WO2021035744A1

WO2021035744A1 - Image collection method for mobile platform, device and storage medium

Info

Publication number: WO2021035744A1
Application number: PCT/CN2019/103867
Authority: WO
Inventors: 徐富; 黄振昊; 杨超锋; 贾向华
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2021-03-04
Also published as: CN112335224A

Abstract

An image collection method for a mobile platform, a device and a storage medium, the method comprising: acquiring an image capture parameter of an image capture device carried on a mobile platform, as well as a movement parameter of the mobile platform (S101); on the basis of the image capture parameter and the movement parameter, acquiring an evaluation parameter for the blurriness of an image (S102); on the basis of the evaluation parameter for the blurriness of the image, adjusting the image capture parameter of the image capture device and/or the movement parameter of the mobile platform (S103); and collecting an image by means of the image capture device (S104). By using an evaluation parameter for the blurriness of an image to measure the blurriness of an image captured by the image capture device, and by promptly adjusting the image capture parameter of the image capture device and/or the movement parameter of the mobile platform on the basis of the blurriness, blurry images can be effectively prevented from being captured by the image capture device while the mobile platform is moving, the clarity and precision of image capture can be increased and image quality can be improved, which may thereby improve the precision and accuracy of photogrammetry or patrol inspection.

Description

Image acquisition method, equipment and storage medium of movable platform

Copyright statement

The content disclosed in this patent document contains copyrighted material. The copyright belongs to the copyright owner. The copyright owner does not object to anyone copying the patent document or the patent disclosure in the official records and archives of the Patent and Trademark Office.

Technical field

The embodiment of the present invention relates to the field of inspection technology, and in particular to an image acquisition method, equipment and storage medium of a movable platform.

Background technique

With the development of remote sensing technology, mobile platforms such as unmanned aerial vehicles and remote control vehicles are increasingly used in surveying and mapping (such as aerial surveys) and inspection tasks. For example, for UAVs, due to its high-precision, high-flexibility, low-cost and other characteristics, unlike traditional high-altitude manned aircraft photogrammetry, UAVs can be better used in low-altitude photogrammetry, breaking through the original aerial photogrammetry. Operating on the cloud layer has strong dependence on cloud conditions and weather conditions.

Due to the characteristics of UAV low-altitude photogrammetry (operating under clouds), the process of UAV low-altitude aerial photogrammetry is more susceptible to weather conditions such as cloud cover. In addition to cloud occlusion, low-altitude photogrammetry may also be affected by the occlusion of other ground objects such as mountains and tall buildings during flight operations.

In the prior art, when the drone is performing aerial photogrammetry or inspection, if the surrounding environment changes prominently from light to dark, it will result in blurring of the photographed pictures, which will seriously affect the composition accuracy and work efficiency.

Summary of the invention

The embodiments of the present invention provide an image acquisition method, device and storage medium of a movable platform, so as to avoid blurring of images generated by taking pictures of the movable platform during movement, and to improve image quality.

The first aspect of the embodiments of the present invention is to provide an image acquisition method for a movable platform, which is applied to the movable platform, and the method includes:

Acquiring the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform;

Obtaining an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter;

Adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring;

Image collection is performed by the photographing device.

The second aspect of the embodiments of the present invention is to provide an image acquisition method of a movable platform, which is applied to the control terminal, and the method includes:

Acquiring, from a movable platform, the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform;

Send an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree, so that the movable platform can adjust the photographing parameters of the photographing device and/or the movement parameters of the movable platform, and pass the The camera device performs image collection.

The third aspect of the embodiments of the present invention is to provide a movable platform, including: a memory and a processor;

The memory is used to store program code;

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

Image collection is performed by the photographing device.

The fourth aspect of the embodiments of the present invention is to provide a control terminal, including: a memory and a processor;

The memory is used to store program code;

A fifth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.

A sixth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the second aspect.

According to the image acquisition method, device and storage medium of the movable platform provided by the embodiment of the present invention, the photographing parameters of the photographing equipment on the movable platform and the movement parameters of the movable platform are acquired; according to the photographing parameters and the The movement parameter acquires an evaluation parameter of the degree of image blur; adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform according to the evaluation parameter of the degree of image blurring; and performs image collection by the photographing device. The image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving The image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Figure 1 is a system architecture diagram provided by an embodiment of the present invention;

2 is a flowchart of an image acquisition method of a movable platform provided by an embodiment of the present invention;

FIG. 3 is a flowchart of an image acquisition method of a movable platform according to another embodiment of the present invention;

4 is a flowchart of an image acquisition method of a movable platform provided by another embodiment of the present invention;

FIG. 5 is a flowchart of an image acquisition method of a movable platform provided by another embodiment of the present invention;

FIG. 6 is a flowchart of an image acquisition method of a movable platform according to another embodiment of the present invention;

FIG. 7 is a flowchart of an image acquisition method of a movable platform according to another embodiment of the present invention;

Figure 8 is a structural diagram of a movable platform provided by an embodiment of the present invention;

Fig. 9 is a structural diagram of a control terminal provided by an embodiment of the present invention.

detailed description

The following clearly describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The image acquisition method of the movable platform provided by the embodiment of the present invention can be applied to the system as shown in FIG. 1. The system includes a movable platform 10 and a control terminal 11, wherein the movable platform 10 is in communication connection with the control terminal 11. The movable platform 10 includes, but is not limited to, a remote control car or an unmanned aerial vehicle. The control terminal 11 can be one or more of a remote control, a ground control station, a smart phone, a tablet computer, etc., which can control the power of the movable platform 10 The system and/or the control system of the movable platform 10 and/or the photographing device of the movable platform 10. Specifically, the control terminal 11 may send a camera mode setting instruction to the movable platform 10. The camera mode setting instruction includes an automatic camera mode command, a shutter priority mode command, an aperture priority mode command, a manual exposure mode command, or a long exposure mode. Any one of the instructions; in addition, when the movable platform 10 is an unmanned aerial vehicle, the control terminal 11 can also send an overlap rate setting instruction, a route height setting instruction, or a maximum speed setting instruction to the movable platform 10 At least one.

The image acquisition process of the movable platform will be described in detail below in conjunction with specific embodiments.

The embodiment of the present invention provides an image acquisition method of a movable platform. Fig. 2 is a flowchart of an image acquisition method of a movable platform provided by an embodiment of the present invention. As shown in FIG. 2, the execution subject of the image acquisition method of the movable platform in this embodiment is the movable platform, and the method may include:

Step S101: Obtain the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform.

In this embodiment, the photographing parameters of the photographing device on the movable platform may include, but are not limited to, at least one of the exposure time, shutter speed, shutter time, exposure intensity, sensitivity, or aperture value of the photographing device; movable The movement parameters of the platform include but are not limited to at least one of the movement speed, movement acceleration, or position information of the movable platform. Which photographing parameters and movement parameters are specifically acquired in this embodiment can be acquired according to actual needs. Of course, all photographing parameters and movement parameters can be acquired, and then the required photographing parameters and movement parameters can be filtered out.

Step S102: Acquire an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter.

In this embodiment, due to the relative motion between the shooting device of the movable platform and the scene being photographed, the shooting device is more prone to motion blur, especially when there is a mismatch between the shooting parameters and the movement parameters, that is, The camera parameters are changed but the movement parameters are not adjusted adaptively, or the movement parameters are changed but the camera parameters are not adjusted adaptively. For example, the shooting device with a movable platform uses the automatic mode, and the aperture, sensitivity and shutter speed can be adjusted at the same time in the automatic mode When the light is dimmed, it is necessary to reduce the shutter speed and increase the exposure time to increase the light input, but the speed of the movable platform does not change during the movement, and the increase of the exposure time will increase the motion blur, which will reduce the shooting accuracy. Therefore, in this embodiment, the evaluation parameters of the image blur degree can be obtained according to the camera parameters and the movement parameters, and the image blur degree evaluation parameters can be used to measure the size of the image blur degree to determine whether it is necessary to adjust the camera parameters and/or the camera parameters of the camera. The mobile parameters of the mobile platform.

In an optional embodiment, the photographing parameter includes the exposure time of the photographing device, the movement parameter includes the movement speed of the movable platform, and the evaluation parameter of the degree of image blur may be based on the exposure time. Determined by the product of the moving speed.

In this embodiment, only the exposure time and the moving speed are used to measure the degree of image blur. When the moving speed does not change, the exposure time increases (that is, the shutter speed decreases), and the image blur degree becomes larger. The increase in the exposure time may be Due to changes in the environment where the mobile platform is located, and the camera device automatically changes the shutter speed to adapt to environmental changes, for example, when the camera device is in the automatic camera mode, the shutter speed will be automatically adjusted when the ambient light changes, and the user can automatically adjust the shutter speed in the shutter priority mode. The shutter speed of the camera device is changed through the control terminal; and when the exposure time remains the same (that is, the shutter speed does not change), and the movement speed increases, the image blur degree also becomes larger; it can be seen that the exposure time is inversely proportional to the movement speed, so this The evaluation parameter of the degree of image blur in the embodiment can be determined according to the product of the exposure time and the moving speed, that is, the evaluation parameter of the degree of image blur L=v×t, where v is the moving speed and t is the exposure time.

Of course, the evaluation parameters of the degree of image blur in the embodiments of the present application are not limited to being determined based on the product of the exposure time and the moving speed, and can also be obtained by using more complex formulas, taking into account more photographing parameters that affect the degree of image blur. And move parameters.

Step S103: Adjust the photographing parameter of the photographing device and/or the movement parameter of the movable platform according to the evaluation parameter of the degree of image blur.

In this embodiment, after the evaluation parameter of the degree of image blur is obtained, it can be determined whether the image is blurred according to the evaluation parameter of the degree of image blur, and if it is blurred, the photographing parameters and/or parameters of the photographing device are adjusted according to the evaluation parameter of the degree of image blur. Or the movement parameters of the movable platform can be adjusted by adjusting the photographing parameters of the photographing device and/or the moving parameters of the movable platform to realize the adjustment of the blur degree of the image, so that the blur degree of the next image captured by the photographing device is reduced.

Step S104: Perform image collection through the photographing device.

In this embodiment, after adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring, image acquisition is performed, which can effectively avoid the image blur of the photographing device, and improve the shooting clarity and clarity. Accuracy, improve image quality.

The image acquisition method of the movable platform provided in this embodiment obtains the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform; and obtains the degree of image blurring according to the photographing parameters and the movement parameters According to the evaluation parameters of the degree of image blurring, adjust the photographing parameters of the photographing device and/or the movement parameters of the movable platform; and perform image collection through the photographing device. The image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving The image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.

The embodiment of the present invention provides an image acquisition method of a movable platform. FIG. 3 is a flowchart of an image acquisition method of a movable platform provided by another embodiment of the present invention. In the method in this embodiment, the photographing parameter includes the exposure time of the photographing device, the movement parameter includes the movement speed of the movable platform, and the evaluation parameter of the degree of image blur may be based on the exposure time. Determined by the product of the moving speed.

As shown in FIG. 3, based on the embodiment shown in FIG. 2, the image acquisition method of the movable platform described in this embodiment includes:

Step S201: Obtain the exposure time of the photographing device mounted on the movable platform and the moving speed of the movable platform;

Step S202: Determine an evaluation parameter of the degree of image blur according to the product of the exposure time and the moving speed;

Step S203: Adjust the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring;

Wherein, the photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device; the movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform. In an optional embodiment, only the exposure time of the photographing device and/or the moving speed of the movable platform are adjusted.

Step S204: Perform image collection through the photographing device.

In this embodiment, only the two most important parameters that affect the degree of image blur: exposure time and moving speed are used to measure the degree of image blur. The evaluation parameter of the image blur degree is determined according to the product of the exposure time and the moving speed, which can be simplified. Evaluation of the degree of image blur, simplifying the complexity of the calculation, increasing the calculation speed, and adjusting the camera parameters of the camera device and/or the movement parameters of the movable platform in a more timely manner, so as to prevent the movable platform from taking pictures during the movement in a more timely manner The image of the equipment is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of mapping or inspection based on the image can be improved.

On the basis of any of the foregoing embodiments, the adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring includes:

If the evaluation parameter of the degree of image blur exceeds a preset range, the photographing parameter of the photographing device and/or the movement parameter of the movable platform are adjusted.

In this embodiment, a preset range can be set for the evaluation parameter of the degree of image blur in advance. When the evaluation parameter of the degree of image blur is within the preset range, it can be considered that the degree of image blur is low or the degree of image blur is within an acceptable range. When the evaluation parameter of the image blur degree exceeds the preset range, it can be determined that the image blur degree has exceeded the acceptable range, and it is necessary to intervene in the camera parameters of the camera device and/or the movement parameters of the movable platform, by adjusting the camera device The camera parameters and/or the movement parameters of the movable platform can be used to reduce the degree of image blur. Where the evaluation parameter of the degree of image blurriness exceeds the preset range may include various situations, such as being greater than the maximum value of the preset range, smaller than the minimum value of the preset range, etc., which can be determined according to the specific formula of the evaluation parameter of the degree of image blurring.

In an optional embodiment, the preset range includes a preset threshold, and when the evaluation parameter of the degree of image blur exceeds the preset threshold, the evaluation parameter for determining the degree of image blur exceeds the preset range, that is, the degree of image blur The acceptable range has been exceeded. For example, for the embodiment in FIG. 2, when the evaluation parameter L=v×t for the degree of image blurring, where v is the moving speed and t is the exposure time, the preset threshold can be the maximum value of the evaluation parameter L for the degree of image blur, denoted as The preset threshold a, that is, L=v×t≤a, the image blur degree is low and within an acceptable range, where the preset threshold a can be a preset value (that is, a fixed absolute value), and its unit can be Meters (or other distance units), or the preset threshold can also be a predetermined multiple of the ground sample distance (Ground Sample Distance, GSD), where the ground sample distance is used to characterize the spatial resolution, that is, one pixel of the collected image represents The size of the ground range (unit: meter/pixel). Optionally, the predetermined multiple can be 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0, 2.1, 2.2, 2.3, 2.4, 2.5... It should be noted that the smaller the predetermined multiple, the finer the spatial resolution. When framing the image, the predetermined multiple is 0.5. To meet professional composition requirements, a predetermined multiple of 1 can meet more stringent composition requirements, and a predetermined multiple of 2 can meet ordinary less professional composition requirements. After the preset multiple is obtained, it can be converted into a preset threshold in meters (or other distance units) according to the ground sampling interval and the preset multiple.

Further, after judging that the evaluation parameter of the degree of image blur exceeds a preset threshold, prompt information can be sent to the control terminal to warn that the image captured by the photographing device will appear blurry, so that the user can take appropriate actions in time. response.

In another optional embodiment, it is also possible to adjust the photographing parameters of the photographing device and/or the movable platform when the number of times that the evaluation parameter of the degree of image blurring continuously exceeds the preset threshold reaches a preset number of times. The movement parameters. In this embodiment, considering the occasional occurrence of several times that the evaluation parameter of the degree of image blur continuously exceeds the preset threshold, the impact may not be significant, which can be ignored during the composition process, and the photographing parameters and/or of the photographing device may not be adjusted. Or the movement parameter of the movable platform; but when the evaluation parameter of the degree of image blur continuously exceeds the preset threshold many times, and reaches the preset number of times, it will have a greater impact on the composition accuracy, so it is necessary to take pictures of the entire camera equipment Parameters and/or mobile parameters of the movable platform. The preset number of times can be set by the user through the control terminal, or can be pre-stored on the movable platform.

Further, after judging that the number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches a preset number of times, a prompt message may be sent to the control terminal to indicate that the image captured by the photographing device will be blurred Provide early warning so that users can take appropriate actions in time to respond. Furthermore, the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range can be recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is sent to the control terminal, and the The display on the control terminal provides guidance for the user's operation.

On the basis of the above-mentioned embodiment, the preset threshold value can be pre-stored on the movable platform, of course, it can also be set by the control terminal according to the composition requirements, and the specific ones can include:

Receiving a preset threshold setting instruction sent by the control terminal; setting the preset threshold according to the preset threshold setting instruction.

It should be noted that the user can directly send the specific value of the preset threshold that needs to be set to the movable platform through the control terminal, or send the composition request to the movable platform, and the preset corresponding to the composition demand is pre-stored on the movable platform Threshold, the movable platform selects the corresponding preset threshold after receiving the composition request.

In an optional embodiment, the photographing parameters of the photographing device and/or the movement parameters of the movable platform are adjusted according to the evaluation parameters of the image blur degree as described in any of the above embodiments, as shown in FIG. 4 Shows, which can specifically include:

S301: Acquire a target critical speed of the movable platform according to the evaluation parameter of the degree of image blur and the preset threshold;

S302: Adjust the moving speed of the movable platform to be less than or equal to the target critical speed.

In this embodiment, as an example, in the case where it is desired that the evaluation parameter L=v×t≤the preset threshold a of the degree of image blur, when the exposure time t changes, in order to make the evaluation parameter L of the degree of image blur not exceed The preset threshold a can obtain the target critical speed of the movable platform by v≦a/t, and then adjust the moving speed of the movable platform to be less than or equal to the target critical speed.

Further, after adjusting the moving speed of the movable platform to be less than or equal to the target critical speed, the adjusted moving speed of the movable platform may be sent to the control terminal.

In another optional embodiment, the adjustment of the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the image blur degree in any of the above embodiments may specifically include :

If the current photographing mode of the photographing device is the first mode, switch the current photographing mode of the photographing device to the second mode, or reduce the shutter speed of the photographing device;

In the first mode, the photographing device cannot automatically adjust the shutter speed; in the second mode, the photographing device can automatically adjust the shutter speed.

In this embodiment, since the camera device has multiple camera modes, such as automatic camera mode, shutter priority mode, aperture priority mode, manual exposure mode, etc., the automatic camera mode can automatically configure various camera parameters according to the scene, shutter priority mode The shutter speed can be preset, the aperture value can be automatically set according to the brightness of the scene and other photographing parameters, the aperture priority mode can be pre-set the aperture value, the shutter speed can be automatically set according to the brightness of the scene and other photographing parameters, the manual exposure mode can manually adjust the shutter according to the needs Camera parameters such as speed, aperture value, and sensitivity. In this embodiment, it is defined that the camera device cannot automatically adjust the shutter speed as the first mode, such as the shutter priority mode. After the user presets a fixed shutter speed, the shutter speed remains fixed, and the camera device automatically adjusts other camera parameters, including the aperture value. Wait. When the camera device cannot automatically adjust the shutter speed and the evaluation parameter of the image blur degree exceeds the preset range, the camera mode of the camera device can be switched to the second mode that can automatically adjust the shutter speed (such as automatic camera mode, aperture priority mode) Etc.), and then after the camera device automatically adjusts the shutter speed, it is determined whether the evaluation parameter of the image blur degree exceeds the preset range, and if it exceeds the preset range, the camera parameters of the camera device and/or the movement parameters of the movable platform are adjusted again; Alternatively, the shutter speed of the photographing device may be directly forced to be reduced (for example, the shutter speed is reset in the automatic photographing mode), so that the evaluation parameter of the degree of image blur is adjusted within a preset range.

As an example, under the condition that the evaluation parameter L=v×t≤preset threshold a is desired for the degree of image blur, when the photographing mode is in the shutter priority mode and the user presets a fixed shutter speed, the exposure time is fixed at this time , The camera device automatically calculates a reasonable aperture value according to the shutter speed and the light of the shooting environment, and when the moving speed v increases so that L=v×t>a, the camera mode of the camera can be adjusted to the automatic camera mode. The automatic control increases the shutter speed and reduces the exposure time t, or does not change the camera mode, directly forcibly increases the shutter speed and reduces the exposure time t, so that L=v×t≤a. Or, in another case, because the camera mode is in the shutter priority mode, when the camera environment changes, for example, the environment brightness decreases, the camera device automatically increases the aperture value or adjusts the sensitivity, and then the camera device collects images and sends them back to the control terminal. Later, after the user finds that the image is blurred or noisy by viewing the captured image, he can also control the camera mode to switch to the automatic camera mode, which can automatically adjust the shutter speed according to the environmental brightness, or the user can directly set a higher shutter speed.

In the foregoing embodiment, the switching of the current photographing mode of the photographing device to the second mode, as shown in FIG. 5, specifically includes:

Step S401: Receive a control instruction for adjusting the photographing mode sent by the control terminal, where the control instruction is used to instruct to switch the current photographing mode of the photographing device to the second mode;

Step S402: Adjust the photographing mode of the photographing device according to the control instruction.

In this embodiment, the switching of the photographing mode can be controlled by the control terminal, that is, after the user performs the switching operation on the control terminal, the control terminal will send a control instruction for adjusting the photographing mode to the movable platform, and the movable platform will respond to this The control instruction adjusts the photographing mode of the photographing device to switch to the second mode.

Further, after the photographing mode of the photographing device is adjusted according to the control instruction, photographing parameters may be adjusted according to the ambient brightness; the photographing device is controlled to perform image collection according to the adjusted photographing parameters. In this embodiment, after the photographing mode of the photographing device is switched to the second mode that can automatically adjust the shutter speed (for example, the automatic photographing mode), the photographing device can automatically adjust the photographing parameters according to the ambient brightness, and proceed according to the adjusted photographing parameters. Image acquisition, which can improve the clarity and accuracy of shooting, and improve image quality. Further, after adjusting the photographing parameters according to the ambient brightness, the adjusted photographing parameters can also be sent to the control terminal to display the adjusted photographing parameters on the control terminal, so that the user can understand the current photographing parameters or check whether the photographing mode is adjusted successfully.

In the foregoing embodiment, the reducing the shutter speed of the photographing device, as shown in FIG. 6, may specifically include:

Step S501: Receive a control instruction for reducing the shutter speed of the photographing device sent by the control terminal, and adjust the shutter speed according to the control instruction;

Step S502: Control the photographing device to perform image collection according to the adjusted shutter speed.

In this embodiment, the shutter speed of the photographing device can be controlled by the control terminal, that is, the user sets the shutter speed on the control terminal. If the shutter speed is reduced, the control terminal will send a message to the movable platform to reduce the shutter speed of the photographing device According to the control instruction, the movable platform adjusts the shutter speed of the photographing device according to the control instruction, and then the photographing device can perform image collection according to the adjusted shutter speed. Further, after adjusting the shutter speed according to the control instruction, the adjusted shutter speed can also be sent to the control terminal to display the adjusted shutter speed on the control terminal, so that the user can understand the current photographing parameters or view the shutter speed Whether the adjustment is successful.

On the basis of any of the foregoing embodiments, the image collection by the photographing device may specifically include:

Image collection is performed by the photographing device according to isometric photographs; or,

Image collection is performed by the photographing device according to isochronous photographing.

In this embodiment, the photographing equipment of the movable platform can perform image acquisition according to equidistant photography during the movement, that is, every time the same distance is moved, the image acquisition is triggered once, and the distance can be determined by the positioning device of the movable platform. To obtain the moving distance, for example, real-time positioning through RTK (Real-time kinematic, real-time dynamic differential positioning) equipment, IMU (Inertial measurement unit, inertial measurement unit) and other real-time positioning and comparison with the last photographed point to calculate the moving distance; photographing equipment can also Image acquisition is performed according to isochronous photography, that is, an image acquisition is triggered at the same time interval. Among them, the specific image acquisition method to be adopted can be set by the user on the control terminal before the image acquisition, and the control terminal sends an isometric photograph setting instruction or an isochronous photograph setting instruction to the movable platform.

Further, when image collection is performed according to isometric photography, the control terminal can also send an instruction for setting the interval of the isometric photographing distance to the movable platform; when image collection is performed according to isochronous photography, the control terminal can also send etc. to the movable platform. Time-to-shoot time interval setting instruction. These setting instructions can be set by the user on the control terminal.

On the basis of any of the foregoing embodiments, the acquiring the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform includes:

Acquiring the photographing parameter and the movement parameter according to a preset frequency;

Furthermore, the adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring includes:

According to the evaluation parameter of the degree of image blurring, the photographing parameter of the photographing device for the next photographing and/or the movement parameter of the movable platform for the photographing device for the next photographing is adjusted according to the evaluation parameter of the degree of image blur.

In this embodiment, since the image acquisition process can adopt isometric or isochronous photography, it is also possible to acquire an image once after moving a certain distance or a period of time on the mobile platform, and then acquire an image again after moving a certain distance or a period of time. Therefore, in this embodiment, the photographing parameter and the movement parameter may be acquired at a preset frequency (for example, 5 Hz), and then the evaluation parameter of the degree of image blur is obtained every time the photographing parameter and the movement parameter are acquired. That is, the frequency of obtaining the evaluation parameter of the degree of image blur is the same as the preset frequency. The photographing frequency of isometric photographing or isochronous photographing may be the same as the preset frequency or may be different from the preset frequency.

Among them, in the case that the photographing frequency is the same as the preset frequency, that is, the photographing parameters and movement parameters are acquired during the current photograph, and after the evaluation parameters of the degree of image blur are obtained, since the photograph has been taken at the current time, it is too late. To adjust the current photographing parameters and/or movement parameters, the camera parameters and/or movement parameters for the next photograph can only be adjusted according to the evaluation parameters of the blur degree of the image, so that the next photograph can be adjusted according to the adjusted parameters. The camera parameters and/or movement parameters are used for image acquisition to ensure that the image can be prevented from blurring the next time the camera is taken.

In the case that the photographing frequency is different from the preset frequency, the time to acquire the photographic parameters and the movement parameters may be between the two photographs. Therefore, the degree of blurring of the image can be obtained according to the photographic parameters and movement parameters acquired between the two photographs. The evaluation parameters are used to adjust the photographing parameters and/or the movement parameters for the next photograph to ensure that the image blur can be avoided when the next photograph is taken.

In another optional embodiment, the photographing parameter and the movement parameter may be acquired before the next photograph of the photographing device, the evaluation parameter of the degree of image blur is acquired according to the photographing parameter and the movement parameter, and the evaluation parameter of the degree of image blur is adjusted according to the evaluation parameter of the degree of image blur. The photographing parameters of the photographing device for the next photograph and/or the movement parameters of the movable platform when the photographing device takes the next photograph.

In this embodiment, the photographing parameters and movement parameters may not be acquired at a fixed frequency, but the photographing parameters and movement parameters may be acquired in advance before the next photographing. Specifically, when the movable platform enters the next photographing under isometric photographing When the position is within the predetermined distance range, or when the time reaches the predetermined time range before the next photographing time under isochronous photographing, the photographing parameters and movement parameters can be acquired once, and then the evaluation parameters of the degree of image blur can be obtained. According to the evaluation parameter of the degree of image blurring, the photographing parameter of the photographing device for the next photographing and/or the movement parameter of the movable platform for the photographing device for the next photographing is adjusted according to the evaluation parameter of the degree of image blur.

On the basis of the foregoing embodiment, after the photographing parameter and the movement parameter are acquired according to a preset frequency, the photographing parameter and/or the movement parameter may also be sent to the control terminal. That is, in this embodiment, the camera parameters and movement parameters can be sent to the control terminal at a predetermined frequency, and the user can learn the camera parameters of the camera device and the movement parameters of the movable platform in real time. In an optional embodiment, the control terminal may also obtain the evaluation parameter of the image blur degree after receiving the photographing parameter and the movement parameter, or apply it to other data processing.

In another optional embodiment, after the evaluation parameter of the degree of image blur is obtained according to the photographing parameter and the movement parameter, the evaluation parameter of the degree of image blur may be sent to the control terminal and displayed on the control terminal. So that the user can understand the degree of image blur in real time; the control side can also determine whether the evaluation parameter of the image blur degree exceeds the preset range. If it exceeds the preset range, a prompt message will be displayed on the control terminal to capture the image from the camera device. Early warning of ambiguous conditions.

It should be noted that the image acquisition method of the movable platform described in the above embodiment can also be completed by the movable platform and the control terminal. Specifically, for example, the movable platform can acquire the photographing parameters of the photographing device equipped with the movable platform. And the movement parameters of the movable platform, and then send the photographing parameters and the movement parameters to the control terminal; the control terminal obtains the evaluation parameters of the degree of image blur according to the photographing parameters and the movement parameters, and then blurs the image The evaluation parameters of the degree are sent to the movable platform, and the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the image blur degree, and then the photographing device performs Image acquisition; or the control terminal can also send adjustment instructions to the movable platform according to the evaluation parameters of the degree of image blur, and the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the adjustment instructions, and then Image collection is performed by the photographing device.

The embodiment of the present invention provides an image acquisition method of a movable platform. FIG. 7 is a flowchart of an image acquisition method of a movable platform provided by another embodiment of the present invention. The execution subject of the image acquisition method of the movable platform in this embodiment is the control terminal. As shown in FIG. 7, the method in this embodiment may include:

Step S601: Obtain the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform from the movable platform;

Step S602: Acquire an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter;

Step S603: Send an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform, and Image collection is performed by the photographing device.

The execution subject of the method described in this embodiment is the control end, and the difference from the foregoing embodiment is that the execution subject is changed. The specific process is similar to the foregoing embodiment, and will not be repeated here.

On the basis of the foregoing embodiment, the photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device;

The movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.

On the basis of any of the foregoing embodiments, the photographing parameter includes the exposure time of the photographing device, the movement parameter includes the movement speed of the movable platform, and the evaluation parameter of the degree of image blur can be based on the exposure time. The product of the time and the moving speed is determined.

On the basis of any of the foregoing embodiments, the sending an adjustment instruction to the movable platform so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform includes :

If the evaluation parameter of the image blur degree exceeds a preset range, an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform.

On the basis of any of the foregoing embodiments, the evaluation parameter of the degree of image blurriness exceeds a preset range, including:

The evaluation parameter of the blur degree of the image exceeds a preset threshold.

On the basis of any of the foregoing embodiments, the method further includes:

Receive a preset threshold setting instruction;

The preset threshold is set according to the preset threshold setting instruction.

On the basis of any of the foregoing embodiments, if the evaluation parameter of the degree of image blur exceeds a preset range, the method further includes:

A prompt message is displayed on the display component of the control terminal to warn that the image captured by the photographing device will be blurred.

When the number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches the preset number of times, an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters and/or the photographing device of the photographing device The movement parameters of the movable platform.

On the basis of any of the foregoing embodiments, the method further includes:

The number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is displayed on the display component of the control terminal.

On the basis of any of the foregoing embodiments, the sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree so that the movable platform can adjust the movement parameters of the movable platform includes:

Obtaining the target critical speed of the movable platform according to the evaluation parameter of the degree of image blur and the preset threshold;

Sending a speed adjustment instruction to the movable platform, so that the movable platform adjusts the moving speed to be less than or equal to the target critical speed.

On the basis of any of the foregoing embodiments, after the sending a speed adjustment instruction to the movable platform, the method further includes:

The adjusted moving speed of the movable platform is obtained from the movable platform and displayed on the display component of the control terminal.

On the basis of any of the foregoing embodiments, the sending an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device, includes:

If the current photographing mode of the photographing device is the first mode, a photographing device adjustment instruction is sent to the movable platform, so that the movable platform can switch the current photographing mode of the photographing device to the second mode, or lower The shutter speed of the photographing device;

On the basis of any one of the foregoing embodiments, the sending a photographing device adjustment instruction to the movable platform includes:

Send a control instruction for adjusting the photographing mode to the movable platform, where the control instruction is used to instruct to switch the current photographing mode of the photographing device to the second mode, so that the movable platform adjusts the photographing mode according to the control instruction. The photographing mode of the photographing device is described, the photographing parameters are adjusted according to the environmental brightness, and the photographing device is controlled to perform image collection according to the adjusted photographing parameters.

On the basis of any of the foregoing embodiments, after sending the control instruction for adjusting the photographing mode to the movable platform, the method further includes:

The adjusted photographing parameters are obtained from the movable platform and displayed on the display component of the control terminal.

Send a control instruction to reduce the shutter speed of the photographing device to the movable platform, so that the movable platform adjusts the shutter speed according to the control instruction, and controls the photographing device to perform according to the adjusted shutter speed Image Acquisition.

On the basis of any of the foregoing embodiments, after the sending a control instruction to reduce the shutter speed of the photographing device to the movable platform, the method further includes:

The adjusted shutter speed is obtained from the movable platform and displayed on the display component of the control terminal.

On the basis of any of the foregoing embodiments, before the movable platform performs image collection by the photographing device, the method further includes:

Send an isometric photographing setting instruction or an isochronous photographing setting instruction to the movable platform.

On the basis of any of the foregoing embodiments, the method further includes:

When the movable platform performs image collection according to equidistant photography, sending an equidistant photography distance interval setting instruction to the movable platform; or,

When the movable platform performs image collection according to isochronous photographing, an isochronous photographing time interval setting instruction is sent to the movable platform.

On the basis of any of the foregoing embodiments, the acquiring from a movable platform the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform includes:

Acquiring the photographing parameter and the movement parameter from a movable platform according to a preset frequency;

The sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform, including:

Send an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the camera parameters of the camera device the next time the camera is taken and/or the camera device Describe the movement parameters of the movable platform.

On the basis of any of the foregoing embodiments, after acquiring the photographing parameters and the movement parameters according to a preset frequency, the method includes:

The photographing parameter and/or the movement parameter are displayed on the display component of the control terminal.

On the basis of any of the foregoing embodiments, after the obtaining the evaluation parameter of the degree of blurring of the image according to the photographing parameter and the movement parameter, the method further includes:

The evaluation parameter of the degree of image blur is displayed on the display component of the control terminal.

On the basis of any of the foregoing embodiments, the method further includes:

Send a camera mode setting instruction to the movable platform, the camera mode setting instruction includes any one of an automatic camera mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction .

On the basis of any of the foregoing embodiments, the movable platform includes at least one of the following: a remote control vehicle, or an unmanned aerial vehicle.

On the basis of any of the foregoing embodiments, when the movable platform is an unmanned aerial vehicle, it further includes:

At least one of an overlap rate setting instruction, a route altitude setting instruction, or a maximum speed setting instruction is sent to the movable platform.

The image acquisition method of the movable platform provided by the foregoing embodiments is to obtain the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform; and obtain the image blur according to the photographing parameters and the movement parameters. The evaluation parameter of the degree; adjusting the photographing parameter of the photographing device and/or the movement parameter of the movable platform according to the evaluation parameter of the image blurring degree; image collection is performed by the photographing device. The image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving The image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.

The embodiment of the present invention provides a movable platform. FIG. 8 is a structural diagram of a movable platform provided by an embodiment of the present invention. As shown in FIG. 8, the movable platform 70 includes a memory 71 and a processor 72. More specifically, the movable platform also includes a photographing device 73, a power system 74, a communication interface 75, etc., which will not be repeated here.

The memory 71 is used to store program codes;

The processor 72 calls the program code, and when the program code is executed, is used to perform the following operations:

Acquiring the photographing parameters of the photographing device 73 equipped with the movable platform and the movement parameters of the movable platform;

Adjusting the photographing parameters of the photographing device 73 and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring;

Image collection is performed by the photographing device 73.

On the basis of the foregoing embodiment, the photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device 73;

On the basis of the foregoing embodiment, the photographing parameter includes the exposure time of the photographing device 73, the movement parameter includes the movement speed of the movable platform, and the evaluation parameter of the degree of image blur may be based on the exposure time. Determined by the product of the moving speed.

On the basis of any of the foregoing embodiments, when the processor 72 adjusts the photographing parameters of the photographing device 73 and/or the movement parameters of the movable platform according to the evaluation parameters of the image blur degree, the processing The device 72 is configured to:

If the evaluation parameter of the image blur degree exceeds a preset range, the photographing parameter of the photographing device 73 and/or the movement parameter of the movable platform are adjusted.

On the basis of any of the foregoing embodiments, the processor 72 is further configured to:

Receive the preset threshold setting instruction sent by the control terminal;

On the basis of any of the foregoing embodiments, if the evaluation parameter of the degree of image blur exceeds a preset range, the processor 72 is further configured to:

A prompt message is sent to the control terminal to warn that the image captured by the photographing device 73 will be blurred.

On the basis of any of the foregoing embodiments, when the evaluation parameter of the degree of image blur exceeds a preset range, when the photographing parameters of the photographing device 73 and/or the movement parameters of the movable platform are adjusted, the processor 72 Is configured as:

The number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches the preset number of times, and the photographing parameters of the photographing device 73 and/or the movement parameters of the movable platform are adjusted.

The number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is sent to the control terminal.

On the basis of any of the foregoing embodiments, when the processor 72 adjusts the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring, the processor 72 is configured to:

The moving speed of the movable platform is adjusted to be less than or equal to the target critical speed.

On the basis of any of the foregoing embodiments, after the processor 72 adjusts the moving speed of the movable platform to be less than or equal to the target critical speed, the processor 72 is further configured to:

Send the adjusted moving speed of the movable platform to the control terminal.

On the basis of any of the foregoing embodiments, when the processor 72 adjusts the photographing parameters of the photographing device 73, the processor 72 is configured to:

If the current photographing mode of the photographing device 73 is the first mode, switch the current photographing mode of the photographing device 73 to the second mode, or reduce the shutter speed of the photographing device 73;

In the first mode, the photographing device 73 cannot automatically adjust the shutter speed; in the second mode, the photographing device 73 can automatically adjust the shutter speed.

On the basis of any of the foregoing embodiments, when the processor 72 switches the current photographing mode of the photographing device 73 to the second mode, the processor 72 is configured to:

Receiving a control instruction for adjusting the photographing mode sent by the control terminal, where the control instruction is used to instruct to switch the current photographing mode of the photographing device 73 to the second mode;

The photographing mode of the photographing device 73 is adjusted according to the control instruction.

On the basis of any of the foregoing embodiments, after the processor 72 adjusts the photographing mode of the photographing device 73 according to the control instruction, the processor 72 is further configured to:

Adjust the camera parameters according to the environmental brightness;

The photographing device 73 is controlled to perform image collection according to the adjusted photographing parameters.

On the basis of any of the foregoing embodiments, after the processor 72 adjusts the photographing parameters according to the ambient brightness, the processor 72 is further configured to:

Send the adjusted camera parameters to the control terminal.

On the basis of any of the foregoing embodiments, when the shutter speed of the photographing device 73 is reduced, the processor 72 is configured to:

Receiving a control instruction for reducing the shutter speed of the photographing device 73 sent by the control terminal, and adjusting the shutter speed according to the control instruction;

The photographing device 73 is controlled to perform image collection according to the adjusted shutter speed.

On the basis of any of the foregoing embodiments, after the processor 72 adjusts the shutter speed according to the control instruction, the processor 72 is further configured to:

Send the adjusted shutter speed to the control terminal.

On the basis of any of the foregoing embodiments, when the processor 72 performs image collection through the photographing device 73, the processor 72 is configured to:

Image collection is performed by the photographing device 73 according to isometric photographs; or,

Image collection is performed by the photographing device 73 according to isochronous photographing.

On the basis of any of the foregoing embodiments, before the processor 72 performs image collection through the photographing device 73, the processor 72 is further configured to:

Receive isometric photographing setting instructions or isochronous photographing setting instructions sent by the control terminal.

When performing image collection according to equidistant photography, receive the equidistant photography distance interval setting instruction sent by the control terminal; or,

When performing image collection according to isochronous photographing, the isochronous photographing time interval setting instruction sent by the control terminal is received.

On the basis of any of the foregoing embodiments, when the processor 72 acquires the photographing parameters of the photographing device 73 on the movable platform and the movement parameters of the movable platform, the processor 72 is configured to:

When the processor 72 adjusts the photographing parameter of the photographing device 73 and/or the movement parameter of the movable platform according to the evaluation parameter of the image blur degree, the processor 72 is configured to:

According to the evaluation parameters of the degree of image blurring, the photographing parameters of the photographing device 73 for the next photograph and/or the movement parameters of the movable platform for the photographing device 73 for the next photograph are adjusted.

On the basis of any of the foregoing embodiments, after the processor 72 acquires the photographing parameter and the movement parameter according to a preset frequency, the processor 72 is further configured to:

The photographing parameter and/or the movement parameter are sent to the control terminal.

On the basis of any of the foregoing embodiments, after the processor 72 obtains the evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter, the processor 72 is further configured to:

The evaluation parameter of the degree of blurring of the image is sent to the control terminal.

Receive a photographing mode setting instruction sent by the control terminal, the photographing mode setting instruction includes any one of an automatic photographing mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction.

On the basis of any of the foregoing embodiments, when the movable platform is an unmanned aerial vehicle, the processor 72 is further configured to:

At least one of the overlap rate setting command, the route height setting command, or the maximum speed setting command sent by the control terminal is received.

The movable platform provided in this embodiment can be used to implement the technical solutions of the above-mentioned method embodiments on the movable platform side, and the implementation principles and technical effects are similar, and will not be repeated here.

The mobile platform of this embodiment acquires the photographing parameters of the photographing device equipped with the mobile platform and the movement parameters of the movable platform; obtains the evaluation parameters of the degree of image blur according to the photographing parameters and the movement parameters; The evaluation parameter of the degree of image blur adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform; image collection is performed by the photographing device. The image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving The image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.

The embodiment of the present invention provides a control terminal. FIG. 9 is a structural diagram of a control terminal provided by an embodiment of the present invention. As shown in FIG. 9, the control terminal 80 includes a memory 81 and a processor 82. The control terminal 80 also includes a communication interface 83.

The memory 81 is used to store program codes;

The processor 82 calls the program code, and when the program code is executed, is used to perform the following operations:

On the basis of the foregoing embodiment, the photographing parameter includes the exposure time of the photographing device, the movement parameter includes the movement speed of the movable platform, and the evaluation parameter of the degree of image blur can be based on the exposure time and The product of the moving speed is determined.

On the basis of any of the foregoing embodiments, the processor 82 sends an adjustment instruction to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the photographing parameters of the movable platform. When moving parameters, the processor 82 is configured to:

On the basis of any of the foregoing embodiments, the processor 82 is further configured to:

Receive a preset threshold setting instruction;

On the basis of any of the foregoing embodiments, if the evaluation parameter of the degree of image blur exceeds a preset range, the processor 82 is further configured to:

On the basis of any of the foregoing embodiments, the processor 82 sends an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the movement of the movable platform. When setting parameters, the processor 82 is configured to:

On the basis of any of the foregoing embodiments, after the processor 82 sends a speed adjustment instruction to the movable platform, the processor 82 is further configured to:

On the basis of any of the foregoing embodiments, the processor 82 sends an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device When, the processor 82 is configured to:

In the first mode, the camera device cannot automatically adjust the shutter speed; in the second mode, the camera device can automatically adjust the shutter speed.

On the basis of any of the foregoing embodiments, when the processor 82 sends a photographing device adjustment instruction to the movable platform, the processor 82 is configured to:

On the basis of any of the foregoing embodiments, after the processor 82 sends a control instruction for adjusting the photographing mode to the movable platform, the processor 82 is further configured to:

On the basis of any of the foregoing embodiments, after the processor 82 sends a control instruction to reduce the shutter speed of the photographing device to the movable platform, the processor 82 is further configured to:

On the basis of any of the foregoing embodiments, before the movable platform performs image collection through the photographing device, the processor 82 is further configured to:

On the basis of any of the foregoing embodiments, when the processor 82 obtains the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform from the movable platform, the processor 82 is configured for:

On the basis of any of the foregoing embodiments, after the processor 82 acquires the photographing parameter and the movement parameter according to a preset frequency, the processor 82 is further configured to:

On the basis of any of the foregoing embodiments, after the processor 82 obtains the evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter, the processor 82 is further configured to:

On the basis of any of the foregoing embodiments, when the movable platform is an unmanned aerial vehicle, the processor 82 is further configured to:

The control terminal provided in this embodiment can be used to execute the technical solutions of the method embodiments on the control terminal side, and its implementation principles and technical effects are similar, and will not be repeated here.

The control terminal of this embodiment obtains the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform; obtains the evaluation parameters of the degree of image blur according to the photographing parameters and the movement parameters; The evaluation parameter of the degree of image blur adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform; the photographing device is used for image collection. The image blur degree evaluation parameter measures the blur degree of the image taken by the camera device, and adjusts the camera parameters of the camera device and/or the movement parameters of the movable platform in time according to the degree of blur, which can effectively prevent the movable platform from moving The image of the photographing device is blurred, the definition and accuracy of shooting are improved, the image quality is improved, and the accuracy and accuracy of surveying and mapping or inspection based on the image can be improved.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by the processor to implement the image acquisition method of the movable platform on the movable platform side described in the above embodiment. .

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the image acquisition method of the movable platform on the control terminal side described in the foregoing embodiment.

In addition, this embodiment also provides a computer program, including program code. When the computer runs the computer program, the program code executes the image acquisition method of the movable platform on the movable platform side as described in the above embodiment.

In addition, this embodiment also provides a computer program, including program code. When the computer runs the computer program, the program code executes the image acquisition method of the movable platform on the control terminal side as described in the above embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

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

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in each embodiment of the present invention. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, namely The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention. range.

Claims

An image acquisition method for a movable platform, applied to a movable platform, characterized in that the method includes:

Acquiring the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform;

Obtaining an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter;

Adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring;

Image collection is performed by the photographing device.
The method of claim 1, wherein:

The photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device;

The movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.
The method according to claim 1 or 2, wherein the photographing parameter includes the exposure time of the photographing device, the movement parameter includes the movement speed of the movable platform, and the evaluation parameter of the degree of image blur It can be determined according to the product of the exposure time and the moving speed.
The method according to any one of claims 1 to 3, wherein the adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring comprises :

If the evaluation parameter of the degree of image blur exceeds a preset range, the photographing parameter of the photographing device and/or the movement parameter of the movable platform are adjusted.
The method according to claim 4, wherein the evaluation parameter of the degree of blurring of the image exceeds a preset range, comprising:

The evaluation parameter of the blur degree of the image exceeds a preset threshold.
The method according to claim 5, wherein the method further comprises:

Receive the preset threshold setting instruction sent by the control terminal;

The preset threshold is set according to the preset threshold setting instruction.
The method according to claim 4, wherein if the evaluation parameter of the degree of image blur exceeds a preset range, the method further comprises:

Sending prompt information to the control terminal to warn that the image captured by the photographing device will be blurred.
The method according to claim 4, wherein the evaluation parameter of the degree of image blur exceeds a preset range, and adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform comprises:

The number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches the preset number of times, and the photographing parameters of the photographing device and/or the movement parameters of the movable platform are adjusted.
The method according to claim 8, further comprising:

The number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is sent to the control terminal.
The method according to claim 5, wherein the adjusting the movement parameter of the movable platform according to the evaluation parameter of the image blur degree comprises:

Obtaining the target critical speed of the movable platform according to the evaluation parameter of the degree of image blur and the preset threshold;

The moving speed of the movable platform is adjusted to be less than or equal to the target critical speed.
The method according to claim 10, wherein after adjusting the moving speed of the movable platform to be less than or equal to the target critical speed, the method further comprises:

Send the adjusted moving speed of the movable platform to the control terminal.
The method according to any one of claims 4-9, wherein the adjusting the photographing parameters of the photographing device comprises:

If the current photographing mode of the photographing device is the first mode, switch the current photographing mode of the photographing device to the second mode, or reduce the shutter speed of the photographing device;

In the first mode, the photographing device cannot automatically adjust the shutter speed; in the second mode, the photographing device can automatically adjust the shutter speed.
The method according to claim 12, wherein the switching the current photographing mode of the photographing device to the second mode comprises:

Receiving a control instruction for adjusting a photographing mode sent by a control terminal, where the control instruction is used to instruct to switch the current photographing mode of the photographing device to the second mode;

The photographing mode of the photographing device is adjusted according to the control instruction.
The method according to claim 13, wherein after adjusting the photographing mode of the photographing device according to the control instruction, the method further comprises:

Adjust the camera parameters according to the environmental brightness;

Controlling the photographing device to perform image collection according to the adjusted photographing parameters.
The method according to claim 14, wherein after adjusting the photographing parameters according to the ambient brightness, the method further comprises:

Send the adjusted camera parameters to the control terminal.
The method according to claim 12, wherein the reducing the shutter speed of the photographing device comprises:

Receiving a control instruction for reducing the shutter speed of the photographing device sent by the control terminal, and adjusting the shutter speed according to the control instruction;

Controlling the photographing device to perform image collection according to the adjusted shutter speed.
The method according to claim 16, wherein after adjusting the shutter speed according to the control instruction, the method further comprises:

Send the adjusted shutter speed to the control terminal.
The method according to any one of claims 1 to 3, wherein the image collection by the photographing device comprises:

Image collection is performed by the photographing device according to isometric photographs; or,

Image collection is performed by the photographing device according to isochronous photographing.
The method according to claim 18, characterized in that, before the image acquisition by the photographing device, the method further comprises:

Receive isometric photographing setting instructions or isochronous photographing setting instructions sent by the control terminal.
The method according to claim 18, further comprising:

When performing image collection according to equidistant photography, receive the equidistant photography distance interval setting instruction sent by the control terminal; or,

When performing image collection according to isochronous photographing, the isochronous photographing time interval setting instruction sent by the control terminal is received.
The method according to any one of claims 1-20, wherein the acquiring the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform includes:

Acquiring the photographing parameter and the movement parameter according to a preset frequency;

The adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring includes:

According to the evaluation parameter of the degree of image blurring, the photographing parameter of the photographing device for the next photographing and/or the movement parameter of the movable platform for the photographing device for the next photographing is adjusted according to the evaluation parameter of the degree of image blur.
The method according to claim 21, wherein, after the acquiring the photographing parameter and the movement parameter according to a preset frequency, the method comprises:

The photographing parameter and/or the movement parameter are sent to the control terminal.
The method according to any one of claims 1-22, wherein after obtaining the evaluation parameter of the degree of blurring of the image according to the photographing parameter and the movement parameter, the method further comprises:

The evaluation parameter of the degree of blurring of the image is sent to the control terminal.
The method according to any one of claims 1-23, further comprising:

Receive a photographing mode setting instruction sent by the control terminal, the photographing mode setting instruction includes any one of an automatic photographing mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction.
The method according to any one of claims 1-24, wherein the movable platform comprises at least one of the following: a remote control car, or an unmanned aerial vehicle.
The method according to claim 25, wherein when the movable platform is an unmanned aerial vehicle, the method further comprises:

At least one of the overlap rate setting command, the route height setting command, or the maximum speed setting command sent by the control terminal is received.
An image acquisition method for a movable platform, applied to a control terminal, characterized in that the method includes:

Acquiring, from a movable platform, the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform;

Obtaining an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter;

Send an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform, and passes the The photographing equipment performs image collection.
The method of claim 27, wherein:

The photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device;

The movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.
The method according to claim 27 or 28, wherein the photographing parameter comprises the exposure time of the photographing device, the movement parameter comprises the movement speed of the movable platform, and the evaluation parameter of the degree of image blur It can be determined according to the product of the exposure time and the moving speed.
The method according to any one of claims 27-29, wherein the sending an adjustment instruction to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the The mobile parameters of the mobile platform include:

If the evaluation parameter of the image blur degree exceeds a preset range, an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform.
The method according to claim 30, wherein the evaluation parameter of the degree of blurring of the image exceeds a preset range, comprising:

The evaluation parameter of the blur degree of the image exceeds a preset threshold.
The method according to claim 31, wherein the method further comprises:

Receive a preset threshold setting instruction;

The preset threshold is set according to the preset threshold setting instruction.
The method according to claim 30, wherein if the evaluation parameter of the degree of image blur exceeds a preset range, the method further comprises:

A prompt message is displayed on the display component of the control terminal to warn that the image captured by the photographing device will be blurred.
The method according to claim 30, characterized in that said sending an adjustment instruction to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement of the movable platform Parameters, including:

When the number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches the preset number of times, an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters and/or the photographing device of the photographing device The movement parameters of the movable platform.
The method according to claim 34, further comprising:

The number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is displayed on the display component of the control terminal.
The method according to claim 31, characterized in that said sending an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blurring, so that the movable platform adjusts the movement parameters of the movable platform ,include:

Obtaining the target critical speed of the movable platform according to the evaluation parameter of the degree of image blur and the preset threshold;

Sending a speed adjustment instruction to the movable platform, so that the movable platform adjusts the moving speed to be less than or equal to the target critical speed.
The method according to claim 36, wherein after the sending a speed adjustment instruction to the movable platform, the method further comprises:

The adjusted moving speed of the movable platform is obtained from the movable platform and displayed on the display component of the control terminal.
The method according to any one of claims 30-35, wherein the adjustment instruction is sent to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing The camera parameters of the device, including:

If the current photographing mode of the photographing device is the first mode, a photographing device adjustment instruction is sent to the movable platform, so that the movable platform can switch the current photographing mode of the photographing device to the second mode, or lower The shutter speed of the photographing device;

In the first mode, the photographing device cannot automatically adjust the shutter speed; in the second mode, the photographing device can automatically adjust the shutter speed.
The method according to claim 38, wherein the sending a photographing device adjustment instruction to the movable platform comprises:

Send a control instruction for adjusting the photographing mode to the movable platform, where the control instruction is used to instruct to switch the current photographing mode of the photographing device to the second mode, so that the movable platform adjusts the photographing mode according to the control instruction. The photographing mode of the photographing device is described, the photographing parameters are adjusted according to the environmental brightness, and the photographing device is controlled to perform image collection according to the adjusted photographing parameters.
The method according to claim 39, wherein after the sending a control instruction for adjusting the photographing mode to the movable platform, the method further comprises:

The adjusted photographing parameters are obtained from the movable platform and displayed on the display component of the control terminal.
The method according to claim 38, wherein the sending a photographing device adjustment instruction to the movable platform comprises:

Send a control instruction to reduce the shutter speed of the photographing device to the movable platform, so that the movable platform adjusts the shutter speed according to the control instruction, and controls the photographing device to perform according to the adjusted shutter speed Image Acquisition.
The method according to claim 41, wherein after the sending a control instruction to reduce the shutter speed of the photographing device to the movable platform, the method further comprises:

The adjusted shutter speed is obtained from the movable platform and displayed on the display component of the control terminal.
The method according to any one of claims 27-29, characterized in that, before the movable platform performs image collection through the photographing device, the method further comprises:

Send an isometric photographing setting instruction or an isochronous photographing setting instruction to the movable platform.
The method according to claim 43, further comprising:

When the movable platform performs image collection according to equidistant photography, sending an equidistant photography distance interval setting instruction to the movable platform; or,

When the movable platform performs image collection according to isochronous photographing, an isochronous photographing time interval setting instruction is sent to the movable platform.
The method according to any one of claims 27-44, wherein the acquiring from a movable platform the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform comprises:

Acquiring the photographing parameter and the movement parameter from a movable platform according to a preset frequency;

The sending an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform, including:

Send an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device the next time the photograph is taken and/or the photographing parameters of the photographing device the next time the photograph is taken. Describe the movement parameters of the movable platform.
The method according to claim 45, wherein after the acquiring the photographing parameter and the movement parameter according to a preset frequency, the method comprises:

The photographing parameter and/or the movement parameter are displayed on the display component of the control terminal.
The method according to any one of claims 27-46, wherein after obtaining the evaluation parameter of the degree of blurring of the image according to the photographing parameter and the movement parameter, the method further comprises:

The evaluation parameter of the degree of image blur is displayed on the display component of the control terminal.
The method according to any one of claims 27-47, further comprising:

Send a camera mode setting instruction to the movable platform, the camera mode setting instruction includes any one of an automatic camera mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction .
The method according to any one of claims 27-48, wherein the movable platform comprises at least one of the following: a remote control car, or an unmanned aerial vehicle.
The method according to claim 49, wherein when the movable platform is an unmanned aerial vehicle, the method further comprises:

At least one of an overlap rate setting instruction, a route altitude setting instruction, or a maximum speed setting instruction is sent to the movable platform.
A movable platform, which is characterized by comprising: a memory and a processor;

The memory is used to store program code;

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

Acquiring the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform;

Obtaining an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter;

Adjusting the photographing parameters of the photographing device and/or the movement parameters of the movable platform according to the evaluation parameters of the degree of image blurring;

Image collection is performed by the photographing device.
The method of claim 51, wherein:

The photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device;

The movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.
The method according to claim 51 or 52, wherein the photographing parameter comprises the exposure time of the photographing device, the movement parameter comprises the movement speed of the movable platform, and the evaluation parameter of the degree of image blur It can be determined according to the product of the exposure time and the moving speed.
The method according to any one of claims 51-53, wherein the processor adjusts the photographing parameters of the photographing device and/or the movement of the movable platform according to the evaluation parameters of the degree of image blurring. Parameter, the processor is configured as:

If the evaluation parameter of the degree of image blur exceeds a preset range, the photographing parameter of the photographing device and/or the movement parameter of the movable platform are adjusted.
The method according to claim 54, wherein the evaluation parameter of the degree of image blur exceeds a preset range, comprising:

The evaluation parameter of the blur degree of the image exceeds a preset threshold.
The method of claim 55, wherein the processor is further configured to:

Receive the preset threshold setting instruction sent by the control terminal;

The preset threshold is set according to the preset threshold setting instruction.
The method of claim 54, wherein if the evaluation parameter of the degree of image blur exceeds a preset range, the processor is further configured to:

Sending prompt information to the control terminal to warn that the image captured by the photographing device will be blurred.
The method according to claim 54, wherein the evaluation parameter of the degree of image blur exceeds a preset range, and when the photographing parameters of the photographing device and/or the movement parameters of the movable platform are adjusted, the processing The device is configured as:

The number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches the preset number of times, and the photographing parameters of the photographing device and/or the movement parameters of the movable platform are adjusted.
The method of claim 58, wherein the processor is further configured to:

The number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is sent to the control terminal.
The method according to claim 55, wherein when the processor adjusts the movement parameter of the movable platform according to the evaluation parameter of the image blur degree, the processor is configured to:

Obtaining the target critical speed of the movable platform according to the evaluation parameter of the degree of image blur and the preset threshold;

The moving speed of the movable platform is adjusted to be less than or equal to the target critical speed.
The method according to claim 60, wherein after the processor adjusts the moving speed of the movable platform to be less than or equal to the target critical speed, the processor is further configured to:

Send the adjusted moving speed of the movable platform to the control terminal.
The method according to any one of claims 54-59, wherein when the processor adjusts the photographing parameters of the photographing device, the processor is configured to:

If the current photographing mode of the photographing device is the first mode, switch the current photographing mode of the photographing device to the second mode, or reduce the shutter speed of the photographing device;

In the first mode, the photographing device cannot automatically adjust the shutter speed; in the second mode, the photographing device can automatically adjust the shutter speed.
The method according to claim 62, wherein when the processor switches the current photographing mode of the photographing device to the second mode, the processor is configured to:

Receiving a control instruction for adjusting a photographing mode sent by a control terminal, where the control instruction is used to instruct to switch the current photographing mode of the photographing device to the second mode;

The photographing mode of the photographing device is adjusted according to the control instruction.
The method according to claim 63, wherein after the processor adjusts the photographing mode of the photographing device according to the control instruction, the processor is further configured to:

Adjust the camera parameters according to the environmental brightness;

Controlling the photographing device to perform image collection according to the adjusted photographing parameters.
The method according to claim 64, wherein after the processor adjusts the photographing parameters according to the ambient brightness, the processor is further configured to:

Send the adjusted camera parameters to the control terminal.
The method according to claim 62, wherein when the shutter speed of the photographing device is reduced, the processor is configured to:

Receiving a control instruction for reducing the shutter speed of the photographing device sent by the control terminal, and adjusting the shutter speed according to the control instruction;

Controlling the photographing device to perform image collection according to the adjusted shutter speed.
The method according to claim 66, wherein after the processor adjusts the shutter speed according to the control instruction, the processor is further configured to:

Send the adjusted shutter speed to the control terminal.
The method according to any one of claims 51-53, wherein when the processor performs image collection through the photographing device, the processor is configured to:

Image collection is performed by the photographing device according to isometric photographs; or,

Image collection is performed by the photographing device according to isochronous photographing.
The method according to claim 68, wherein, before the processor performs image collection by the photographing device, the processor is further configured to:

Receive isometric photographing setting instructions or isochronous photographing setting instructions sent by the control terminal.
The method of claim 68, wherein the processor is further configured to:

When performing image collection according to equidistant photography, receive the equidistant photography distance interval setting instruction sent by the control terminal; or,

When performing image collection according to isochronous photographing, the isochronous photographing time interval setting instruction sent by the control terminal is received.
The method according to any one of claims 51-70, wherein when the processor acquires the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform, the processor Is configured as:

Acquiring the photographing parameter and the movement parameter according to a preset frequency;

When the processor adjusts the photographing parameter of the photographing device and/or the movement parameter of the movable platform according to the evaluation parameter of the degree of image blurring, the processor is configured to:

According to the evaluation parameter of the degree of image blurring, the photographing parameter of the photographing device for the next photographing and/or the movement parameter of the movable platform for the photographing device for the next photographing is adjusted according to the evaluation parameter of the degree of image blur.
The method according to claim 71, wherein after the processor acquires the photographing parameter and the movement parameter according to a preset frequency, the processor is further configured to:

The photographing parameter and/or the movement parameter are sent to the control terminal.
The method according to any one of claims 51-72, wherein after the processor obtains the evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter, the processor is further configured to :

The evaluation parameter of the degree of blurring of the image is sent to the control terminal.
The method according to any one of claims 51-73, wherein the processor is further configured to:

Receive a photographing mode setting instruction sent by the control terminal, the photographing mode setting instruction includes any one of an automatic photographing mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction.
The method according to any one of claims 51-74, wherein the movable platform comprises at least one of the following: a remote control car, or an unmanned aerial vehicle.
The method according to claim 75, wherein when the movable platform is an unmanned aerial vehicle, the processor is further configured to:

At least one of the overlap rate setting command, the route height setting command, or the maximum speed setting command sent by the control terminal is received.
A control terminal, characterized by comprising: a memory and a processor;

The memory is used to store program code;

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

Acquiring, from a movable platform, the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform;

Obtaining an evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter;

Send an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree, so that the movable platform can adjust the photographing parameters of the photographing device and/or the movement parameters of the movable platform, and pass the The camera device performs image collection.
The control terminal according to claim 77, wherein:

The photographing parameter includes at least one of the exposure time, shutter speed, sensitivity, or aperture value of the photographing device;

The movement parameter includes at least one of the movement speed, movement acceleration, or position information of the movable platform.
The control terminal according to claim 77 or 78, wherein the photographing parameter includes the exposure time of the photographing device, the movement parameter includes the movement speed of the movable platform, and the evaluation of the degree of blurring of the image The parameter may be determined according to the product of the exposure time and the moving speed.
The control terminal according to any one of claims 77-79, wherein the processor sends an adjustment instruction to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and /Or when moving parameters of the movable platform, the processor is configured to:

If the evaluation parameter of the image blur degree exceeds a preset range, an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform.
The control terminal according to claim 80, wherein the evaluation parameter of the degree of image blurriness exceeds a preset range and comprises:

The evaluation parameter of the blur degree of the image exceeds a preset threshold.
The control terminal according to claim 81, wherein the processor is further configured to:

Receive a preset threshold setting instruction;

The preset threshold is set according to the preset threshold setting instruction.
The control terminal according to claim 80, wherein if the evaluation parameter of the degree of image blur exceeds a preset range, the processor is further configured to:

A prompt message is displayed on the display component of the control terminal to warn that the image captured by the photographing device will be blurred.
The control terminal according to claim 80, wherein the processor sends an adjustment instruction to the movable platform, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movable platform. When moving parameters of the mobile platform, the processor is configured to:

When the number of times that the evaluation parameter of the image blur degree continuously exceeds the preset threshold reaches the preset number of times, an adjustment instruction is sent to the movable platform, so that the movable platform adjusts the photographing parameters and/or the photographing device of the photographing device The movement parameters of the movable platform.
The control terminal according to claim 84, wherein the processor is further configured to:

The number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is recorded, and the number of times the evaluation parameter of the image blur degree continuously exceeds the preset range is displayed on the display component of the control terminal.
The control terminal according to claim 81, wherein the processor sends an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree, so that the movable platform adjusts the movable platform. When moving parameters of the platform, the processor is configured to:

Obtaining the target critical speed of the movable platform according to the evaluation parameter of the degree of image blur and the preset threshold;

Sending a speed adjustment instruction to the movable platform, so that the movable platform adjusts the moving speed to be less than or equal to the target critical speed.
The control terminal according to claim 86, wherein after the processor sends a speed adjustment instruction to the movable platform, the processor is further configured to:

The adjusted moving speed of the movable platform is obtained from the movable platform and displayed on the display component of the control terminal.
The control terminal according to any one of claims 80-85, wherein the processor sends an adjustment instruction to the movable platform according to the evaluation parameter of the image blur degree, so that the movable platform When adjusting the photographing parameters of the photographing device, the processor is configured to:

If the current photographing mode of the photographing device is the first mode, a photographing device adjustment instruction is sent to the movable platform, so that the movable platform can switch the current photographing mode of the photographing device to the second mode, or lower The shutter speed of the photographing device;

In the first mode, the photographing device cannot automatically adjust the shutter speed; in the second mode, the photographing device can automatically adjust the shutter speed.
The control terminal according to claim 88, wherein when the processor sends a photographing device adjustment instruction to the movable platform, the processor is configured to:

Send a control instruction for adjusting the photographing mode to the movable platform, where the control instruction is used to instruct to switch the current photographing mode of the photographing device to the second mode, so that the movable platform adjusts the photographing mode according to the control instruction. The photographing mode of the photographing device is described, the photographing parameters are adjusted according to the environmental brightness, and the photographing device is controlled to perform image collection according to the adjusted photographing parameters.
The control terminal according to claim 89, wherein after the processor sends a control instruction for adjusting the photographing mode to the movable platform, the processor is further configured to:

The adjusted photographing parameters are obtained from the movable platform and displayed on the display component of the control terminal.
The control terminal according to claim 88, wherein when the processor sends a photographing device adjustment instruction to the movable platform, the processor is configured to:

Send a control instruction to reduce the shutter speed of the photographing device to the movable platform, so that the movable platform adjusts the shutter speed according to the control instruction, and controls the photographing device to perform according to the adjusted shutter speed Image Acquisition.
The control terminal according to claim 91, wherein after the processor sends a control instruction to reduce the shutter speed of the photographing device to the movable platform, the processor is further configured to:

The adjusted shutter speed is obtained from the movable platform and displayed on the display component of the control terminal.
The control terminal according to any one of claims 77-79, wherein, before the movable platform performs image collection by the photographing device, the processor is further configured to:

Send an isometric photographing setting instruction or an isochronous photographing setting instruction to the movable platform.
The control terminal according to claim 93, wherein the processor is further configured to:

When the movable platform performs image collection according to equidistant photography, sending an equidistant photography distance interval setting instruction to the movable platform; or,

When the movable platform performs image collection according to isochronous photographing, an isochronous photographing time interval setting instruction is sent to the movable platform.
The control terminal according to any one of claims 77-94, wherein when the processor obtains the photographing parameters of the photographing device equipped with the movable platform and the movement parameters of the movable platform from the movable platform , The processor is configured to:

Acquiring the photographing parameter and the movement parameter from a movable platform according to a preset frequency;

The sending an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the photographing parameters of the photographing device and/or the movement parameters of the movable platform, including:

Send an adjustment instruction to the movable platform according to the evaluation parameter of the degree of image blur, so that the movable platform adjusts the camera parameters of the camera device the next time the camera is taken and/or the camera device Describe the movement parameters of the movable platform.
The control terminal according to claim 95, wherein after the processor acquires the photographing parameter and the movement parameter according to a preset frequency, the processor is further configured to:

The photographing parameter and/or the movement parameter are displayed on the display component of the control terminal.
The control terminal according to any one of claims 77-96, wherein after the processor obtains the evaluation parameter of the degree of image blur according to the photographing parameter and the movement parameter, the processor is further configured for:

The evaluation parameter of the degree of image blur is displayed on the display component of the control terminal.
The control terminal according to any one of claims 77-97, wherein the processor is further configured to:

Send a camera mode setting instruction to the movable platform, the camera mode setting instruction includes any one of an automatic camera mode instruction, a shutter priority mode instruction, an aperture priority mode instruction, a manual exposure mode instruction, or a long exposure mode instruction .
The control terminal according to any one of claims 77-98, wherein the movable platform comprises at least one of the following: a remote control car, or an unmanned aerial vehicle.
The control terminal according to claim 99, wherein when the movable platform is an unmanned aerial vehicle, the processor is further configured to:

At least one of an overlap rate setting instruction, a route altitude setting instruction, or a maximum speed setting instruction is sent to the movable platform.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-26.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 27-50.