WO2020200093A1 - 对焦方法、装置、拍摄设备及飞行器 - Google Patents

对焦方法、装置、拍摄设备及飞行器 Download PDF

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Publication number
WO2020200093A1
WO2020200093A1 PCT/CN2020/081685 CN2020081685W WO2020200093A1 WO 2020200093 A1 WO2020200093 A1 WO 2020200093A1 CN 2020081685 W CN2020081685 W CN 2020081685W WO 2020200093 A1 WO2020200093 A1 WO 2020200093A1
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Prior art keywords
focus point
distance
focusing
point position
shooting
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PCT/CN2020/081685
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English (en)
French (fr)
Inventor
杨坚
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深圳市道通智能航空技术有限公司
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Publication of WO2020200093A1 publication Critical patent/WO2020200093A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • This application relates to the field of photographing technology, in particular to focusing methods, devices, photographing equipment and aircraft.
  • the focusing method has a relatively slow focusing speed, which makes the shooting picture appear blurry and frequent zooming that can be distinguished by the human eye, and the shooting effect is poor.
  • the embodiments of the present invention provide a focusing method, a device, a photographing device, and an aircraft to solve the problem of a slow focusing speed of the existing photographing device, which results in blurry pictures and poor photographing effects.
  • an embodiment of the present invention provides a focusing method, including: obtaining the distance between the shooting device and the target or the ground; determining whether the distance is not less than a preset threshold; if so, controlling the shooting device The focus point is adjusted from the current focus point position to infinity.
  • the distance is the linear distance between the shooting device and the target; the method further includes: if the distance is less than the preset threshold, controlling the focus point of the shooting device to be adjusted from the current focus point position to the target. The predetermined focus position corresponding to the distance.
  • the method further includes: controlling the shooting device from the predetermined focus point position Start to gradually adjust the position of the focus point until the sharpness of the shooting picture meets the predetermined requirements.
  • the step of controlling the photographing device to gradually adjust the position of the focusing point from the predetermined focusing point position includes: when the predetermined focusing point position is set to be farther than the target focusing point position, controlling the photographing device Starting from the predetermined focusing point position, the position of the focusing point is gradually zoomed in until the sharpness of the shooting picture reaches the predetermined requirement.
  • the step of controlling the photographing device to gradually adjust the position of the focusing point from the predetermined focusing point position includes: controlling the photographing device when the predetermined focusing point position is set close to the target focusing point position Starting from the predetermined focusing point position, the position of the focusing point is gradually extended until the definition of the shooting picture reaches the predetermined requirement.
  • the distance is the vertical distance between the shooting device and the ground; the method further includes: if the distance is less than the preset threshold, controlling the shooting device to gradually adjust the focus point from the current focus point position. Position until the clarity of the shooting picture reaches the predetermined requirement.
  • the step of obtaining the distance between the shooting device and the target or the ground includes: determining whether the distance between the shooting device and the target can be obtained; if so, obtaining the distance between the shooting device and the target; if not , Then get the distance between the shooting device and the ground.
  • the method before performing the focusing operation to adjust the position of the focus point, the method further includes: determining whether the scene of the image acquired by the photographing device has changed; if so, triggering the focusing operation according to any one of the above-mentioned focusing methods Adjust the position of the focus point.
  • an embodiment of the present invention provides a focusing device, including: an acquisition unit for acquiring the distance between the shooting device and a target or the ground; a first determination unit for determining whether the distance is not less than a predetermined distance Set a threshold; the first control unit is configured to control the focus point of the shooting device to be adjusted from the current focus point position to infinity if the distance is not less than a preset threshold value.
  • the distance is a linear distance between the shooting device and the target; the device further includes: a second control unit, configured to control the focus point of the shooting device if the distance is less than the preset threshold Adjust from the current focus point position to a predetermined focus point position corresponding to the distance.
  • a second control unit configured to control the focus point of the shooting device if the distance is less than the preset threshold Adjust from the current focus point position to a predetermined focus point position corresponding to the distance.
  • the device further includes: a third control unit, configured to control the shooting after adjusting the focus point of the photographing device from the current focus point position to a predetermined focus point position corresponding to the distance The device gradually adjusts the position of the focus point from the predetermined focus point position until the definition of the shooting picture reaches the predetermined requirement.
  • a third control unit configured to control the shooting after adjusting the focus point of the photographing device from the current focus point position to a predetermined focus point position corresponding to the distance The device gradually adjusts the position of the focus point from the predetermined focus point position until the definition of the shooting picture reaches the predetermined requirement.
  • the third control unit includes: a first control subunit for controlling the photographing device to gradually start from the predetermined focusing point position when the predetermined focusing point position is set farther than the target focusing point position Zoom in the focus point until the sharpness of the shooting picture reaches the predetermined requirement.
  • the third control unit includes: a second control subunit for controlling the photographing device to gradually start from the predetermined focusing point position when the predetermined focusing point position is set close to the target focusing point position Push the position of the focus point farther until the clarity of the shooting picture reaches the predetermined requirement.
  • the distance is the vertical distance between the shooting device and the ground; the device further includes: a fourth control unit, configured to control the shooting device from the current focus point if the distance is less than the preset threshold The position begins to gradually adjust the position of the focus point until the sharpness of the shooting picture reaches the predetermined requirement.
  • the acquiring unit includes: a judging subunit, for judging whether the distance between the photographing device and the target can be acquired; a first acquiring subunit, for if the distance between the photographing device and the target can be acquired , The distance between the photographing device and the target is acquired; the second acquisition subunit is used for acquiring the distance between the photographing device and the ground if the distance between the photographing device and the target cannot be acquired.
  • the device further includes: a second determining unit for determining whether the scene of the image acquired by the photographing device has changed before performing the focusing operation to adjust the position of the focus point; if so, triggering the focusing operation To adjust the position of the focus point.
  • a second determining unit for determining whether the scene of the image acquired by the photographing device has changed before performing the focusing operation to adjust the position of the focus point; if so, triggering the focusing operation To adjust the position of the focus point.
  • an embodiment of the present invention provides a photographing device, including: a distance measuring device for obtaining the distance between the photographing device and a target or the ground; a focusing device for adjusting the focus point of the photographing device Position; an imaging device for taking images according to the position of the focus point adjusted by the focusing device; and a memory and a processor, the distance measuring device, the focusing device, the memory, and the memory communicate with each other Connected, a computer instruction is stored in the memory, and the processor executes the computer instruction to execute the focusing method described in the first aspect or any optional implementation thereof.
  • an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, the computer instructions are used to make the computer execute the first aspect or any optional Implement the method described in the mode.
  • an embodiment of the present invention provides an aircraft, including: a body; the photographing device according to the fifth aspect or any optional implementation manner thereof.
  • the aerial vehicle is an unmanned aerial vehicle.
  • a pan/tilt is fixed on the unmanned aerial vehicle, and the photographing equipment is mounted on the pan/tilt; the distance measuring device obtains the distance between the photographing equipment and the target or the ground according to the angle information of the pan/tilt. the distance.
  • the focusing point of the photographing equipment is controlled to be directly adjusted from the current focusing point position to At infinity, there is no need to gradually push the position of the focus point away and judge the clarity of the picture, so that the focusing speed can be greatly improved when a clearer shooting picture is obtained.
  • Figure 1 shows a schematic diagram of the main structure of the shooting device
  • Fig. 2A shows a flowchart of a focusing method according to an embodiment of the present invention
  • FIG. 2B shows a flowchart of yet another focusing method according to an embodiment of the present invention
  • Figure 3 shows a schematic diagram of the principle of focusing imaging
  • FIG. 4A shows a schematic diagram of an existing focusing method when the current focusing point position is not at infinity
  • 4B shows a schematic diagram of the focusing method of the present application when the current focusing point position is not at infinity
  • FIG. 4C shows a schematic diagram of an existing focusing method when the current focusing point position is at infinity
  • 4D shows a schematic diagram of the focusing method of the present application when the current focusing point position is at infinity
  • FIG. 5A shows a schematic diagram of the focusing method of the present application when the distance is less than the preset threshold
  • 5B shows a schematic diagram of the focusing method of the present application when the distance is less than the preset threshold
  • Fig. 6 shows a flowchart of yet another focusing method according to an embodiment of the present invention
  • FIG. 7 shows a flowchart of yet another focusing method according to an embodiment of the present invention.
  • Fig. 8A shows a flowchart of a method for a photographing device to obtain an image according to an embodiment of the present invention
  • FIG. 8B shows a flowchart of another method for a photographing device to obtain an image according to an embodiment of the present invention
  • FIG. 8C shows a flowchart of another method for a photographing device to obtain an image according to an embodiment of the present invention
  • Fig. 9 shows a functional block diagram of a focusing device according to an embodiment of the present invention.
  • Fig. 10A shows a functional block diagram of yet another focusing device according to an embodiment of the present invention.
  • FIG. 10B shows a functional block diagram of yet another focusing device according to an embodiment of the present invention.
  • Fig. 11 shows a schematic structural diagram of a photographing device according to an embodiment of the present invention.
  • Figure 12A shows a side view of an aircraft according to an embodiment of the present invention
  • Fig. 12B shows a top view of an aircraft according to an embodiment of the present invention.
  • the focusing method provided by the embodiment of the present invention can be used for, for example, a photographing device with a relatively fast moving speed or a relatively flexible and rapid change in the shooting angle of view.
  • the photographing device may be, for example, a photographing device mounted on a carrier such as an airplane or an unmanned aerial vehicle.
  • a carrier such as an airplane or an unmanned aerial vehicle.
  • the focusing method provided by the embodiments of the present invention can also be used, for example, for a photographing device fixed at a certain position, so as to photograph objects that change rapidly around, for example, photographing flocks of birds that move frequently around so that the birds can approach at a faster speed. Or away from the shooting equipment, it will suddenly appear in the shooting screen.
  • the main structure of the shooting device implementing the focusing method can be shown in Figure 1, including a photosensitive element, an aperture, and a lens module (not indicated in the figure).
  • the lens module includes multiple lenses, and the shooting device can control and select different lens combinations.
  • the focal length of a lens refers to the distance between the equivalent optical center of the lens and the photosensitive element.
  • the sharpest point in front of the lens is called the "focus point" of the shooting device, sometimes referred to as the "focus point” for short.
  • the "focus” of the photographing equipment here is different from the focus of the optical lens.
  • the focus of the optical lens refers to the convergence point of parallel rays after being refracted by the lens or reflected by the curved mirror.
  • the focusing method provided by the embodiment of the present invention may be based on the way of shifting the lens to change the focus point, that is, the following zooming in or zooming in the position of the focus point is implemented by shifting the lens.
  • FIG. 2A shows a flowchart of a focusing method according to an embodiment of the present invention. As shown in FIG. 2A, the focusing method includes the following steps:
  • S101 Acquire the linear distance between the shooting device and the target.
  • the target in this application is the object to be photographed.
  • the distance between the shooting equipment and the target can be obtained by, for example, a distance measuring device integrated in the shooting equipment, or by installing the shooting equipment and the distance measuring device on the same carrier (such as an unmanned aerial vehicle) to move synchronously.
  • the distance between the shooting device and the target is obtained by a fixed positioning and ranging system on the ground or in the air, and then sent to the shooting device through wireless transmission technology.
  • This application does not limit the specific method for obtaining the distance between the shooting device and the target.
  • step S102 Determine whether the distance is not less than a preset threshold. If yes, go to step S103; otherwise, go to step S104.
  • the preset threshold can be determined according to the parameters of each component of the imaging system of the photographing device.
  • An optional solution for determining the preset threshold is: when the distance between the shooting device and the target is not less than the preset threshold, the shooting image obtained by focusing at infinity is clear; when the distance between the shooting device and the target When the distance is less than the preset threshold, the shooting image obtained by focusing at infinity is not clear.
  • the preset threshold determined by this optional solution is "When focusing at infinity, the distance between the clear and unclear shots is critical value".
  • the focus point is at infinity, theoretically only the scene at infinity is clear, but since the lens and photosensitive element in reality have a precision range, as shown in Figure 3, the light converges on the photosensitive
  • the circle of confusion There is an acceptable range of dispersion on the component, called the circle of confusion.
  • the images in the circle of dispersion look clear, and the range where the scene can be clearly imaged is the depth of field.
  • the point within the depth of field that is close to the shooting device is called The near point (the distance between the near point and the focus point is called foreground depth), and the point far away from the camera is called the far point (the distance between the far point and the focus point is called the back depth of field).
  • the focus point when the focus point is at infinity, there will be a range of distances before infinity that can clearly image the scene, that is, the range from near point to infinity.
  • the near point is the above-mentioned “distance critical value”.
  • the “distance critical value” can be calculated by a more complicated formula, or can be obtained by means of experimental verification.
  • S103 Control the focus point of the shooting device to be adjusted from the current focus point position to infinity.
  • step S103 include two situations: 1. The current focus point position is not at infinity; 2. The current focus point position is at infinity.
  • the horizontal axis represents the relative positional relationship between the current focus point position, the target focus point position, and infinity in the focusing system of the shooting device;
  • the horizontal line above the horizontal axis And the total length of the broken line represents the time spent in the entire focusing operation, the arrow on the horizontal line represents the direction of change of the focus point position;
  • the broken line unit M represents: at the corresponding focus point position N, the step "calculates the captured image Clarity, and determine whether the clarity meets the requirements.”
  • the existing focusing method controls the focus point of the shooting device to start from the current focus point position and gradually push it away. After each time the focus point is pushed out, calculation is required Obtain the sharpness of the captured image, and determine whether the sharpness meets the requirements. If the sharpness does not meet the requirements, continue to push the focus point position until the shooting device reaches the target focus point position, that is, at infinity. The sharpness of the picture meets the requirement.
  • the shooting device completes focusing and the shooting device performs shooting; in this embodiment, the focus point of the shooting device is directly adjusted from the current focus point position to infinity through step S103, as shown in the figure As shown in 4B, there is no need to gradually push the position of the focus point away and judge the clarity of the picture, which greatly improves the focusing speed.
  • the existing focus method will first try to gradually zoom in the focus point position of the shooting device.
  • the resolution of the captured image gets worse and worse, start to gradually push the focus point position farther, until the shooting device reaches the target focus point position (that is, at infinity), the clarity of the captured image meets the requirements.
  • the device completes focusing, and the shooting device performs shooting; and in this embodiment, the focus point of the shooting device is directly adjusted from the current focus point position to infinity through step S103. Since the current focus point position is at infinity, There is no change in the focus position, as shown in Figure 4D, there is no need to gradually zoom in or zoom out the focus point position and judge the image clarity, thereby greatly improving the focusing speed.
  • S104 Control the focus point of the photographing device to be adjusted from the current focus point position to the predetermined focus point position corresponding to the distance.
  • the actual target focus point position suitable for the different distances between the shooting equipment and the target is also determined.
  • the target focus point position refers to: corresponding to the distance between the shooting equipment and the target .
  • the embodiment of the present invention stores the predetermined focus point position in the focusing system of the shooting device, and stores it corresponding to the distance between the shooting device and the target.
  • the predetermined focus point position is set to the target focus point position or at least close to the target focus point position. Existing photographing equipment often does not acquire the target focus point position (or the predetermined focus point position) according to the “distance between the photographing equipment and the target”, and store the two “correspondingly”.
  • the predetermined focus point position in step S104 may be the same as the target focus point position There is a deviation, the predetermined focus point position may be slightly closer to the target focus point position as shown in FIG. 5A, or slightly farther than the target focus point position as shown in FIG. 5B, so that the camera cannot be optimally focused at the predetermined focus point position
  • the above-mentioned focusing method may further include after step S104:
  • S105 Control the shooting device to gradually adjust the position of the focus point from the predetermined focus point position until the definition of the shooting picture reaches the predetermined requirement.
  • step S105 may first try to gradually extend (or zoom in) the focus point position of the photographing device from the current focus point position. When it is found that the sharpness gradually becomes better, continue to gradually zoom out (or zoom in). Near) the focus point position of the shooting device until the sharpness of the captured image meets the requirements; when the sharpness is gradually deteriorated, the focus point position of the shooting device is gradually zoomed in (or farther away) until the captured image The sharpness meets the requirements to complete the process of gradually adjusting the focus point position.
  • the predetermined focus point position may be set slightly closer, that is, as shown in FIG. 5A, the predetermined focus point position is slightly close to the target focus point position, and the focus point position can be determined at this time
  • the adjustment direction of the focus point can be gradually extended from the current focus point position until the captured picture definition reaches the required; similarly, for example, the predetermined focus point position can also be set slightly farther, as shown in Figure 5B As shown, the predetermined focus point position is slightly farther than the target focus point position.
  • the adjustment direction of the focus point position can also be determined, so that the focus point position can be gradually zoomed in from the current focus point position until the captured image definition meets the requirements .
  • the focusing speed can be further increased, and the slow focusing speed can prevent the blurring and frequent zooming phenomenon that can be distinguished by human eyes.
  • FIG. 6 shows a flowchart of another focusing method according to an embodiment of the present invention. As shown in FIG. 6, the focusing method includes the following steps:
  • the distance between the shooting equipment and the ground can be obtained, for example, by the height measuring device integrated in the shooting device, or by installing the shooting device and the height measuring device on the same carrier (such as an unmanned aerial vehicle) to move synchronously.
  • the distance between the shooting device and the ground is obtained by a fixed positioning and ranging system on the ground or in the air, and then sent to the shooting device through wireless transmission technology. This application does not limit the specific method for obtaining the distance between the shooting device and the ground.
  • step S202 Determine whether the distance is not less than a preset threshold. If yes, go to step S203; otherwise, go to step S204.
  • S203 Control the focus point of the shooting device to be adjusted from the current focus point position to infinity.
  • the embodiment of the present invention controls the focus point of the shooting device to be directly adjusted from the current focus point position to infinity when the distance between the shooting device and the ground is not less than the preset threshold.
  • the preset threshold can be different according to the scene of the shooting picture (for example, forest, grass, city with tall buildings, etc.) ), gradually increase the distance between the shooting device and the ground, and count the clearer probability of multiple captured images at different distances.
  • the corresponding distance can be determined as "A more appropriate distance threshold", and further determine that the minimum value among the plurality of "more appropriate distance thresholds" is the "preset threshold" described in step S202.
  • the target in a grass scene is often short (that is, the distance between the highest point of the target and the ground is small), the distance between the shooting device and the ground, and the probability of being clearer in the multiple captured images are as follows: Table 1 As shown, when the preset probability threshold is 0.7, it can be determined that 5.5 meters, 6 meters, and 6.5 meters are all “appropriate distance thresholds", and the minimum distance of 5 meters is the "appropriate distance threshold" in step S202. Preset threshold”.
  • S204 Control the shooting device to gradually adjust the position of the focus point from the current focus point position until the definition of the shooting picture reaches a predetermined requirement.
  • the embodiment of the present invention also provides a focusing method.
  • the method aims at "being able to obtain the linear distance between the shooting device and the target, but also the vertical distance between the shooting device and the ground. However, it is affected by various factors. Sometimes the shooting device cannot obtain the distance between the shooting device and the target, or sometimes the shooting device cannot obtain the distance between the shooting device and the ground.
  • FIG. 7 when the shooting instruction is obtained, it is determined whether the linear distance between the shooting device and the target can be obtained. If yes, obtain the straight-line distance between the shooting device and the target, and continue to perform other steps in the focusing method shown in FIG. 2A or FIG. 2B.
  • FIG. 7 when the shooting instruction is obtained, it is determined whether the linear distance between the shooting device and the target can be obtained. If yes, obtain the straight-line distance between the shooting device and the target, and continue to perform other steps in the focusing method shown in FIG. 2A or FIG. 2B.
  • FIG. 6 please refer to the description of the corresponding embodiment in FIG. 6 for details
  • any of the above-mentioned focusing methods provided by the embodiments of the present invention are usually used when a photographing device acquires an image, as shown in FIG. 8A, FIG. 8B, and FIG. 8C, that is, when a photographing instruction is acquired, the focusing operation is completed according to a predetermined focusing method , And then capture the current image.
  • the “shooting instruction” may be an instruction to “start taking a picture” (ie, take a photo), or it may be an instruction to “start acquiring real-time images continuously for a continuous period of time” (for example, a “start video recording” instruction).
  • the shooting device is mounted on a carrier such as an airplane or unmanned aerial vehicle, or is fixed at a certain location, the user can also preview the real-time image obtained by the shooting device through the screen on the terminal at a predetermined location (for example, the ground) (not necessarily stored ), at this time, the shooting device neither takes photos nor videos, but still obtains real-time images (for user preview), also belongs to the above-mentioned "continuously obtaining real-time images in a continuous period of time”.
  • the "predetermined focusing method” may be the focusing method shown in FIG. 2A, FIG. 2B, or FIG. 6, or an optional implementation thereof.
  • the focusing operation can be continuously triggered (for example, once every predetermined time); or, as another optional implementation, such as As shown in Fig. 8C, after receiving the shooting instruction, first adjust the position of the focus point and take a frame of the picture. Then, when shooting the picture, first determine whether the scene of the image obtained by the shooting device has changed, and if so, according to the predetermined focusing method Trigger the focus operation to adjust the position of the focus point, and then take the current image. Otherwise, the current image is directly taken without triggering the focus operation, thereby reducing the number of focusing operations.
  • FIG. 9 shows a principle block diagram of a focusing device according to an embodiment of the present invention, and the device can be used to execute the focusing method shown in FIG. 2A, FIG. 2B or FIG. 6.
  • the focusing device includes an acquisition unit 10, a first control unit 20 and a first control unit 30.
  • the acquiring unit 10 is used to acquire the distance between the photographing device and the target or the ground.
  • the first judgment unit 20 is used to judge whether the distance is not less than a preset threshold
  • the first control unit 30 is used for controlling the focus point of the photographing device to be adjusted from the current focus point position to infinity if the distance is not less than the preset threshold.
  • the above-mentioned focusing device can greatly increase the focusing speed, and prevent the slow focusing speed from causing recognizable blur and frequent zooming phenomena to appear.
  • FIG. 2A, FIG. 2B or FIG. 6 please refer to the description of FIG. 2A, FIG. 2B or FIG. 6.
  • FIG. 10A shows a principle block diagram of another focusing device according to an embodiment of the present invention, and the device may be used to execute the focusing method shown in FIG. 2A or FIG. 2B or an optional implementation manner thereof.
  • the difference between the device and the device shown in FIG. 9 is that the distance is the linear distance between the shooting device and the target, and the device further includes a second control unit 40 for controlling the pairing of the shooting device if the distance is less than a preset threshold.
  • the focus is adjusted from the current focus point position to the predetermined focus point position corresponding to the distance.
  • the device further includes a third control unit 50, which is used to control the shooting device from the preset focus point position after the focus point of the shooting device is adjusted from the current focus point position to the predetermined focus point position corresponding to the distance.
  • the position begins to gradually adjust the position of the focus point until the sharpness of the shooting picture reaches the predetermined requirement.
  • the third control unit 50 includes a first control subunit 51 or a second control subunit 52.
  • the first control subunit 51 is used to control the shooting device to gradually zoom in the focus point from the predetermined focus point position when the predetermined focus point position is set farther than the target focus point position, until the definition of the shooting picture reaches the predetermined requirement .
  • the second control subunit 52 is used to control the shooting device to gradually push the focus point away from the predetermined focus point position when the predetermined focus point position is set close to the target focus point position, until the definition of the shooting picture reaches the predetermined requirement .
  • FIG. 10B shows a principle block diagram of yet another focusing device according to an embodiment of the present invention, and the device may be used to execute the focusing method shown in FIG. 6 or an optional implementation manner thereof.
  • the difference between the device and the device shown in FIG. 9 is that the distance is the distance between the photographing equipment and the ground, and the device also includes a fourth control unit 60 for controlling the photographing equipment if the distance is less than a preset threshold. From the current focus point position, gradually adjust the focus point position until the sharpness of the shooting picture reaches the predetermined requirement.
  • the acquisition unit 10 includes a judgment subunit, a first acquisition subunit, and a second acquisition subunit.
  • the judging subunit is used to judge whether the distance between the shooting device and the target can be obtained.
  • the first acquiring subunit is used for acquiring the distance between the photographing device and the target if it can be acquired.
  • the second acquisition subunit is used to acquire the distance between the photographing device and the ground if it cannot be acquired.
  • the device further includes a second determining unit configured to determine whether the scene of the image acquired by the photographing device has changed before performing the focusing operation to adjust the position of the focus point. If so, trigger a focus operation to adjust the position of the focus point.
  • the embodiment of the present invention also provides a photographing device.
  • the photographing device may include a distance measuring device 1101, a focusing device 1102, an imaging device 1103, a processor 1104, and a memory 1105, wherein the distance measuring device 1101, focusing The device 1102, the imaging device 1103, the processor 1104, and the memory 1105 may be connected by a bus or in other ways.
  • the connection by a bus is taken as an example.
  • the distance measuring device 1101 is used to obtain the distance between the shooting device and the target or the ground.
  • an unmanned aerial vehicle with an obstacle avoidance function will be equipped with a distance measuring device, and when the shooting device can use the distance measuring device to obtain the distance between the shooting device and the target or the ground.
  • the focusing device 1102 is used to adjust the position of the focus point of the photographing device.
  • a motor may be included, and the lens may be moved by the motor.
  • the imaging device 1103 is used to capture images according to the position of the focus point adjusted by the focusing device 1102.
  • the imaging device 1103 may be the optical imaging system shown in FIG. 1.
  • the processor 1104 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 1104 may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), or Chips such as other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, or a combination of the above types of chips.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • Chips such as other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, or a combination of the above types of chips.
  • the memory 1105 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules corresponding to the focusing method in the embodiment of the present invention (for example, , The acquisition unit 10, the first control unit 20 and the first control unit 30 shown in FIG. 9).
  • the processor 1104 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions, and modules stored in the memory 1105, that is, realizing the focusing method in the foregoing method embodiment.
  • the memory 1105 may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created by the processor 1104 and the like.
  • the memory 1105 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 1105 may optionally include memories remotely provided with respect to the processor 1104, and these remote memories may be connected to the processor 1104 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 1105, and when executed by the processor 1104, the focusing method in the embodiment shown in FIG. 2A, FIG. 2B, FIG. 6, and FIG. 7 is executed.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the foregoing types of memories.
  • An embodiment of the present invention also provides an aircraft, including an aircraft body and any one of the above-mentioned photographing equipment.
  • Fig. 12A shows a side view of an aircraft according to an embodiment of the present invention
  • Fig. 12B shows a top view of an aircraft according to an embodiment of the present invention.
  • the aircraft body may include a bracket 1201, a propeller 1202, and a landing gear 1203.
  • the aircraft may be a manned aircraft, which can be photographed by a person on the aircraft holding a photographing device; or it may be an unmanned aircraft, at this time, the photographing device 1204 is carried on the aircraft.

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Abstract

本发明公开了对焦方法、装置、拍摄设备及飞行器，其中所述对焦方法包括：获取拍摄设备与目标或地面之间的距离；判断所述距离是否不小于预设阈值；若是，则控制所述拍摄设备的对焦点从当前对焦点位置调至无穷远处。本发明在拍摄设备与目标或地面之间的距离不小于预设阈值时，控制拍摄设备的对焦点从当前对焦点位置直接调至无穷远处，无需逐步推远对焦点的位置并判断画面清晰度，从而能够在获取较为清晰的拍摄画面时，极大地提高对焦速度。

Description

对焦方法、装置、拍摄设备及飞行器
本申请要求于2019年3月29日提交中国专利局、申请号为201910252433.9、申请名称为“对焦方法、装置、拍摄设备及飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及拍摄技术领域，具体涉及对焦方法、装置、拍摄设备及飞行器。
背景技术
拍摄设备，例如便携式照相机或摄像机、安装有摄像头的手机等，通常用于拍摄静止的或者移动速度较慢的景物。随着飞机飞行技术的发展以及无人飞行器的发展，人们开始将小型拍摄设备搭载在这些载体上，以便从人们自身通常难以达到的视角来拍摄景物、拓宽人们认知周围环境的视野，或者在人们无法到达的任务现场拍摄现场情景。
然而，飞机或无人飞行器等载体的移动较快，且会突然转向，使得拍摄设备所面临的目标迅速变化，从而拍摄设备与目标之间的相对距离迅速变化，但是现有拍摄设备所采用的对焦方法对焦速度相对较慢，使得拍摄画面呈现出人眼可分辨的模糊及频繁缩放现象，拍摄效果较差。
发明内容
有鉴于此，本发明实施例提供了对焦方法、装置、拍摄设备及飞行器，以解决现有拍摄设备对焦速度慢使得拍摄画面模糊、拍摄效果较差的问题。
根据第一方面，本发明实施例提供了一种对焦方法，包括：获取拍摄设备与目标或地面之间的距离；判断所述距离是否不小于预设阈值；若是，则控制所述拍摄设备的对焦点从当前对焦点位置调至无穷远处。
可选地，所述距离为拍摄设备与目标的直线距离；所述方法还包括：若所述距离小于所述预设阈值，则控制所述拍摄设备的对焦点从当前对焦点位置调至所述距离对应的预定对焦点位置。
可选地，在所述控制所述拍摄设备的对焦点从当前对焦点位置调至所述距离对应的预定对焦点位置的步骤之后，还包括：控制所述拍摄设备从所述预定对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，所述控制所述拍摄设备从所述预定对焦点位置开始逐步调整对焦点的位置的步骤包括：当所述预定对焦点位置被设置为远于目标对焦点位置时，控制拍摄设备从所述预定对焦点位置开始逐步拉近对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，所述控制所述拍摄设备从所述预定对焦点位置开始逐步调整对焦点的位置的步骤包括：当所述预定对焦点位置被设置为近于目标对焦点位置时，控制拍摄设备从所述预定对焦点位置开始逐步推远对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，所述距离为拍摄设备与地面的垂直距离；所述方法还包括：若所述距离小于所述预设阈值，则控制所述拍摄设备从当前对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，所述获取拍摄设备与目标或地面之间的距离的步骤包括：判断是否能够获取到拍摄设备与目标之间的距离；若是，则获取拍摄设备与目标之间的距离；若否，则获取拍摄设备与地面之间的距离。
可选地，执行对焦操作以调整对焦点的位置之前，还包括：判断所述拍摄设备所获取的图像的场景是否发生变化；若是，则根据上述任一项所述的对焦方法触发对焦操作以调整对焦点的位置。
根据第二方面，本发明实施例提供了一种对焦装置，包括：获取单元，用于获取拍摄设备与目标或地面之间的距离；第一判断单元，用于判断所述距离是否不小于预设阈值；第一控制单元，用于若所述距离不小于预设阈值，则控制所述拍摄设备的对焦点从当前对焦点位置调至无穷远处。
可选地，所述距离为拍摄设备与目标的直线距离；所述装置还包括：第二控制单元，用于若所述距离小于所述预设阈值时，则控制所述拍摄设备的对焦点从所述当前对焦点位置调至所述距离对应的预定对焦点位置。
可选地，所述装置还包括：第三控制单元，用于在控制所述拍摄设备的对焦点从所述当前对焦点位置调至所述距离对应的预定对焦点位置之后，控制所述拍摄设备从所述预定对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，所述第三控制单元包括：第一控制子单元，用于当所述预定对焦点位置被设置为远于目标对焦点位置时，控制拍摄设备从所述预定对焦点位置开始逐步拉近对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，所述第三控制单元包括：第二控制子单元，用于当所述预定对焦点位置被设置为近于目标对焦点位置时，控制拍摄设备从所述预定对焦点位置开始逐步推远对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，所述距离为拍摄设备与地面的垂直距离；所述装置还包括：第四控制单元，用于若所述距离小于所述预设阈值，则控制所述拍摄设备从当前对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，所述获取单元包括：判断子单元，用于判断是否能够获取到拍摄设备与目标之间的距离；第一获取子单元，用于若能够获取到拍摄设备与目标之间的距离，则获取拍摄设备与目标之间的距离；第二获取子单元，用于若不能够获取到拍摄设备与目标之间的距离，则获取拍摄设备与地面之间的距离。
可选地，所述装置还包括：第二判断单元，用于在执行对焦操作以调整对 焦点的位置之前，判断所述拍摄设备所获取的图像的场景是否发生变化；若是，则触发对焦操作以调整对焦点的位置。
根据第三方面，本发明实施例提供了一种拍摄设备，包括：测距装置，用于获取拍摄设备与目标或地面之间的距离；对焦装置，用于调整所述拍摄设备的对焦点的位置；成像装置，用于根据所述对焦装置调整后的对焦点的位置拍摄图像；以及存储器和处理器，所述测距装置、所述对焦装置、所述存储器和所述存储器之间互相通信连接，所述存储器中存储有计算机指令，所述处理器通过执行所述计算机指令，从而执行第一方面或者其任意可选实施方式所述的对焦方法。
根据第四方面，本发明实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使所述计算机执行第一方面或者其任意可选实施方式所述的方法。
根据第五方面，本发明实施例提供了一种飞行器，包括：本体；第五方面或者其任意可选实施方式所述的拍摄设备。
可选地，所述飞行器为无人飞行器。
可选地，所述无人飞行器上固定设置有云台，所述拍摄设备搭载于所述云台上；所述测距装置根据所述云台的角度信息获取拍摄设备与目标或地面之间的距离。
本发明实施例所提供的对焦方法、装置、拍摄设备及飞行器，在拍摄设备与目标或地面之间的距离大于或等于预设阈值时，控制拍摄设备的对焦点从当前对焦点位置直接调至无穷远处，无需逐步推远对焦点的位置并判断画面清晰度，从而能够在获取较为清晰的拍摄画面时，极大地提高对焦速度。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了拍摄设备主要结构示意图；
图2A示出了根据本发明实施例的一种对焦方法的流程图；
图2B示出了根据本发明实施例的又一种对焦方法的流程图；
图3示出了对焦点成像的原理示意图；
图4A示出了当前对焦点位置不在无穷远处时，现有对焦方法的示意图；
图4B示出了当前对焦点位置不在无穷远处时，本申请对焦方法的示意图；
图4C示出了当前对焦点位置在无穷远处时，现有对焦方法的示意图；
图4D示出了当前对焦点位置在无穷远处时，本申请对焦方法的示意图；
图5A示出了当距离小于预设阈值时，本申请对焦方法的示意图；
图5B示出了当距离小于预设阈值时，本申请对焦方法的示意图；
图6示出了根据本发明实施例的又一种对焦方法的流程图；
图7示出了根据本发明实施例的又一种对焦方法的流程图；
图8A示出了根据本发明实施例的一种拍摄设备获取图像的方法流程图；
图8B示出了根据本发明实施例的又一种拍摄设备获取图像的方法流程图；
图8C示出了根据本发明实施例的又一种拍摄设备获取图像的方法流程图；
图9示出了根据本发明实施例的一种对焦装置的原理框图；
图10A示出了根据本发明实施例的又一种对焦装置的原理框图；
图10B示出了根据本发明实施例的又一种对焦装置的原理框图；
图11示出了根据本发明实施例的一种拍摄设备的结构示意图；
图12A示出了根据本发明实施例的一种飞行器的侧视图；
图12B示出了根据本发明实施例的一种飞行器的俯视图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例所提供的对焦方法例如可以用于移动速度较快或者拍摄视角变化较为灵活迅速的拍摄设备，该拍摄设备例如可以是搭载在飞机或无人飞行器等载体上的拍摄设备。当载体迅速移动或突然转向时，拍摄设备所面临的目标迅速变化，从而使得拍摄设备与目标之间的相对距离迅速变化。本发明实施例所提供的对焦方法例如还可以用于固定在某位置处的拍摄设备，以便拍摄周围迅速变化的物体，例如，拍摄周边频繁活动的群鸟，鸟类能够以较快的速度接近或远离拍摄设备，还会突然出现在拍摄画面中。
实施该对焦方法的拍摄设备主要结构可以如图1所示，包括感光元件、光圈和镜头模组(图中未指出)，其中镜头模组包括多个镜片，拍摄设备能够控制选择不同的镜片组合成拍摄时用的镜头以调整镜头的焦距。镜头的焦距是指镜头的等效光心与感光元件之间的距离。镜头前方成像最清晰的点称为拍摄设备的“对焦点”，有时简称为“焦点”。需要注意的是，此处拍摄设备的“焦点”与光学镜片的焦点不同，光学透镜的焦点是指平行光线经透镜折射或曲面镜反射后的会聚点。
当拍摄设备用于拍摄移动速度很快的景物时，往往不会优先通过选择不同镜片组合的方式来调节焦距以改变对焦点的位置，因为这种调焦方式连续性较差，并且对焦速度较慢，难以捕捉快速移动景物的清晰图像。为此，当拍摄移动速度很快的景物时，往往采用平移镜头的方式(该方式会带来焦距的微调) 来改变对焦点的位置，以获取较为清晰的拍摄画面。本发明实施例所提供的对焦方法例如可以基于平移镜头改变对焦点的方式，也即下述推远或拉近对焦点的位置是通过平移镜头来实现的。
图2A示出了根据本发明实施例的一种对焦方法的流程图，如图2A所示，该对焦方法包括如下步骤：
S101：获取拍摄设备与目标之间的直线距离。
本申请中的目标也就是待拍摄物体。拍摄设备与目标之间的距离例如可以通过拍摄设备中集成的测距装置来获取，也可以通过将拍摄设备与测距装置装在同一载体(例如无人飞行器)上同步移动来获取，还可以通过地面或空中固定设置定位测距系统获取拍摄设备与目标之间的距离，然后通过无线传输技术发送至拍摄设备。本申请对获取拍摄设备与目标之间距离的具体方式不做限定。
S102：判断该距离是否不小于预设阈值。若是，则执行步骤S103；否则执行步骤S104。
需要说明的是，本领域技术人员可以根据实际情况预先设置该预设阈值，例如可以根据拍摄设备的成像系统各个部件的参数来确定该预设阈值。确定该预设阈值的一种可选方案是：当拍摄设备与目标之间的距离不小于预设阈值时，对焦在无穷远处所获取的拍摄画面是清晰的；当拍摄设备与目标之间的距离小于预设阈值时，对焦在无穷远处所获取的拍摄画面是不清晰的，通过该可选方案所确定的预设阈值是“对焦在无穷远处时，拍摄画面清晰与不清晰的距离临界值”。
需要注意的是，当对焦点在无穷远时，理论上只有无穷远处的景物是清晰的，但由于现实中的镜头和感光元件都有精度范围的，如图3所示，光线会聚在感光元件上时会有一个可接受的弥散范围，叫做弥散圆，弥散圆内的像看起来都清晰的，而能让景物都有清晰成像的范围就是景深，景深范围内靠近拍摄设备的点称为近点(近点与对焦点之间的距离范围称为前景深)，远离拍摄设备的点称为远点(远点与对焦点之间的距离范围称为后景深)。因此，当对焦点为无穷远时，在无穷远之前还会存在一段能够使景物清晰成像的距离范围，即近点到无穷远之间的范围。此时近点便是上述“距离临界值”。该“距离临界值”可以通过较为复杂的公式计算得到，也可以通过试验验证的方式得到。
S103：控制拍摄设备的对焦点从当前对焦点位置调至无穷远处。
步骤S103所述步骤包括两种情形：一、当前对焦点位置不在无穷远处；二、当前对焦点位置在无穷远处。
需要提前说明的是，下述附图4A至4D中，横轴表示在拍摄设备的对焦系统中，当前对焦点位置、目标对焦点位置和无穷远处的相对位置关系；横轴上方的横线及折线的总长度表示整个对焦操作所用的时间，横线上的箭头表示对焦点位置的变化方向；折线单元M表示：在对应的对焦点位置N时，步骤“计算所获取到的拍摄画面的清晰度，并判断清晰度是否达到要求”所用的时间。
对于当前对焦点位置不在无穷远处的情况，如图4A所示，现有对焦方法控制拍摄设备的对焦点从当前对焦点位置开始，逐步推远，在每次推远对焦点后，需要计算所获取到的拍摄画面的清晰度，并判断清晰度是否达到要求，若清晰度不能达到要求时继续推远对焦点的位置，直至拍摄设备达到目标对焦点位置，即无穷远处时，所拍摄画面的清晰度才达到要求，此时拍摄设备完成对焦，拍摄设备进行拍摄；而在本实施例中，通过步骤S103将拍摄设备的对焦点从当前对焦点位置直接调至无穷远处，如图4B所示，无需逐步推远对焦点的位置并判断画面清晰度，从而极大地提高了对焦速度。
对于当前对焦点位置在无穷远处的情况，如图4C所示，由于当前对焦点位置已在无穷远处，现有对焦方法会先尝试逐步拉近拍摄设备的对焦点位置，当发现所获取到的拍摄画面的清晰度越来越差时，开始逐步推远对焦点位置，直至拍摄设备达到目标对焦点位置(即无穷远处)时，所拍摄画面的清晰度才达到要求，此时拍摄设备完成对焦，拍摄设备进行拍摄；而在本实施例中，通过步骤S103将拍摄设备的对焦点从当前对焦点位置直接调至无穷远处，由于当前对焦点位置就处于无穷远处，因此对焦点位置不做任何变化，如图4D所示，无需逐步推远或拉近对焦点位置并判断画面清晰度，从而极大地提高了对焦速度。
S104：控制拍摄设备的对焦点从当前对焦点位置调至该距离对应的预定对焦点位置。
对于成像系统各个部件确定的拍摄设备，拍摄设备与目标之间的不同距离实际所适合采用的目标对焦点位置也是确定的，该目标对焦点位置是指：对应于拍摄设备与目标之间的距离，拍摄设备对焦在目标对焦点位置时，拍摄目标的画面是“最”清晰的。对应于目标对焦点位置，本发明实施例在拍摄设备的对焦系统中存储了预定对焦点位置，并将其与拍摄设备与目标之间的距离对应存储。该预定对焦点位置被设置为目标对焦点位置或至少是接近目标对焦点位置的。现有拍摄设备往往不会根据“拍摄设备与目标之间的距离”获取目标对焦点位置(或预定对焦点位置)，并将这二者“对应”存储。
由于种种原因(例如，受算法精度限制，或者基于使整个画面达到较高清晰度的考虑而非仅拍清楚画面中的个别景物)，上述步骤S104中的预定对焦点位置可能与目标对焦点位置存在偏差，预定对焦点位置可能如图5A所示略近于目标对焦点位置，也可能如图5B所示略远于目标对焦点位置，从而拍摄设备对焦在预定对焦点位置时无法得到最佳的拍摄图像，作为本实施例的一些可选实施方式，如图2B所示，上述对焦方法在步骤S104之后还可以包括：
S105：控制拍摄设备从预定对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
作为一种可选实施方式，步骤S105可以先尝试从当前对焦点位置开始逐步推远(或拉近)拍摄设备的对焦点位置，当发现清晰度逐步变好时，继续逐步推远(或拉近)拍摄设备的对焦点位置，直至所拍摄的画面清晰度达到要求； 当发现清晰度逐步变差时，反向逐步拉近(或推远)拍摄设备的对焦点位置，直至所拍摄的画面清晰度达到要求，以完成逐步调整对焦点位置的过程。
作为另一种可选实施方式，例如步骤S105可以将预定对焦点位置设置得略近，即如图5A所示，预定对焦点位置略近于目标对焦点位置，此时便可以确定对焦点位置的调整方向，从而可以从当前对焦点位置开始逐步推远对焦点位置，直至所拍摄的画面清晰度达到要求；类似地，例如也可以将预定对焦点位置设置得略远，即如图5B所示，预定对焦点位置略远于目标对焦点位置，此时也可以确定对焦点位置的调整方向，从而可以从当前对焦点位置开始逐步拉近对焦点位置，直至所拍摄的画面清晰度达到要求。在本实施方式中，由于可以确定对焦点位置的调整方向，从而可以进一步提高对焦速度，防止对焦速度较慢导致人眼可分辨的模糊及频繁缩放现象出现。
图6示出了根据本发明实施例的另一种对焦方法的流程图，如图6所示，该对焦方法包括如下步骤：
S201：获取拍摄设备与地面之间的垂直距离。
拍摄设备与地面之间的距离例如可以通过拍摄设备中集成的测高装置来获取，也可以通过将拍摄设备与测高装置装在同一载体(例如无人飞行器)上同步移动来获取，还可以通过地面或空中固定设置定位测距系统获取拍摄设备与地面之间的距离，然后通过无线传输技术发送至拍摄设备。本申请对获取拍摄设备与地面之间距离的具体方式不做限定。
S202：判断该距离是否不小于预设阈值。若是，则执行步骤S203；否则执行步骤S204。
S203：控制拍摄设备的对焦点从当前对焦点位置调至无穷远处。
发明人发现，当拍摄设备用于朝向地面的方向拍摄时，若与地面之间的距离较大，则地面方向的目标与拍摄设备之间的距离往往较远，对焦在无穷远处便可以获得清晰的拍摄画面。基于此，本发明实施例在拍摄设备与地面之间的距离不小于预设阈值时，控制拍摄设备的对焦点从当前对焦点位置直接调至无穷远处。
需要说明的是，本领域技术人员可以根据实际情况预先设置该预设阈值，例如可以根据拍摄画面的场景(例如，森林、草地、有高楼的城市等场景所对应的预设阈值应当有所不同)，逐步增大拍摄设备与地面之间的距离，统计不同距离下所获取的多个拍摄画面中较为清晰的概率，当较为清晰的概率达到预设概率阈值时，便可以确定对应的距离为“较为合适的距离阈值”，并进一步确定多个“较为合适的距离阈值”中的最小值为步骤S202中所述的“预设阈值”。例如，草地场景下的目标往往较矮(即目标的最高点与地面之间的距离较小)，拍摄设备与地面之间的距离、所获取的多个拍摄画面中较为清晰的概率如下列表1所示，则当预设概率阈值为0.7时，便可以确定5.5米、6米、6.5米均是“较为合适的距离阈值”，这其中的最小距离5米便是步骤S202中所述的“预设阈值”。
表1
拍摄设备与地面之间的距离(单位：米) 3.5 4 4.5 5 5.5 6 6.5
所获取的多个拍摄画面中较为清晰的概率 0.4 0.5 0.6 0.7 0.8 0.9 0.93
S204：控制拍摄设备从当前对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
当拍摄设备与地面之间的距离较小时，通常难以估算拍摄设备与目标之间的距离是大是小，若此时再无法获取拍摄设备与目标之间的距离，则为了获得较为清晰的拍摄画面，可以控制拍摄设备的对焦点从当前对焦点位置开始逐步调整对焦点的位置。具体地，可以先尝试从当前对焦点位置开始逐步推远(或拉近)拍摄设备的对焦点位置，当发现清晰度逐步变好时，继续逐步推远(或拉近)拍摄设备的对焦点位置，直至所拍摄的画面清晰度达到要求；当发现清晰度逐步变差时，反向逐步拉近(或推远)拍摄设备的对焦点位置，直至所拍摄的画面清晰度达到要求。
本发明实施例还提供了一种对焦方法，该方法针对“既能够获取拍摄设备与目标之间的直线距离，又能够获取拍摄设备与地面之间的垂直距离，但是受种种因素的影响，该拍摄设备有时无法获取到拍摄设备与目标之间的距离，或者有时无法获取到拍摄设备与地面之间的距离”的拍摄设备。如图7所示，在获取到拍摄指令时，判断是否能够获取到拍摄设备与目标之间的直线距离。若是，则获取拍摄设备与目标之间的直线距离，并继续执行图2A或图2B所示对焦方法中的其他步骤，具体请参见图2A或图2B对应实施例的描述；若否，便获取拍摄设备与地面之间的垂直距离，并继续执行图6所示对焦方法中的其他步骤，具体请参见图6对应实施例的描述。
本发明实施例所提供的上述任意一种对焦方法通常用于拍摄设备获取图像的时候，如图8A、图8B、图8C所示，即在获取到拍摄指令时，根据预定对焦方法完成对焦操作，然后拍摄当前图像。
该“拍摄指令”可以是“开始拍照”(即拍摄一张照片)的指令，也可以是“开始在连续时间段内持续获取实时图像”(例如，“开始录像”指令)的指令。当拍摄设备搭载在飞机或无人飞行器等载体上，或者固定在某位置处时，用户还可以通过预定位置(例如地面)处的终端上的屏幕预览拍摄设备实时获取的图像(不一定进行存储)，此时拍摄设备既不拍照也不录像，但依然获取实时图像(以供用户预览)的过程也属于上述“在连续时间段内持续获取实时图像”。
该“预定对焦方法”可以是图2A、图2B或图6所示的对焦方法或者其可选实施方式。当拍摄设备用于在连续时间段内持续获取实时图像时，如图8B所示，可以持续触发对焦操作(例如，每隔预定时间触发一次)；或者，作为另一种可选实施方式，如图8C所示，在接收到拍摄指令后，先调整对焦点的 位置并拍摄一帧画面，后续在拍摄画面时，先判断拍摄设备所获取的图像的场景是否发生变化，若是则根据预定对焦方法触发对焦操作以调整对焦点的位置，然后再拍摄当前图像，若否则不触发对焦操作而直接拍摄当前图像，从而减少对焦操作的次数。
图9示出了根据本发明实施例的一种对焦装置的原理框图，该装置可以用于执行图2A、图2B或图6所示的对焦方法。如图9所示，该对焦装置包括获取单元10、第一控制单元20和第一控制单元30。
获取单元10用于获取拍摄设备与目标或地面之间的距离。
第一判断单元20用于判断该距离是否不小于预设阈值；
第一控制单元30用于若该距离不小于预设阈值，则控制拍摄设备的对焦点从当前对焦点位置调至无穷远处。
上述对焦装置能够极大地提高对焦速度，防止对焦速度较慢导致人眼可分辨的模糊及频繁缩放现象出现。具体请参见对图2A、图2B或图6的说明。
图10A示出了根据本发明实施例的另一种对焦装置的原理框图，该装置可以用于执行图2A或图2B所示的对焦方法或者其可选实施方式。该装置与图9所示装置的区别在于，该距离为拍摄设备与目标的直线距离，并且该装置还包括第二控制单元40，用于若该距离小于预设阈值，则控制拍摄设备的对焦点从当前对焦点位置调至距离对应的预定对焦点位置。
作为一种可选实施方式，该装置还包括第三控制单元50，用于在控制拍摄设备的对焦点从当前对焦点位置调至距离对应的预定对焦点位置之后，控制拍摄设备从预定对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
可选地，第三控制单元50包括第一控制子单元51或者第二控制子单元52。第一控制子单元51用于当预定对焦点位置被设置为远于目标对焦点位置时，控制拍摄设备从预定对焦点位置开始逐步拉近对焦点的位置，直至拍摄画面的清晰度达到预定要求。
第二控制子单元52用于当预定对焦点位置被设置为近于目标对焦点位置时，控制拍摄设备从预定对焦点位置开始逐步推远对焦点的位置，直至拍摄画面的清晰度达到预定要求。
图10B示出了根据本发明实施例的又一种对焦装置的原理框图，该装置可以用于执行图6所示的对焦方法或者其可选实施方式。该装置与图9所示装置的区别在于，该距离为拍摄设备与地面之间的距离，并且该装置还包括第四控制单元60，用于若该距离小于预设阈值时，则控制拍摄设备从当前对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
作为上述任意一种对焦装置的可选实施方式，获取单元10包括判断子单元、第一获取子单元和第二获取子单元。
判断子单元用于判断是否能够获取到拍摄设备与目标之间的距离。第一获取子单元用于若能够获取到，则获取拍摄设备与目标之间的距离。第二获取子 单元用于若不能够获取到，则获取拍摄设备与地面之间的距离。
作为上述任意一种对焦装置的可选实施方式，该装置还包括第二判断单元，用于在执行对焦操作以调整对焦点的位置之前，判断拍摄设备所获取的图像的场景是否发生变化。若是，则触发对焦操作以调整对焦点的位置。
本发明实施例还提供了一种拍摄设备，如图11所示，该拍摄设备可以包括测距装置1101、对焦装置1102、成像装置1103、处理器1104和存储器1105，其中测距装置1101、对焦装置1102、成像装置1103、处理器1104和存储器1105可以通过总线或者其他方式连接，图11中以通过总线连接为例。
测距装置1101用于获取拍摄设备与目标或地面之间的距离。例如具有避障功能的无人飞行器上会配置有测距装置，当拍摄设备可以利用该测距装置来获取拍摄设备与目标或地面之间的距离。
对焦装置1102用于调整拍摄设备的对焦点的位置。例如可以包括马达，通过马达驱动镜头平移。
成像装置1103用于根据对焦装置1102调整后的对焦点的位置拍摄图像，例如，成像装置1103可以为图1所示的光学成像系统。
处理器1104可以为中央处理器(Central Processing Unit，CPU)。处理器1104还可以为其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等芯片，或者上述各类芯片的组合。
存储器1105作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块，如本发明实施例中的对焦方法对应的程序指令/模块(例如，图9所示的获取单元10、第一控制单元20和第一控制单元30)。处理器1104通过运行存储在存储器1105中的非暂态软件程序、指令以及模块，从而执行处理器的各种功能应用以及数据处理，即实现上述方法实施例中的对焦方法。
存储器1105可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储处理器1104所创建的数据等。此外，存储器1105可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器1105可选包括相对于处理器1104远程设置的存储器，这些远程存储器可以通过网络连接至处理器1104。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器1105中，当被所述处理器1104执行时，执行如图2A、图2B、图6、图7所示实施例中的对焦方法。
上述拍摄设备具体细节可以对应参阅图2A、图2B、图6、图7所示的实施例中对应的相关描述和效果进行理解，此处不再赘述。
本领域技术人员可以理解，实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)、随机存储记忆体(Random Access Memory，RAM)、快闪存储器(Flash Memory)、硬盘(Hard Disk Drive，缩写：HDD)或固态硬盘(Solid-State Drive，SSD)等；所述存储介质还可以包括上述种类的存储器的组合。
本发明实施例还提供了一种飞行器，包括飞行器本体和上述任意一种拍摄设备。图12A示出了根据本发明实施例的一种飞行器的侧视图，图12B示出了根据本发明实施例的一种飞行器的俯视图。从图中可以看出，飞行器本体可以包括支架1201、螺旋桨1202、起落架1203。
该飞行器可以是载人飞行器，可以通过飞行器上的人手持拍摄设备进行拍摄；也可以是无人飞行器，此时，飞行器上携带拍摄设备1204。
虽然结合附图描述了本发明的实施例，但是本领域技术人员可以在不脱离本发明的精神和范围的情况下作出各种修改和变型，这样的修改和变型均落入由所附权利要求所限定的范围之内。

Claims (21)

  1. 一种对焦方法，用于拍摄设备，其特征在于，包括：
    获取拍摄设备与目标或地面之间的距离；
    判断所述距离是否不小于预设阈值；
    若是，则控制所述拍摄设备的对焦点从当前对焦点位置调至无穷远处。
  2. 根据权利要求1所述的对焦方法，其特征在于，所述距离为拍摄设备与目标的直线距离；所述方法还包括：
    若所述距离小于所述预设阈值，则控制所述拍摄设备的对焦点从当前对焦点位置调至所述距离对应的预定对焦点位置。
  3. 根据权利要求2所述的对焦方法，其特征在于，在所述控制所述拍摄设备的对焦点从当前对焦点位置调至所述距离对应的预定对焦点位置的步骤之后，还包括：
    控制所述拍摄设备从所述预定对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
  4. 根据权利要求3所述的对焦方法，其特征在于，所述控制所述拍摄设备从所述预定对焦点位置开始逐步调整对焦点的位置的步骤包括：
    当所述预定对焦点位置被设置为远于目标对焦点位置时，控制拍摄设备从所述预定对焦点位置开始逐步拉近对焦点的位置，直至拍摄画面的清晰度达到预定要求。
  5. 根据权利要求3所述的对焦方法，其特征在于，所述控制所述拍摄设备从所述预定对焦点位置开始逐步调整对焦点的位置的步骤包括：
    当所述预定对焦点位置被设置为近于目标对焦点位置时，控制拍摄设备从所述预定对焦点位置开始逐步推远对焦点的位置，直至拍摄画面的清晰度达到预定要求。
  6. 根据权利要求1所述的对焦方法，其特征在于，所述距离为拍摄设备与地面的垂直距离；所述方法还包括：
    若所述距离小于所述预设阈值，则控制所述拍摄设备从当前对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
  7. 根据权利要求1所述的对焦方法，其特征在于，所述获取拍摄设备与目标或地面之间的距离的步骤包括：
    判断是否能够获取到拍摄设备与目标之间的距离；
    若是，则获取拍摄设备与目标之间的距离；若否，则获取拍摄设备与地面之间的距离。
  8. 根据权利要求1至7任一项所述的对焦方法，其特征在于，执行对焦操作以调整对焦点的位置之前，还包括：
    判断所述拍摄设备所获取的图像的场景是否发生变化；
    若是，则根据权利要求1至7任一项所述的对焦方法触发对焦操作以调整 对焦点的位置。
  9. 一种对焦装置，其特征在于，包括：
    获取单元，用于获取拍摄设备与目标或地面之间的距离；
    第一判断单元，用于判断所述距离是否不小于预设阈值；
    第一控制单元，用于若所述距离不小于预设阈值，则控制所述拍摄设备的对焦点从当前对焦点位置调至无穷远处。
  10. 根据权利要求9所述的对焦装置，其特征在于，所述距离为拍摄设备与目标的直线距离；所述装置还包括：
    第二控制单元，用于若所述距离小于所述预设阈值时，则控制所述拍摄设备的对焦点从所述当前对焦点位置调至所述距离对应的预定对焦点位置。
  11. 根据权利要求10所述的对焦装置，其特征在于，所述装置还包括：
    第三控制单元，用于在控制所述拍摄设备的对焦点从所述当前对焦点位置调至所述距离对应的预定对焦点位置之后，控制所述拍摄设备从所述预定对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
  12. 根据权利要求11所述的对焦装置，其特征在于，所述第三控制单元包括：
    第一控制子单元，用于当所述预定对焦点位置被设置为远于目标对焦点位置时，控制拍摄设备从所述预定对焦点位置开始逐步拉近对焦点的位置，直至拍摄画面的清晰度达到预定要求。
  13. 根据权利要求11所述的对焦装置，其特征在于，所述第三控制单元包括：
    第二控制子单元，用于当所述预定对焦点位置被设置为近于目标对焦点位置时，控制拍摄设备从所述预定对焦点位置开始逐步推远对焦点的位置，直至拍摄画面的清晰度达到预定要求。
  14. 根据权利要求9所述的对焦装置，其特征在于，所述距离为拍摄设备与地面的垂直距离；所述装置还包括：
    第四控制单元，用于若所述距离小于所述预设阈值，则控制所述拍摄设备从当前对焦点位置开始逐步调整对焦点的位置，直至拍摄画面的清晰度达到预定要求。
  15. 根据权利要求9所述的对焦装置，其特征在于，所述获取单元包括：
    判断子单元，用于判断是否能够获取到拍摄设备与目标之间的距离；
    第一获取子单元，用于若能够获取到拍摄设备与目标之间的距离，则获取拍摄设备与目标之间的距离；
    第二获取子单元，用于若不能够获取到拍摄设备与目标之间的距离，则获取拍摄设备与地面之间的距离。
  16. 根据权利要求9至15任一项所述的对焦装置，其特征在于，所述装置还包括：
    第二判断单元，用于在执行对焦操作以调整对焦点的位置之前，判断所述 拍摄设备所获取的图像的场景是否发生变化；
    若是，则触发对焦操作以调整对焦点的位置。
  17. 一种拍摄设备，其特征在于，包括：
    测距装置，用于获取拍摄设备与目标或地面之间的距离；
    对焦装置，用于调整所述拍摄设备的对焦点的位置；
    成像装置，用于根据所述对焦装置调整后的对焦点的位置拍摄图像；以及
    存储器和处理器，所述测距装置、所述对焦装置、所述存储器和所述存储器之间互相通信连接，所述存储器中存储有计算机指令，所述处理器通过执行所述计算机指令，从而执行权利要求1至8任一项所述的对焦方法。
  18. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使所述计算机执行权利要求1至8任一项所述的方法。
  19. 一种飞行器，其特征在于，包括：
    本体；
    权利要求17所述的拍摄设备。
  20. 根据权利要求19所述的飞行器，其特征在于，所述飞行器为无人飞行器。
  21. 根据权利要求20所述的飞行器，其特征在于，所述无人飞行器上固定设置有云台，所述拍摄设备搭载于所述云台上；所述测距装置根据所述云台的角度信息获取拍摄设备与目标或地面之间的距离。
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