WO2021212445A1 - Procédé photographique, plateforme mobile, dispositif de commande et support de stockage - Google Patents

Procédé photographique, plateforme mobile, dispositif de commande et support de stockage Download PDF

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Publication number
WO2021212445A1
WO2021212445A1 PCT/CN2020/086555 CN2020086555W WO2021212445A1 WO 2021212445 A1 WO2021212445 A1 WO 2021212445A1 CN 2020086555 W CN2020086555 W CN 2020086555W WO 2021212445 A1 WO2021212445 A1 WO 2021212445A1
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WO
WIPO (PCT)
Prior art keywords
shooting
target object
movable platform
preset
position information
Prior art date
Application number
PCT/CN2020/086555
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English (en)
Chinese (zh)
Inventor
韩守谦
郑子翔
王浩伟
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/086555 priority Critical patent/WO2021212445A1/fr
Priority to CN202080004637.1A priority patent/CN112640422A/zh
Publication of WO2021212445A1 publication Critical patent/WO2021212445A1/fr

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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
    • 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
    • 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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • the present invention relates to the technical field of equipment control, in particular to a shooting method, a movable platform, a control device and a storage medium.
  • Movable platforms such as unmanned aerial vehicles, unmanned vehicles, and self-moving robots have been widely used in many fields. Take UAV as an example. Compared with manned aircraft, it has the characteristics of small size and low cost. Therefore, it has been applied to many fields such as street scene shooting, power inspection, traffic monitoring, and post-disaster rescue.
  • the invention provides a shooting method, a movable platform, a control device and a storage medium, which are used to realize automatic shooting of a target object, improve shooting efficiency, and reduce the complexity of shooting operation.
  • the first aspect of the present invention is to provide a shooting method, which includes:
  • the shooting posture of the shooting device set on the movable platform so that the target object meets a preset display requirement in the shooting screen
  • the shooting device When the adjusted shooting posture of the shooting device enables the target object to meet the preset display requirement in the shooting screen, the shooting device is instructed to shoot the target object.
  • the second aspect of the present invention is to provide a movable platform, which at least includes: a body, a power system, a photographing device, and a control device;
  • the power system is arranged on the body and used to provide power for the movable platform
  • the photographing device is arranged on the body and used for photographing a target object
  • the control device includes a memory and a processor
  • the memory is used to store a computer program
  • the processor is configured to run a computer program stored in the memory to realize:
  • the shooting posture of the shooting device set on the movable platform so that the target object meets a preset display requirement in the shooting screen
  • the shooting device When the adjusted shooting posture of the shooting device enables the target object to meet the preset display requirement in the shooting screen, the shooting device is instructed to shoot the target object.
  • the third aspect of the present invention is to provide a control device including:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize:
  • the shooting posture of the shooting device set on the movable platform so that the target object meets a preset display requirement in the shooting screen
  • the shooting device When the adjusted shooting posture of the shooting device enables the target object to meet the preset display requirement in the shooting screen, the shooting device is instructed to shoot the target object.
  • the fourth aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the first aspect. The shooting method described.
  • the shooting method, the movable platform, the control device and the storage medium provided by the invention improve the shooting efficiency and reduce the complexity of the shooting operation, which greatly facilitates the operation of the user.
  • FIG. 1 is a flowchart of a shooting method provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a positional relationship between a movable platform and a target object provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of the display state change of the target object in the shooting frame before and after the posture adjustment provided by an embodiment of the present invention
  • FIG. 4 is a schematic diagram of another positional relationship between a movable platform and a target object provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the display state change of the target object in the shooting frame before and after another posture adjustment provided by an embodiment of the present invention
  • FIG. 6 is a schematic diagram of the display state change of the target object in the shooting frame before and after another posture adjustment provided by an embodiment of the present invention
  • FIG. 7 is a flowchart of a shooting posture adjustment method provided by an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a method for determining a proportion relationship according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of the display state change of the target object in the shooting frame before and after another posture adjustment provided by an embodiment of the present invention.
  • FIG. 10 is a flowchart of another shooting method provided by an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a change in the display state of a user's avatar in a shooting screen before and after posture adjustment provided by an embodiment of the present invention
  • FIG. 12 is a schematic diagram of the display state change of the building in the shooting frame before and after the posture adjustment provided by the embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a photographing device provided by an embodiment of the present invention.
  • FIG. 14 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
  • FIG. 15 is a schematic structural diagram of a control device provided by an embodiment of the present invention.
  • the shooting method, the movable platform, the control device and the storage medium provided by the present invention acquire the first position information of the target object to be photographed and the second position information of the movable platform, wherein the target object is selected by the user, and the second position information
  • the position information is collected by the positioning module set on the movable platform.
  • the shooting posture of the shooting device set on the movable platform is automatically adjusted according to the two position information. If the adjusted shooting posture makes the target object meet the preset display requirements in the shooting frame, the shooting device on the movable platform is controlled to shoot the target object according to the adjusted posture.
  • an embodiment of the present invention provides a shooting method, which includes:
  • the shooting posture of the shooting device set on the movable platform so that the target object meets a preset display requirement in the shooting screen
  • the shooting device When the adjusted shooting posture of the shooting device enables the target object to meet the preset display requirement in the shooting screen, the shooting device is instructed to shoot the target object.
  • the embodiment of the present invention also provides a movable platform, which at least includes: a body, a power system, a photographing device, and a control device;
  • the power system is arranged on the body and used to provide power for the movable platform
  • the photographing device is arranged on the body and used for photographing a target object
  • the control device includes a memory and a processor
  • the memory is used to store a computer program
  • the processor is configured to run a computer program stored in the memory to realize:
  • the shooting posture of the shooting device set on the movable platform so that the target object meets a preset display requirement in the shooting screen
  • An embodiment of the present invention also provides a control device, which includes:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize:
  • the shooting posture of the shooting device set on the movable platform so that the target object meets a preset display requirement in the shooting screen
  • the shooting device When the adjusted shooting posture of the shooting device enables the target object to meet the preset display requirement in the shooting screen, the shooting device is instructed to shoot the target object.
  • the embodiment of the present invention also provides a computer-readable storage medium, the storage medium is a computer-readable storage medium, and the computer-readable storage medium stores program instructions, and the program instructions are used in the above-mentioned shooting method.
  • the movable platform can be an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, or an intelligent robot with mobile capabilities, and so on.
  • the actual meaning of the shooting method may be introduced by taking a drone as an example.
  • drones When drones are used in industrial scenarios, they can perform tasks such as electric cruises or crop detection. In order to ensure the quality of mission completion, during the flight, drones need to carefully photograph the target objects in the field of view, such as the need to carefully photograph electrical equipment.
  • the user may have the need to take a selfie, or there may be a need to shoot an object or a certain scene in the flying environment.
  • the shooting method provided in the following embodiments of the present invention can be used to realize automatic shooting of the target object.
  • the target object may be the above-mentioned power equipment, the user himself, an object or scenery in the flying environment, and so on.
  • FIG. 1 is a schematic flowchart of a shooting method provided by an embodiment of the present invention.
  • the main body of execution of this shooting method is the control device.
  • the control device can be implemented as software or a combination of software and hardware.
  • the control device executes the shooting method to realize automatic shooting of the target object.
  • the control device in this embodiment and the following embodiments may specifically be a control device, and the control device may specifically be a mobile platform, a terminal device used by the user, a server, and a remote control matched with the mobile platform. And so on remote control equipment.
  • the method may include:
  • S101 Acquire first position information of a target object and second position information of a movable platform, where the target object is selected by a user, and the second position information is collected by a positioning module provided on the movable platform.
  • the user can select the target object on the operation interface.
  • the provider of the operation interface can be a drone, or a remote control that is matched with the drone, or a terminal device used by the user, or a server, etc., and the terminal device and the server will be An application program (Application, referred to as APP) supporting the drone is installed.
  • APP Application, referred to as APP
  • the control device may respond to the selection operation triggered by the user to obtain the first position information where the target object is located.
  • the control device can also directly obtain the second position information collected by the positioning module, and the second position information indicates the current position of the drone.
  • the first location information it can be specifically expressed as three-dimensional coordinates, and the first and second coordinate values in the three-dimensional coordinates can be GPS information indicating the location of the target object. Since the target object is usually located on the ground, the third coordinate value used to indicate the height of the target object in the three-dimensional coordinates may be 0 by default.
  • the second location information it can also be expressed as three-dimensional coordinates.
  • the first and second coordinate values in the three-dimensional coordinates can be GPS information collected by the positioning module, and the third coordinate value can be the current flying height of the drone. value.
  • the flying height of the drone can be obtained by taking photos relative to the ground by a camera installed on the drone, or can be obtained by a distance measuring device installed on the drone.
  • the target object it changes with the application scenarios of the drone.
  • the target object can be electric equipment, agricultural equipment, and so on.
  • the target object can be the user or an object in the drone's flying environment, such as a building, a person, or a scene, etc.
  • S102 According to the first location information and the second location information, automatically adjust the shooting posture of the shooting device set on the movable platform, so that the target object meets the preset display requirement in the shooting screen.
  • the control device can adjust the shooting posture of the shooting device set by the drone according to the two, so that the target object meets the preset display requirements in the shooting screen of the shooting device.
  • the content included in the preset display requirements can be set by the user according to his own needs.
  • the preset display requirement may include: the target object is located at a preset position in the shooting screen.
  • the shooting posture that needs to be adjusted may specifically include the shooting direction of the shooting device.
  • the shooting device since the shooting device is usually fixedly configured on the drone, it is impossible to change its shooting direction by controlling the motion of the shooting device itself.
  • the adjustment of the shooting attitude of the shooting device that is, the adjustment of the shooting direction, can be realized indirectly by adjusting the movement posture of the drone and/or the posture of the carrier device on which the shooting device is placed in the drone.
  • the carrying device of the photographing device is also a pan-tilt configured on the drone.
  • an optional posture adjustment method Since the first position information and the second position information can specifically express three-dimensional coordinates, according to the two three-dimensional coordinates, it is possible to determine a line that passes through two at the same time.
  • the reference line for the position. Adjusting the shooting posture of the shooting device, specifically, adjusting the movement posture of the drone and/or the posture of the pan/tilt so that the straight line perpendicular to the shooting screen of the shooting device and passing through the center of the shooting screen is in line with the above-mentioned reference straight line.
  • the preset angle ⁇ when the two straight lines have this positional relationship, can ensure that the target object is located at the preset position of the shooting frame.
  • the line perpendicular to the shooting screen of the shooting device and passing through the center of the shooting screen can be called the target line.
  • the relationship can be understood in conjunction with Figure 2.
  • the display of the target object in the shooting screen can be changed as shown in Figure 3.
  • the control device will further control the shooting device to shoot the target object in the current posture, so as to obtain an image that meets the needs of the user.
  • the shooting posture of the shooting device set on the movable platform is automatically adjusted according to the two position information. If the adjusted shooting posture makes the target object meet the preset display requirements in the shooting frame, the shooting device on the movable platform is controlled to shoot the target object according to the adjusted posture. It can be seen that the above shooting method is an automatic shooting method, which improves the shooting efficiency.
  • the automatic shooting method provided in this embodiment can well overcome the above-mentioned drawbacks, can greatly reduce the complexity of shooting operations and the requirements on the user's operating ability, and facilitate the user's operation.
  • the preset display requirement may include the preset position of the target object in the shooting frame.
  • one of the most commonly used and special preset positions can be the center of the shot frame.
  • Another optional attitude adjustment method is:
  • the control device can also determine a reference straight line according to the first position information and the second location information, and adjust the shooting posture of the shooting device based on the reference straight line. Specifically, it is to adjust the movement attitude of the drone and/or the attitude of the gimbal so that the target straight line coincides with the reference straight line. When the two straight lines coincide, the target object can be located in the center of the shooting frame.
  • the yaw angle of the UAV can be adjusted first, so that the gimbal is in the centered state. Then adjust the pitch angle of the gimbal so that the target object is located in the center of the shooting frame. Among them, the pan/tilt is in the centered state, which means that the orientation of the camera lens is consistent with the flying direction of the drone.
  • the relationship between the UAV, the shooting device, the pan/tilt, the reference line, and the target line can be understood in conjunction with Figure 4.
  • the display of the target object in the shooting screen can be changed as shown in FIG. 5.
  • the preset display requirements may include, in addition to the above-mentioned preset position of the target object in the shooting screen, optionally: the size of the target object in the shooting screen is within a preset range to ensure that the target object is The size in the shooting frame is moderate.
  • the control device can also control the drone to fly close to the target object by a preset distance, that is, by reducing the distance between the drone and the target.
  • the distance between the objects so that the size of the target object in the shooting frame is within the preset range.
  • the drone can be controlled to move a preset distance along the reference straight line. It is further determined whether the size of the target object in the shooting frame meets the preset range. If the size is not within the preset range, that is, too large or too small, the drone is controlled to further approach the target object until the size of the target object in the shooting frame is within the preset range.
  • the display of the target object in the shooting screen may change as shown in FIG. 6.
  • the preset display requirement may also include: the proportion relationship of the target object in the shooting frame satisfies the preset proportion relationship, so that the size of the target object in the shooting frame is moderate.
  • another optional shooting attitude adjustment method can be shown in Figure 7:
  • S201 Determine the distance between the first location information and the second location information.
  • S202 Determine the proportion of the target object in the shooting frame according to the distance.
  • the two position information can be specifically expressed as three-dimensional coordinates, and the distance between the two can be calculated according to the distance formula. Then, use this distance to determine the proportion of the target object in the shooting frame.
  • the actual size determines the size of the target object in the shooting screen. Since the object distance u, the distance v, and the focal length f can have the following relationships: Therefore, the proportion relationship is actually determined according to the object distance, focal length, and the actual size of the target object.
  • the actual size of the target object and its size in the shooting frame can be expressed as the height of the target object.
  • the actual size of the target object can be manually input, or it can be obtained through image recognition. Further, according to the size of the entire shooting frame and the size of the target object in the shooting frame, the proportion relationship between the target and the object is determined.
  • the angle of view corresponding to the shooting image may be determined first according to the distance between the two position information and the current focal length of the shooting device. According to the size of the field of view and the actual size of the target object, the proportion of the target object in the shooting frame is determined.
  • S203 Adjust the focal length of the shooting device according to the proportion relationship, so that the proportion relationship of the target object in the shooting frame meets the preset proportion relationship.
  • Adjust the shooting parameters of the shooting device such as the focal length, according to the proportion relationship, so that the proportion relationship of the target object in the shooting frame meets the requirements. Specifically, if the focal length of the photographing device becomes longer, the proportion of the target object in the photographed frame becomes larger, and anyway, it becomes smaller. After the focus is adjusted, the display of the target object in the shooting screen can be changed as shown in FIG. 9.
  • the proportion relationship of the target object in the shooting frame meets the pre-proportion relationship.
  • the display of the target object can also meet the requirements of the user, and the effect of the image captured by the shooting device can be ensured.
  • the control device will then determine whether the proportion of the target object in the photographed image meets the preset proportion requirement according to the adjusted focal length. If it does not meet the preset requirements, the focus will be further adjusted in the manner shown in step 202 until the preset preset ratio relationship is satisfied.
  • the embodiment shown in FIG. 7 only mentions the case where the proportion of the target object can meet the preset requirement by adjusting the focal length.
  • the proportion of the target object can meet the preset requirement by adjusting the focal length.
  • it is limited by the location of the target object and the shooting capability of the shooting device. Therefore, it may happen that even if the focal length of the shooting device is adjusted, the proportion relationship cannot meet the preset requirements.
  • the control device will control the shooting device to use the maximum focal length The target subject is photographed.
  • the control device will control the drone to move the preset distance in the direction closer to the target object, that is, bring the drone closer to the target object, thereby increasing the ratio of the target object in the shooting image.
  • the drone can be controlled to move a preset distance along the direction of a reference straight line, where the reference straight line is determined according to the first position information and the second position information.
  • the target object can also be positioned at the center of the shooting frame, so as to ensure that the captured image can meet the requirements of the user as much as possible.
  • the drone when the shooting device does not have the zoom capability, can also be controlled to fly in a direction close to the target object, so that the proportion of the target object in the shooting frame meets the preset proportion relationship.
  • the examples shown in Figs. 1 to 9 above provide a variety of posture adjustment methods, and the adjustment methods shown in Figs. 1 to 5 can make the target object be located at a preset position in the shooting screen.
  • the adjustment method shown in FIG. 6 can make the size of the target object in the shooting frame within the preset range.
  • the adjustment methods shown in FIGS. 7 to 9 can make the proportion relationship of the target object in the shooting frame a preset proportion relationship.
  • the control device can perform the above adjustment methods individually or in combination according to the preset display requirements set by the user.
  • FIG. 10 is a schematic flowchart of another shooting method provided by an embodiment of the present invention. As shown in FIG. 10, before step 101, the shooting method may further include the following steps:
  • S301 in response to a selection operation triggered by the user on the target object, obtain a shooting instruction including the first position information, where the user performs the selection operation on the remote control device.
  • the user can trigger the selection operation of the target object on the remote control device, such as the server, the remote control matched with the drone, or the terminal device used.
  • the control device obtains a shooting instruction containing first position information, where the first position information is the position where the target object is located.
  • the target object can be a certain electric device that has been determined.
  • the operation interface of the remote control device can display a map marked with all the power devices on the cruise route, and the user can select any power device on the map as a target object as needed.
  • the user can control the drone to fly, and can also trigger the target object selection operation on the interface provided by the remote control or the APP installed on the terminal device.
  • the selection operation at this time can be considered The user triggered the drone's selfie function.
  • the video content shot by the camera on the drone can also be sent to the remote control device in real time.
  • the user in the process of watching the video, the user can trigger the selection operation of the target object according to the watched content, so that the control device receives the shooting instruction.
  • the user may be interested in a certain building or a certain scene captured by the shooting device while watching a video.
  • the user can select the content of interest on the operation interface, that is, It is to realize the choice of the target object.
  • S302 In response to a display requirement setting operation triggered by the user, a shooting instruction including a preset display requirement is acquired, so that after the movable platform responds to the shooting instruction, the target object meets the preset display requirement in the shooting image.
  • the user After the user completes the selection operation of the target object in the above manner, the user can further set the display requirement corresponding to the target object, and this preset display requirement is also included in the shooting instruction.
  • the display requirements set by the user on the user's avatar on the operation interface may include the center position of the selfie avatar in the shooting screen, the size of the avatar is within a preset range, and the avatar is in the shooting screen.
  • the display requirements set for the power device may also be one or more of the above-mentioned ones.
  • the user when the user selects a certain building A as the target object in the video shot by the drone shooting device, at this time, the user can manually draw the corresponding building A on the operation interface provided by the control device.
  • Show requirements. This display requirement may include that building A is located at a preset position in the shooting picture, and the proportion of building A in the shooting picture satisfies the preset proportion relationship, so that the image including building A captured by the shooting device is clever The composition effect.
  • the user can trigger the selection operation of the target object on the interface provided by the control device, and can also set the display requirement of the target object.
  • the display requirement setting can be selected from the existing options, or personalized drawing can be performed by the user, so that the image automatically captured by the drone can meet the user's personalized display needs.
  • the user can control the drone to fly, and the terminal device used by the user is equipped with an APP that matches the drone.
  • the selection operation of the target object can be triggered on the interface provided by the APP installed on the mobile terminal, that is, the self-portrait function provided by the drone is triggered.
  • the self-portrait display requirement on the operation interface to be in the center of the shooting screen. If the user still cares about the size of the selfie avatar in the shooting screen, you can also set the display requirement that the proportion of the selfie avatar in the shooting screen meets the preset proportion relationship, where the preset proportion relationship can be manually input by the user or Choose from multiple preset ratio values.
  • the control device will obtain a shooting instruction containing the user's first position information and a preset display requirement, and control the shooting posture of the shooting device according to the instruction. Specifically, it is to adjust at least one of the flying posture of the drone, the posture of the pan/tilt on which the shooting device is placed, and the focal length of the shooting device itself. For the specific adjustment process, refer to the related descriptions in Figures 1-9.
  • the control device After adjusting the shooting posture so that the display of the user's avatar meets the preset display requirements, the control device will further control the shooting device to shoot the user's avatar in the current posture, so as to realize the user's self-portrait.
  • the user's avatar will change as shown in FIG. 11 in the shooting screen. At this time, the user's avatar is in the center of the shooting screen and the size of the avatar is moderate.
  • the drone can also send the captured video content to the user during the flight, and the user will be interested in the building A in the process of watching the video content.
  • the user can select the building A in the video content on the one hand, and at the same time draw the personalized display requirements corresponding to the building A on the interface provided by the APP, for example, the building A is located in the preset shooting screen Position, the proportion of building A in the shooting image satisfies the preset proportion relationship.
  • the control device can also adjust the shooting posture of the shooting device according to the content contained in the shooting instruction. After adjusting the shooting posture so that the display of the building A meets the preset display requirements, the control device will further control the shooting device to shoot the building A in the current posture. After the shooting posture is adjusted, the shooting picture of building A will change as shown in FIG. 12. At this time, building A is in the preset position of the entire shooting picture and has a moderate size, and the captured image has a clever composition.
  • the target object can be a specific power device B in the cruise route, and a map can be displayed on the operation interface of the control device, and the location of all power devices in the cruise route is marked on the map.
  • the user can select the power device B among them, and set the display requirements of the device at the same time, for example, the power device B is in the center of the shooting picture, and the proportion of the device in the shooting picture meets the preset proportion relationship.
  • the control device adjusts the shooting posture. After adjusting the shooting attitude so that the display of the power device B meets the preset display requirements, the control device will further control the shooting device to shoot it in the current attitude. After the shooting posture is adjusted, the power device B will change as shown in FIG. 6 in the shooting picture. At this time, the power device B is in the center of the shooting picture and the size of the avatar is moderate.
  • FIG. 13 is a schematic structural diagram of a photographing device provided by an embodiment of the present invention. referring to FIG. 13, this embodiment provides a photographing device that can execute the above-mentioned photographing method; specifically, the photographing device includes :
  • the acquiring module 11 is used to acquire the first position information of the target object and the second position information of the movable platform, wherein the target object is selected by the user, and the second position information is set on the movable platform Positioning module collection.
  • the adjustment module 12 is configured to automatically adjust the shooting posture of the shooting device set on the movable platform according to the first position information and the second position information, so that the target object meets the preset requirements in the shooting screen Show requirements.
  • the control module 13 is configured to instruct the shooting device to shoot the target object when the adjusted shooting posture of the shooting device makes the target object meet the preset display requirement in the shooting screen.
  • the device shown in FIG. 13 can also execute the methods of the embodiments shown in FIGS. 1-12.
  • parts that are not described in detail in this embodiment please refer to the related descriptions of the embodiments shown in FIGS. 1-12.
  • FIG. 14 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention. referring to FIG. 14, as shown in FIG. 14, an embodiment of the present invention provides a movable platform, and the movable platform is at least one of the following: Robots, unmanned vehicles, unmanned ships, intelligent robots with mobile functions, etc.
  • the movable platform includes: a body 21, a power system 22, a photographing device 23, and a control device 24.
  • the power system 22 is arranged on the body of the machine 21 and used to provide power for the movable platform.
  • the photographing device 23 is arranged on the body 21 and used for photographing a target object.
  • the control device 24 includes a memory 241 and a processor 242.
  • the memory 241 is used to store computer programs
  • the processor 242 is configured to run a computer program stored in the memory to implement:
  • the shooting posture of the shooting device set on the movable platform so that the target object meets a preset display requirement in the shooting screen
  • the shooting device When the adjusted shooting posture of the shooting device enables the target object to meet the preset display requirement in the shooting screen, the shooting device is instructed to shoot the target object.
  • the preset display requirement includes: the size of the target object in the shooting frame is within a preset range and/or the target object is located at a preset position in the shooting frame.
  • the processor 242 is further configured to: determine a reference straight line according to the first position information and the second position information;
  • the straight line perpendicular to the center of the shooting screen forms a preset angle with the reference straight line, so that the target object is located at the preset position of the shooting screen.
  • the shooting posture of the shooting device is changed by adjusting the motion posture of the movable platform and/or the posture of the carrier device on which the shooting device is placed in the movable platform.
  • the processor 242 is further configured to: by adjusting the shooting posture of the shooting device, indicate that a straight line perpendicular to the center of the shooting frame coincides with the reference straight line, so that the target object is located at the center of the shooting frame.
  • the processor 242 is further configured to: instruct the movable platform to move a predetermined distance in a direction close to the target object along the reference straight line.
  • the preset display requirement includes: the proportion relationship of the target object in the shooting frame satisfies the preset proportion relationship.
  • the processor 242 is further configured to determine the distance between the first position information and the second position information
  • the focal length of the photographing device is adjusted according to the proportion relationship, so that the proportion relationship of the target object in the shooting frame meets a preset proportion relationship.
  • the processor 242 is further configured to determine the proportion of the target object in the shooting frame according to the distance, the current focal length of the shooting device, and the actual size of the target object.
  • the processor 242 is further configured to: determine the angle of view corresponding to the shooting picture according to the distance and the current focal length of the shooting device;
  • the proportion of the target object in the shooting frame is determined.
  • processor 242 is further configured to: determine the proportion of the target object in the shooting frame according to the adjusted focal length;
  • the movable platform is instructed to approach the The direction of the target object moves a preset distance.
  • the processor 242 is further configured to instruct the movable platform to move a preset distance along a reference straight line direction, wherein the reference straight line is determined according to the first position information and the second position information.
  • processor 242 is further configured to: determine the proportion of the target object in the shooting frame according to the adjusted focal length;
  • the photographing device is instructed according to the maximum focal length Shoot the target object.
  • the processor 242 is further configured to: in response to a selection operation triggered by the user on the target object, obtain a shooting instruction including the first position information, wherein the user selects the target object on the remote control device. The operation is made.
  • processor 242 is further configured to: obtain content shot by the movable platform;
  • the photographing instruction is acquired.
  • the processor 242 is further configured to: in response to the display requirement setting operation triggered by the user, receive the photographing instruction including the preset display requirement, so that the movable platform may respond to the photographing instruction. , The target object satisfies the preset display requirement in the shooting picture.
  • the movable platform shown in FIG. 14 can execute the methods of the embodiments shown in FIGS. 1-12.
  • parts that are not described in detail in this embodiment please refer to the related descriptions of the embodiments shown in FIGS. 1-12.
  • the structure of the control device shown in Figure 15 can be implemented as an electronic device.
  • the electronic device can be a mobile platform, a terminal device used by the user, a remote server, and a mobile platform. Remote control equipment such as remote control and so on.
  • the electronic device may include: one or more processors 31 and one or more memories 32.
  • the memory 32 is used to store a program that supports the electronic device to execute the shooting method provided in the embodiments shown in FIG. 1 to FIG. 12.
  • the processor 31 is configured to execute a program stored in the memory 32.
  • the program includes one or more computer instructions, and the following steps can be implemented when one or more computer instructions are executed by the processor 31:
  • the shooting posture of the shooting device set on the movable platform so that the target object meets a preset display requirement in the shooting screen
  • the shooting device When the adjusted shooting posture of the shooting device enables the target object to meet the preset display requirement in the shooting screen, the shooting device is instructed to shoot the target object.
  • the structure of the pan/tilt control device may further include a communication interface 33 for the electronic device to communicate with other devices or a communication network.
  • the preset display requirement includes: the size of the target object in the shooting frame is within a preset range and/or the target object is located at a preset position in the shooting frame.
  • the processor 21 may be configured to execute: determining a reference straight line according to the first position information and the second position information;
  • the straight line perpendicular to the center of the shooting screen forms a preset angle with the reference straight line, so that the target object is located at the preset position of the shooting screen.
  • the shooting posture of the shooting device is changed by adjusting the motion posture of the movable platform and/or the posture of the carrier device on which the shooting device is placed in the movable platform.
  • the processor 31 may be configured to perform: by adjusting the shooting posture of the shooting device, indicating that a straight line perpendicular to the center of the shooting frame coincides with the reference straight line, so that the target object is located at the center of the shooting frame.
  • the processor 21 may be configured to execute: instruct the movable platform to move a preset distance in a direction close to the target object along the reference straight line.
  • the preset display requirement includes: the proportion relationship of the target object in the shooting frame satisfies the preset proportion relationship.
  • the processor 21 may be configured to perform: determining the distance between the first position information and the second position information;
  • the focal length of the photographing device is adjusted according to the proportion relationship, so that the proportion relationship of the target object in the shooting frame meets a preset proportion relationship.
  • the processor 21 may be configured to execute: determine the proportion of the target object in the shooting frame according to the distance, the current focal length of the shooting device, and the actual size of the target object.
  • the processor 21 may be configured to execute: determine the angle of view corresponding to the shooting picture according to the distance and the current focal length of the shooting device;
  • the proportion of the target object in the shooting frame is determined.
  • the processor 21 may be configured to execute: determine the proportion of the target object in the shooting frame according to the adjusted focal length;
  • the movable platform is instructed to approach the The direction of the target object moves a preset distance.
  • the processor 21 may be configured to execute: instruct the movable platform to move a preset distance along a reference straight line direction, wherein the reference straight line is determined according to the first position information and the second position information.
  • the processor 21 may be configured to execute: determine the proportion of the target object in the shooting frame according to the adjusted focal length;
  • the photographing device is instructed according to the maximum focal length Shoot the target object.
  • the processor 21 may be configured to execute: in response to a selection operation triggered by the user on the target object, acquiring a shooting instruction containing the first position information, wherein the user is on the remote control device The selection operation is made.
  • the processor 21 may be configured to execute: obtain content shot by the movable platform;
  • the photographing instruction is acquired.
  • the processor 21 may be configured to perform: in response to the display requirement setting operation triggered by the user, receiving the shooting instruction including the preset display requirement, so that the movable platform is responding to the shooting instruction Afterwards, the target object satisfies the preset display requirement in the shooting frame.
  • the device shown in Fig. 15 can execute the methods of the embodiments shown in Figs. 1-12.
  • parts that are not described in detail in this embodiment please refer to the related descriptions of the embodiments shown in Figs. 1-12.
  • For the implementation process and technical effects of this technical solution please refer to the description in the embodiment shown in FIG. 1 to FIG. 12, which will not be repeated here.
  • an embodiment of the present invention provides a computer-readable storage medium.
  • the storage medium is a computer-readable storage medium.
  • the computer-readable storage medium stores program instructions. method.
  • the shooting method, the movable platform, the control device and the storage medium provided by the present invention respectively acquire the target object to be photographed and the respective position information of the movable platform, and automatically adjust the shooting of the shooting equipment set on the movable platform according to the two position information Posture, so that the target object meets the preset display requirements, that is, automatic shooting of the target object is realized, which improves the shooting efficiency and reduces the complexity of the shooting operation, which greatly facilitates the user's operation.

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  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
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Abstract

Un procédé photographique, une plateforme mobile, un dispositif de commande et un support de stockage sont divulgués. Le procédé fait appel aux étapes suivantes : l'acquisition de premières informations de position d'un objet cible ayant besoin d'être photographié et de secondes informations de position d'une plateforme mobile, l'objet cible étant sélectionné par un utilisateur, et les secondes informations de position étant collectées par un module de positionnement agencé sur la plateforme mobile ; puis l'ajustement automatique, selon les deux éléments d'informations de position, de l'attitude photographique d'un dispositif photographique agencé sur la plateforme mobile ; et si l'attitude photographique ajustée permet à l'objet cible de satisfaire aux exigences d'affichage prédéfinies dans un écran photographique, la commande du dispositif photographique sur la plateforme mobile afin de photographier l'objet cible selon l'attitude ajustée. On peut voir que le mode photographique est un procédé photographique automatique, de sorte que l'efficacité photographique soit améliorée, que la complexité des opérations photographiques soit réduite, et que l'opération d'un utilisateur soit également grandement facilitée.
PCT/CN2020/086555 2020-04-24 2020-04-24 Procédé photographique, plateforme mobile, dispositif de commande et support de stockage WO2021212445A1 (fr)

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PCT/CN2020/086555 WO2021212445A1 (fr) 2020-04-24 2020-04-24 Procédé photographique, plateforme mobile, dispositif de commande et support de stockage
CN202080004637.1A CN112640422A (zh) 2020-04-24 2020-04-24 拍摄方法、可移动平台、控制设备和存储介质

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CN116012728A (zh) * 2023-02-07 2023-04-25 北京交通大学 应用于无人机巡检的轨道线路识别跟踪方法及系统
CN117459828B (zh) * 2023-12-26 2024-04-16 博圳道(深圳)科技有限公司 一种遥控自拍方法及装置、计算机设备及存储介质

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