WO2018036040A1 - Procédé et ssystème de photographie de dispositif intelligent monté sur la tête de berceau d'un véhicule aérien sans pilote - Google Patents

Procédé et ssystème de photographie de dispositif intelligent monté sur la tête de berceau d'un véhicule aérien sans pilote Download PDF

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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
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Prior art keywords
face
photo
drone
size
photographing
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PCT/CN2016/111117
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English (en)
Chinese (zh)
Inventor
吕思豪
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歌尔股份有限公司
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Publication of WO2018036040A1 publication Critical patent/WO2018036040A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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.

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Abstract

L'invention concerne un procédé de photographie et un système de photographie (10) d'un dispositif intelligent (300) monté sur une tête de berceau d'un véhicule aérien sans pilote, et un dispositif intelligent (300). Le procédé consiste à : recevoir des paramètres d'un visage humain dans une photo, et régler un modèle de photo en fonction des paramètres du visage humain dans la photo, les paramètres du visage humain dans la photo comprenant une position du visage humain dans l'ensemble de la photo et la taille du visage humain par rapport à l'ensemble de la photo (S1); détecter si une notification d'un véhicule aérien sans pilote ayant atteint une position prédéterminée est reçue, et envoyer au véhicule aérien sans pilote une instruction pour commander une tête de berceau afin qu'il tourne horizontalement si la notification du véhicule aérien sans pilote ayant atteint la position prédéterminée est reçue, mettre en oeuvre une reconnaissance faciale humaine sur une image de lentille capturée par un dispositif intelligent (300), et notifier au véhicule aérien sans pilote de verrouiller la tête de berceau lorsqu'un visage humain est reconnu (S2); comparer la taille du visage humain dans l'image de lentille par rapport à l'image de lentille et la taille du visage humain par rapport à l'ensemble de la photo, et notifier au véhicule aérien sans pilote de se déplacer vers l'avant ou vers l'arrière dans la direction horizontale selon un résultat de comparaison de taille, de sorte que la taille du visage humain dans l'image de lentille par rapport à l'image de lentille se conforme à la taille du visage humain par rapport à l'ensemble de la photo (S3); comparer la position à l'intérieur de l'image de lentille du visage humain dans l'image de lentille et la position du visage humain dans l'ensemble de la photo, et notifier au véhicule aérien sans pilote de se déplacer dans un plan vertical selon un résultat de comparaison de position de sorte que la position à l'intérieur de l'image de lentille du visage humain dans l'image de lentille se conforme à la position du visage dans l'ensemble de la photo (S4); et mettre en oeuvre une action de photographie (S5). Le procédé peut permettre à un utilisateur de prendre des photos sans contraintes d'espace de caméra.
PCT/CN2016/111117 2016-08-22 2016-12-20 Procédé et ssystème de photographie de dispositif intelligent monté sur la tête de berceau d'un véhicule aérien sans pilote WO2018036040A1 (fr)

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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

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