WO2019127402A1

WO2019127402A1 - Synthesizing method of spherical panoramic image, uav system, uav, terminal and control method thereof

Info

Publication number: WO2019127402A1
Application number: PCT/CN2017/119941
Authority: WO
Inventors: 陈一; 徐普
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2019-07-04
Also published as: CN109155820B; CN109155820A

Abstract

Disclosed in the invention is a synthesizing method of a spherical panoramic image for an unmanned aerial vehicle (UAV) system (100). The UAV system (100) comprises a UAV (10) and a terminal (20), and the UAV (10) comprises a camera (12). The synthesizing method comprises the steps of: the terminal (20) sends a panoramic shooting command to the UAV (10), wherein the panoramic shooting command comprises taking a plurality of photos with preset angles (S10); following the panorama shooting command, the UAV (10) controls the camera (12) to take a plurality of photos on the basis of the preset angles (S20); and the UAV system (100) forms a spherical panoramic image by synthesizing the plurality of photos taken by the camera (12) (S30). Also disclosed in the invention are the UAV system (100), the UAV (10), the terminal (20) and a control method thereof.

Description

Method for synthesizing spherical panorama, UAV system, drone, terminal and control method thereof

Technical field

The invention relates to the field of aerial photography technology of a drone, in particular to a method for synthesizing a spherical panoramic image, a drone system, a drone, a terminal and a control method thereof.

Background technique

In the related art, the application of the drone is more and more extensive, for example, the user uses the photograph taken by the drone to synthesize the spherical view. Typically, the user controls the drone's pan/tilt camera to take photos of various angles, then export the photos and manually stitch the synthetic spherical panoramas using software. However, such operations are complicated and the user experience is poor.

Summary of the invention

Embodiments of the present invention provide a method for synthesizing a spherical panorama, a drone system, a drone, a terminal, and a control method thereof.

A method for synthesizing a spherical panorama of an embodiment of the present invention is for an unmanned aerial vehicle system, the unmanned aerial vehicle system includes a drone and a terminal, and the drone includes a camera, and the synthesizing method includes:

The terminal sends a shooting panoramic command to the drone, and the capturing a panoramic command includes capturing a plurality of photos of a preset angle;

The drone controls the camera to take the plurality of photos according to the preset angle according to the shooting panoramic command; and

The plurality of photographs taken by the drone system using the camera are combined into the spherical panorama.

In the method for synthesizing a spherical panoramic image according to an embodiment of the present invention, the drone can control the camera to take multiple photos of the synthetic spherical panoramic image at different angular positions, and the UAV system synthesizes multiple photos into a spherical panoramic image, thus, the user There is no need to manually synthesize a spherical panorama, and the synthesis of the spherical panorama is simple, thereby improving the user experience.

The unmanned aerial vehicle system of the embodiment of the present invention includes a drone and a terminal, the drone includes a camera, and the terminal is configured to send a panoramic command to the drone, and the photographing panoramic command includes a shooting preset. Multiple photos of the angle;

The drone is configured to control the camera to capture the plurality of photos according to the preset angle according to the shooting panoramic command; and

The UAV system is configured to synthesize the plurality of photos taken by the camera to form a spherical panorama.

In the UAV system of the embodiment of the present invention, the UAV can control the camera to take multiple photos of the synthetic spherical panorama at different angular positions, and the UAV system synthesizes multiple photos into a spherical panorama, so that the user does not need to manually The synthetic spherical panorama, the spherical panorama is simple to synthesize, thus improving the user experience.

The drone of the embodiment of the present invention includes a camera, a first processor, and a first memory, the first memory storing at least one program, and the first processor is configured to execute the at least one program to implement the following steps:

Receiving a shooting panorama command sent by the terminal, where the capturing a panoramic command includes capturing a plurality of photos of a preset angle;

Controlling, according to the shooting panoramic command, the camera to take the plurality of photos according to the preset angle; and

The plurality of photos taken by the camera are combined into a spherical panorama.

In the unmanned aerial vehicle of the embodiment of the present invention, the drone can control the camera to take multiple photos of the synthetic spherical panoramic image at different angular positions and synthesize multiple photos into a spherical panoramic image, so that the user does not need to manually synthesize the spherical panoramic image. The synthetic operation of the spherical panorama is simple, thereby improving the user experience.

A method for controlling a terminal according to an embodiment of the present invention, where the method for controlling a terminal includes:

Controlling the terminal to send a shooting panoramic command to the drone to cause the drone to control the camera of the drone to take multiple photos according to the shooting panoramic command; and

Receiving, by the terminal, the plurality of photos captured by the camera transmitted by the drone and synthesizing the spherical panorama by using the plurality of photos.

In the method for controlling a terminal according to an embodiment of the present invention, the control terminal sends a panoramic command to the drone, and the drone controls the camera to take multiple photos of the combined spherical panorama at different angular positions, and the terminal synthesizes multiple photos into a spherical panorama. In this way, the user does not need to manually synthesize the spherical panorama, and the synthesis operation of the spherical panorama is simple, thereby improving the user experience.

The terminal of the embodiment of the present invention includes a second processor and a second memory, where the second memory stores at least one program, and the second processor is configured to execute the at least one program to implement the following steps:

In the terminal of the embodiment of the present invention, the terminal sends a panoramic command to the drone, and the drone controls the camera to take multiple photos of the combined spherical panoramic image at different angular positions, and the terminal synthesizes multiple photos into a spherical panoramic view. The user does not need to manually synthesize the spherical panorama, and the synthesis of the spherical panorama is simple, thereby improving the user experience.

The additional aspects and advantages of the embodiments of the present invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

1 is a schematic flow chart of a method for synthesizing a spherical panorama according to an embodiment of the present invention;

2 is a schematic block diagram of a drone system according to an embodiment of the present invention;

FIG. 3 is still another schematic flowchart of a method for synthesizing a spherical panorama according to an embodiment of the present invention; FIG.

4 is a schematic block diagram of a drone system according to an embodiment of the present invention;

5 is a schematic structural view of a drone system according to an embodiment of the present invention;

6 is a schematic flow chart of a method for synthesizing a spherical panoramic image according to an embodiment of the present invention;

FIG. 7 is still another schematic flowchart of a method for synthesizing a spherical panoramic image according to an embodiment of the present invention; FIG.

8 is a schematic flow chart of a method for synthesizing a spherical panorama according to an embodiment of the present invention;

9 is a schematic block diagram of a drone according to an embodiment of the present invention;

10 is a schematic structural view of a drone according to an embodiment of the present invention;

11 is a schematic flowchart diagram of a method for controlling a terminal according to an embodiment of the present invention;

12 is a schematic structural diagram of a terminal according to an embodiment of the present invention;

FIG. 13 is a schematic block diagram of a terminal according to an embodiment of the present invention; FIG.

FIG. 14 is still another schematic flowchart of a method for controlling a terminal according to an embodiment of the present invention; FIG.

FIG. 15 is a schematic flowchart of still another method of controlling a terminal according to an embodiment of the present invention.

The main component symbol drawing description:

UAV system 100, drone 10, body 11, camera 12, pan/tilt 14, first processor 16, first memory 18, terminal 20, human machine interface 22, second processor 24, second memory 26.

Detailed ways

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include one or more of the described features either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of the specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the present invention may be repeated with reference to the numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or arrangements discussed. Moreover, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.

Referring to FIGS. 1-2, an embodiment of the present invention provides a method for synthesizing a spherical panorama for use in the drone system 100. The drone system 100 includes a drone 10 and a terminal 20. The drone 10 includes a camera 12. The method of synthesizing the spherical panorama includes:

Step S10: The terminal 20 sends a shooting panoramic command to the drone 10, and the capturing the panoramic command includes capturing a plurality of photos of the preset angle;

Step S20: The drone 10 controls the camera 12 to take a plurality of photos according to a preset angle according to a shooting panorama command; and

Step S30: The UAV system 100 uses the multiple photos taken by the camera 12 to form a spherical panorama.

Referring to FIG. 2, a drone system 100 according to an embodiment of the present invention includes a drone 10 and a terminal 20. The drone 10 includes a camera 12. The terminal 20 is configured to send a panoramic command to the drone 10. The shooting panorama command includes taking multiple photos of a preset angle. The drone 10 is for controlling the camera 12 to take a plurality of photos at a preset angle according to a shooting panorama command. The drone system 100 is used to synthesize a plurality of photos taken by the camera 12 into a spherical panorama.

Wherein, step S10, step S20 and step S30 can be implemented by the drone system 100. That is, the method of synthesizing the spherical panorama of the embodiment of the present invention can be realized by the unmanned aerial vehicle system 100 of the embodiment of the present invention, and can be applied to the unmanned aerial vehicle system 100.

In the method for synthesizing the spherical panoramic image and the drone system 100 of the embodiment of the present invention, the drone 10 can control the camera 12 to take multiple photos of the synthetic spherical panoramic image at different angular positions, and the drone system 100 will have multiple photos. The photo synthesizes a spherical panorama, so that the user does not need to manually synthesize the spherical panorama, and the synthesizing operation of the spherical panorama is simple, thereby improving the user experience.

It can be understood that the terminal 20 is configured with a drone application software (APP), which can be used to send a panoramic command to the drone 10. The drone system 100 includes a remote control that is provided with a USB interface and/or a wireless communication module. The terminal 20 can connect the remote controller through a USB interface or wirelessly, thereby implementing communication between the terminal 20 and the drone 10. Of course, the drone 10 can be provided with a wireless communication module, and the terminal 20 directly communicates with the drone 10 by wireless. The terminal 20 can be a mobile phone, a tablet computer, a notebook computer, a personal computer, a wearable device (such as a smart watch), or the like.

In some embodiments, terminal 20 includes a human machine interface 22. The method for synthesizing the spherical panorama includes: after the terminal 20 transmits the photographing panorama command, the human machine interface 22 prompts the user that it is currently uncontrollable.

In some embodiments, terminal 20 includes a human machine interface 22. After the terminal 20 sends the shooting panorama command, the human machine interface 22 is used to prompt the user that it is currently uncontrollable.

It can be understood that, when the terminal 20 sends a panoramic command to the drone 10, the drone 10 starts executing the shooting panoramic command to control the camera 12 to shoot, and the drone application software (APP) is not controllable at this time. Therefore, the human machine interface 22 of the terminal 20 prompts the user that it is currently uncontrollable to avoid affecting or aborting the panoramic view. The human machine interface 22 can be displayed on the display screen of the terminal 20. The display can be a touch display.

Referring to FIGS. 3-5, in some embodiments, the drone 10 includes a pan/tilt head 14 and the camera 12 is disposed on the pan/tilt head 14. Step S20 includes step S202: controlling the pan/tilt 14 to drive the camera 12 to take a plurality of photos according to a preset angle.

In some embodiments, the drone 10 includes a pan-tilt 14 and the camera 12 is disposed at the pan-tilt 14. The drone 10 is used to control the pan/tilt 14 at a preset angle to drive the camera 12 to take a plurality of photos.

It can be understood that the pan/tilt head 14 can be a three-axis stabilization pan/tilt head 14 and the camera 12 is disposed on the pan-tilt head 14 to ensure that the camera 12 captures a stable picture while the drone 10 is flying at a high speed. The drone 10 controls the pan-tilt 14 to drive the camera 12 to take a plurality of photos according to a preset angle command, including three cases: the pan-tilt 14 does not move, and controls the pitch motion and the horizontal rotation of the body 11 of the drone 10 The camera 12 is caused to take photos at different positions; the body 11 of the drone 10 does not move, the pitching motion and horizontal rotation of the control platform 14 cause the camera 12 to take photos at different positions; and the pitch of the drone 10 and the pan/tilt 14 are controlled. Movement and/or horizontal rotation causes the camera 12 to take a photo at a different location. Preferably, the drone 10 controls the horizontal rotation of the body 11 of the drone 10 according to a shooting instruction such that the camera 12 takes photos at different positions and the pan/tilt 14 performs a pitching motion so that the camera 12 is photographed at different positions. photo.

In some embodiments, the drone 10 can omit the pan/tilt head 14 and the camera 12 is mounted on the body 11 of the drone 10, and the camera can be directly controlled by the pitching motion and horizontal rotation of the body 11 of the drone 10 12 Take photos in different locations.

In some embodiments, the drone system 100 is pre-configured with a lateral coincidence rate and a longitudinal coincidence rate for multiple photographs. Step S202, comprising:

The drone 10 controls the pan/tilt head 14 to rotate the camera 12 to a different plurality of first positions in the horizontal direction according to the lateral coincidence ratio, and controls the camera 12 to shoot in each of the first positions, and controls the pan/tilt head 14 according to the vertical coincidence ratio. The camera 12 is caused to perform a pitching motion to respectively rotate to a plurality of different second positions and control the camera 12 to take a picture at each of the second positions, thereby obtaining a plurality of photos.

In some embodiments, the drone system 100 is pre-configured with a lateral coincidence rate and a longitudinal coincidence rate for multiple photographs. The drone 10 is used to control the pan/tilt 14 to rotate the camera 12 to a different plurality of first positions in the horizontal direction according to the lateral coincidence rate, and to control the camera 12 to shoot in each of the first positions, and to control the cloud according to the vertical coincidence ratio. The stage 14 drives the camera 12 to perform a pitching motion to respectively rotate to a plurality of different second positions and control the camera 12 to take a picture at each of the second positions, thereby obtaining a plurality of photos.

It can be understood that multiple photos are used to form a spherical panorama, so the photo must have overlapping portions in both the horizontal and vertical directions. The pan/tilt 14 drives the camera 12 to rotate 360 degrees in the horizontal direction. The pan/tilt 14 drives the camera 12 to perform a pitching motion between the maximum elevation angle and the maximum depression angle of the gimbal 14 . Generally, the plurality of first positions are determined according to the lateral coincidence ratio, and the plurality of first positions may maintain the same angular interval; the plurality of second positions may be determined according to the longitudinal coincidence ratio, and the plurality of second positions may maintain the same angular interval. . In one example, the plurality of first positions maintain the same angular separation of 25 degrees.

In some embodiments, the method of synthesizing a spherical panorama includes:

When the pan/tilt 14 keeps the camera 12 in a first position, the pan-tilt 14 is controlled to rotate according to the longitudinal coincidence rate to cause the camera 12 to be in a plurality of second positions, respectively, and to control the camera 12 to capture in each of the second positions.

In some embodiments, when the pan/tilt head 14 maintains the camera 12 in a first position, the drone 10 is configured to control the pan-tilt 14 rotation based on the longitudinal coincidence rate such that the cameras 12 are respectively located in a plurality of second positions and at each The camera 12 is controlled to shoot in the second position.

It can be understood that when the pan/tilt 14 keeps the camera 12 in a first position, the pan/tilt 14 drives the camera 12 to perform a pitching motion to rotate to a plurality of different second positions and control the camera 12 to shoot at each of the second positions, when the camera 12 Taking all the photos of the second position, and then controlling the pan/tilt 14 to drive the camera 12 to the next first position, and in the next first position, the pan/tilt 14 drives the camera 12 to perform the pitching motion to rotate to a plurality of different second positions. The camera 12 is controlled to shoot at each of the second positions. As such, when the pan/tilt 14 holds the camera 12 in a plurality of different first positions, the camera 12 completes the shooting at a plurality of different second positions, respectively.

In some embodiments, the number of photos taken by the camera 12 at a plurality of second locations is the same at each of the first locations.

It can be understood that the number of photos taken by the camera 12 in a plurality of second positions is the same, which facilitates subsequent stitching and ensures the integrity of the spherical panorama.

In some embodiments, the method of synthesizing a spherical panorama includes:

When the pan/tilt 14 keeps the camera 12 in a second position, the pan/tilt 14 controls the camera 12 to rotate according to the lateral coincidence rate to cause the camera 12 to be in a plurality of first positions and to control the camera 12 to capture at each of the first positions.

In some embodiments, when the pan/tilt head 14 keeps the camera 12 in a second position, the drone 10 is configured to control the pan/tilt head 14 to rotate the camera 12 according to the lateral coincidence rate so that the camera 12 is respectively located in the plurality of first positions. The camera 12 is controlled to shoot at each of the first positions.

It can be understood that when the pan/tilt 14 keeps the camera 12 in a second position, the pan/tilt 14 drives the camera 12 to rotate to different first positions and controls the camera 12 to shoot in each of the first positions, when the camera 12 captures all The photo of the first position, and then the control platform 12 drives the camera 12 to perform the pitching motion to the next second position and is located at the next second position, the pan/tilt 14 drives the camera 12 to rotate to a plurality of different first positions and The camera 12 is controlled to shoot at each of the first positions. As such, when the pan/tilt 14 holds the camera 12 in a plurality of different second positions, the camera 12 completes the shooting at a plurality of different first positions, respectively.

In some embodiments, the number of photos taken by the camera 12 at the plurality of first locations is the same at each of the second locations.

It will be appreciated that the number of photos taken by the camera 12 at a plurality of first locations is the same, facilitating subsequent stitching and ensuring the integrity of the spherical panorama.

In some embodiments, the plurality of second positions are -15 degrees, 0 degrees, 30 degrees, 60 degrees, and 90 degrees of the pitch angle of the platform 14 respectively.

It can be understood that in the present embodiment, -15 degrees indicates that the maximum elevation angle of the platform 14 is 15 degrees, and 90 degrees indicates that the maximum depression angle of the platform 14 is 90 degrees. Therefore, the plurality of second positions maintain the same angular interval only between the depression angles of 0 to 90 degrees. The pitch angle of the pan/tilt 14 varies depending on the difference of the drone 10.

In some embodiments, the method for synthesizing the spherical panorama includes: controlling the drone 10 and the pan/tilt 14 to rotate in a horizontal direction to cause the pan/tilt 14 to drive the camera 12 to be respectively located in a plurality of first positions; or controlling the drone 10 Rotating in the horizontal direction to cause the pan/tilt 14 to drive the camera 12 in a plurality of first positions; or controlling the fuselage 11 of the drone 10 to move and the pan/tilt 14 to rotate in the horizontal direction to cause the pan-tilt 14 to drive the cameras 12 respectively Multiple first locations.

In some embodiments, the drone 10 and the pan/tilt head 14 are used to rotate in a horizontal direction such that the pan/tilt head 14 drives the camera 12 in a plurality of first positions, respectively; or the drone 10 is used to rotate in a horizontal direction to The pan/tilt 14 drives the cameras 12 in a plurality of first positions respectively; or the fuselage 11 of the drone 10 does not move and the pan/tilt 14 is used to rotate in the horizontal direction to cause the pan/tilt 14 to drive the cameras 12 in a plurality of first positions respectively .

It can be understood that the pan/tilt 14 drives the camera 12 to rotate to a plurality of different first positions in the horizontal direction. The drone 10 and the pan/tilt 14 can be rotated in the horizontal direction at the same time, so that the pan/tilt head 14 drives the camera 12 to be respectively located in multiple positions. a position, or the drone 10 is rotated in a horizontal direction to cause the pan/tilt 14 to drive the camera 12 in a plurality of first positions, or the fuselage 11 of the drone 10 is stationary and the pan/tilt 14 is rotated in a horizontal direction to make the cloud The table 14 drives the cameras 12 in a plurality of first positions. In the present embodiment, the drone 10 is rotated in the horizontal direction, that is, the body 11 of the drone 10 is rotated in the horizontal direction. Preferably, the drone 10 is controlled to rotate in a horizontal direction such that the pan/tilt head 14 drives the camera 12 to be respectively located at a plurality of first positions, or the body 11 of the drone 10 is not moved and the pan/tilt head 14 is rotated in a horizontal direction so that The pan/tilt 14 drives the cameras 12 in a plurality of first positions, which are mature and easy to implement. It can be understood that in some embodiments, when the pan/tilt 14 is rotated alone to prevent the camera from taking a 360-degree photograph, the 360-degree photographing of the camera can be achieved in conjunction with the rotation of the drone 10.

Referring to FIG. 6, in some embodiments, the UAV system 100 utilizes the captured multiple photos to form a spherical panorama. The step S30 includes:

Step S32: the drone 10 transmits a plurality of photos taken by the camera 12 to the terminal 20; and

Step S34: The terminal 20 combines a plurality of photos to form a spherical panorama.

In some embodiments, the drone 10 is used to transmit a plurality of photos taken by the camera 12 to the terminal 20 for synthesizing a spherical panorama using a plurality of photos.

It can be understood that the drone 10 transmits a plurality of photos taken by the camera 12 to the terminal 20, and the terminal 20 combines a plurality of photos into a spherical panorama in the drone application software (APP).

Referring to FIG. 7, in some embodiments, step S34 includes:

Step S342: the terminal 20 displays thumbnails of one of the plurality of photos; and

Step S344: Upon receiving an input instruction generated based on the user operation thumbnail, the terminal 20 synthesizes a spherical panorama using a plurality of photos and displays a spherical panorama.

In some embodiments, the terminal 20 is configured to display a thumbnail of one of the plurality of photos. When receiving an input instruction generated based on the user operating the thumbnail, the terminal 20 is configured to use a plurality of photos to form a spherical shape. Panorama and display a spherical panorama.

It can be understood that after the drone 10 transmits a plurality of photos taken by the camera 12 to the terminal 20, the terminal 20 saves a plurality of photos. When the terminal 20 runs the drone application software (APP), the drone application software (APP) can display a thumbnail of one of the plurality of photos on the human machine interface 22. When the user clicks on the thumbnail, the terminal 20 combines the plurality of photos according to the horizontal coincidence ratio and the vertical coincidence ratio according to the input instruction generated by the user clicking the thumbnail to generate a spherical panorama and display the spherical panorama.

In some embodiments, step S30 includes:

The drone 10 synthesizes a plurality of photos taken by the camera 12 into a spherical panorama and transmits the spherical panorama to the terminal 20.

In some embodiments, the drone 10 is used to synthesize a plurality of photos taken by the camera 12 into a spherical panorama and transmit the spherical panorama to the terminal 20.

It can be understood that after the camera 12 takes a plurality of photos, the drone 10 combines the multiple photos into a spherical panorama and transmits them to the terminal 20. Terminal 20 may display a spherical panorama or provide other operations to the user, such as viewing, editing, sending, deleting, and the like.

Referring to FIG. 8, in some embodiments, step S30 includes:

Step S302: The UAV system 100 combines the multiple photos taken by the camera 12 into a to-be-processed panorama;

Step S304: The UAV system 100 acquires the intermediate brightness value and the highest brightness value from the existing sky edge portion of the to-be-processed panorama; and

Step S306: The UAV system 100 performs gradual filling from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.

In some embodiments, the drone system 100 is used to synthesize a plurality of photographs taken by the camera 12 into a to-be-processed panorama. The drone system 100 is configured to obtain intermediate brightness values and highest brightness values from existing sky edge portions of the panorama to be processed. The drone system 100 is configured to gradually fill the intermediate brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.

It will be appreciated that in some cases, the drone 10 cannot control the photo of the sky in which the camera 12 captures a real scene. Therefore, the spherical panorama in which a plurality of photos taken by the camera 12 are directly combined is lacking in the top portion of the sky, and further processing is required. The UAV system 100 combines the multiple photos taken by the camera 12 into a to-be-processed panorama, and uses the color picker to press the HSB (Hues Hue (0-360 degrees), Saturation from the existing sky edge portion of the to-be-processed panorama. Saturation (0-100), Brightness Brightness (0-100) mode selects multiple values. In the value close to the hue, an intermediate value is selected as the intermediate brightness value according to the brightness level, and the maximum value is taken as the highest brightness value. After obtaining the intermediate brightness value and the highest brightness value, the drone system 100 gradually fills from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.

Further, by identifying the content of the existing sky edge portion of the to-be-processed panorama, the sky, the cloud are distinguished, and the top portion of the sky is supplemented in a pseudo-like manner, so that the supplementary sky top portion is more natural and true.

In some embodiments, a camera, or pan/tilt and camera are added at the top of the drone 10 so that the camera can take a photo of the sky of the real scene. In this way, the spherical panorama after the multiple photos are combined has the top part of the sky and no further processing is required. The photograph taken by the camera on the top of the drone 10 and the photograph taken by the original camera 12 also have a certain coincidence ratio, for example, the photograph taken by the camera on the top of the drone 10 and the photograph taken by the original camera 12. At least 10 degrees overlap.

Referring to FIGS. 9 and 10, the drone 10 of the embodiment of the present invention includes a camera 12, a first processor 16, and a first memory 18. The first memory 18 stores at least one program. The first processor 16 is configured to execute at least one program to implement a shooting panoramic command sent by the receiving terminal 20, and the capturing the panoramic command comprises capturing a plurality of photos of the preset angle; according to the shooting panoramic command, the camera 12 is controlled to shoot a plurality of frames according to a preset angle. The photograph; and a plurality of photographs taken by the camera 12 are combined into a spherical panorama.

In the UAV 10 of the embodiment of the present invention, the UAV 10 can control the camera 12 to take multiple photos of a synthetic spherical panorama at different angular positions and synthesize multiple photos into a spherical panorama. Thus, the user does not need to manually synthesize a sphere. The panorama, the spherical panorama is simple to synthesize, which improves the user experience.

It should be noted that the above-described method for synthesizing the spherical panorama and the explanation of the implementation and beneficial effects of the UAV system 100 are also applicable to the UAV 10 of the present embodiment and the following embodiments, in order to avoid redundancy. It will not be expanded in detail here.

In some embodiments, the first processor 16 is configured to execute at least one program to effect transmission of the spherical panorama to the terminal 20.

In some embodiments, the drone 10 includes a pan-tilt 14 and the camera 12 is disposed at the pan-tilt 14. The first processor 16 is configured to execute at least one program to control the pan/tilt 14 to drive the camera 12 to take a plurality of photos at a preset angle.

In some embodiments, the drone 10 is pre-configured with a lateral coincidence rate and a longitudinal coincidence rate for a plurality of photographs. The first processor 16 is configured to execute at least one program to enable the drone 10 to control the pan/tilt head 14 to rotate the camera 12 in the horizontal direction to different different first positions according to the lateral coincidence rate and control each of the first positions. The camera 12 captures and controls the pan/tilt 14 to perform a pitching motion according to the longitudinal coincidence rate to respectively rotate to a plurality of different second positions and control the camera 12 to shoot at each of the second positions, thereby obtaining a plurality of photos.

In some embodiments, the first processor 16 is configured to execute at least one program to control the pan-tilt 14 to rotate according to the vertical coincidence rate to keep the camera 12 located when the pan-tilt 14 holds the camera 12 in a first position. The second position and the camera 12 are controlled to shoot at each of the second positions.

In some embodiments, the first processor 16 is configured to execute at least one program to control the pan-tilt 14 to rotate the camera 12 to cause the camera 12 to rotate according to the lateral coincidence rate when the pan-tilt 14 keeps the camera 12 in a second position. Camera 12 is controlled to be photographed at a plurality of first locations and at each of the first locations.

In some embodiments, the first processor 16 is configured to execute at least one program to control the drone 10 and the pan/tilt 14 to rotate in a horizontal direction to cause the pan/tilt 14 to drive the camera 12 to be located in a plurality of first positions, respectively, or The drone 10 is controlled to rotate in a horizontal direction so that the pan/tilt head 14 drives the camera 12 to be located at a plurality of first positions, or the fuselage 11 of the drone 10 is controlled to move and the pan/tilt head 14 is rotated in a horizontal direction to make the pan/tilt head 14 The driving cameras 12 are respectively located at a plurality of first positions.

In some embodiments, the first processor 16 is configured to execute at least one program to enable the drone 10 to synthesize a plurality of photos taken by the camera 12 into a to-be-processed panorama. The drone 10 has been processed from the panorama. Some of the sky edge parts obtain the intermediate brightness value and the highest brightness value, and the drone 10 gradually fills the intermediate brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge part of the to-be-processed panorama to synthesize the sphere with the top part of the sky. Panorama.

Referring to FIG. 11 to FIG. 13 , a method for controlling a terminal 20 according to an embodiment of the present invention includes:

Step S60: The control terminal 20 sends a shooting panoramic command to the drone 10 to cause the drone 10 to control the camera 12 of the drone 10 to take a plurality of photos according to the shooting panoramic command; and

Step S70: The terminal 20 receives a plurality of photos taken by the camera 12 transmitted by the drone 10 and combines the multiple photos to form a spherical panorama.

In the method for controlling the terminal 20 according to the embodiment of the present invention, the control terminal 20 sends a shooting panoramic command to the drone 10, and the drone 10 controls the camera 12 to take multiple photos of the synthetic spherical panorama at different angular positions, and the terminal 20 will Multiple photos are combined into a spherical panorama. Thus, the user does not need to manually synthesize a spherical panorama, and the synthesis of the spherical panorama is simple, thereby improving the user experience.

It should be noted that the above-described method for synthesizing the spherical panorama and the explanation of the implementation and beneficial effects of the UAV system 100 are also applicable to the method of controlling the terminal 20 of the present embodiment and the following embodiments, in order to avoid redundancy. , no longer detailed here.

In some embodiments, terminal 20 includes a human machine interface 22. The method of controlling the terminal 20 includes: after the terminal 20 transmits a shooting panorama command, the human machine interface 22 prompts the user that it is currently uncontrollable.

Referring to FIG. 14, in some embodiments, step S70 includes:

Step S72: the terminal 20 displays a thumbnail of one of the plurality of photos; and

Step S74: Upon receiving an input instruction generated based on the user operation thumbnail, the terminal 20 synthesizes a spherical panorama using a plurality of photos and displays a spherical panorama.

Referring to FIG. 15, in some embodiments, step S70 includes:

Step S702: The terminal 20 combines the plurality of photos captured by the camera 12 into a to-be-processed panorama;

Step S704: The terminal 20 acquires an intermediate brightness value and a highest brightness value from the existing sky edge portion of the to-be-processed panorama; and

Step S706: The terminal 20 performs gradient filling from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.

Referring to FIG. 12 and FIG. 13, the terminal 20 of the embodiment of the present invention includes a second processor 24 and a second memory 26. The second memory 26 stores at least one program. The second processor 24 is configured to execute at least one program to implement the control terminal 20 to send a panoramic command to the drone 10 to cause the drone 10 to control the camera 12 to take multiple photos according to the shooting panoramic command and the terminal 20 to receive the drone 10 transmission. The camera 12 takes a plurality of photos taken and combines the photos into a spherical panorama.

Wherein, step S60 and step S70 can be implemented by the second processor 24. That is, the method of controlling the terminal 20 of the embodiment of the present invention can be implemented by the terminal 20 of the embodiment of the present invention.

In the terminal 20 of the embodiment of the present invention, the terminal 20 sends a panoramic command to the drone 10, and the drone 10 controls the camera 12 to take multiple photos of the synthetic spherical panorama at different angular positions, and the terminal 20 synthesizes multiple photos. The spherical panorama, thus, the user does not need to manually synthesize the spherical panorama, and the synthesis of the spherical panorama is simple, thereby improving the user experience.

It should be noted that the above-described method for synthesizing the spherical panorama and the explanation of the implementation and beneficial effects of the UAV system 100 are also applicable to the terminal 20 of the present embodiment and the following embodiments, in order to avoid redundancy, No longer expand in detail.

In some embodiments, terminal 20 includes a human machine interface 22. The second processor 24 is configured to execute at least one program to enable the human machine interface 22 to prompt the user that the user is currently uncontrollable after the terminal 20 transmits the shooting panoramic command.

In some embodiments, the second processor 24 is configured to execute at least one program to enable the terminal 20 to display a thumbnail of one of the plurality of photos and when receiving an input instruction generated based on the user operating the thumbnail. The terminal 20 synthesizes a spherical panorama using a plurality of photos and displays a spherical panorama.

In some embodiments, the second processor 24 is configured to execute at least one program to implement the terminal 20 to synthesize the plurality of photos captured by the camera 12 into a to-be-processed panorama, and the terminal 20 has an existing sky edge from the to-be-processed panorama. The portion acquires the intermediate brightness value and the highest brightness value and the terminal 20 gradually fills the intermediate brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize a spherical panorama with the sky top portion.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples", etc. Particular features, structures, materials or features described in the embodiments or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for performing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, which may be performed in a substantially simultaneous manner or in an reverse order, depending on the functions involved, in the order shown or discussed, which should It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for performing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, a plurality of steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

Those skilled in the art can understand that all or part of the steps carried in carrying out the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be executed in the form of hardware or in the form of software functional modules. The integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to changes, modifications, substitutions and variations.

Claims

A method for synthesizing a spherical panoramic image for an unmanned aerial vehicle system, the unmanned aerial vehicle system comprising a drone and a terminal, the drone comprising a camera, wherein the synthesizing method comprises:

The terminal sends a shooting panoramic command to the drone, and the capturing a panoramic command includes capturing a plurality of photos of a preset angle;

The drone controls the camera to take the plurality of photos according to the preset angle according to the shooting panoramic command; and

The plurality of photographs taken by the drone system using the camera are combined into the spherical panorama.
The method for synthesizing a spherical panoramic image according to claim 1, wherein the terminal comprises a human-machine interface, and the method for synthesizing the spherical panoramic image comprises: after the terminal transmits the shooting panoramic command, the The display unit prompts the user that it is currently not controllable.
The method for synthesizing a spherical panoramic image according to claim 1, wherein the drone includes a pan/tilt, the camera is disposed at the pan/tilt, and the camera is controlled by the preset angle. The step of the plurality of photos includes: controlling the pan/tilt to drive the camera to take the plurality of photos according to the preset angle.
The method for synthesizing a spherical panoramic image according to claim 3, wherein the unmanned aerial vehicle system is preliminarily provided with a lateral coincidence ratio and a longitudinal coincidence ratio of the plurality of photographs;

The step of controlling the pan/tilt to drive the camera to take the plurality of photos according to the preset angle comprises:

The drone controls the pan/tilt to rotate the camera to a different plurality of first positions in a horizontal direction according to the lateral coincidence ratio, and controls the camera to shoot in each of the first positions, and Controlling, according to the longitudinal coincidence ratio, the pan/tilt to drive the camera to perform a pitching motion to respectively rotate to different plurality of second positions and control the camera to shoot in each of the second positions, thereby obtaining the plurality of a photograph.
The method for synthesizing a spherical panoramic image according to claim 4, wherein the method for synthesizing the spherical panoramic image comprises:

Controlling the pan-tilt rotation according to the longitudinal coincidence rate when the pan/tilt keeps the camera in one of the first positions, so that the cameras are respectively located in the plurality of second positions and in each of the The camera is controlled to shoot in the second position.
The method of synthesizing a spherical panoramic image according to claim 5, wherein in each of the first positions, the number of photographs taken by the camera at the plurality of second positions is the same.
The method for synthesizing a spherical panoramic image according to claim 4, wherein the method for synthesizing the spherical panoramic image comprises:

Controlling the pan/tilt to drive the camera to rotate according to the lateral coincidence rate when the pan/tilt keeps the camera in one of the second positions, so that the cameras are respectively located in the plurality of first positions and The camera is controlled for each of the first positions.
The method of synthesizing a spherical panoramic image according to claim 7, wherein in each of the second positions, the number of photographs taken by the camera at the plurality of first positions is the same.
The method of synthesizing a spherical panoramic image according to claim 4, wherein the plurality of second positions are -15 degrees, 0 degrees, 30 degrees, 60 degrees, and 90 degrees of the pitch angle of the pan/tilt, respectively.
The method for synthesizing a spherical panoramic image according to claim 4, wherein the method for synthesizing the spherical panoramic image comprises:

Controlling the drone and the pan/tilt to rotate in the horizontal direction to cause the pan/tilt to drive the cameras respectively in the plurality of first positions; or

Controlling the drone to rotate in the horizontal direction to cause the camera to drive the cameras respectively in the plurality of first positions; or

Controlling the UAV body to move and the PTZ to rotate in the horizontal direction to cause the PTZ to drive the cameras respectively in the plurality of first positions.
The method for synthesizing a spherical panoramic image according to claim 1, wherein the step of the UAV system synthesizing the plurality of photos taken by the camera into the spherical panoramic image comprises:

The drone transmits the plurality of photos taken by the camera to the terminal; and

The terminal synthesizes the spherical panorama by using the plurality of photos.
The method for synthesizing a spherical panoramic image according to claim 11, wherein the step of the terminal synthesizing the spherical panoramic image by using the plurality of photos comprises:

The terminal displays a thumbnail of one of the plurality of photos; and

Upon receiving an input instruction generated based on a user operating the thumbnail, the terminal synthesizes the spherical panorama using the plurality of photos and displays the spherical panorama.
The method for synthesizing a spherical panoramic image according to claim 1, wherein the step of the UAV system synthesizing the plurality of photos taken by the camera into the spherical panoramic image comprises:

The plurality of photographs taken by the drone using the camera are combined into the spherical panoramic image, and the spherical panoramic image is transmitted to the terminal.
The method for synthesizing a spherical panoramic image according to claim 1, wherein the step of the UAV system synthesizing the plurality of photos taken by the camera into the spherical panoramic image comprises:

The UAV system combines the plurality of photos taken by the camera into a to-be-processed panorama;

The UAV system acquires an intermediate brightness value and a highest brightness value from an existing sky edge portion of the to-be-processed panorama; and

The UAV system progressively fills the intermediate brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize the spherical panorama with the sky top portion.
An unmanned aerial vehicle system, comprising: a drone and a terminal, the drone comprising a camera, the terminal for transmitting a panoramic command to the drone, the shooting panoramic command comprising a shooting pre- Multiple photos with angles;

The drone is configured to control the camera to capture the plurality of photos according to the preset angle according to the shooting panoramic command; and

The UAV system is configured to synthesize the plurality of photos taken by the camera to form a spherical panorama.
The UAV system according to claim 15, wherein the terminal comprises a human-machine interface, and the human-machine interface is used to prompt the user that the user is currently uncontrollable after the terminal sends the shooting panoramic command.
The drone system according to claim 15, wherein the drone includes a pan/tilt, the camera is disposed at the pan/tilt, and the drone is configured to press according to the photographing panorama command The preset angle controls the pan/tilt to drive the camera to take the plurality of photos.
The drone system according to claim 17, wherein said unmanned aerial vehicle system is preliminarily provided with a lateral coincidence ratio and a longitudinal coincidence ratio of said plurality of photographs;

The drone is used to:

Controlling, according to the lateral coincidence ratio, the pan/tilt to rotate the camera to a different plurality of first positions in a horizontal direction and controlling the camera shooting in each of the first positions, and overlapping according to the vertical direction Rate controlling the pan/tilt to drive the camera to perform a pitching motion to respectively rotate to different plurality of second positions and to control the camera shooting in each of the second positions, thereby obtaining the plurality of photos.
A drone system according to claim 18, wherein said drone is adapted to control said first aspect based on said longitudinal coincidence rate when said pan/tilt maintains said camera in said first position The pan/tilt is rotated to cause the cameras to be in the plurality of second positions and to control the camera capture in each of the second positions.
The drone system according to claim 19, wherein in each of said first positions, said cameras respectively capture the same number of photographs at said plurality of second positions.
The drone system according to claim 18, wherein said drone is adapted to control said said horizontal coincidence rate when said pan/tilt maintains said camera in said second position The pan/tilt drives the camera to rotate to cause the camera to be in the plurality of first positions and to control the camera shot in each of the first positions.
The drone system of claim 21 wherein, in each of said second positions, said cameras respectively capture the same number of photos at said plurality of first locations.
The unmanned aerial vehicle system according to claim 18, wherein said plurality of second positions are -15 degrees, 0 degrees, 30 degrees, 60 degrees, and 90 degrees of said pan tilt angles, respectively.
The drone system of claim 18, wherein

The drone and the pan/tilt are configured to rotate in the horizontal direction to cause the pan/tilt to drive the cameras respectively in the plurality of first positions; or

The drone is configured to rotate in the horizontal direction to cause the camera to drive the cameras respectively in the plurality of first positions; or

The UAV body is stationary and the PTZ is used to rotate in the horizontal direction to cause the PTZ to drive the cameras respectively in the plurality of first positions.
The UAV system according to claim 15, wherein said UAV is configured to transmit said plurality of photographs taken by said camera to said terminal, said terminal being adapted to utilize said plurality of The photo is combined into the spherical panorama.
The drone system according to claim 25, wherein said terminal is configured to display a thumbnail of one of said plurality of photos, upon receiving an input generated based on a user operating said thumbnail When instructed, the terminal is configured to synthesize the spherical panoramic image and display the spherical panoramic image by using the plurality of photos.
The drone system according to claim 15, wherein said drone is configured to synthesize said spherical panorama using said plurality of photographs taken by said camera, and said spherical panorama Passed to the terminal.
The drone system of claim 15 wherein:

The UAV system is configured to combine the plurality of photos captured by the camera into a to-be-processed panorama;

The UAV system is configured to obtain an intermediate brightness value and a highest brightness value from an existing sky edge portion of the to-be-processed panorama; and

The UAV system is configured to perform gradual filling from the intermediate brightness value to the highest brightness value from an existing sky edge portion of the to-be-processed panorama to synthesize the spherical panorama with a sky top portion.
A drone characterized by comprising a camera, a processor and a memory, the memory storing at least one program, the processor for executing the at least one program to implement the following steps:

Receiving a shooting panorama command sent by the terminal, where the capturing a panoramic command includes capturing a plurality of photos of a preset angle;

Controlling, according to the shooting panoramic command, the camera to take the plurality of photos according to the preset angle; and

The plurality of photos taken by the camera are combined into a spherical panorama.
A drone according to claim 29, wherein said processor is operative to execute said at least one program to implement the step of transmitting said spherical panorama to said terminal.
The drone according to claim 29, wherein said drone includes a pan/tilt, said camera is disposed at said pan/tilt, and said processor is operative to execute said at least one program to implement the following steps: Controlling the pan/tilt according to the preset angle to drive the camera to take the plurality of photos.
The drone according to claim 29, wherein said drone is preliminarily provided with a lateral coincidence ratio and a longitudinal coincidence ratio of said plurality of photographs;

The processor is configured to execute the at least one program to implement the following steps:

The drone controls the pan/tilt to rotate the camera to a different plurality of first positions in a horizontal direction according to the lateral coincidence ratio, and controls the camera to shoot in each of the first positions, and Controlling, according to the longitudinal coincidence ratio, the pan/tilt to drive the camera to perform a pitching motion to respectively rotate to different plurality of second positions and control the camera to shoot in each of the second positions, thereby obtaining the plurality of a photograph.
A drone according to claim 32, wherein said processor is operative to execute said at least one program to implement the following steps:

Controlling the pan-tilt rotation according to the longitudinal coincidence rate when the pan/tilt keeps the camera in one of the first positions, so that the cameras are respectively located in the plurality of second positions and in each of the The camera is controlled to shoot in the second position.
The drone according to claim 33, wherein in each of said first positions, said cameras respectively capture the same number of photographs at said plurality of second positions.
A drone according to claim 32, wherein said processor is operative to execute said at least one program to implement the following steps:

Controlling the pan/tilt to drive the camera to rotate according to the lateral coincidence rate when the pan/tilt keeps the camera in one of the second positions, so that the cameras are respectively located in the plurality of first positions and The camera is controlled for each of the first positions.
The drone according to claim 35, wherein in each of said second positions, said cameras respectively capture the same number of photographs at said plurality of first positions.
The drone according to claim 32, wherein said plurality of second positions are -15 degrees, 0 degrees, 30 degrees, 60 degrees, and 90 degrees of said pan tilt angles, respectively.
A drone according to claim 32, wherein said processor is operative to execute said at least one program to implement the following steps:

Controlling the drone and the pan/tilt to rotate in the horizontal direction to cause the pan/tilt to drive the cameras respectively in the plurality of first positions; or

Controlling the drone to rotate in the horizontal direction to cause the camera to drive the cameras respectively in the plurality of first positions; or

Controlling the fuselage of the drone and rotating the pan/tilt in the horizontal direction to cause the pan/tilt to drive the cameras respectively in the plurality of first positions.
The drone according to claim 29, wherein said processor is operative to execute said at least one program to implement the following steps:

The drone combines the plurality of photos taken by the camera into a to-be-processed panorama;

The drone obtains an intermediate brightness value and a highest brightness value from an existing sky edge portion of the to-be-processed panorama; and

The drone performs gradual filling from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize the spherical panorama with the sky top portion.
A method for controlling a terminal, wherein the method for controlling a terminal includes:

Controlling the terminal to send a shooting panoramic command to the drone to cause the drone to control the camera of the drone to take multiple photos according to the shooting panoramic command; and

Receiving, by the terminal, the plurality of photos captured by the camera transmitted by the drone and synthesizing the spherical panorama by using the plurality of photos.
The method of controlling a terminal according to claim 40, wherein the terminal comprises a human-machine interface, and the method for controlling the terminal comprises: after the terminal sends the shooting panoramic command, the human-machine interface prompts The user is currently not controllable.
The method of controlling a terminal according to claim 40, wherein the terminal receives the plurality of photos captured by the camera transmitted by the drone and combines the plurality of photos to form a spherical panorama Steps include:

The terminal displays a thumbnail of one of the plurality of photos; and

Upon receiving an input instruction generated based on a user operating the thumbnail, the terminal synthesizes the spherical panorama using the plurality of photos and displays the spherical panorama.
The method of controlling a terminal according to claim 40, wherein the terminal receives the plurality of photos captured by the camera transmitted by the drone and combines the plurality of photos to form a spherical panorama Steps include:

The terminal combines the plurality of photos captured by the camera into a to-be-processed panorama;

The terminal acquires an intermediate brightness value and a highest brightness value from an existing sky edge portion of the to-be-processed panorama; and

The terminal gradually fills the upper brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize the spherical panoramic view with the sky top portion.
A terminal, comprising: a processor and a memory, the memory storing at least one program, the processor for executing the at least one program to implement the following steps:

Controlling the terminal to send a shooting panoramic command to the drone to cause the drone to control the camera of the drone to take multiple photos according to the shooting panoramic command; and

Receiving, by the terminal, the plurality of photos captured by the camera transmitted by the drone and synthesizing the spherical panorama by using the plurality of photos.
The terminal according to claim 44, wherein the terminal comprises a human machine interface, and the processor is configured to execute the at least one program to implement the following steps: after the terminal sends the shooting panoramic command, the terminal The man-machine interface prompts the user that it is currently not controllable.
The terminal according to claim 44, wherein said processor is operative to execute said at least one program to implement the following steps:

The terminal displays a thumbnail of one of the plurality of photos; and

Upon receiving an input instruction generated based on a user operating the thumbnail, the terminal synthesizes the spherical panorama using the plurality of photos and displays the spherical panorama.
The terminal according to claim 44, wherein said processor is operative to execute said at least one program to implement the following steps:

The terminal combines the plurality of photos captured by the camera into a to-be-processed panorama;

The terminal acquires an intermediate brightness value and a highest brightness value from an existing sky edge portion of the to-be-processed panorama; and

The terminal gradually fills the upper brightness value from the intermediate brightness value to the highest brightness value from the existing sky edge portion of the to-be-processed panorama to synthesize the spherical panoramic view with the sky top portion.