无人机的位置，包括：
    比较镜头画面中的人脸相对于镜头画面的大小和所述人脸相对于整张照片的大小，并根据大小比较结果通知所述无人机在水平方向上向前或向后移动使得所述镜头画面中的人脸相对于镜头画面的大小符合所述人脸相对于整张照片的大小；以及，
    比较镜头画面中的人脸在镜头画面中的位置和所述人脸在整张照片中的位置，并根据位置比较结果通知所述无人机在竖直平面内移动使得所述镜头画面中的人脸在镜头画面中的位置符合所述人脸在整张照片中的位置；
    所述拍照执行单元，用于在所述无人机位置调整单元调整好所述无人机的位置后，执行拍照动作。
  7. 根据权利要求6所述的拍照系统，其特征在于，所述照片模型还 包括照片中人脸的总个数N；
    所述云台调整单元，用于在同时识别到N个人脸时通知所述无人机锁定云台；
    所述无人机位置调整单元，用于在所述云台调整单元同时识别到N个人脸后，调整所述无人机的位置。
  8. 根据权利要求6或7任一项所述的拍照系统，其特征在于，所述拍照执行单元，用于在所述无人机位置调整单元调整好所述无人机的位置后，先通过指示灯和/或扬声器进行通知，再执行所述拍照动作。
  9. 根据权利要求6-8任一项所述的拍照系统，其特征在于，所述拍照系统还包括飞行控制单元；
    所述飞行控制单元，用于向所述无人机发送飞行指令，使得所述无人机按照所述飞行指令飞行到所述预定位置。
  10. 一种智能设备，其特征在于，具有根据权利要求6-9任一项所述的拍照系统。
PCT/CN2016/111117 2016-08-22 2016-12-20 搭载于无人机云台上的智能设备的拍照方法和系统 Ceased WO2018036040A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610703174.3A CN106295610A (zh) 2016-08-22 2016-08-22 搭载于无人机云台上的智能设备的拍照方法和系统
CN201610703174.3 2016-08-22

Publications (1)

Publication Number Publication Date
WO2018036040A1 true WO2018036040A1 (zh) 2018-03-01

Family

ID=57662267

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/111117 Ceased WO2018036040A1 (zh) 2016-08-22 2016-12-20 搭载于无人机云台上的智能设备的拍照方法和系统

Country Status (2)

Country Link
CN (1) CN106295610A (zh)
WO (1) WO2018036040A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10315763B2 (en) * 2017-08-24 2019-06-11 Qualcomm Incorporated Managing package deliveries by robotic vehicles

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106976561A (zh) * 2017-03-11 2017-07-25 上海瞬动科技有限公司合肥分公司 一种无人机拍照方法
CN106803895A (zh) * 2017-03-20 2017-06-06 上海瞬动科技有限公司合肥分公司 一种无人机美学拍照方法
CN108803383A (zh) * 2017-05-05 2018-11-13 腾讯科技（上海）有限公司 一种设备控制方法、装置、系统和存储介质
CN107370946A (zh) * 2017-07-27 2017-11-21 高域（北京）智能科技研究院有限公司 自动调整拍照位置的飞行拍摄装置和方法
CN107357312A (zh) * 2017-07-28 2017-11-17 上海瞬动科技有限公司合肥分公司 一种基于目标构图的无人机智能飞行控制方法
CN107589691A (zh) * 2017-08-11 2018-01-16 北京小米移动软件有限公司 无人机的拍摄控制方法及装置
CN107505950A (zh) * 2017-08-26 2017-12-22 上海瞬动科技有限公司合肥分公司 一种无人机全自动智能拍摄集体照方法
CN107544547A (zh) * 2017-10-14 2018-01-05 上海瞬动科技有限公司合肥分公司 一种无人机全自动单人照拍摄方法
CN108549413A (zh) * 2018-04-27 2018-09-18 全球能源互联网研究院有限公司 一种云台旋转控制方法、装置及无人飞行器
US10713744B2 (en) * 2018-10-29 2020-07-14 Toyota Research Institute, Inc. Selective arrival notification system
CN109358649A (zh) * 2018-12-14 2019-02-19 电子科技大学 用于航拍的无人机地面站控制管理系统
CN113037990B (zh) * 2019-12-24 2022-09-06 Tcl科技集团股份有限公司 辅助拍摄方法、终端设备及计算机可读存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104104867A (zh) * 2014-04-28 2014-10-15 三星电子（中国）研发中心 控制摄像装置进行拍摄的方法和装置
CN104917966A (zh) * 2015-05-28 2015-09-16 小米科技有限责任公司 飞行拍摄方法及装置
US20150326832A1 (en) * 2014-05-12 2015-11-12 Sony Corporation Monitoring system and control method thereof
CN105334864A (zh) * 2015-11-24 2016-02-17 杨珊珊 一种用于控制无人机的智能眼镜及控制方法
CN105391939A (zh) * 2015-11-04 2016-03-09 腾讯科技（深圳）有限公司 无人机拍摄控制方法和装置、无人机拍摄方法和无人机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104104867A (zh) * 2014-04-28 2014-10-15 三星电子（中国）研发中心 控制摄像装置进行拍摄的方法和装置
US20150326832A1 (en) * 2014-05-12 2015-11-12 Sony Corporation Monitoring system and control method thereof
CN104917966A (zh) * 2015-05-28 2015-09-16 小米科技有限责任公司 飞行拍摄方法及装置
CN105391939A (zh) * 2015-11-04 2016-03-09 腾讯科技（深圳）有限公司 无人机拍摄控制方法和装置、无人机拍摄方法和无人机
CN105334864A (zh) * 2015-11-24 2016-02-17 杨珊珊 一种用于控制无人机的智能眼镜及控制方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10315763B2 (en) * 2017-08-24 2019-06-11 Qualcomm Incorporated Managing package deliveries by robotic vehicles

Also Published As

Publication number Publication date
CN106295610A (zh) 2017-01-04

Similar Documents

Publication Publication Date Title
WO2018036040A1 (zh) 搭载于无人机云台上的智能设备的拍照方法和系统
CN106598071B (zh) 跟随式的飞行控制方法及装置、无人机
CN107463180A (zh) 电子设备及其操作方法
CN105278759B (zh) 一种基于飞行器的图像投影方法、装置及飞行器
CN107450573B (zh) 飞行拍摄控制系统和方法、智能移动通信终端、飞行器
WO2017181511A1 (zh) 终端设备和无人驾驶飞行器的控制系统
CN106708089A (zh) 跟随式的飞行控制方法及装置、无人机
WO2017084316A1 (zh) 摄像视角调节方法、系统及电视
CN104035446A (zh) 无人机的航向生成方法和系统
CN107589691A (zh) 无人机的拍摄控制方法及装置
US20180131865A1 (en) Image parameter-based spatial positioning
KR20160144414A (ko) 모바일 컴퓨팅 장치를 배치하고 지향시키는 지지대
CN106603970A (zh) 视频拍摄方法、系统及无人机
JP6532958B2 (ja) スマート飛行機器の撮影方法、スマート飛行機器、プログラム及び記録媒体
WO2016008165A1 (zh) 一种基于飞行器的图像投影方法、装置及飞行器
CN106982324A (zh) 无人机、视频拍摄方法和装置
US11240434B2 (en) Removing aerial camera drones from a primary camera's field of view
CN108038417A (zh) 云台控制方法、装置及系统
CN113747071A (zh) 一种无人机拍摄方法、装置、无人机及存储介质
WO2019227333A1 (zh) 集体照拍摄方法和装置
WO2019205070A1 (zh) 无人机的控制方法、控制设备及无人机
CN110720209B (zh) 一种图像处理方法及设备
WO2020135795A1 (zh) 一种图像显示方法、装置和电子设备
CN111131721B (zh) 图像曝光方法及装置、无人机
EP3432105A1 (en) Method and device for displaying flight direction, and unmanned aerial vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16914060

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16914060

Country of ref document: EP

Kind code of ref document: A1