WO2019084736A1 - Shooting control method, shooting device, and uav - Google Patents

Abstract

Provided is a shooting control method, a photographing device and a UAV (UNMANNED AERIAL VEHICLE). The method comprises: determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data; and extracting one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in a buffer area. The method can ensure that the captured image meets the preset requirements, and the picture quality of the captured image is improved.

Description

Shooting control method, shooting device, and drone Technical field

Embodiments of the present invention relate to the field of drones, and in particular, to a photographing control method, a photographing apparatus, and a drone.

Background technique

In the prior art shooting device, the image sensor of the shooting device usually captures the image information in real time and stores the captured image information in the cache in real time. When the user presses the shooting button, the image information captured by the shooting device is not the image information captured by the image sensor at the moment when the user presses the shooting button, but a frame of historical image information selected from the buffer as a captured image. A frame of historical image closest to the moment when the user issues the shooting command is selected as the captured image, and the image of the historical image information may not be good, for example, there may be problems such as overexposure, underexposure, and out of focus, which are reduced. Shooting quality.

Summary of the invention

Embodiments of the present invention provide a shooting control method, a photographing apparatus, and a drone to improve the picture quality of a captured image.

A first aspect of the embodiments of the present invention provides a shooting control method, including:

Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data;

And extracting one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.

A second aspect of the embodiments of the present invention provides a photographing apparatus, including: a memory and a processor;

The memory is for storing program code;

The processor calls the program code to perform the following operations when the program code is executed:

Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data;

Extracting the evaluation parameters from at least one frame of historical image data buffered in the buffer area Set a frame of historical image data.

A third aspect of the embodiments of the present invention provides a drone, including:

body;

a power system mounted to the fuselage for providing flight power;

a flight controller communicatively coupled to the power system for controlling the flight of the drone;

The photographing apparatus described in the above second aspect.

The photographing control method, the photographing apparatus and the drone provided by the embodiment determine the evaluation parameter of each frame of the historical image data in at least one frame of the historical image data, and from the at least one frame of the historical image data buffered in the buffer area. The one-frame historical image data whose evaluation parameter meets the preset condition is taken out, and the frame history image data is taken as the captured image corresponding to the shooting control instruction, which can ensure that the captured image meets the preset requirement, and improves the picture quality of the captured image.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

FIG. 1 is a flowchart of a shooting control method according to an embodiment of the present invention;

2 is a schematic diagram of buffering historical image data in a ring buffer area according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of buffering historical image data in a ring buffer area according to an embodiment of the present disclosure;

FIG. 4 is a flowchart of a shooting control method according to another embodiment of the present invention; FIG.

FIG. 5 is a flowchart of a shooting control method according to another embodiment of the present invention; FIG.

FIG. 6 is a flowchart of a shooting control method according to another embodiment of the present invention;

FIG. 7 is a flowchart of a shooting control method according to another embodiment of the present invention; FIG.

FIG. 8 is a structural diagram of a photographing apparatus according to an embodiment of the present invention;

FIG. 9 is a structural diagram of a drone according to an embodiment of the present invention.

Reference mark:

20-Multiframe Historical Image Data 21-Historical Image Data 22-Historical Image Data

23-Historical Image Data 24-Historical Image Data 25-New Historical Image Data

80-Camera 81-Memory 82-Processor

900-UAV 914-Antenna 916-Electromagnetic wave

907-motor 906-propeller 917-electronic governor

918-Flight Controller 908-Sensor System 910-Communication System

902-supporting equipment 904-photographing equipment 912-ground station

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiments of the present invention provide a shooting control method. FIG. 1 is a flowchart of a shooting control method according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:

Step S101: Determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data.

The photographing control method provided in this embodiment is applicable to a photographing device, and the photographing device may specifically be a device having a photographing function such as a digital camera or a video camera. The shooting device can be held by the user The shooting device can also be a shooting device mounted on a mobile platform, such as a drone or a handheld camera mounted on a handheld head. The shooting device is internally provided with a buffer area. Optionally, the buffer area is a ring buffer area. The ring buffer is the ring buffer.

If the photographing device is a photographing device held by a user, the photographing device buffers at least one frame of image data detected by the image sensor in a ring buffer, ie, a ring buffer, before the user presses a photographing button or a button of the photographing device, At the time when the user presses the shooting button or the button, the image data buffered in the ring buffer is the historical image data before the time. The present embodiment does not limit which specific time before the user presses the shooting button or the button to start buffering the history image data.

If the photographing device is a photographing device mounted on the drone, the photographing device buffers at least one frame of image data detected by the image sensor before the drone receives the photographing control command sent by the corresponding control device such as the remote controller. In the ring buffer, that is, the ring buffer, the image data buffered in the ring buffer is the historical image data before the moment with respect to the time when the drone receives the shooting control command.

Taking the camera device held by the user as an example, as shown in FIG. 2, 20 indicates the multi-frame historical image data buffered in the ring buffer before the user presses the shooting button or button of the shooting device, which is only illustrative and not limited. The storage space of the ring buffer and the number of historical image data buffered in the ring buffer. 21 denotes history image data buffered at time t1, 22 denotes history image data buffered at time t2, 23 denotes history image data buffered at time t3, and 24 denotes history image data buffered at time t4, optionally, time t1 It is earlier than t2, t2 is earlier than t3, and t3 is earlier than t4.

In this embodiment, the photographing apparatus may determine an evaluation parameter of each frame of historical image data in the ring buffer, for example, determine an evaluation parameter of each frame of the historical image data in the historical image data 21-24; and may also determine a ring buffer The evaluation parameters of the history image data of each frame within a preset time period before the user presses the shooting button or the button, for example, the evaluation parameters of the history image data 23 and the history image data 24.

Optionally, the evaluation parameter includes: an evaluation parameter that characterizes one or more of ambiguity, brightness, and definition of the image data.

For example, the photographing device may convert each frame of historical image data into a grayscale image, and count the pixels corresponding to the grayscale values in the grayscale image according to the grayscale value of each pixel in the grayscale image. The number further performs histogram statistics according to the magnitude of each gray value and the number of pixels corresponding to each gray value, and the histogram can reflect the frequency at which each gray value appears. A gray value with a higher frequency appears to reflect the brightness of the historical image data. Optionally, the histogram statistical information is used as an evaluation parameter of the historical image data, and the evaluation parameter can represent the brightness of the historical image data. This is only a schematic illustration. In other embodiments, other evaluation parameters may also be employed to characterize the brightness of the historical image data.

In addition, the photographing device can also perform image sharpening on each frame of historical image data to enhance the edge of the image and the grayscale jump portion, and further calculate the edge sharpening degree, and the edge sharpening degree can reflect the sharpness of the image. Optionally, the edge sharpening degree is used as another evaluation parameter of the historical image data, and the evaluation parameter can represent the sharpness of the historical image data. This is merely a schematic illustration. In other embodiments, other evaluation parameters may also be employed to characterize the sharpness of historical image data.

In addition, the degree of image motion blur can also be taken as another evaluation parameter of the historical image data, which can characterize the ambiguity of the historical image data. This is only a schematic illustration. In other embodiments, other evaluation parameters may also be employed to characterize the ambiguity of historical image data.

In this embodiment, the photographing apparatus may determine at least one of histogram statistical information, edge sharpening degree, and motion blur degree of each frame of historical image data in the ring buffer, and may also determine that the user presses the shot in the ring buffer. At least one of histogram statistical information, degree of edge sharpening, and degree of motion blur of each frame of historical image data within a preset time period before the button or button.

Step S102: Extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.

And extracting, from the at least one frame of the historical image data buffered in the buffer area, the one-frame historical image data whose evaluation parameter meets the preset condition comprises: extracting the evaluation parameter from the at least one frame of the historical image data buffered in the buffer area. The one-frame history image data of the condition is set as the captured image corresponding to the shooting control command.

Specifically, after the photographing device determines at least one evaluation parameter of the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of each frame of historical image data in the ring buffer, at least one frame history that is buffered in the ring buffer may be obtained. The evaluation parameters are taken out from the image data to match the preset One frame of history image data of the condition, and the frame history image data is taken as a captured image when the user presses a shooting button or a button.

For example, when the photographing apparatus detects an operation of the user pressing a photographing button or a button, a photographing control instruction is generated, and according to at least one of histogram statistical information, edge sharpening degree, and motion blur degree of each frame of historical image data, Cache at least one frame of historical image data in the ring buffer to extract a frame of historical image data whose evaluation parameter meets a preset condition. Optionally, the preset condition includes no motion blur, no overexposure or underexposure, and is in a focus state. One or more of the others.

Optionally, the photographing device extracts from at least one frame of historical image data buffered in the ring buffer according to histogram statistical information, edge sharpening degree, and motion blur degree of each frame of historical image data in the ring buffer while satisfying no motion. A frame of historical image data that is blurred, has no overexposure or underexposure, is in a state of focus, and the like, and uses the frame history image data as a captured image when the user presses a shooting button or a button.

In addition, in other embodiments, determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data, or/and extracting an evaluation parameter from at least one frame of historical image data buffered in the buffer area is in accordance with a preset. In the process of one frame of history image data of the condition, the input of new history image data to the buffer area is stopped.

The characteristics of the ring buffer are: when the ring buffer has no free storage space, the data with the longest storage time will be discarded to cache the new data.

For example, the photographing apparatus sequentially determines evaluation parameters of each frame of history image data in the history image data 21-24 as shown in FIG. 3, and when the photographing apparatus determines the evaluation parameters of the history image data 24, the image sensor detects a new history. The image data 25 is buffered and the new history image data 25 is buffered to the ring buffer, assuming that the remaining storage space of the ring buffer is 0. At this time, the history image data 21 needs to be deleted to cache the new history image data 25, resulting in historical image data. 21 is covered. If the evaluation parameter of the historical image data 21 meets the preset condition, after the photographing device determines the evaluation parameter of the historical image data 24, according to the evaluation parameters corresponding to the historical image data 21-24, a frame whose evaluation parameter meets the preset condition is selected. When the history image data is used, the photographing apparatus cannot cause the history image data 21 to be taken out.

For another example, after the photographing apparatus sequentially determines the evaluation parameters of each frame of the history image data in the history image data 21-24 as shown in FIG. 3, the one that selects the evaluation parameter from the history image data 21-24 according to the preset condition is selected. Image sensor detects new history when frame history image data The image data 25 is buffered and the new history image data 25 is buffered to the ring buffer, assuming that the remaining storage space of the ring buffer is 0. At this time, the history image data 21 needs to be deleted to buffer the new history image data 25. If the photographing apparatus determines that the evaluation parameter of the history image data 21 conforms to the preset condition, and the history image data 21 has been overwritten, the photographing apparatus cannot take out the history image data 21.

Therefore, determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data, or/and extracting, from at least one frame of historical image data buffered in the buffer area, a frame of historical image whose evaluation parameter meets a preset condition During the data process, the photographing device stops inputting new historical image data to the ring buffer, so that the historical image data is not covered, and one frame of historical image data whose evaluation parameters meet the preset condition cannot be successfully taken out.

In addition, it is to be noted that, according to the evaluation parameter of the historical image data, the method for extracting one frame of historical image data whose evaluation parameter meets the preset condition is extracted from at least one frame of historical image data buffered in the buffer area according to the embodiment. It is not only suitable for the selection of captured images in shooting control, but also for other scenes selected by real-time data.

In this embodiment, an evaluation parameter of each frame of historical image data in at least one frame of historical image data is determined, and one frame of historical image data whose evaluation parameter meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The frame history image data is taken as a captured image corresponding to the shooting control command, which can ensure that the captured image meets the preset requirement, and improves the picture quality of the captured image.

Embodiments of the present invention provide a shooting control method. FIG. 4 is a flowchart of a shooting control method according to another embodiment of the present invention. As shown in FIG. 4, on the basis of the embodiment shown in FIG. 1 , step S102 extracts a frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area, and may include:

Step S401: Determine an evaluation value of each frame of historical image data according to an evaluation parameter of each frame of historical image data.

As shown in FIG. 2, the photographing apparatus can determine evaluation parameters of each frame of history image data in the history image data 21-24, for example, histogram statistical information of the history image data 21, the degree of edge sharpening, and the degree of motion blur. At least one, histogram statistics of historical image data 22 At least one of a histogram, an edge sharpening degree, a motion blur degree, at least one of histogram statistical information, edge sharpening degree, and motion blur degree of the history image data 23, histogram statistical information of the historical image data 24, and edge sharpness At least one of degree of degree and degree of motion blur. Further, the photographing device determines the evaluation value of the history image data 21 according to at least one of the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the history image data 21; the histogram statistical information and the edge according to the historical image data 22. The evaluation value of the history image data 22 is determined by at least one of the degree of sharpening and the degree of motion blur; and the history image data 23 is determined based on at least one of histogram statistical information, degree of edge sharpening, and degree of motion blur of the history image data 23. The evaluation value of the history image data 24 is determined based on at least one of histogram statistical information, degree of edge sharpening, and degree of motion blur of the history image data 24.

Specifically, the determining, according to the evaluation parameter of the history image data of each frame, the evaluation value of each frame of the historical image data, comprising: performing data fusion on each of the plurality of evaluation parameters of each frame of the historical image data, to obtain each The evaluation value corresponding to one frame of historical image data.

For example, the photographing device performs data fusion on the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the history image data 21 to obtain an evaluation value of the history image data 21; histogram statistical information on the history image data 22, edge sharpening Data fusion is performed on the degree of motion blur, and the evaluation value of the historical image data 22 is obtained; the histogram statistical information, the edge sharpening degree, and the motion blur degree of the historical image data 23 are data-fused, and the evaluation value of the historical image data 23 is obtained; The histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the history image data 24 are subjected to data fusion, and an evaluation value of the history image data 24 is obtained. This is only a schematic illustration and does not limit the specific number of frames of historical image data.

Specifically, performing data fusion on the plurality of evaluation parameters of each frame of historical image data includes: performing weighted summation on each of the plurality of evaluation parameters of each frame of historical image data.

For example, when the photographing device performs data fusion on the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 21, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 21 may be specifically Normalization processing is performed, and the histogram statistical information, edge sharpening degree, and motion blur degree after normalization are weighted and summed, and different evaluation parameters may correspond to different weighting coefficients, and weighting coefficients corresponding to each evaluation parameter Can be a preset value.

Similarly, when the photographing device performs data fusion on the histogram statistical information, the edge sharpening degree, and the motion blur degree of the historical image data 22, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 22 may be specifically The normalization process is performed separately, and the histogram statistical information, the edge sharpening degree, and the motion blur degree after the normalization are weighted and summed.

When the photographing device performs data fusion on the histogram statistical information, the edge sharpening degree, and the motion blur degree of the historical image data 23, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 23 may be specifically returned. After the normalization process, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur after normalization are weighted and summed.

When the photographing device performs data fusion on the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 24, the histogram statistical information, the edge sharpening degree, and the motion blur degree of the historical image data 24 may be respectively returned. After the normalization process, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur after normalization are weighted and summed.

Step S402: Extract one frame of historical image data whose evaluation value meets a preset condition from at least one frame of historical image data buffered in the buffer area.

According to the above steps, the photographing apparatus determines the history of the evaluation value of the history image data 21, the evaluation value of the history image data 22, the evaluation value of the history image data 23, and the evaluation value of the history image data 24, from the history buffered in the ring buffer. One frame of history image data whose evaluation value meets the preset condition is taken out from the image data 21-24, for example, one frame of history image data having the largest evaluation value is taken out.

In this embodiment, an evaluation value of each frame of historical image data is determined according to an evaluation parameter of each frame of historical image data, and a frame whose evaluation value meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The historical image data can make the taken historical image data more in line with the preset requirements.

Embodiments of the present invention provide a shooting control method. FIG. 5 is a flowchart of a shooting control method according to another embodiment of the present invention. As shown in FIG. 5, based on the foregoing embodiment, the method in this embodiment may include:

Step S501: Determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data.

The specific principle and implementation manner of the step S501 are similar to the step S101, and details are not described herein again.

Step S502: Cache the at least one frame of historical image data and the evaluation parameter corresponding to each frame of historical image data into a buffer area.

In this embodiment, the photographing device may buffer each frame of historical image data and evaluation parameters corresponding to each frame of historical image data to a ring buffer, for example, after the photographing device caches the historical image data 21-24 to the ring buffer, At least one of evaluation parameters of the history image data 21 such as histogram statistical information of the history image data 21, degree of edge sharpening, and degree of motion blur may be buffered to the ring buffer; and evaluation parameters and historical image data of the history image data 22 may be The evaluation parameters of 23 and the evaluation parameters of the historical image data 24 are buffered into the ring buffer.

Step S503, receiving a shooting control instruction input by the user.

In this embodiment, receiving the shooting control command input by the user includes the following possible situations:

One possible case is that the photographing device is a photographing device held by the user, and the user can press a photographing button or a button to control the photographing device to take image data. A shooting control command is generated when the photographing device detects an operation of the user pressing a shooting button or a button.

Another possibility is that the shooting device is mounted on a handheld pan/tilt, and the user can control the shooting device to capture image data by controlling a shooting button or button on the handheld pan/tilt. The handheld pan/tilt detects a user's operation of pressing a shooting button or a button to generate a shooting control command to control the shooting device to capture image data.

A further possibility is that the photographing device is mounted on a movable platform such as a drone, and the user sends a remote control to the drone through a ground control device corresponding to the drone, such as a shooting button or a button on the remote controller. The control command, after receiving the shooting control command, the communication system of the drone further transmits the shooting control command to the photographing device mounted on the drone.

Here, it is only a schematic illustration, and in other embodiments, there may be other ways to receive a shooting control command input by the user.

Step S504: After receiving the shooting control command, extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.

After receiving the shooting control command, the photographing device acquires the evaluation parameters corresponding to the historical image data 21-24 from the ring buffer, and determines that the evaluation parameter meets the preset condition according to the evaluation parameters corresponding to the historical image data 21-24 respectively. Historical image data. For example, history map The evaluation parameters of the image data 21 include histogram statistical information, degree of edge sharpening, degree of motion blur, and the photographing apparatus determines that the historical image data 21 is satisfied according to the histogram statistical information of the historical image data 21, the degree of edge sharpening, and the degree of motion blur. Without motion blur, no overexposure or underexposure, in a state of focus, etc., the photographing apparatus takes out the history image data 21 from the ring buffer, and uses the history image data 21 as a photographed image corresponding to the photographing control command, for example, as a user. The captured image when the operation of the shooting button or button is pressed.

In this embodiment, the evaluation parameter corresponding to the at least one frame of historical image data and each frame of historical image data is buffered into the buffer area, and at least one of the buffered in the buffer area is received when receiving the shooting control instruction input by the user. The frame history image data is taken out from the frame history image data to improve the efficiency of extracting the historical image data from the buffer area.

Embodiments of the present invention provide a shooting control method. FIG. 6 is a flowchart of a shooting control method according to another embodiment of the present invention. As shown in FIG. 6, on the basis of the foregoing embodiment, the method in this embodiment may include:

Step S601: Determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data.

The specific principle and implementation manner of the step S601 are similar to the step S101, and details are not described herein again.

Step S602, encapsulating each frame of the at least one frame of historical image data and its corresponding evaluation parameter into a data packet.

Step S603, buffering the data packet into a buffer area.

Optionally, when the photographing device buffers the evaluation parameter corresponding to each frame of the historical image data and the historical image data of each frame to the ring buffer, specifically, the frame of the historical image data and the evaluation parameter corresponding to the frame historical image data may be encapsulated into A data packet, such that each frame of historical image data corresponds to one data packet. As shown in FIG. 6, the evaluation parameter 221 corresponding to the historical image data 21 and the historical image data 21 may be packaged into one data packet 61, and the historical image data 21 corresponds to The evaluation parameter 221 may be at least one of histogram statistical information, degree of edge sharpening, and degree of motion blur of the history image data 21. Similarly, the evaluation parameters 222 corresponding to the historical image data 22 and the historical image data 22 may be packaged into one data packet 62; the evaluation parameters 223 corresponding to the historical image data 23 and the historical image data 23 may be packaged into one data packet 63; historical image data 24 and the evaluation parameter 224 corresponding to the historical image data 24 can be packaged into one data. Package 64. Further, the packet 61, the packet 62, the packet 63, and the packet 64 are buffered into the ring buffer.

Alternatively, when the photographing device caches each frame of historical image data and evaluation parameters corresponding to each frame of historical image data to the ring buffer, the multi-frame historical image data and each frame of the multi-frame historical image data may also be used. The corresponding evaluation parameters are encapsulated into one data packet. As shown in FIG. 7, the evaluation parameters 221 corresponding to the evaluation parameter 221 and the history image data 22 corresponding to the history image data 21, the history image data 22, and the history image data 21 are packaged into one data packet 71, and the history image data 23, history is recorded. The image data 24, the evaluation parameter 223 corresponding to the history image data 23, and the evaluation parameter 224 corresponding to the history image data 24 are packaged into one data packet 72. Further, the data packet 71 and the data packet 72 are buffered into the ring buffer.

Step S604: Determine, from the data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition.

Determining, from the data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition, comprising: receiving a shooting control instruction input by the user; after receiving the shooting control instruction, The data packet buffered in the buffer area determines a data packet whose evaluation parameter of the historical image data meets the preset condition.

Specifically, the shooting control command inputting the user input includes several possible situations described in step S503. In this embodiment, the shooting device is a shooting device that is held by the user, and the shooting device detects that the user presses the shooting button or the button. The operation control unit generates a shooting control command, and after generating the shooting control command, determines, according to the evaluation parameter of the historical image data in each data packet in the ring buffer, from the ring buffer, the historical image data whose evaluation parameter meets the preset condition belongs to Packet. For example, the evaluation parameters of the historical image data 21 include histogram statistical information, degree of edge sharpening, degree of motion blur, and the photographing apparatus determines historical image data based on histogram statistical information of the historical image data 21, the degree of edge sharpening, and the degree of motion blur. 21 satisfies the condition that there is no motion blur, no overexposure or underexposure, is in a state of focus, and the photographing device determines from the ring buffer that the history image data whose evaluation parameters meet the preset condition is historical image data 21, and the history image data 21 The associated data packet is a data packet 61.

Step S605: Extract a corresponding one-frame historical image data from the one data inclusion.

Further, the photographing apparatus takes out the history image data 21 from the data packet 61, and takes the history image data 21 as a photographed image when the user presses a photographing button or a button.

In this embodiment, each frame historical image data of the at least one frame of historical image data and its corresponding evaluation parameter are encapsulated into a data packet, and the data packet is buffered into a buffer area, and a user-inputted shooting control instruction is received. And determining, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition, and extracting a corresponding one-frame historical image data from the data inclusion, thereby improving the slave buffer area. The efficiency of extracting historical image data.

Embodiments of the present invention provide a shooting control method. FIG. 7 is a flowchart of a shooting control method according to another embodiment of the present invention. As shown in FIG. 7, the method in this embodiment may include:

Step S701, receiving a shooting control command.

Step S701 is consistent with the specific principle and implementation manner of step S503, and details are not described herein.

Step S702: Determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area.

In this embodiment, the shooting device is a handheld device that is held by the user. Before the user presses the shooting button or button of the shooting device, at least one frame of historical image data is buffered in the ring buffer, and the shooting device detects that the user presses the shooting. When the button or the button is operated, determining the evaluation parameter of the historical image data of each frame of the at least one frame of the historical image data buffered in the ring buffer, and determining the specific principle of the evaluation parameter of each frame of the historical image data in at least one frame of the historical image data The implementation manner is similar to the above step S101, and details are not described herein.

Step S703: Extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.

Step S703 is consistent with the specific principle and implementation manner of step S102, and details are not described herein.

In this embodiment, by buffering the historical image data in the buffer area, when receiving the shooting control instruction, the photographing device determines an evaluation parameter of each frame of the historical image data in at least one frame of the historical image data buffered in the buffer area, and Cacheing at least one frame of historical image data in the buffer area and extracting one frame of historical image data whose evaluation parameters meet the preset condition does not need to cache the evaluation parameter corresponding to the historical image data in the buffer area, thereby saving the storage space of the buffer area. .

Embodiments of the present invention provide a photographing apparatus. FIG. 8 is a structural diagram of a photographing apparatus according to an embodiment of the present invention. As shown in FIG. 8, the photographing apparatus 80 includes a memory 81 and a processor 82. Save The memory 81 is configured to store program code; the processor 82 calls the program code, and when the program code is executed, is configured to: determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data; And buffering at least one frame of historical image data in the buffer area to extract one frame of historical image data whose evaluation parameter meets a preset condition.

Optionally, the evaluation parameter includes: an evaluation parameter that characterizes one or more of ambiguity, brightness, and definition of the image data. Optionally, the buffer area is a ring buffer area.

Optionally, when the processor 82 extracts one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area, the processor 82 is specifically configured to: at least one frame buffered in the buffer area. One frame of history image data whose evaluation parameters meet the preset condition is taken out from the history image data as a captured image corresponding to the shooting control command.

In addition, in other embodiments, the processor 82 is further configured to: determine an evaluation parameter of each frame of historical image data in the at least one frame of historical image data, or/and at least one frame of historical image data that is buffered in the buffer area. In the process of extracting one frame of historical image data whose evaluation parameters meet the preset condition, the input of new historical image data to the buffer area is stopped.

The specific principles and implementation manners of the photographic device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 and will not be further described herein.

In this embodiment, an evaluation parameter of each frame of historical image data in at least one frame of historical image data is determined, and one frame of historical image data whose evaluation parameter meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The frame history image data is taken as a captured image corresponding to the shooting control command, which can ensure that the captured image meets the preset requirement, and improves the picture quality of the captured image.

Embodiments of the present invention provide a photographing apparatus. On the basis of the technical solution provided by the embodiment shown in FIG. 8 , when the processor 82 extracts one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, : determining an evaluation value of each frame of historical image data according to an evaluation parameter of each frame of historical image data; and extracting one frame of historical image data whose evaluation value meets a preset condition from at least one frame of historical image data buffered in the buffer area .

Specifically, when the processor 82 determines the evaluation value of each frame of the historical image data according to the evaluation parameter of the historical image data of each frame, the processor 82 is specifically configured to: use the historical image data of each frame The evaluation parameters are respectively data fusion, and the evaluation values corresponding to the historical image data of each frame are obtained.

Optionally, when the processor 82 performs data fusion on the plurality of evaluation parameters of the historical image data of each frame, the method is specifically configured to: perform weighted summation on multiple evaluation parameters of each frame of historical image data. .

The specific principles and implementation manners of the photographic device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 4, and details are not described herein again.

In this embodiment, an evaluation value of each frame of historical image data is determined according to an evaluation parameter of each frame of historical image data, and a frame whose evaluation value meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The historical image data can make the taken historical image data more in line with the preset requirements.

Embodiments of the present invention provide a photographing apparatus. On the basis of the technical solution provided by the embodiment shown in FIG. 8, the processor 82 is further configured to: cache the evaluation parameters corresponding to the at least one frame of historical image data and each frame of historical image data into a buffer area.

Optionally, when the processor 82 extracts one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, the processor 82 is specifically configured to: receive a shooting control command input by the user; After the shooting control command, one frame of historical image data whose evaluation parameter meets the preset condition is taken out from at least one frame of historical image data buffered in the buffer area.

Optionally, when the processor 82 caches the at least one frame of historical image data and the evaluation parameter corresponding to each frame of the historical image data into the buffer area, the processor 82 is specifically configured to: each of the at least one frame of historical image data The frame history image data and its corresponding evaluation parameter are encapsulated into a data packet; the data packet is buffered to the buffer area; and the processor 82 extracts the evaluation parameter from the at least one frame of the historical image data buffered in the buffer area according to the preset condition. When one frame of historical image data is used, it is specifically configured to: determine, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition; and extract a corresponding frame from the one data inclusion Historical image data.

Optionally, when the processor 82 determines, from the data packet buffered in the buffer area, that the evaluation parameter of the historical image data meets a preset condition, the processor 82 is specifically configured to: receive a shooting control instruction input by the user; After the shooting control command, the data buffered in the buffer area A packet is determined in the packet that the evaluation parameter of the historical image data meets the preset condition.

The specific principles and implementations of the photographic device provided by the embodiment of the present invention are similar to those of the embodiment shown in FIG. 5 and FIG. 6, and are not described herein again.

In this embodiment, the evaluation parameter corresponding to the at least one frame of historical image data and each frame of historical image data is buffered into the buffer area, and at least one frame buffered in the buffer area is received when receiving the shooting control instruction input by the user. The historical image data is taken out of one frame of historical image data whose evaluation parameters meet the preset conditions, and the efficiency of extracting historical image data from the buffer area is improved.

Embodiments of the present invention provide a photographing apparatus. On the basis of the technical solution provided by the embodiment shown in FIG. 8 , when the processor 82 determines the evaluation parameter of each frame of historical image data in at least one frame of historical image data, the method is specifically configured to: determine at least one cached in the buffer area. Evaluation parameters of each frame of historical image data in the frame history image data.

Optionally, when the processor 82 determines the evaluation parameter of each frame of the historical image data in the at least one frame of the historical image data in the buffer area, the method is specifically configured to: after receiving the shooting control instruction, determine the buffer in the buffer area. An evaluation parameter of each frame of historical image data in at least one frame of historical image data.

The specific principles and implementation manners of the photographic device provided by the embodiment of the present invention are similar to those of the embodiment shown in FIG. 7, and details are not described herein again.

In this embodiment, by buffering the historical image data in the buffer area, when receiving the shooting control instruction, the photographing device determines an evaluation parameter of each frame of the historical image data in at least one frame of the historical image data buffered in the buffer area, and Cacheing at least one frame of historical image data in the buffer area and extracting one frame of historical image data whose evaluation parameters meet the preset condition does not need to cache the evaluation parameter corresponding to the historical image data in the buffer area, thereby saving the storage space of the buffer area. .

Embodiments of the present invention provide a drone. FIG. 9 is a structural diagram of a drone according to an embodiment of the present invention. As shown in FIG. 9, the drone 900 includes: a fuselage, a power system, and a flight controller 918, and the power system includes at least one of the following: a motor 907. A propeller 906 and an electronic governor 917 are mounted on the fuselage for providing flight power. The flight controller 918 is in communication with the power system for controlling the drone to fly.

In addition, as shown in FIG. 9, the drone 900 further includes: a sensing system 908, a communication system 910, The support device 902 and the photographing device 904, wherein the support device 902 may specifically be a pan/tilt, the communication system 910 may specifically include a receiver, the receiver is configured to receive a wireless signal transmitted by the antenna 914 of the ground station 912, and 916 represents a receiver and an antenna. 914 electromagnetic waves generated during communication.

The specific principle and implementation manner of the photographing device 904 are similar to those of the above embodiment, and will not be described here.

In this embodiment, an evaluation parameter of each frame of historical image data in at least one frame of historical image data is determined, and one frame of historical image data whose evaluation parameter meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The frame history image data is taken as a captured image corresponding to the shooting control command, which can ensure that the captured image meets the preset requirement, and improves the picture quality of the captured image.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Ministry Step by step. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (29)

1. A shooting control method, comprising:

   Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data;

   And extracting one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.
2. The method of claim 1 wherein said evaluating parameters comprise:

   An evaluation parameter that characterizes one or more of ambiguity, brightness, and sharpness of the image data.
3. The method according to claim 1 or 2, wherein the buffer area is a ring buffer area.
4. The photographing control method according to any one of claims 1 to 3, characterized in that

   And extracting, from the at least one frame of historical image data buffered in the buffer area, a frame of historical image data whose evaluation parameter meets a preset condition includes:

   One frame of history image data whose evaluation parameter meets a preset condition is taken out from at least one frame of history image data buffered in the buffer area as a captured image corresponding to the shooting control command.
5. The method according to claim 4, wherein the extracting, from the at least one frame of historical image data buffered in the buffer area, a frame of historical image data whose evaluation parameter meets a preset condition comprises:

   Determining an evaluation value of each frame of historical image data according to an evaluation parameter of each frame of historical image data;

   And extracting one frame of historical image data whose evaluation value meets a preset condition from at least one frame of historical image data buffered in the buffer area.
6. The method according to claim 5, wherein the determining the evaluation value of each frame of historical image data according to the evaluation parameter of each frame of historical image data comprises:

   Data fusion is performed on each of the plurality of evaluation parameters of each frame of historical image data to obtain an evaluation value corresponding to each frame of historical image data.
7. The method according to claim 6, wherein the data fusion is performed on the plurality of evaluation parameters of each frame of historical image data, including:

   A plurality of evaluation parameters of each frame of historical image data are respectively weighted and summed.
8. The method of any of claims 1-7, further comprising:

   Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data, or And, in the process of extracting one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, stopping inputting new history image data to the buffer area.
9. The method of any of claims 1-8, wherein the method further comprises:

   The evaluation parameters corresponding to the at least one frame of historical image data and each frame of historical image data are buffered into the buffer area.
10. The method according to claim 9, wherein the extracting, from the at least one frame of the historical image data buffered in the buffer area, the one-frame historical image data whose evaluation parameter meets the preset condition comprises:

    Receiving a shooting control command input by a user;

    After receiving the shooting control command, one frame of historical image data whose evaluation parameter meets a preset condition is taken out from at least one frame of historical image data buffered in the buffer area.
11. The method according to claim 9, wherein the buffering the evaluation parameters corresponding to the at least one frame of historical image data and each frame of historical image data into the buffer area comprises:

    Encapsulating each frame of the at least one frame of historical image data and its corresponding evaluation parameter into a data packet;

    Caching the data packet to a buffer area;

    And extracting, from the at least one frame of historical image data buffered in the buffer area, a frame of historical image data whose evaluation parameter meets a preset condition includes:

    Determining, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition;

    And extracting a corresponding one-frame historical image data from the one data inclusion.
12. The method according to claim 11, wherein the determining, from the data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition comprises:

    Receiving a shooting control command input by a user;

    After receiving the shooting control command, a data packet whose evaluation parameter of the historical image data meets the preset condition is determined from the data packet buffered in the buffer area.
13. Method according to any of claims 1-8, characterized in that

    The determining the evaluation parameters of each frame of the historical image data in the at least one frame of historical image data includes:

    An evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area is determined.
14. The method of claim 13 wherein:

    Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area, including:

    After receiving the shooting control command, determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area.
15. A photographing apparatus, comprising: a memory and a processor;

    The memory is for storing program code;

    The processor calls the program code to perform the following operations when the program code is executed:

    Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data;

    And extracting one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.
16. The photographing apparatus according to claim 15, wherein said evaluation parameters comprise:

    An evaluation parameter that characterizes one or more of ambiguity, brightness, and sharpness of the image data.
17. The photographing apparatus according to claim 15 or 16, wherein the buffer area is a ring buffer area.
18. A photographing apparatus according to any one of claims 15-17, wherein

    When the processor extracts one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, the processor is specifically configured to:

    One frame of history image data whose evaluation parameter meets a preset condition is taken out from at least one frame of history image data buffered in the buffer area as a captured image corresponding to the shooting control command.
19. The photographing apparatus according to claim 18, wherein the processor is used to extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area, specifically for :

    Determining an evaluation value of each frame of historical image data according to an evaluation parameter of each frame of historical image data;

    And extracting one frame of historical image data whose evaluation value meets a preset condition from at least one frame of historical image data buffered in the buffer area.
20. The photographing apparatus according to claim 19, wherein the processor determines the evaluation value of each frame of the historical image data according to the evaluation parameter of each frame of the historical image data, specifically for:

    Data fusion is performed on each of the plurality of evaluation parameters of each frame of historical image data to obtain an evaluation value corresponding to each frame of historical image data.
21. The photographing apparatus according to claim 20, wherein the processor performs data fusion on a plurality of evaluation parameters of each frame of historical image data, specifically for:

    A plurality of evaluation parameters of each frame of historical image data are respectively weighted and summed.
22. The photographing apparatus according to any one of claims 15 to 21, wherein the processor is further configured to:

    Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data, or/and extracting, from at least one frame of historical image data buffered in the buffer area, a frame of historical image data whose evaluation parameter meets a preset condition During the process, the input of new historical image data to the buffer area is stopped.
23. The photographing apparatus according to any one of claims 15 to 22, wherein the processor is further configured to:

    The evaluation parameters corresponding to the at least one frame of historical image data and each frame of historical image data are buffered into the buffer area.
24. The photographing apparatus according to claim 23, wherein the processor is used to extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area, specifically for :

    Receiving a shooting control command input by a user;

    After receiving the shooting control command, one frame of historical image data whose evaluation parameter meets a preset condition is taken out from at least one frame of historical image data buffered in the buffer area.
25. A photographing apparatus according to claim 23, wherein said processor When the at least one frame of historical image data and the evaluation parameter corresponding to each frame of historical image data are cached in the buffer area, specifically used for:

    Encapsulating each frame of the at least one frame of historical image data and its corresponding evaluation parameter into a data packet;

    Caching the data packet to a buffer area;

    When the processor extracts one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, the processor is specifically configured to:

    Determining, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition;

    And extracting a corresponding one-frame historical image data from the one data inclusion.
26. The photographing apparatus according to claim 25, wherein the processor is configured to: when determining, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition, specifically:

    Receiving a shooting control command input by a user;

    After receiving the shooting control command, a data packet whose evaluation parameter of the historical image data meets the preset condition is determined from the data packet buffered in the buffer area.
27. A photographing apparatus according to any one of claims 15 to 22, characterized in that

    When the processor determines an evaluation parameter of each frame of historical image data in at least one frame of historical image data, specifically:

    An evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area is determined.
28. A photographing apparatus according to claim 27, wherein

    When the processor determines an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area, specifically:

    After receiving the shooting control command, determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area.
29. A drone, characterized in that it comprises:

    body;

    a power system mounted to the fuselage for providing flight power;

    a flight controller, in communication with the power system, for controlling the drone to fly Line; and

    A photographing apparatus according to any one of claims 15-28.

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