WO2019128275A1

WO2019128275A1 - Photographing control method and device, and aircraft

Info

Publication number: WO2019128275A1
Application number: PCT/CN2018/102764
Authority: WO
Inventors: 李晶
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-12-31
Filing date: 2018-08-28
Publication date: 2019-07-04
Also published as: CN108163203B; CN108163203A

Abstract

A photographing control method and device (80), and an aircraft (90), said method comprising: acquiring a picture (410) which comprises a target group (420) and is to be photographed, the target group comprising at least two target objects; determining region boundaries (4301, 4302, 4303) of a region where the target group is located in the picture to be photographed; and adjusting the photographing angle according to the geometric figure constructed by the region boundaries. The photographing control device (80) comprises a module (801) for acquiring a picture to be photographed, a region boundary determination module (802), and a photographing angle adjustment module (803). The aircraft (90) comprises at least one processor (901), a memory (902) in communication connection with said at least one processor, and the photographing control device. The aircraft can automatically adjust the photographing angle by using the photographing control method and device, so as to acquire an appropriate photographed image or photographed picture, reducing manual interference to the aircraft during photographing, reducing the flight time occupied by manual operation, thereby improving the endurance of the aircraft. Furthermore, the present invention is particularly applicable to multi-target photographing, determining a suitable photographing angle for multi-target photographing.

Description

Shooting control method, device and aircraft

The application claims the priority of the Japanese Patent Application Serial No. No. No. No. No. No. No. No. No. No. No. No. No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No

Technical field

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

Background technique

With the development of flight technology, aircraft, such as Unmanned Aerial Vehicle (UAV), also known as drones, have become more and more widely used. The drone is a new concept equipment that is rapidly developing. It has the advantages of small size, light weight, flexibility, quick response, driverless operation and low operation requirements. The unmanned aerial vehicle is equipped with multi-type camera equipment through the gimbal, which can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing. In recent years, the use of unmanned aerial vehicles has been expanded to three major fields: military, scientific research, and civilian use, specifically in power communications, meteorology, agriculture, oceanography, exploration, photography, search and rescue, disaster prevention and mitigation, crop yield estimation, anti-drug, and borders. The fields of patrol, law and order, and anti-terrorism are widely used.

At present, when shooting with a shooting device carried on a UAV, it is necessary to control the flight attitude, flight position, and pan/tilt rotation of the drone by the user operating the user terminal or the remote controller to achieve adjustment and control of the shooting, and the operation process. It is cumbersome and the operation experience is not friendly, especially when shooting multiple targets. And because the user's manual operation takes a lot of battery life.

Summary of the invention

The main object of the present invention is to provide a shooting control method, apparatus, and aircraft that can automatically adjust a shooting angle and are suitable for multi-target shooting.

The embodiment of the invention discloses the following technical solutions:

In a first aspect, an embodiment of the present invention provides a shooting control method, where the method includes:

Obtaining a to-be-shot picture including a target group, the target group including at least two target objects;

Determining an area boundary of the area in which the target group is located in the picture to be captured;

The shooting angle is adjusted according to the geometry constructed by the boundary of the area.

In some embodiments, the determining a region boundary of the region where the target group is located in the to-be-taken picture includes:

Identifying at least one target object adjacent to the frame of the picture to be captured from the target group;

Determining a region boundary of a region in which the target group is located according to a region boundary of a region in which the at least one target object is located.

In some embodiments, the adjusting the shooting angle according to the geometrical structure constructed by the boundary of the area includes:

Determining, according to the feature information of the geometric figure, whether the geometric figure is at a preset position of the to-be-shot image;

If not, the shooting angle is adjusted until the geometric figure is at the preset position of the picture to be taken.

In some embodiments, the method further includes:

Identifying at least two target sub-objects included in the target group from the to-be-taken picture;

Determining whether the at least two target sub-objects are consistent;

If consistent, the target group is photographed.

In some embodiments, the determining whether the at least two target sub-objects are consistent comprises:

Determining, respectively, target features corresponding to the at least two target sub-objects;

Count the number of target sub-objects with the same target characteristics;

Determining whether the quantity is greater than a preset threshold;

If yes, it is determined that the at least two target sub-objects are consistent.

In some embodiments, the method further includes:

Create a user-defined gesture model.

In a second aspect, an embodiment of the present invention provides a shooting control device, where the device includes:

a to-be-taken picture acquisition module, configured to acquire a to-be-captured picture including a target group, where the target group includes at least two target objects;

a region boundary determining module, configured to determine a region boundary of a region where the target group is located in the to-be-captured picture;

The shooting angle adjustment module is configured to adjust the shooting angle according to the geometric figure constructed by the boundary of the area.

In some embodiments, the area boundary determination module is specifically configured to:

In some embodiments, the shooting angle adjustment module is specifically configured to:

In some embodiments, the apparatus further includes:

a target sub-object identification module, configured to identify at least two target sub-objects included in the target group from the to-be-captured picture;

a determining module, configured to determine whether the at least two target sub-objects are consistent;

And a shooting module, configured to: when the determining module determines that the at least two target sub-objects are consistent, photographing the target group.

In some embodiments, the determining module is specifically configured to:

Count the number of target sub-objects with the same target characteristics;

Determining whether the quantity is greater than a preset threshold;

In some embodiments, the apparatus further includes:

A gesture model building module for establishing a user-defined gesture model.

In a third aspect, an embodiment of the present invention provides an aircraft, including:

At least one processor; and,

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a photographing control method as described above.

In a fourth aspect, an embodiment of the present invention provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the command is executed by the aircraft, the aircraft is caused to perform the photographing control method as described above.

In a fifth aspect, an embodiment of the present invention further provides a non-transitory computer readable storage medium storing computer executable instructions for causing an aircraft to perform the above The shooting control method described.

The embodiment of the invention realizes the automatic adjustment of the shooting angle according to the geometric figure constructed by the boundary of the region, thereby obtaining a suitable captured image or shooting image, reducing the manual interference to the aircraft during the shooting process, and reducing the occupation of the endurance time by the manual operation. , thereby improving the aircraft's endurance. Moreover, the shooting control method provided by the embodiment of the present invention is particularly suitable for multi-target shooting, and determines a suitable shooting angle for multi-target shooting.

DRAWINGS

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

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

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

3 is a schematic flowchart of a shooting control according to an embodiment of the present invention;

4 is a schematic diagram of a to-be-captured picture including a target group according to an embodiment of the present invention;

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

FIG. 6 is a schematic flowchart of determining whether the at least two target sub-objects are consistent according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a shooting control apparatus according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of another shooting control apparatus according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic structural diagram of an aircraft hardware according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all 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.

Further, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

Embodiments of the present invention provide a shooting control method, apparatus, and aircraft. The photographing control method can be applied to various aircrafts, and the following description of the present invention uses an Unmanned Aerial Vehicle (UAV) as an example of an aircraft. It will be apparent to those skilled in the art that other types of aircraft can be used without limitation, and embodiments of the present invention can be applied to various types of UAVs. For example, the UAV can be a small UAV. In some embodiments, the UAV may be a rotorcraft, such as a multi-rotor aircraft that is propelled by air by a plurality of propelling devices, embodiments of the invention are not limited thereto, and the UAV may be other types of UAVs or Mobile device.

Please refer to FIG. 1 and FIG. 2, which are schematic diagrams of the drone 100 according to an embodiment of the present invention.

The drone 100 can include a rack 110, a power system 120, a flight control system 130, a pan/tilt 140, an image capture device 150, and the like. The flight control system 130 is disposed in the rack 110, and the pan/tilt head 140 is mounted on the rack 110. The flight control system 130 can be coupled to the power system 120, the pan/tilt head 140, and the image capture device 150 to implement communication.

The frame 110 can include a fuselage and a stand (also known as a landing gear). The fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame. The tripod is coupled to the fuselage for supporting the drone 100 when landing.

The powertrain system 120 can include an electronic governor (referred to as ESC) 121, one or more propellers 123, and one or more electric machines 122 corresponding to one or more propellers 123, wherein the electric machine 122 is coupled to the electronic governor Between the 121 and the propeller 123, the motor 122 and the propeller 123 are disposed on the corresponding arm; the electronic governor 121 is configured to receive the driving signal generated by the flight control system 130, and provide a driving current to the motor 122 according to the driving signal to control The rotational speed of the motor 122. The motor 122 is used to drive the propeller to rotate to power the flight of the drone 100, which enables the drone 100 to achieve one or more degrees of freedom of motion. In some embodiments, the drone 100 can be rotated about one or more axes of rotation. For example, the above-described rotating shaft may include a roll axis, a pan axis, and a pitch axis. It can be understood that the motor 122 can be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brush motor.

Flight control system 130 may include flight controller 131 and sensing system 132. The sensing system 132 is used to measure the attitude information of the drone 100, that is, the position information and state information of the drone 100 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 132 can include, for example, at least one of a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system can be a Global Positioning System (GPS). The flight controller 131 is used to control the flight of the drone 100, for example, the flight of the drone 100 can be controlled based on the attitude information measured by the sensing system 132. It will be appreciated that the flight controller 131 may control the drone 100 in accordance with pre-programmed program instructions or may control the drone 100 in response to one or more control commands from other devices.

The pan/tilt 140 can include an ESC 141 and a motor 142. The pan/tilt 140 is used to mount the image capturing device 150. The flight controller 131 can control the motion of the platform 140 through the ESC 141 and the motor 142. Alternatively, in some other embodiments, the platform 140 may further include a controller for controlling the motion of the platform 140 by controlling the ESC 141 and the motor 142. It can be understood that the pan/tilt 140 can be independent of the drone 100 or a part of the drone 100. It can be understood that the motor 142 can be a DC motor or an AC motor. In addition, the motor 142 may be a brushless motor or a brush motor. It will also be appreciated that the platform 140 may be located at the top of the rack 110 or at the bottom of the rack 110.

Image acquisition device 150 may be a device for capturing images, such as a camera or video camera, and image acquisition device 150 may be in communication with flight control system 130 and photographed under the control of flight control system 130.

It is to be understood that the above-mentioned names of the components of the drone 100 are for the purpose of identification only and are not to be construed as limiting the embodiments of the invention.

Example 1:

FIG. 3 is a schematic flowchart diagram of a shooting control method according to an embodiment of the present invention. A shooting control method according to an embodiment of the present invention may be implemented by the components of the above-described drone, and is not limited herein.

Referring to FIG. 3, the shooting control method includes:

301: Acquire a to-be-captured picture including a target group, where the target group includes at least two target objects.

When the drone flies into the air and hovering in the air, the user can first adjust the angle of the pan/tilt mounted with the image capturing device so that the image capturing device faces the direction containing the target group. The drone can acquire the image to be captured containing the target group collected by the image acquisition device. The image capturing device may be an image capturing device such as a camera or a camera.

FIG. 4 is a schematic diagram of a captured image to be captured including a target group, wherein the image to be captured 410 refers to an image including a whole of a target group collected by an image collection device, and the target group 420 is referred to as an image acquisition device. The collected target population, the target group 420 includes at least 2 target objects, that is, includes at least 2 independent persons, and includes 3 individuals as shown in FIG. It can be understood that the embodiment of the present invention does not specifically limit the number of target objects. For example, the target objects are 2, 3, 4, and so on. Also, in some other embodiments, the target population can also be an animal population or the like.

It should be noted that FIG. 4 is only a schematic diagram of a picture to be taken that includes a target group, and is for illustrative purposes, and should not be construed as limiting the embodiments of the present invention.

302: Determine a region boundary of a region where the target group is located in the to-be-taken picture.

Referring to FIG. 4, each target object of the target group corresponds to a region boundary, such as a region boundary 4301 corresponding to the target object A, a region boundary 4302 corresponding to the target object B, and a region boundary 4303 corresponding to the target object C. . The set of region boundaries of all target objects in the target group constitutes a region boundary 430 of the region in which the target group is located in the image to be captured.

The region boundary of a target object may be processed by a set of boundary points of the region in which the target object is located in the image to be captured. Specifically, the boundary point may be obtained by a curve approximation method (such as a quadratic approximation method). The set is fitted to obtain the outline of the target object, that is, the area boundary of the target object.

303: Adjust the shooting angle according to the geometry constructed by the boundary of the area.

Specifically, the UAV first constructs a geometric figure corresponding to the area boundary according to a region boundary of the target group in the image to be captured, and then adjusts a shooting angle according to the geometric image, so as to obtain Suitable for taking pictures or taking pictures.

Wherein, the geometric figure constructed according to the boundary of the area is a minimum geometric figure that can completely include the boundary of the area, and the geometric figure can be a rectangle, a square, a circle, a pentagon, etc., and the specific shape of the geometric figure In the embodiment of the present invention, no limitation is imposed.

The drone adjusting the shooting angle according to the geometric figure may include: the drone determining whether the geometric figure is at a preset position of the to-be-shot image, and if not, adjusting the shooting angle until the The geometric figure is at a preset position of the picture to be taken. The adjusting the shooting angle includes but is not limited to: the drone adjusts the shooting angle by adjusting the shooting position or shooting posture of the drone; or adjusts the flying posture of the drone (such as front, back, left, and right). , up, down, etc.) to adjust the shooting angle; or to control the position of the image capture device mounted on the pan/tilt by controlling the head of the drone to adjust the shooting angle.

In the embodiment of the invention, the shooting angle can be automatically adjusted to obtain a suitable captured image or a shooting image, which reduces the manual interference to the aircraft during the shooting process, and reduces the occupation of the endurance time by the manual operation, thereby improving the life of the aircraft. ability. Moreover, the shooting control method provided by the embodiment of the present invention is particularly suitable for multi-target shooting, and determines a suitable shooting angle for multi-target shooting.

Example 2:

FIG. 5 is a schematic flowchart diagram of another shooting control method according to an embodiment of the present invention. Another embodiment of the present invention is not limited to this. The embodiment of the present invention is described by taking an unmanned aerial vehicle as an example.

Referring to FIG. 5, the shooting control method includes:

501: Acquire a to-be-captured picture including a target group, where the target group includes at least two target objects.

When the drone flies into the air and hovering in the air, the user can first adjust the angle of the pan/tilt mounted with the image capturing device so that the image capturing device faces the direction containing the target group. The drone can acquire a to-be-captured picture of the target group collected by the image acquisition device. The image capturing device may be an image capturing device such as a camera or a camera.

The image to be captured refers to an image of the whole of the target group collected by the image collection device, and the target group refers to a target group collected by the image collection device, and the target group includes at least two target objects. , that is, contains at least 2 independent people. It can be understood that the embodiment of the present invention does not specifically limit the number of target objects. For example, the target objects are 2, 3, 4, and so on. Also, in some other embodiments, the target population can also be a population of animals, the target population being a single animal, the target population being a single animal or the like.

502: Determine an area boundary of the area where the target group is located in the to-be-taken picture.

Each target object of the target group corresponds to a region boundary, and a set of region boundaries of all target objects in the target group constitutes a region boundary of a region where the target group is located in the to-be-captured picture.

The determining, by the target group, the area boundary of the area where the target group is located in the image to be captured, the method may further include: identifying, from the target group, at least one target object adjacent to the frame of the picture to be captured; The area boundary of the area where the at least one target object is located determines the area boundary of the area where the target group is located.

Specifically, first, the target object in the target group is identified to obtain a location of each of the target objects. Then, the position of each of the target objects is compared with the border of the picture to be captured, thereby determining at least one target object adjacent to the frame of the picture to be captured. Finally, the area boundary of the area where the target group is located is determined according to the area boundary of the area where the at least one target object of the frame to be photographed is located.

For example, as shown in FIG. 4, the target object in the target group is identified, so as to obtain the position m of the target object A, the position n of the target object B, and the position of the target object C. h, wherein the location of each target object may be the center point of the target object. Then, the respective positions are compared with the frame of the picture to be captured, that is, the position m, the position n and the position h are respectively acquired with the sides (edge 1, side 2, side 3 and side 4) of the picture to be captured. The distance is closest to the edge 1 by the comparison target object A, and the target object C is the closest to the edge 3, so the target object A and the target object C are taken as the target object adjacent to the frame to be photographed, and according to the target object A and the target The area boundary of the area in which the object C is located determines the area boundary of the area in which the target group is located.

503: Adjust the shooting angle according to the geometry constructed by the boundary of the area.

Specifically, the UAV first constructs a geometric figure corresponding to the area boundary according to a region boundary of the target group in the image to be captured, and then generates an adjustment instruction according to the geometric image to adjust the shooting. Angle to get the right shot or shot.

The adjusting the shooting angle according to the geometrical figure constructed by the boundary of the area may include: determining, according to the feature information of the geometric figure, whether the geometric figure is in a preset position of the to-be-photographed picture; Adjusting the shooting angle until the geometric figure is at the preset position of the picture to be taken. The feature information includes a geometric center of the geometric figure and information of each side of the geometric figure. For example, information about the geometric center of the geometry and/or the sides of the geometric shape may be determined to determine if the geometric image is at a predetermined position of the picture to be captured. The preset position may be a preset position generated according to a user's operation, so that the shooting angle and the captured picture meet the user's expectation; in some embodiments, the preset position may also be pre-configured in the The location in the drone.

The adjusting the shooting angle includes, but is not limited to, the drone sending an adjustment command to control the drone to fly to the corresponding shooting position to adjust the shooting angle; or the drone sends an adjustment command to control the The flying attitude of the man-machine (such as front, rear, left, right, up, down, etc.) to adjust the shooting angle; or the drone sends an adjustment command to adjust the driving of the drone by controlling the head of the drone The position or posture of the image capturing device on the pan/tilt adjusts the shooting angle.

504: Identify at least two target sub-objects included in the target group from the to-be-taken picture.

The target sub-object may be a gesture, a limb motion, a motion trajectory, or the like of the target object.

505: Determine whether the at least two target sub-objects are consistent.

As shown in FIG. 6, a specific flowchart for determining whether the at least two target sub-objects are consistent. The step 505 determines whether the at least two target sub-objects are consistent, including:

5051: respectively determine target features corresponding to each of the at least two target sub-objects;

The target feature corresponding to each of the at least two target sub-objects may be acquired by an image processing technique such as preprocessing, image segmentation, and feature extraction. The pre-processing is mainly to perform a process of drying, smoothing, and the like on the to-be-shot image to remove dead pixels or voids that often occur in the to-be-shot image. Image segmentation mainly divides the target sub-objects to facilitate feature extraction on the target sub-objects to obtain the target features.

5052: Count the number of target sub-objects with the same target characteristics.

The same feature may be that the target features are identical, and the target features are substantially the same, that is, the target features are the same, that is, the same feature in the target feature is greater than the preset feature threshold, and the target features are considered to be the same.

5053: Determine whether the quantity is greater than a preset threshold.

The preset threshold may be a value of a user-defined setting, or may be a value pre-configured in the drone. And comparing the number of target sub-objects with the same target feature to the preset threshold to determine whether the quantity is greater than a preset threshold.

5054: If the quantity is greater than a preset threshold, determine that the at least two target sub-objects are consistent.

When the number is greater than a preset threshold, it may be determined that the at least two target sub-objects are consistent.

506: If the at least two target sub-objects are consistent, the target group is photographed.

When the at least two target sub-objects are consistent, the target group can be photographed. By judging whether the at least two target sub-objects are consistent to determine whether to shoot the target group, on the one hand, the erroneous operation of the target object in the target group can be prevented to trigger the shooting; on the other hand, the user's sense of participation can be improved.

In some embodiments, the photographing the target group comprises: matching the target sub-object with a preset sub-object, and if the matching is successful, triggering shooting of the target group to further prevent the user from misoperation. The preset sub-objects may be preset gestures, preset limb movements or preset motion trajectories, and the like. The following is an example of a preset gesture. The preset gesture includes: a gesture pre-configured in the drone or a pre-user-defined gesture or the like.

When the preset gesture includes a user-defined gesture in advance, the shooting control method further includes:

507: Establish a user-defined gesture model.

In one embodiment, before step 506, the mode of the image capture device needs to be set to the grouping mode, so that the image capturing device recognizes the target group and acquires a captured image including the target group. The grouping mode is an automatic shooting by identifying a target sub-object in the target group. Therefore, it is also necessary to determine whether there is a predefined target sub-object, and if not, it is necessary to first create a user-defined target sub-object. In this embodiment, taking the target sub-object as a gesture model as an example, it can be understood that in other embodiments, the target sub-object may be a preset gesture, a limb motion, a motion trajectory, or the like.

The user-defined gesture model of the UAV includes: acquiring a gesture image of the user; performing pre-processing and gesture segmentation on the gesture image to obtain hand feature information; and establishing, according to the hand feature information, Gesture model. After the gesture model is established, the gesture module can be stored in the drone.

It can be understood that, in some embodiments, the steps 504-507 may not be mandatory steps in different embodiments, and in addition, according to the description of the embodiments of the present invention, in different embodiments, In case of conflict, the steps 501-507 may have different execution orders.

It should be noted that the technical details that are not described in detail in steps 501-507 in the embodiments of the present invention may be referred to the specific description of the foregoing embodiments.

Example 3:

FIG. 7 is a schematic diagram of a shooting control apparatus according to an embodiment of the present invention. Wherein, the device 70 can be disposed in the above-mentioned drone.

Referring to FIG. 7, the photographing control device 70 includes:

The to-be-taken picture acquisition module 701 is configured to acquire a to-be-captured picture including a target group, where the target group includes at least two target objects.

The to-be-taken picture acquisition module 701 can acquire a to-be-captured picture including the target group collected by the image collection device. The image capturing device may be an image capturing device such as a camera or a camera.

The area boundary determining module 702 is configured to determine an area boundary of the area where the target group is located in the picture to be captured.

The shooting angle adjustment module 703 is configured to adjust the shooting angle according to the geometric figure constructed by the boundary of the area.

Specifically, the shooting angle adjustment module 703 first constructs a geometric figure corresponding to the area boundary according to a region boundary of the target group in the image to be captured, and then adjusts the shooting angle according to the geometric image, so that Get the right shot or shot.

The shooting angle adjustment module 703 may adjust the shooting angle according to the geometric figure. The shooting angle adjustment module 703 determines whether the geometric graphic is in a preset position of the to-be-shot image, and if not, adjusts the shooting angle. Until the geometric figure is at a preset position of the picture to be taken. The adjusting the shooting angle includes, but is not limited to, the shooting angle adjusting module 703 adjusting the shooting angle by adjusting the shooting position or shooting posture of the drone; or adjusting the flying posture of the drone (such as front, rear, left) , right, up, down, etc.) to adjust the shooting angle; or by controlling the head of the drone to adjust the position or posture of the image capturing device mounted on the head to adjust the shooting angle.

It should be noted that, in the embodiment of the present invention, the photographing control device 70 can perform the photographing control method provided by Embodiment 1 of the present invention, and has a function module and a beneficial effect corresponding to the execution method. For details of the details that are not described in detail in the embodiment of the photographing control device 70, reference may be made to the photographing control method provided by the embodiment 1 of the present invention.

Example 4:

FIG. 8 is a schematic diagram of a shooting control apparatus according to an embodiment of the present invention. The device 80 can be configured in the above-mentioned drone.

Referring to FIG. 8, the photographing control device 80 includes:

The to-be-taken picture acquisition module 801 is configured to acquire a to-be-captured picture including a target group, where the target group includes at least two target objects.

The to-be-taken picture acquisition module 801 can acquire a to-be-captured picture including the target group collected by the image collection device. The image capturing device may be an image capturing device such as a camera or a camera.

The area boundary determining module 802 is configured to determine an area boundary of the area where the target group is located in the picture to be captured.

The area boundary determining module 802 is specifically configured to: identify at least one target object adjacent to the frame of the to-be-photographed frame from the target group; and according to an area boundary of the area where the at least one target object is located, Determining the regional boundaries of the area in which the target group is located.

Specifically, first, the target object in the target group is identified to obtain a location of each of the target objects. Then, the position of each of the target objects is compared with the frame of the picture to be captured, thereby determining at least one target object adjacent to the frame of the picture to be captured. Finally, the area boundary of the area where the target group is located is determined according to the area boundary of the area where the at least one target object of the frame to be photographed is located.

The shooting angle adjustment module 803 is configured to adjust the shooting angle according to the geometric figure constructed by the boundary of the area.

Specifically, the shooting angle adjustment module 803 first constructs a geometric figure corresponding to the area boundary according to a region boundary of the target group in the image to be captured, and then adjusts the shooting angle according to the geometric image, so that Get the right shot or shot.

The shooting angle adjustment module 803 is specifically configured to: determine, according to the feature information of the geometric figure, whether the geometric figure is in a preset position of the to-be-photographed picture; if not, adjust the shooting angle until the geometric figure Located at a preset position of the picture to be taken. The feature information includes a geometric center of the geometric figure and information of each side of the geometric figure. For example, information about the geometric center of the geometry and/or the sides of the geometric shape may be used to determine whether the geometric image is at a preset position of the picture to be captured. The preset position may be a preset position generated according to a user's operation, so that the shooting angle and the captured picture meet the user's expectation; in some embodiments, the preset position may also be pre-configured in the The location in the drone.

The shooting angle adjustment module 803 adjusts the shooting angle, including but not limited to: the shooting angle adjustment module 803 sends an adjustment command to control the drone to fly to the corresponding shooting position to adjust the shooting angle; or the shooting angle adjustment The module 803 sends an adjustment command to control the flight attitude of the drone (such as front, rear, left, right, up, down, etc.) to adjust the shooting angle; or the shooting angle adjustment module 803 sends an adjustment command to control The head of the drone adjusts the position or posture of the image pickup device mounted on the head to adjust the shooting angle.

The target sub-object identification module 804 is configured to identify at least two target sub-objects included in the target group from the to-be-captured picture.

The determining module 805 is configured to determine whether the at least two target sub-objects are consistent.

The determining module 805 is specifically configured to: respectively determine target features corresponding to the at least two target sub-objects; count the number of target sub-objects with the same target feature; determine whether the quantity is greater than a preset threshold; If the threshold is greater than the preset threshold, it is determined that the at least two target sub-objects are consistent.

The shooting module 806 is configured to: when the determining module determines that the at least two target sub-objects are consistent, photographing the target group.

When the at least two target sub-objects are consistent, the shooting module 806 can capture the target group. The judging module 805 determines whether the at least two target sub-objects are consistent, and then determines whether the target group is photographed by the photographing module 806. On the one hand, the target object in the target group can be prevented from being erroneously operated to trigger shooting; Improve user engagement.

In some embodiments, the photographing module 806 is configured to: capture the target sub-object with a preset sub-object, and if the matching is successful, trigger shooting on the target group to further Prevent users from misuse. The preset sub-objects may be preset gestures, preset limb movements or preset motion trajectories, and the like. The following is an example of a preset gesture. The preset gesture includes: a gesture pre-configured in the drone or a pre-user-defined gesture or the like.

The gesture model establishing module 807 is configured to establish a user-defined gesture model.

The gesture model establishing module 807 is specifically configured to: acquire a gesture image of the user; perform pre-processing and gesture segmentation on the gesture image to obtain hand feature information; and establish a gesture model according to the hand feature information. After the gesture model is established, the gesture module can be stored in the drone.

It should be noted that, in the embodiment of the present invention, the shooting control device 80 can perform the shooting control method provided by Embodiment 2 of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For details of the technical details that are not described in detail in the embodiment of the photographing control device 80, reference may be made to the photographing control method provided in Embodiment 2 of the present invention.

Example 5:

FIG. 9 is a schematic structural diagram of an aircraft hardware according to an embodiment of the present invention. The aircraft may be a drone, an unmanned boat, or the like. As shown in Figure 9, the aircraft 90 includes:

One or more processors 901 and memory 902, one processor 901 is taken as an example in FIG.

The processor 901 and the memory 902 may be connected by a bus or other means, as exemplified by a bus connection in FIG.

The memory 902 is used as a non-volatile computer readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the photographing control method provided by the embodiments of the present invention. / Module (for example, the to-be-taken picture acquisition module 801, the area boundary determination module 802, the shooting angle adjustment module 803, the target sub-object recognition module 804, the determination module 805, the photographing module 806, and the gesture model establishing module 807 shown in FIG. ). The processor 901 executes various functional applications and data processing of the aircraft by running non-volatile software programs, instructions, and modules stored in the memory 902, i.e., implements the photographing control method provided by the method embodiments.

The memory 902 can include a storage program area and a storage data area, wherein the storage program area can store an operating system, an application required for at least one function; the storage data area can store data created according to aircraft usage, and the like. Moreover, memory 902 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 902 can optionally include memory remotely located relative to processor 901, which can be connected to the aircraft via a network. Embodiments of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more modules are stored in the memory 902, and when executed by the one or more processors 901, perform a photographing control method provided by an embodiment of the present invention, for example, performing the above described FIG. Method step 501 to step 507, or implement the functions of the 801-807 module in FIG.

Illustratively, the aircraft may also include a communication interface for enabling communication with other devices, such as servers and the like. Other devices included in the aircraft are not limited herein.

The aircraft can perform the shooting control method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For details of the techniques not described in detail in the embodiment of the aircraft, reference may be made to the method of photographing control provided by the embodiments of the present invention.

An embodiment of the present invention provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instruction is When the aircraft is executed, the aircraft is caused to perform the photographing control method provided by the embodiment of the present invention. For example, the method steps 501 to 507 in FIG. 5 described above are performed, or the functions of the 801-807 module in FIG. 8 are implemented.

An embodiment of the present invention provides a non-transitory computer readable storage medium storing computer-executable instructions for causing an aircraft to perform shooting provided by an embodiment of the present invention. Control Method. For example, the method steps 501 to 507 in FIG. 5 described above are performed, or the functions of the 801-807 module in FIG. 8 are implemented.

It should be noted that the device embodiments described above are merely illustrative, wherein 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 can be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware. One of ordinary skill in the art can understand that all or part of the process of implementing the embodiment method can be completed by computer program related hardware, the program can be stored in a computer readable storage medium, and the program is executed. The flow of an embodiment of the methods as described may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; in the idea of the present invention, the technical features in the above embodiments or different embodiments may also be combined. The steps may be carried out in any order, and there are many other variations of the various aspects of the invention as described above, which are not provided in the details for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, It should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments may be modified or equivalently substituted for some of the technical features; and the modifications or substitutions do not deviate from the embodiments of the present invention. The scope of the technical solution.

Claims

A shooting control method, the method comprising:

Obtaining a to-be-shot picture including a target group, the target group including at least two target objects;

Determining an area boundary of the area in which the target group is located in the picture to be captured;

The shooting angle is adjusted according to the geometry constructed by the boundary of the area.
The method according to claim 1, wherein the determining a region boundary of the region where the target group is located in the picture to be captured comprises:

Identifying at least one target object adjacent to the frame of the picture to be captured from the target group;

Determining a region boundary of a region in which the target group is located according to a region boundary of a region in which the at least one target object is located.
The method according to claim 1 or 2, wherein the adjusting the shooting angle according to the geometric figure constructed by the boundary of the area comprises:

Determining, according to the feature information of the geometric figure, whether the geometric figure is at a preset position of the to-be-shot image;

If not, the shooting angle is adjusted until the geometric figure is at the preset position of the picture to be taken.
The method according to any one of claims 1 to 3, wherein the method further comprises:

Identifying at least two target sub-objects included in the target group from the to-be-taken picture;

Determining whether the at least two target sub-objects are consistent;

If consistent, the target group is photographed.
The method according to claim 4, wherein the determining whether the at least two target sub-objects are consistent comprises:

Determining, respectively, target features corresponding to the at least two target sub-objects;

Count the number of target sub-objects with the same target characteristics;

Determining whether the quantity is greater than a preset threshold;

If yes, it is determined that the at least two target sub-objects are consistent.
The method of claim 1 further comprising:

Create a user-defined gesture model.
A photographing control device, characterized in that the device comprises:

a to-be-taken picture acquisition module, configured to acquire a to-be-captured picture including a target group, where the target group includes at least two target objects;

a region boundary determining module, configured to determine a region boundary of a region where the target group is located in the to-be-captured picture;

The shooting angle adjustment module is configured to adjust the shooting angle according to the geometric figure constructed by the boundary of the area.
The device according to claim 7, wherein the area boundary determining module is specifically configured to:

Identifying at least one target object adjacent to the frame of the picture to be captured from the target group;

Determining a region boundary of a region in which the target group is located according to a region boundary of a region in which the at least one target object is located.
The apparatus according to claim 7 or 8, wherein the shooting angle adjustment module is specifically configured to:

Determining, according to the feature information of the geometric figure, whether the geometric figure is at a preset position of the to-be-shot image;

If not, the shooting angle is adjusted until the geometric figure is at the preset position of the picture to be taken.
The device according to any one of claims 7-9, wherein the device further comprises:

a target sub-object identification module, configured to identify at least two target sub-objects included in the target group from the to-be-captured picture;

a determining module, configured to determine whether the at least two target sub-objects are consistent;

And a shooting module, configured to: when the determining module determines that the at least two target sub-objects are consistent, photographing the target group.
The device according to claim 10, wherein the determining module is specifically configured to:

Determining, respectively, target features corresponding to the at least two target sub-objects;

Count the number of target sub-objects with the same target characteristics;

Determining whether the quantity is greater than a preset threshold;

If yes, it is determined that the at least two target sub-objects are consistent.
The device according to claim 7, wherein the device further comprises:

A gesture model building module for establishing a user-defined gesture model.
An aircraft characterized by comprising:

At least one processor; and,

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any one of claims 1-6 Methods.