WO2021043329A1 - Image exposure method and apparatus, photographing device, and unmanned aerial vehicle - Google Patents

Abstract

Disclosed are an image exposure method and apparatus, a photographing device, and an unmanned aerial vehicle. The image exposure method comprises: acquiring a visual angle of a camera in the unmanned aerial vehicle; determining, according to the visual angle, an exposure mode for an image photographed by the camera; and controlling an image photographed by the camera to be exposed in the exposure mode, so as to obtain a target image. In the image exposure method provided by the embodiments of the present invention, an exposure mode for an image photographed by a camera is determined according to a visual angle of the camera in an unmanned aerial vehicle, such that the problem of a picture being overexposed or relatively dark when the camera is at different angles is solved, thereby improving the quality of an image photographed by the unmanned aerial vehicle.

Description

Image exposure method, device, shooting equipment and drone Technical field

The embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to an image exposure method, device, photographing equipment and unmanned aerial vehicles.

Background technique

In aerial photography UAVs, cameras in six directions: front-view, rear-view, down-view, left-view, right-view, and top-view are usually used to collect image data.

In the prior art, cameras in all directions use the same shooting mode to shoot, so that the quality of the captured images does not meet the requirements.

Summary of the invention

The embodiments of the present invention provide an image exposure method, device, photographing equipment, and unmanned aerial vehicle, which can improve the image quality taken by the unmanned aerial vehicle.

In the first aspect, an embodiment of the present invention provides an image exposure method for drones, and the method includes:

Get the angle of view of the camera in the drone;

Determining the exposure mode of the image taken by the camera according to the viewing angle;

Controlling the image taken by the camera to perform exposure according to the exposure mode to obtain a target image.

Further, the camera includes at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the drone. Then, the determining the exposure mode of the image taken by the camera according to the angle of view includes :

Two consecutive exposures according to the first exposure duration and the second exposure duration, wherein the first exposure duration is less than the second exposure duration; then,

The controlling the image taken by the camera to be exposed according to the exposure mode to obtain the target image includes:

Exposing the captured image according to the first exposure duration to obtain a first captured image;

Exposing the captured image according to the second exposure duration to obtain a second captured image;

The brightness values of the corresponding pixels of the first captured image and the second captured image are averaged to obtain the target image.

Further, the camera includes at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the drone, and then the determining the exposure mode of the image taken by the camera according to the angle of view includes :

Expose once according to the automatic exposure time of the camera; then,

The controlling the image taken by the camera to be exposed according to the exposure mode to obtain the target image includes:

Perform exposure according to the automatic exposure time length to obtain an initial image;

Obtain an exposure weight table, and perform weighted calculation on the brightness values of the pixels of the initial image according to the exposure weight table to obtain the target image.

Further, the camera includes a down-view camera of the drone, and the determining the exposure mode of the image taken by the camera according to the angle of view includes:

Increase the exposure brightness of the camera and/or increase the exposure time of the camera.

Further, the camera includes a top-view camera of the drone, and the determining the exposure mode of the image taken by the camera according to the angle of view includes:

Decrease the exposure brightness of the camera and/or decrease the exposure duration of the camera.

In the second aspect, an embodiment of the present invention also provides an image exposure device for unmanned aerial vehicles, and the device includes:

Angle acquisition module, used to obtain the angle of view of the camera in the UAV;

An exposure mode determination module, configured to determine the exposure mode of the image taken by the camera according to the angle of view;

The target image acquisition module is used to control the image taken by the camera to be exposed according to the exposure mode to obtain a target image.

Further, the camera includes at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the drone; then,

The exposure mode determining module is specifically configured to continuously expose twice according to a first exposure time length and a second exposure time length, wherein the first exposure time length is less than the second exposure time length; then,

The target image acquisition module is specifically configured to expose the captured image according to the first exposure duration to obtain a first captured image; and expose the captured image according to the second exposure duration to obtain a first 2. A captured image; the brightness values of the corresponding pixel points of the first captured image and the second captured image are averaged to obtain the target image.

Further, the camera includes at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the UAV, then,

The exposure mode determination module is specifically configured to expose once according to the automatic exposure time of the camera; then,

The target image acquisition module is specifically configured to perform exposure according to the automatic exposure time length to obtain an initial image; acquire an exposure weight table, and perform weighted calculation on the brightness values of pixels of the initial image according to the exposure weight table, To obtain the target image.

Further, the camera includes a down-view camera of the drone; then,

The exposure mode determination module is specifically configured to increase the exposure brightness of the camera and/or increase the exposure time of the camera.

Further, the camera includes a top-view camera of the drone; then,

The exposure mode determination module is specifically configured to reduce the exposure brightness of the camera and/or reduce the exposure duration of the camera.

In a third aspect, an embodiment of the present invention also provides a shooting device, which is set on the drone, and includes a front-view camera, a rear-view camera, a down-view camera, a left-view camera, a right-view camera, and a top-view camera;

The front-view camera, the rear-view camera, the left-view camera, the right-view camera, and the top-view camera adopt a first aperture lens;

The down-view camera adopts a second aperture lens; wherein, the second aperture is larger than the first aperture;

The lens of the top-view camera is provided with a dimming sheet; the dimming sheet is used to reduce the amount of light passing through the top-view camera.

In a fourth aspect, an embodiment of the present invention also provides an unmanned aerial vehicle, including a fuselage, an arm connected to the fuselage, and a power device provided on the arm and/or the fuselage. The drone also includes the photographing device described in the embodiment of the present invention, and the photographing device is arranged on the body of the drone.

In a fifth aspect, an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the image exposure method as described in the embodiment of the present invention is implemented.

In the embodiment of the present invention, firstly, the angle of view of the camera in the drone is obtained, then the exposure mode of the image taken by the camera is determined according to the angle of view, and finally the image taken by the camera is controlled to be exposed according to the exposure mode to obtain the target image. The image exposure method provided by the embodiment of the present invention determines the exposure mode of the image taken by the camera according to the angle of view of the camera in the drone, which can solve the problem of overexposure or dark image at different angles, thereby improving drone shooting The quality of the image.

Description of the drawings

Figure 1a is a structural block diagram of an unmanned aerial vehicle in Embodiment 1 of the present invention;

FIG. 1b is a schematic diagram of a bottom view structure of an unmanned aerial vehicle equipped with a photographing device in the first embodiment of the present invention;

FIG. 1c is a schematic diagram of a top view structure of an unmanned aerial vehicle equipped with a photographing device in the first embodiment of the present invention;

2 is a flowchart of an image exposure method in Embodiment 1 of the present invention;

FIG. 3 is a schematic diagram of the structure of an image exposure device in the second embodiment of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for ease of description, the drawings only show a part of the structure related to the present invention instead of all of the structure.

Example one

Figure 1a is a structural block diagram of an unmanned aerial vehicle according to Embodiment 1 of the present invention. As shown in FIG. 1 a, the drone 10 includes a processor 12, a memory 14 connected to the processor 12, a body 16, an arm 18 and a power unit 19. Among them, the fuselage 16 is connected with the arm 18, and the motive device 19 is arranged on the fuselage 16 and/or the arm 18. A camera 166 is provided on the body 16. The number of processors 12 in the drone 10 can be one or more. In Figure 1a, one processor 12 is taken as an example; the processor 12, memory 14, fuselage 16, arm 18 and power in the drone 10 The device 19 may be connected via a bus or other methods. In FIG. 1a, the connection via a bus is taken as an example.

Figure 1b is a schematic diagram of the bottom view structure of a drone provided with a shooting device provided in the first embodiment of the present invention, and Figure 1c is a schematic diagram of a top view structure of the drone provided with a shooting device provided in the first embodiment of the present invention, as shown in Figures 1b and 1c As shown, the photographing device 166 includes a front-view camera 1661, a rear-view camera 1662, a left-view camera 1663, a right-view camera 1664, a top-view camera 1665, and a bottom-view camera 1666. The number of cameras for each viewing angle is at least two.

Among them, the front view camera 1661, the rear view camera 1662, the left view camera 1663, the right view camera 1664, and the top view camera 1665 adopt a first aperture lens; the bottom view camera 1666 adopts a second aperture lens; the second aperture is larger than the first aperture. Since the down-view camera 1666 is facing the ground, the captured image is dark, and the down-view camera 1666 adopts a larger aperture lens, which can increase the input brightness of the image.

The lens of the top-view camera 1665 is provided with a dimming sheet; the dimming sheet is used to reduce the amount of light passing through the top-view camera 1665. Among them, the brightness can be reduced by 20%-50%. Since the top-view camera 1665 is facing the sky, the high-intensity sun will overexpose the image. The advantage of setting the light reduction filter is to prevent the image from being overexposed.

2 is a flowchart of an image exposure method provided by Embodiment 1 of the present invention. This embodiment can be applied to a situation where a drone is used for shooting. The method can be executed by an image exposure device, which can be set in Unmanned aerial vehicle with shooting equipment, etc. As shown in Figure 2, the method specifically includes the following steps:

Step 110: Obtain the angle of view of the camera in the drone.

The angle of view of the UAV 10 includes six angles of view, front view, rear view, left view, right view, top view, and down view. Cameras are installed in the six viewing angle directions, namely, a front view camera 1661 and a rear view camera 1662. , Left-view camera 1663, right-view camera 1664, top-view camera 1665 and down-view camera 1666. The camera can shoot images corresponding to the angle of view.

Step 120: Determine the exposure mode of the image taken by the camera according to the angle of view.

In this embodiment, when the drone 10 is performing aerial photography, the front-view camera 1661, the rear-view camera 1662, the left-view camera 1663, and the right-view camera 1664 are all in the horizontal direction, and the captured images are half of the ground and half of the sky; The vertical horizontal line of the viewing camera 1665 is upward, and the captured image is the sky; the downward viewing camera 1666 vertical horizontal line is the downward direction, and the captured image is the ground. Therefore, the cameras provided in the UAV 10 can be divided into two categories according to different viewing angles, and each category corresponds to a different shooting mode. The first type of camera includes a front-view camera 1661, a rear-view camera 1662, a left-view camera 1663, and a right-view camera 1664. The upper part of the captured image is a sky scene and the lower part is a ground scene; the second type of camera includes a top-view camera 1665 and the downward camera 1666, the image taken by the upward camera 1665 is a sky scene; the image taken by the downward camera 1666 is a ground scene.

Among them, the exposure mode includes adjusting the number of exposures, adjusting the exposure duration, or adjusting the exposure brightness. Specifically, the exposure mode for adjusting the number of exposures is: the number of camera exposures can be set under a certain exposure time condition. The exposure method for adjusting the exposure duration is: increase or decrease the exposure duration. When the exposure time is a long exposure, the light input of the camera can be increased to collect details in the dark image. When the exposure time is a short exposure, the light input of the camera can be reduced to prevent the image from being too bright. Optionally, when the exposure time is less than or equal to 3 ms, it is a short exposure, and when the exposure time is more than 3 ms, it is a long exposure. The exposure method for adjusting the exposure brightness can be to increase or decrease the gain parameter of the camera. You can also adjust the exposure brightness through hardware improvements. For example, you can set a different aperture to adjust the amount of light passing through the camera. The larger the aperture, the more light passing through the camera; or, it can also be added to the lens of the camera. Dimming film to reduce the amount of light passing through the image captured by the camera.

For the first type of cameras installed in the drone 10: a front-view camera 1661, a rear-view camera 1662, a left-view camera 1663, and a right-view camera 1664. Optionally, the image taken by the first type of camera can be controlled to be exposed according to the exposure mode that adjusts the exposure time and the number of exposures. Exemplarily, the exposure is performed in a manner of two consecutive exposures according to the first exposure time length and the second exposure time length. Specifically, the first exposure duration is less than the second exposure duration. Among them, the first exposure duration can be understood as a short exposure, and the second exposure duration can be understood as a long exposure, for example, the first exposure duration is 2 ms, and the second exposure duration is 10 ms.

Optionally, for the first type of cameras set in the UAV 10: front view camera 1661, rear view camera 1662, left view camera 1663, and right view camera 1664, it is also possible to control the first type of camera to capture images according to automatic exposure Exposure is carried out in the exposure mode of one time exposure. Among them, the automatic exposure time is the camera automatically sets the shutter speed according to the exposure value of the photographed picture measured by the light metering system.

For the second type of cameras installed in the UAV 10: the top-view camera 1665 and the bottom-view camera 1666, optionally, the second-type camera can be controlled to shoot images according to the exposure mode of adjusting the exposure brightness and/or adjusting the exposure time. exposure. Exemplarily, for the top-view camera 1665, the exposure brightness of the top-view camera 1665 and/or the exposure time of the top-view camera 1665 can be reduced to reduce the brightness of the image captured by the top-view camera 1665, so as to avoid uploading. When the view camera 1665 captures the sky scene image, the image is overexposed due to the high sun exposure; for the down view camera 1666, you can increase the exposure brightness of the down view camera 1666 and/or increase the exposure time of the down view camera 1666. Increase the light flux of the image captured by the down-view camera 1666 to collect details in the dark image.

Step 130: Control the camera to take the image to be exposed according to the exposure mode to obtain the target image.

Further, for images captured by cameras with different viewing angles, exposure is performed according to different exposure methods to obtain a clearer target image.

Optionally, for the first type of cameras provided in the drone 10: a front-view camera 1661, a rear-view camera 1662, a left-view camera 1663, and a right-view camera 1664. Optionally, when the exposure mode of adjusting the exposure duration and the number of exposures is adopted, the captured image is exposed according to the first exposure duration to obtain the first captured image, and the captured image is exposed according to the second exposure duration to obtain For the second captured image, the brightness values of the corresponding pixels of the first captured image and the second captured image are averaged to obtain the target image.

Specifically, after exposing the captured image according to the first exposure duration (for example: 2ms), the first captured image is obtained, and the corresponding first pixel point brightness value is Y _s ; according to the second exposure duration (for example: 10ms), the first captured image is obtained. After the captured image is exposed, the second captured image is obtained, and the corresponding second pixel point brightness value is Y _h . The first pixel point brightness value and the second pixel point brightness value are superimposed and averaged to obtain the output target frame image.

Y _hdr = (Y _s +Y _h )/2

Optionally, for the first type of cameras provided in the drone 10: a front-view camera 1661, a rear-view camera 1662, a left-view camera 1663, and a right-view camera 1664. When the exposure mode of one long exposure according to the automatic exposure time is adopted, after controlling the camera to expose the image according to the exposure mode, the process of obtaining the target image can be: exposure according to the automatic exposure time to obtain the initial image; and then obtaining the exposure weight table , And perform weighted calculation on the brightness value of the initial image pixels according to the exposure weight table to obtain the target image.

Among them, the exposure weight table can be set according to the shooting environment and camera hardware parameters. Exemplarily, the front-view camera 1661, the rear-view camera 1662, the left-view camera 1663, and the right-view camera 1664 provided in the drone 10 may all use the exposure weight table shown in Table 1. Among them, each weight value in the exposure weight table corresponds to a pixel at a corresponding position of the captured image. The higher the exposure weight value, the higher the brightness of the image representing the corresponding area needs to be adjusted. The middle part of the image is the area that the user pays most attention to. Therefore, in the exposure weight table, the weight value of the middle area of the corresponding image is set to the highest. In the initial image obtained, since the brightness of the ground area image is obviously lower than that of the sky area image, in the exposure weight table, the exposure weight corresponding to the sky area can be set to the lowest, and the weight value of the corresponding ground area can be set second only to The weight value of the middle area.

Table 1 Exposure Weight Table

1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1
1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1	1
1	1	1	1	1	1	1	1	1	1	1	2	2	1	1	1	1	1	1	1	1	1	1	1
1	1	1	1	1	1	1	1	1	1	2	3	3	2	1	1	1	1	1	1	1	1	1	1
1	1	1	1	1	1	1	1	1	2	3	3	3	3	2	1	1	1	1	1	1	1	1	1
1	1	1	1	1	1	1	1	2	3	3	4	4	3	3	2	1	1	1	1	1	1	1	1
1	1	1	1	1	1	1	2	2	3	4	5	5	4	3	2	2	1	1	1	1	1	1	1
1	1	1	1	1	1	1	2	3	4	5	5	5	5	4	3	2	1	1	1	1	1	1	1
1	1	1	1	1	1	2	2	3	4	5	5	5	5	4	3	2	2	1	1	1	1	1	1
1	1	1	1	1	2	2	3	4	4	5	5	5	5	4	4	3	2	2	1	1	1	1	1
1	1	1	1	2	2	3	3	4	4	5	5	5	5	4	4	3	3	2	2	1	1	1	1
1	1	1	2	2	3	3	4	4	4	4	5	5	4	4	4	4	3	3	2	2	1	1	1
1	1	2	2	3	3	4	4	4	4	4	4	4	4	4	4	4	4	3	3	2	2	1	1
1	1	2	3	3	4	4	4	4	4	4	4	4	4	4	4	4	4	4	3	3	2	1	1
1	2	3	3	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	3	3	2	1
2	3	3	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	3	3	2

According to the obtained brightness value of the pixel point of the initial image and the weight value in the corresponding exposure weight table, the brightness value of the corresponding pixel point in the target image is calculated.

Optionally, the obtained brightness value of the pixel point of the initial image and the weight value in the corresponding exposure weight table may be directly added to obtain the brightness value of the corresponding pixel point in the target image. Exemplarily, assuming that the pixel brightness value of the obtained initial image is a, and the weight value in the corresponding exposure weight table is set to 1, then the pixel brightness value corresponding to the target image is calculated as: a+1.

Optionally, the obtained pixel brightness value of the initial image and the weight value in the corresponding exposure weight table may be added and multiplied by a preset coefficient to obtain the corresponding pixel brightness value in the target image. Exemplarily, assuming that the pixel brightness value of the obtained initial image is a, and the weight value in the exposure weight table is set correspondingly, then the brightness value of the initial image pixel is weighted and calculated according to the exposure weight table to obtain the target The brightness value of the corresponding pixel of the image is: (a+1)·δ, where δ is a constant in the range of 1-2 real numbers.

Regarding the second type of cameras installed in the UAV 10: a top-view camera 1665 and a bottom-view camera 1666. Optionally, when the exposure mode is used to adjust the exposure time, a short exposure (such as 2ms) can be used to expose the image taken by the top-view camera 1665, so as to obtain a target image with a small amount of light; a long exposure can be adopted (E.g., 10 ms) is used to expose the image captured by the downward-looking camera 1666, thereby obtaining a target image with a large amount of light. When the exposure method of adjusting the exposure brightness is adopted, the top-view camera 1665 can reduce the exposure brightness by adopting the first aperture and/or setting the dimming film, so as to obtain the target image with less light; The second aperture of the first aperture value is used to increase the exposure brightness to obtain a target image with a large amount of light.

In the embodiment of the present invention, the angle of view of the camera in the drone is first obtained, and then the exposure mode of the image taken by the camera is determined according to the angle of view, and finally the image taken by the camera is controlled to be exposed according to the exposure mode to obtain the target image. The image exposure method provided by the embodiment of the present invention determines the exposure mode of the image taken by the camera according to the angle of view of the camera in the drone, which can solve the problem of overexposure or dark image at different angles, thereby improving drone shooting The quality of the image.

Example two

FIG. 3 is a schematic diagram of the structure of an image exposure device according to the second embodiment of the present invention. The image exposure device includes:

The angle of view obtaining module 210 is used to obtain the angle of view of the camera in the UAV;

The exposure mode determining module 220 is configured to determine the exposure mode of the image taken by the camera according to the angle of view;

The target image acquisition module 230 is configured to control the image taken by the camera to be exposed according to the exposure mode to obtain a target image.

In the embodiment of the present invention, the angle of view of the camera in the drone is first obtained, and then the exposure mode of the image taken by the camera is determined according to the angle of view, and finally the image taken by the camera is controlled to be exposed according to the exposure mode to obtain the target image. The image exposure method provided by the embodiment of the present invention determines the exposure mode of the image taken by the camera according to the angle of view of the camera in the drone, which can solve the problem of overexposure or dark image at different angles, thereby improving drone shooting The quality of the image.

Optionally, the camera includes at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the UAV, then the exposure mode determination module 220 is specifically configured to:

Two consecutive exposures according to the first exposure duration and the second exposure duration, wherein the first exposure duration is shorter than the second exposure duration.

Then, the target image acquisition module 230 is specifically used for:

Exposing the captured image according to the first exposure duration to obtain the first captured image;

Exposing the captured image according to the second exposure duration to obtain a second captured image;

The brightness values of the corresponding pixel points of the first captured image and the second captured image are averaged to obtain the target image.

Optionally, the camera includes at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the drone. Then, the exposure mode determination module 220 is also used for:

Expose once according to the camera's automatic exposure time.

Then, the target image acquisition module 230 is also used for:

Perform exposure according to the automatic exposure time to obtain the initial image;

The exposure weight table is obtained, and the brightness values of the pixels of the initial image are weighted and calculated according to the exposure weight table to obtain the target image.

Optionally, the camera includes a down-view camera of the drone, and the exposure mode determining module 220 is specifically configured to: increase the exposure brightness of the camera and/or increase the exposure time of the camera.

Optionally, the camera includes a top-view camera of the drone, and the exposure mode determination module 220 is specifically configured to: reduce the exposure brightness of the camera and/or reduce the exposure time of the camera.

The foregoing device can execute the methods provided in all the foregoing embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the foregoing methods. For technical details that are not described in detail in this embodiment, refer to the methods provided in all the foregoing embodiments of the present invention.

Example three

The third embodiment of the present invention also provides a storage medium containing computer-executable instructions, when the computer-executable instructions are executed by a computer processor, an image exposure method is executed, and the method includes:

Get the angle of view of the camera in the drone;

Determine the exposure mode of the image taken by the camera according to the angle of view;

Control the camera to take the image according to the exposure mode for exposure to obtain the target image.

Of course, a storage medium containing computer-executable instructions provided in an embodiment of the present invention is not limited to the above-mentioned method operations, and can also execute any of the image exposure methods provided in any embodiment of the present invention. Related operations.

Through the above description of the implementation manners, those skilled in the art can clearly understand that the present invention can be implemented by software and necessary general-purpose hardware, of course, it can also be implemented by hardware, but in many cases the former is a better implementation. . Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk. , Read-Only Memory (ROM), Random Access Memory (RAM), Flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer) , A server, or a network device, etc.) execute the method described in each embodiment of the present invention.

It is worth noting that, in the above embodiment of the image exposure device, the various modules included are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, each functional module The specific names are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention.

Note that the above are only the preferred embodiments of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made to those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope of is determined by the scope of the appended claims.

Claims (13)

1. An image exposure method for drones, characterized in that it includes:

   Get the angle of view of the camera in the drone;

   Determining the exposure mode of the image taken by the camera according to the viewing angle;

   Controlling the image taken by the camera to perform exposure according to the exposure mode to obtain a target image.
2. The method according to claim 1, wherein the camera includes at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the UAV, and the The angle of view determines the exposure mode of the image taken by the camera, including:

   Two consecutive exposures according to the first exposure duration and the second exposure duration, wherein the first exposure duration is less than the second exposure duration; then,

   The controlling the image taken by the camera to be exposed according to the exposure mode to obtain the target image includes:

   Exposing the captured image according to the first exposure duration to obtain a first captured image;

   Exposing the captured image according to the second exposure duration to obtain a second captured image;

   The brightness values of the corresponding pixels of the first captured image and the second captured image are averaged to obtain the target image.
3. The method according to claim 1, wherein the camera includes at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the UAV, and the The angle of view determines the exposure mode of the image taken by the camera, including:

   Expose once according to the automatic exposure time of the camera; then,

   The controlling the image taken by the camera to be exposed according to the exposure mode to obtain the target image includes:

   Perform exposure according to the automatic exposure time length to obtain an initial image;

   Obtain an exposure weight table, and perform weighted calculation on the brightness values of the pixels of the initial image according to the exposure weight table to obtain the target image.
4. The method according to claim 1, wherein the camera includes a down-view camera of the drone, and the determining the exposure mode of the image taken by the camera according to the angle of view includes:

   Increase the exposure brightness of the camera and/or increase the exposure time of the camera.
5. The method according to claim 1, wherein the camera comprises a top-view camera of the UAV, and the determining the exposure mode of the image taken by the camera according to the angle of view comprises:

   Decrease the exposure brightness of the camera and/or decrease the exposure duration of the camera.
6. An image exposure device for unmanned aerial vehicles, characterized in that it comprises:

   Angle acquisition module, used to obtain the angle of view of the camera in the UAV;

   An exposure mode determination module, configured to determine the exposure mode of the image taken by the camera according to the angle of view;

   The target image acquisition module is used to control the image taken by the camera to be exposed according to the exposure mode to obtain a target image.
7. The device according to claim 6, wherein the camera comprises at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the UAV; then,

   The exposure mode determining module is specifically configured to continuously expose twice according to a first exposure time length and a second exposure time length, wherein the first exposure time length is less than the second exposure time length; then,

   The target image acquisition module is specifically configured to expose the captured image according to the first exposure duration to obtain a first captured image; and expose the captured image according to the second exposure duration to obtain a first 2. A captured image; the brightness values of the corresponding pixel points of the first captured image and the second captured image are averaged to obtain the target image.
8. The device according to claim 6, wherein the camera comprises at least one of a front-view camera, a rear-view camera, a left-view camera, or a right-view camera of the UAV, then,

   The exposure mode determination module is specifically configured to expose once according to the automatic exposure time of the camera; then,

   The target image acquisition module is specifically configured to perform exposure according to the automatic exposure duration to obtain an initial image; acquire an exposure weight table, and perform weighted calculation on the brightness value of the initial image pixel according to the exposure weight table, To obtain the target image.
9. The device according to claim 6, wherein the camera comprises a downward looking camera of the drone; then,

   The exposure mode determination module is specifically configured to increase the exposure brightness of the camera and/or increase the exposure time of the camera.
10. The device according to claim 6, wherein the camera comprises a top-view camera of the UAV; then,

    The exposure mode determination module is specifically configured to reduce the exposure brightness of the camera and/or reduce the exposure duration of the camera.
11. A photographing device, characterized in that it is set on a drone, and includes a front-view camera, a rear-view camera, a down-view camera, a left-view camera, a right-view camera, and a top-view camera;

    The front-view camera, the rear-view camera, the left-view camera, the right-view camera, and the top-view camera adopt a first aperture lens;

    The down-view camera adopts a second aperture lens; wherein, the second aperture is larger than the first aperture;

    The lens of the top-view camera is provided with a dimming sheet, and the dimming sheet is used to reduce the amount of light passing through the top-view camera.
12. An unmanned aerial vehicle, comprising a fuselage, an arm connected to the fuselage, and a power device arranged on the arm and/or the fuselage, characterized in that the unmanned aerial vehicle further includes the one described in claim 11 According to the photographing device described above, the photographing device is arranged on the body of the drone.
13. A computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to realize the image exposure method according to any one of claims 1-5.

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