WO2021043333A1 - 一种拍摄控制方法、装置、飞行器及飞行系统 - Google Patents

一种拍摄控制方法、装置、飞行器及飞行系统 Download PDF

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Publication number
WO2021043333A1
WO2021043333A1 PCT/CN2020/123057 CN2020123057W WO2021043333A1 WO 2021043333 A1 WO2021043333 A1 WO 2021043333A1 CN 2020123057 W CN2020123057 W CN 2020123057W WO 2021043333 A1 WO2021043333 A1 WO 2021043333A1
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Prior art keywords
instruction
aircraft
prompt
feature
response
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English (en)
French (fr)
Inventor
冯银华
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to the technical field of aircraft control, in particular to a shooting control method, device, aircraft and flight system.
  • the unmanned aerial vehicle is usually controlled by a flight controller or a mobile terminal device with control capability during the shooting process, and the control method is too single to meet the user's needs for controlling the camera in a variety of camera environments.
  • the main purpose of the present invention is to provide a shooting control method, device, aircraft and flight system, aiming to better realize the shooting control of the aircraft.
  • the present invention provides a shooting control method applied to an aircraft, the aircraft is provided with a camera device, and the method includes:
  • the camera device is controlled to perform a corresponding camera operation.
  • the identifying the first physical feature of the user includes:
  • the first body feature of the user is recognized according to the feature image area.
  • the characteristic part includes at least one of the following: the user's arms, shoulders, head, and hands.
  • the prompt instruction includes a first prompt instruction and a second prompt instruction
  • the generating the corresponding prompt instruction according to the first body feature includes:
  • the first prompt instruction is generated
  • the second prompt instruction is generated.
  • the prompt information includes at least one of the following: voice prompt information, image prompt information, and text prompt information.
  • the obtaining the response instruction in response to the prompt information includes:
  • the obtaining the response instruction in response to the prompt information includes:
  • the corresponding response instruction is generated according to the second limb feature.
  • the present invention also provides a shooting control device.
  • the shooting control device includes a camera module and a vision chip communicatively connected with the camera module, wherein the vision chip includes:
  • the feature recognition module is used to recognize the user's first body feature
  • An instruction generation module configured to generate a corresponding prompt instruction according to the first limb feature
  • An instruction sending module configured to send the prompt instruction to a terminal device communicatively connected with the shooting control apparatus, so that the terminal device generates corresponding prompt information according to the prompt instruction;
  • An instruction acquisition module for acquiring a response instruction in response to the prompt information
  • the control module is configured to control the camera module to perform a corresponding camera operation according to the response instruction.
  • the present invention also provides an aircraft that includes a fuselage, an arm connected to the fuselage, a power device provided on the arm, a camera device connected to the fuselage, and an aircraft provided on the aircraft.
  • a visual chip of the body, the visual chip includes:
  • the memory is used to store a computer-executable shooting control program
  • the processor is used to call a shooting control program executable by the computer to implement the aforementioned shooting control method.
  • the present invention also provides a flight system.
  • the flight system includes an aircraft and a terminal device communicatively connected to the aircraft.
  • the aircraft includes a fuselage, an arm connected to the fuselage, and a A power device, a camera device connected to the fuselage, and a vision chip provided on the fuselage, the vision chip including:
  • the memory is used to store a computer-executable shooting control program
  • the processor is used to call a shooting control program executable by the computer to implement the aforementioned shooting control method.
  • the shooting control method provided by the present invention is applied to an aircraft, the aircraft is provided with a camera device, and the method includes: recognizing a user's first limb feature; and generating a corresponding prompt based on the first limb feature Instruction; sending the prompt instruction to a terminal device communicatively connected with the aircraft, so that the terminal device generates corresponding prompt information according to the prompt instruction; obtaining a response instruction in response to the prompt information; according to the response instruction Control the camera device to perform corresponding camera operations.
  • the user By using the user’s first body feature to generate a corresponding prompt instruction, and send the prompt instruction to the terminal device to generate corresponding prompt information on the terminal device, so that the user can send corresponding response instructions to the aircraft according to the prompt information to achieve
  • the better shooting control of the camera device provided in the aircraft makes the shooting control of the aircraft more adaptable and can adapt to a variety of shooting environments.
  • Fig. 1 is a schematic structural diagram of a flight control system provided by an embodiment of the present invention
  • FIG. 2 is a flowchart of steps of a shooting control method provided by an embodiment of the present invention.
  • Fig. 3 is a detailed step flow chart of step S10 in Fig. 2;
  • Figure 4A is a schematic structural diagram of the aircraft performing corresponding operations according to the user's physical characteristics
  • FIG. 4B is a flow chart of the aircraft extracting the user's first limb feature according to the environment image
  • Figure 5 is a flow chart of the aircraft extracting the user's second limb feature according to the environment image
  • FIG. 6 is a schematic diagram of a block diagram structure of an aircraft provided by an embodiment of the present invention.
  • FIG. 7 is a schematic block diagram of a module structure of a photographing control device according to an embodiment of the present invention.
  • the present invention provides a shooting control method, a device, an aircraft, and a flight system.
  • the shooting control method is applied to an aircraft, and the aircraft is provided with a camera device.
  • the method includes: identifying a user's first body feature; The first body feature generates a corresponding prompt instruction; sends the prompt instruction to a terminal device communicatively connected with the aircraft, so that the terminal device generates corresponding prompt information according to the prompt instruction; obtains information that responds to the prompt information Response instruction; according to the response instruction, the camera device is controlled to perform a corresponding camera operation.
  • the user By using the user’s first body feature to generate a corresponding prompt instruction, and send the prompt instruction to the terminal device to generate corresponding prompt information on the terminal device, so that the user can send corresponding response instructions to the aircraft according to the prompt information to achieve
  • the better shooting control of the camera device provided in the aircraft makes the shooting control of the aircraft more adaptable and can adapt to a variety of shooting environments.
  • FIG. 1 is a flight system 100 provided by the present invention.
  • the flight system 100 includes an aircraft 10 and a terminal device 20 communicatively connected with the aircraft 10.
  • the terminal device 20 is used to control the aircraft 10.
  • the aircraft 10 may be a rotary-wing aircraft, such as a quad-rotor aircraft, a hexa-rotor aircraft, or a fixed-wing aircraft.
  • the aircraft 10 includes a fuselage 101, an arm 102 connected to the fuselage 101, a power device 103 provided on the arm 102, and a control system (not shown) provided on the fuselage 101.
  • the power unit 103 is used to provide thrust, lift, etc. for the flight of the aircraft 10.
  • the control system is the central nervous system of the aircraft 10 and may include multiple functional units, such as a flight control system, an image recognition system, a path planning system, and other specific functions. system. Among them, the flight control system includes various sensors, such as gyroscopes, accelerometers, etc., and the flight control system is used to control the flight attitude of the aircraft 10.
  • the path planning system is used to plan the flight path of the aircraft 10 based on the location of the tracking target, and instruct the flight control system to control the flight attitude of the aircraft 10 to make the aircraft 10 fly according to the designated path.
  • the image recognition system includes a camera device 104 connected to the body 101 and a vision chip arranged on the body 101.
  • the camera device 104 is electrically connected to the vision chip.
  • the camera device 104 is used to capture media data such as images or videos of the user.
  • the vision chip It is used to identify the user's gestures from the media data, thereby generating corresponding control instructions to control the aircraft 10 or the corresponding equipment provided on the aircraft to perform corresponding operations. For example, a camera control instruction is generated to control the camera device 104 to perform a corresponding camera operation.
  • the camera device 104 can be a high-definition digital camera or other camera device.
  • the camera device 104 can be set at any suitable location that is convenient for shooting.
  • the camera device 104 is installed on the bottom of the body 101 via a pan-tilt.
  • the vision chip may also be provided on the arm 102.
  • the terminal device 20 may be a smart phone, a tablet computer, a computer, a remote control, and the like.
  • the user may interact with the terminal device 20 through any suitable type of one or more user interaction devices, and these user interaction devices may be a mouse, a button, a touch screen, and the like.
  • a communication connection can be established through wireless communication modules separately provided in each, such as a signal receiver, a signal transmitter, etc., and data/commands can be uploaded or issued.
  • FIG. 2 is a shooting control method provided by the present invention. The method is applied to an aircraft 10 and executed by a vision chip of the aircraft 10. The method includes:
  • Step S10 Identify the user's first body feature.
  • Different body languages of the user preset in the aircraft 10 can control the aircraft 10 to perform different actions. Different body languages correspond to different body features. By recognizing the user's body features, the user needs to express the body language through the body features.
  • step S10 includes:
  • Step S101 Acquire an environment image captured by the camera device.
  • the environmental image is an image acquired by a camera 104 provided on the aircraft 10.
  • the way for the camera device 104 to obtain the environmental image may be that after the aircraft 10 is started, the camera device 104 periodically takes pictures or takes real-time taking pictures according to a preset program. It may also be that the user sends a shooting instruction to the aircraft 10 through the terminal device 20, so that the camera device 104 can take a shot.
  • Step S102 Determine the characteristic part of the user according to the environmental image.
  • the characteristic part of the user may be at least any one of the user's body, legs, arms, shoulders, head, or hands.
  • the image recognition technology is used to determine the user image area in the environment image, and identify the user's characteristic part from the user image area.
  • Step S103 Determine a characteristic image area in the environment image according to the characteristic part.
  • the feature image area corresponding to the feature location is acquired according to the acquired feature location and the preset association relationship, and the preset association relationship is the correspondence relationship between the feature location and the feature image area.
  • the corresponding characteristic image area is the environment image.
  • the preset range where the arms are located is the characteristic image area corresponding to the arm.
  • Step S104 Identify the first body feature of the user according to the feature image area.
  • the corresponding characteristic image and the first limb characteristic corresponding to the characteristic image are obtained from the characteristic image database set in the memory of the aircraft 10.
  • the aircraft 10 recognizes the user image area A in the environment image obtained by the camera 104, and recognizes the characteristic part of the user according to the user image area A C. Determine the characteristic image area B in the environment image A according to the characteristic part C of the user.
  • the feature image area B is compared with the preset feature image database to obtain the feature image D from the preset feature image database, and the corresponding first limb feature is obtained according to the feature image D and the association relationship between the preset feature image and the first limb feature.
  • a physical feature is compared with the preset feature image database to obtain the feature image D from the preset feature image database, and the corresponding first limb feature is obtained according to the feature image D and the association relationship between the preset feature image and the first limb feature.
  • the user's first limb feature in the environment image obtained by the aircraft 10 is that the arms C are raised and both are at an angle ⁇ with the horizontal plane.
  • Step S11 Generate a corresponding prompt instruction according to the first limb feature.
  • the aircraft 10 generates a corresponding prompt instruction according to the acquired first limb feature and a preset relationship, where the preset relationship is the corresponding relationship between the first limb feature and the prompt information, and the corresponding relationship can be obtained according to the first limb feature. Prompt instructions.
  • the prompt instruction includes a first prompt instruction and a second prompt instruction
  • the generation of a corresponding prompt instruction according to the first body feature includes:
  • the first prompt instruction is generated
  • the second prompt instruction is generated.
  • the preset limb feature can be raised with both arms C and at an angle ⁇ with the horizontal plane, 90° ⁇ 60°, and the preset limb feature can also be raised with a single arm C and present with the horizontal plane.
  • the included angle ⁇ , 90° ⁇ 60°, the preset limb feature can also be that the single arm C is raised and the included angle ⁇ with the horizontal plane, where ⁇ is less than 60°.
  • Setting preset body features in the aircraft 10 can control the camera device 104 to perform a corresponding camera operation, where the camera operation can be any one of taking a picture, taking a picture, stopping a picture, or stopping a picture.
  • first limb feature When it is recognized from the environment image that the user’s first limb feature is that both arms C are raised and are at an angle ⁇ with the horizontal plane, 90° ⁇ 60°, and the single arm C is raised at an angle ⁇ with the horizontal plane , 90° ⁇ 60° or the preset limb feature can also be a single arm C raised and an angle ⁇ with the horizontal plane, where ⁇ is less than any one of 60°, the first prompt instruction is generated ;
  • the second prompt instruction is generated.
  • Step S12 Send the prompt instruction to a terminal device communicatively connected with the aircraft, so that the terminal device generates corresponding prompt information according to the prompt instruction.
  • the aircraft 10 sends the prompt instruction to the terminal device 20 communicatively connected with the aircraft 10, so that the terminal device 20 generates prompt information corresponding to the prompt instruction according to the prompt instruction.
  • the prompt information may be voice prompt information, text prompt information, or image. At least any one of the prompt messages.
  • Step S13 Obtain a response instruction in response to the prompt information.
  • the obtaining a response instruction in response to the prompt information includes:
  • the user wants to control the camera device 104 to perform a photographing operation through his current body language
  • the aircraft 10 recognizes that the user’s current body language is to control the camera device 104 to perform the photographing operation and send a corresponding prompt instruction to the terminal device 20
  • the terminal device 20 is caused to generate prompt information corresponding to the prompt instruction, for example, "whether to take a picture" is displayed on the terminal device 20.
  • the user confirms that his current body language will control the aircraft 10 to perform the correct operation, he controls the terminal device 20 so that the terminal device 20 sends a first response instruction to the aircraft 10.
  • the user can control the terminal device 20 by Voice control can also be triggered by triggering a button set on the terminal device 20.
  • the button can be a physical button or a virtual button generated by installing an APP, which is not limited here.
  • the terminal device 20 can be manipulated so that the terminal device 20 sends a first response instruction to confirm the operation in accordance with the prompt information to the aircraft 10, so that the aircraft 10 controls the camera 104 to perform the operation. Camera operation.
  • the terminal device 20 If the user confirms that his current body language will control the operation performed by the aircraft 10 is wrong, he controls the terminal device 20 so that the terminal device 20 sends a second response instruction to the aircraft 10.
  • the terminal device 20 can also be manipulated so that the terminal device 20 sends the aircraft 10 a second response instruction to cancel the operation according to the prompt information.
  • the obtaining a response instruction in response to the prompt information includes:
  • the corresponding response instruction is generated according to the second limb feature.
  • the current posture is maintained, so that the aircraft 10 obtains the first response instruction to confirm the operation according to the prompt information.
  • the current posture is changed to change the current body language, so that the aircraft 10 obtains the user's second body feature after the corresponding posture change, and cancels according to the second body feature acquisition.
  • the second response instruction of the prompt information operation where the second body language is different from the first body language, and the aircraft 10 can be controlled to generate a corresponding second response instruction to control the camera 104 to perform an operation corresponding to the second response instruction.
  • the second limb feature is that arm C is raised with one hand and is at an angle ⁇ with the horizontal plane, 90° ⁇ 60°, and the second limb feature corresponds to enable the aircraft 10 to generate a camera
  • the device 104 cancels the second response instruction of the camera operation.
  • the user can control the generation of a second response instruction that causes the camera 104 to cancel the camera operation by changing the current body language to the corresponding body language with the second body feature.
  • Step S14 Control the camera device to perform a corresponding camera operation according to the response instruction.
  • the aircraft 10 controls the camera device to perform a camera operation corresponding to the response instruction according to the acquired response instruction, where the camera operation may be any one of taking a picture, taking a picture, stopping taking a picture, or stopping a picture taking.
  • the vision chip further includes a memory 105 and a processor 106.
  • the memory 105 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like.
  • the memory 105 may be an internal storage unit of the aircraft 10 in some embodiments, such as a hard disk of the aircraft 10. In other embodiments, the memory 105 may also be an external storage device of the aircraft 10, such as a plug-in hard disk, a smart media card (SMC), and a secure digital (SD) card equipped on the aircraft 10. Flash Card, etc.
  • the memory 105 can be used not only to store application software and various data installed in the aircraft 10, such as computer-readable code of a shooting control program, etc., but also to temporarily store data that has been output or will be output.
  • the processor 106 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip, and the processor 106 may call program codes stored in the memory 105 or The data is processed to execute the aforementioned shooting control method.
  • CPU central processing unit
  • controller controller
  • microcontroller microcontroller
  • microprocessor or other data processing chip
  • the present invention also provides a photographing control device 30, which is communicatively connected with terminal equipment.
  • the photographing control device 30 includes a camera module 304 and a vision chip 300 communicatively connected with the camera module 304, wherein the vision
  • the chip 300 includes:
  • the feature recognition module 301 is used to recognize the user's first body feature
  • the instruction generation module 302 is configured to generate a corresponding prompt instruction according to the first limb feature
  • the instruction sending module 303 is configured to send the prompt instruction to a terminal device communicatively connected with the shooting control apparatus, so that the terminal device generates corresponding prompt information according to the prompt instruction;
  • the instruction acquisition module 305 is configured to acquire a response instruction in response to the prompt information.
  • the control module 306 is configured to control the camera module to perform a corresponding camera operation according to the response instruction.
  • the feature recognition module 301 is also used to:
  • the first body feature of the user is recognized according to the feature image area.
  • the terminal device can be a remote control device, a smart phone, a tablet computer, or a notebook computer.
  • the characteristic part includes at least one of the following: voice prompt information, image prompt information, and text prompt information.
  • the prompt instruction includes a first prompt instruction and a second prompt instruction
  • the instruction generation module 302 is further configured to:
  • the first limb feature is the preset limb feature, correspondingly generate the first prompt instruction
  • the second prompt instruction is generated correspondingly.
  • the prompt information includes at least one of the following: voice prompt information, image prompt information, and text prompt information.
  • the instruction acquisition module 305 is also used to:
  • the instruction acquisition module 305 is also used to:
  • the corresponding response instruction is generated according to the second limb feature.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

本发明公开了一种拍摄控制方法、装置、飞行器及飞行系统，其中，该拍摄控制方法应用于飞行器，所述飞行器设置有摄像装置，所述方法包括：识别用户的第一肢体特征；根据所述第一肢体特征生成对应的提示指令；发送所述提示指令给与所述飞行器通信连接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息；获取响应所述提示信息的响应指令；根据所述响应指令控制所述摄像装置执行相应的摄像操作。本发明提供了一种更优的飞行器拍摄控制方法。

Description

一种拍摄控制方法、装置、飞行器及飞行系统 技术领域
本发明涉及飞行器控制技术领域，尤其涉及一种拍摄控制方法、装置、飞行器及飞行系统。
背景技术
随着技术的发展，无人飞行器的发展越来越快，尤其是利用无人飞行器进行航拍或摄像，可以使用户获取到独特视角的影像数据。
其中，无人飞行器在拍摄过程通常是由飞行控制器或者具有控制能力的移动终端设备控制，该控制方式过于单一无法满足用户多种摄像环境下的控制摄像需求。
因此，如何更好地控制飞行器的拍摄成为研究的热点问题。
发明内容
本发明的主要目的在于提供一种拍摄控制方法、装置、飞行器及飞行系统，旨在更优实现飞行器的拍摄控制。
为实现上述目的，本发明提供一种拍摄控制方法，应用于飞行器，所述飞行器设置有摄像装置，所述方法包括：
识别用户的第一肢体特征；
根据所述第一肢体特征生成对应的提示指令；
发送所述提示指令给与所述飞行器通信连接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息；
获取响应所述提示信息的响应指令；
根据所述响应指令控制所述摄像装置执行相应的摄像操作。
优选地，所述识别用户的所述第一肢体特征，包括：
获取所述摄像装置拍摄到的环境图像；
根据所述环境图像确定所述用户的特征部位；
根据所述特征部位确定所述环境图像中的特征图像区域；
根据所述特征图像区域识别所述用户的所述第一肢体特征。
优选地，所述特征部位包括以下中的至少一种：用户的手臂、肩部、头部和手部。
优选地，所述提示指令包括第一提示指令和第二提示指令，则，所述根据所述第一肢体特征生成对应的所述提示指令，包括：
判断所述第一肢体特征是否为预设肢体特征；
当所述第一肢体特征为所述预设肢体特征时，则生成所述第一提示指令；
当所述第一肢体特征不是所述预设肢体特征时，则生成所述第二提示指令。
优选地，所述提示信息包括如下中的至少一种：语音提示信息、图像提示信息和文字提示信息。
优选地，所述获取响应所述提示信息的所述响应指令，包括：
获取所述用户根据所述提示信息操控所述终端设备发出的所述响应指令。
优选地，所述获取响应所述提示信息的所述响应指令，包括：
获取所述用户响应所述提示信息的第二肢体特征；
根据所述第二肢体特征生成对应的所述响应指令。
本发明还提供一种拍摄控制装置，所述拍摄控制装置包括摄像模块及与所述摄像模块通信连接的视觉芯片，其中，所述视觉芯片包括：
特征识别模块，用于识别用户的第一肢体特征；
指令生成模块，用于根据所述第一肢体特征生成对应的提示指令；
指令发送模块，用于发送所述提示指令给与所述拍摄控制装置通信连接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息；
指令获取模块，用于获取响应所述提示信息的响应指令；及
控制模块，用于根据所述响应指令控制所述摄像模块执行相应的摄像操作。
本发明还提供一种飞行器，所述飞行器包括机身、与所述机身相连的机臂、设于所述机臂的动力装置、与所述机身相连的摄像装置以及设于所述机身的视觉芯片，所述视觉芯片包括：
存储器以及处理器；
所述存储器用于存储计算机可执行的拍摄控制程序；
所述处理器用于调用所述计算机可执行的拍摄控制程序以实现前述的拍摄控制方法。
本发明还提供一种飞行系统，所述飞行系统包括飞行器以及与所述飞行器通信连接的终端设备，所述飞行器包括机身、与所述机身相连的机臂、设于所述机臂的动力装置、与所述机身相连的摄像装置以及设于所述机身的视觉芯片，所述视觉芯片包括：
存储器以及处理器；
所述存储器用于存储计算机可执行的拍摄控制程序；
所述处理器用于调用所述计算机可执行的拍摄控制程序以实现前述的拍摄控制方法。
与现有技术相比，本发明提供的拍摄控制方法应用于飞行器，所述飞行器设置有摄像装置，所述方法包括：识别用户的第一肢体特征；根据所述第一肢体特征生成对应的提示指令；发送所述提示指令给与所述飞行器通信连接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息；获取响应所述提示信息的响应指令；根据所述响应指令控制所述摄像装置执行相应的摄像操作。
通过利用用户的第一肢体特征生成对应的提示指令，并将该提示指令发给终端设备，以在终端设备生成相应的提示信息，以使用户根据提示信息向飞行器发送相应的响应指令，实现对设置于飞行器的摄像装置的更优的拍摄控制，使得飞行器的拍摄控制具有更强的适应性，可以适应多种拍摄环境。
附图说明
图1为本发明一实施例提供的飞行控制系统的结构示意图；
图2为本发明一实施例提供的拍摄控制方法的步骤流程图；
图3为图2中步骤S10的细节步骤流程图；
图4A为飞行器根据用户肢体特征执行相应操作的结构示意图；
图4B为飞行器根据环境图像提取用户第一肢体特征的流程图；
图5为飞行器根据环境图像提取用户第二肢体特征的流程图；
图6为本发明一实施例提供的飞行器的框图结构示意图；
图7为本发明一实施例提供的拍摄控制装置的模块框图结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
需要说明的是，在本发明中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
本发明提供一种拍摄控制方法、装置、飞行器及飞行系统，其中，该拍摄控制方法应用于飞行器，所述飞行器设置有摄像装置，所述方法包括：识别用户的第一肢体特征；根据所述第一肢体特征生成对应的提示指令；发送所述提示指令给与所述飞行器通信连接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息；获取响应所述提示信息的响应指令；根据所述响应指令控制所述摄像装置执行对应的摄像操作。
通过利用用户的第一肢体特征生成对应的提示指令，并将该提示指令发 给终端设备，以在终端设备生成相应的提示信息，以使用户根据提示信息向飞行器发送相应的响应指令，实现对设置于飞行器的摄像装置的更优的拍摄控制，使得飞行器的拍摄控制具有更强的适应性，可以适应多种拍摄环境。
请参阅图1，图1为本发明提供的一种飞行系统100，该飞行系统100包括飞行器10以及与飞行器10通信连接的终端设备20，其中，终端设备20用于控制飞行器10。
该飞行器10可以是旋翼飞行器，如四旋翼飞行器、六旋翼飞行器，也可以是固定以飞行器。
飞行器10包括机身101、与机身101相连的机臂102、设于机臂102的动力装置103、设于机身101的控制系统(图未示)。动力装置103用于提供飞行器10飞行的推力、升力等，控制系统是飞行器10的中枢神经，可以包括多个功能性单元，例如飞控系统、图像识别系统、路径规划系统以及其他具有特定功能的系统。其中，飞控系统包括各类传感器，例如陀螺仪、加速计等，飞控系统用于控制飞行器10的飞行姿态等。路径规划系统用于基于跟踪目标的位置对飞行器10的飞行路径进行规划，并指示飞控系统控制飞行器10的飞行姿态以使飞行器10按指定路径飞行。
图像识别系统包括与机身101连接的摄像装置104和设置于机身101的视觉芯片，摄像装置104和视觉芯片电连接，摄像装置104用于拍摄获取用户的图像或视频等媒体数据，视觉芯片用于确定从媒体数据中识别用户的手势，从而生成相应的控制指令以控制飞行器10或设置于飞行器上的相应设备执行相应操作。如，生成摄像控制指令，从而控制摄像装置104执行相应的摄像操作。摄像装置104可以为高清数码相机或其他摄像装置，摄像装置104可以设置于任何利于拍摄的合适位置，在一些实施例中，摄像装置104通过云台安装于机身101的底部。在一些实施例中，视觉芯片也可以设置于机臂102。
终端设备20可以为智能手机、平板电脑、电脑、遥控器等。用户可以通过任何合适类型的一种或者多种用户交互设备与终端设备20交互，这些用户交互设备可以是鼠标、按键、触摸屏等。飞行器10和终端设备20之间，可以通过分别设置在各自内部的无线通信模块，例如信号接收器、信号发送器等建立通信连接，上传或者下发数据/指令。
请参阅图2，图2为本发明提供的一种拍摄控制方法，该方法应用于飞行器10，由飞行器10的视觉芯片执行，该方法包括：
步骤S10：识别用户的第一肢体特征。
飞行器10内预设用户不同的肢体语言可以控制飞行器10执行不同的动作，不同的肢体语言对应具有不同的肢体特征，通过识别用户的肢体特征从而识别用户需要通过该肢体特征所要表达的肢体语言。
请参阅图3，在部分实施例中，步骤S10包括：
步骤S101：获取所述摄像装置拍摄到的环境图像。
示例性地，该环境图像为通过设置于飞行器10上的摄像装置104获取的图像。其中，摄像装置104获取环境图像的方式可以为飞行器10启动后，摄像装置104按照预设程序周期性拍摄或实时拍摄获取。还可以是用户通过终端设备20向飞行器10发送拍摄指令，以使摄像装置104拍摄获取。
步骤S102：根据所述环境图像确定所述用户的特征部位。
用户的特征部位可以是用户的身体、腿部、手臂、肩部、头部或手部中的至少任意一者。
通过图像识别技术确定环境图像中的用户图像区域，并从用户图像区域中识别出用户的特征部位。
步骤S103：根据所述特征部位确定所述环境图像中的特征图像区域。
根据获取的特征部位和预设的关联关系获取特征部位对应的特征图像区域，该预设的关联关系为特征部位与特征图像区域的对应关系。
如，特征部位为用户手臂时，对应的特征图像区域为环境图像中双臂所在的预设范围为手臂对应的特征图像区域。
步骤S104：根据所述特征图像区域识别所述用户的所述第一肢体特征。
根据特征图像区域从设置于飞行器10的存储器内的特征图像数据库中获取对应的特征图像以及该特征图像对应的第一肢体特征。
请参阅图4A-4B，示例性地，以特征部位是手臂C为例进行说明，飞行器10通过摄像装置104获取环境图像中识别出用户图像区域A，根据用户图像区域A中识别用户的特征部位C，根据用户的特征部位C确定环境图像A中的特征图像区域B。
将特征图像区域B与预设的特征图像数据库对比，以从预设的特征图像 数据库获取特征图像D，并根据特征图像D和预设的特征图像与第一肢体特征的关联关系获取对应的第一肢体特征。
如图4B所示，飞行器10所获取的环境图像中用户的第一肢体特征为双手臂C举起且均与水平面的呈夹角θ。
步骤S11：根据所述第一肢体特征生成对应的提示指令。
飞行器10根据所获取的第一肢体特征和预设关系生成对应的提示指令，其中，该预设关系为第一肢体特征和所述提示信息的对应关系，根据该第一肢体特征即可获取对应的提示指令。
在部分实施例中，所述提示指令包括第一提示指令和第二提示指令，所述根据所述第一肢体特征生成对应的提示指令，包括：
判断所述第一肢体特征是否为预设肢体特征；
当所述第一肢体特征为所述预设肢体特征时，则生成所述第一提示指令；
当所述第一肢体特征不是所述预设肢体特征时，则生成所述第二提示指令。
示例性地，预设肢体特征可以是双手臂C举起且均与水平面的呈夹角θ，90°≥θ≥60°、预设肢体特征还可以是单臂C举起且与水平面的呈夹角θ，90°≥θ≥60°、预设肢体特征还可以是单臂C举起且与水平面的呈夹角θ，其中，θ小于60°。
飞行器10内设置预设肢体特征可以控制摄像装置104执行相应的摄像操作，其中，摄像操作可以是拍照、摄像、停止摄像或停止拍照中的任意一者。
当从环境图像中识别出用户的第一肢体特征为双手臂C举起且均与水平面的呈夹角θ，90°≥θ≥60°、单臂C举起且与水平面的呈夹角θ，90°≥θ≥60°或预设肢体特征还可以是单臂C举起且与水平面的呈夹角θ，其中，θ小于60°中的任意一者时，生成所述第一提示指令；
当从环境图像中识别出用户的第一肢体特征不是预设肢体特征时，则生成所述第二提示指令。
步骤S12：发送所述提示指令给与所述飞行器通信连接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息。
飞行器10发送所述提示指令给与飞行器10通信连接的终端设备20，以使终端设备20根据提示指令生成对应该提示指令的提示信息，其中，提示信 息可以是语音提示信息、文字提示信息或图像提示信息中的至少任意一者。
步骤S13：获取响应所述提示信息的响应指令。
在部分实施例中，所述获取响应所述提示信息的响应指令，包括：
获取所述用户根据所述提示信息操控所述终端设备发出的响应指令。
示例性地，若用户想通过自己当前肢体语言控制摄像装置104执行拍照操作时，若飞行器10识别到用户当前肢体语言为控制摄像装置104执行拍照操作并向终端设备20发送相应的提示指令，以使终端设备20生成对应提示指令的提示信息，如在终端设备20上显示“是否进行拍照”。若用户确认其当前的肢体语言将要控制飞行器10执行的操作正确，则通过操控终端设备20，以使终端设备20向飞行器10发出第一响应指令，其中，用户操控终端设备20的方式可以是通过语音控制，也可以是通过触发设置于终端设备20上的按键，该按键可以是实体按键也可以是通过安装APP生成的虚拟按键，在此不做限定。
如，用户确认需要控制摄像装置104执行拍照操作，则可以通过操控终端设备20，以使终端设备20向飞行器10发出确认按照提示信息操作的第一响应指令，以使飞行器10控制摄像装置104执行拍照操作。
若用户确认其当前的肢体语言将要控制飞行器10执行的操作错误，则通过操控终端设备20，以使终端设备20向飞行器10发出第二响应指令，
如，若用户取消需要控制摄像装置104执行拍照操作，还可以通过操控终端设备20，以使终端设备20向飞行器10发出取消按照该提示信息操作的第二响应指令。
在部分实施例中，所述获取响应所述提示信息的响应指令，包括：
获取所述用户响应所述提示信息的第二肢体特征；
根据所述第二肢体特征生成对应的所述响应指令。
示例性地，若用户确认需要控制摄像装置104执行拍照操作，则保持当前姿态，以使飞行器10获取确认按照提示信息操作的第一响应指令。
若用户需要取消当前控制摄像装置104执行拍照操作时，则改变当前姿态，以改变当前肢体语言，以使飞行器10获取用户对应改变姿态后的第二肢体特征，并根据第二肢体特征获取取消按照该提示信息操作的第二响应指令，其中，第二肢体语言与第一肢体语言不相同，且可以控制飞行器10生成对应 第二响应指令以控制摄像装置104执行对应第二响应指令的操作。
如图5所示，预设该第二肢体特征为手臂C单手举起且与水平面呈夹角θ，90°≥θ≥60°，且该第二肢体特征对应可以使飞行器10生成使摄像装置104取消摄像操作的第二响应指令。用户通过将当前的肢体语言改变为第二肢体特征为对应的肢体语言，即可控制生成使摄像装置104取消摄像操作的第二响应指令。
步骤S14：根据所述响应指令控制所述摄像装置执行相应的摄像操作。
飞行器10根据所获取的响应指令控制摄像装置执行对应该响应指令的摄像操作，其中，摄像操作可以是拍照、摄像、停止拍照或停止摄像中的任意一者。
的请参阅图6，在部分实施例中，视觉芯片还包括存储器105及处理器106。
其中，存储器105至少包括一种类型的可读存储介质，所述可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等)、磁性存储器、磁盘、光盘等。存储器105在一些实施例中可以是飞行器10的内部存储单元，例如该飞行器10的硬盘。存储器105在另一些实施例中也可以是飞行器10的外部存储设备，例如飞行器10上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。存储器105不仅可以用于存储安装于飞行器10的应用软件及各类数据，例如计算机可读的拍摄控制程序的代码等，还可以用于暂时地存储已经输出或者将要输出的数据。
处理器106在一些实施例中可以是中央处理器(Central Processing Unit,CPU)、控制器、微控制器、微处理器或其他数据处理芯片，处理器106可调用存储器105中存储的程序代码或处理数据，以执行前述的拍摄控制方法。
请参阅图7，本发明还提供一种拍摄控制装置30，该拍摄控制装置30与终端设备通信连接，拍摄控制装置30包括摄像模块304以及与摄像模块304通信连接的视觉芯片300，其中，视觉芯片300包括：
特征识别模块301，用于识别用户的第一肢体特征；
指令生成模块302，用于根据所述第一肢体特征生成对应的提示指令；
指令发送模块303，用于发送所述提示指令给与所述拍摄控制装置通信连 接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息；
指令获取模块305，用于获取响应所述提示信息的响应指令；及
控制模块306，用于根据所述响应指令控制所述摄像模块执行相应的摄像操作。
在部分实施例中，特征识别模块301还用于：
获取所述摄像装置拍摄到的环境图像；
根据所述环境图像确定所述用户的特征部位；
根据所述特征部位确定所述环境图像中的特征图像区域；
根据所述特征图像区域识别所述用户的所述第一肢体特征。
终端设备可以是遥控装置、智能手机、平板电脑或笔记本电脑。
在部分实施例中，所述特征部位包括如下中的至少一种：语音提示信息、图像提示信息和文字提示信息。
在部分实施例中，所述提示指令包括第一提示指令和第二提示指令，指令生成模块302还用于：
判断所述第一肢体特征是否为预设肢体特征；
若所述第一肢体特征为所述预设肢体特征，则对应生成所述第一提示指令；
若所述第一肢体特征为非所述预设肢体特征，则对应生成所述第二提示指令。
在部分实施例中，所述提示信息包括如下中的至少一种：语音提示信息、图像提示信息和文字提示信息。
在部分实施例中，指令获取模块305还用于：
获取所述用户根据所述提示信息操控所述终端设备发出的所述响应指令。
在部分实施例中，指令获取模块305还用于：
获取所述用户响应所述提示信息的第二肢体特征；
根据所述第二肢体特征生成对应的所述响应指令。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种拍摄控制方法，应用于飞行器，其特征在于，所述飞行器设置有摄像装置，所述方法包括：
    识别用户的第一肢体特征；
    根据所述第一肢体特征生成对应的提示指令；
    发送所述提示指令给与所述飞行器通信连接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息；
    获取响应所述提示信息的响应指令；
    根据所述响应指令控制所述摄像装置执行相应的摄像操作。
  2. 如权利要求1所述的方法，其特征在于，所述识别用户的所述第一肢体特征，包括：
    获取所述摄像装置拍摄到的环境图像；
    根据所述环境图像确定所述用户的特征部位；
    根据所述特征部位确定所述环境图像中的特征图像区域；
    根据所述特征图像区域识别所述用户的所述第一肢体特征。
  3. 如权利要求2所述的方法，其特征在于：所述特征部位包括以下中的至少一种：
    用户的手臂、肩部、头部和手部。
  4. 如权利要求2所述的方法，其特征在于：所述提示指令包括第一提示指令和第二提示指令，则，所述根据所述第一肢体特征生成对应的所述提示指令，包括：
    判断所述第一肢体特征是否为预设肢体特征；
    当所述第一肢体特征为所述预设肢体特征时，则生成所述第一提示指令；
    当所述第一肢体特征不是所述预设肢体特征时，则生成所述第二提示指令。
  5. 如权利要求1所述的方法，其特征在于：所述提示信息包括如下中的至少一种：
    语音提示信息、图像提示信息和文字提示信息。
  6. 如权利要求5所述的方法，其特征在于，所述获取响应所述提示信息的所述响应指令，包括：
    获取所述用户根据所述提示信息操控所述终端设备发出的所述响应指令。
  7. 如权利要求5所述的方法，其特征在于，所述获取响应所述提示信息的所述响应指令，包括：
    获取所述用户响应所述提示信息的第二肢体特征；
    根据所述第二肢体特征生成对应的所述响应指令。
  8. 一种拍摄控制装置，其特征在于，所述拍摄控制装置包括摄像模块及与所述摄像模块通信连接的视觉芯片，其中，所述视觉芯片包括：
    特征识别模块，用于识别用户的第一肢体特征；
    指令生成模块，用于根据所述第一肢体特征生成对应的提示指令；
    指令发送模块，用于发送所述提示指令给与所述拍摄控制装置通信连接的终端设备，以使所述终端设备根据所述提示指令生成对应的提示信息；
    指令获取模块，用于获取响应所述提示信息的响应指令；及
    控制模块，用于根据所述响应指令控制所述摄像模块执行相应的摄像操作。
  9. 一种飞行器，所述飞行器包括机身、与所述机身相连的机臂、设于所述机臂的动力装置、与所述机身相连的摄像装置以及设于所述机身的视觉芯片，其特征在于，所述视觉芯片包括：存储器以及处理器；
    所述存储器用于存储计算机可执行的拍摄控制程序；
    所述处理器用于调用所述计算机可执行的拍摄控制程序以实现如权利要求1～7任意一项所述的拍摄控制方法。
  10. 一种飞行系统，所述飞行系统包括飞行器以及与所述飞行器通信连接的终端设备，所述飞行器包括机身、与所述机身相连的机臂、设于所述机臂的动力装置、与所述机身相连的摄像装置以及设于所述机身的视觉芯片，其特征在于，所述视觉芯片包括：
    存储器以及处理器；
    所述存储器用于存储计算机可执行的拍摄控制程序；
    所述处理器用于调用所述计算机可执行的拍摄控制程序以实现如权利要求1～7任意一项所述的拍摄控制方法。
PCT/CN2020/123057 2019-09-05 2020-10-23 一种拍摄控制方法、装置、飞行器及飞行系统 Ceased WO2021043333A1 (zh)

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