WO2022016334A1

WO2022016334A1 - Image processing method and apparatus, racing drone, image optimization system and storage medium

Info

Publication number: WO2022016334A1
Application number: PCT/CN2020/103091
Authority: WO
Inventors: 翁松伟; 李斯奇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-07-20
Filing date: 2020-07-20
Publication date: 2022-01-27
Also published as: CN112913221A

Abstract

An image processing method and image processing apparatus for a racing drone, the racing drone, an image optimization system and a computer-readable storage medium. The image processing method for the racing drone comprises: acquiring the flying state of the racing drone (S21), wherein the racing drone uses a first photographing parameter to carry out photographing, and the first photographing parameter is related to the flying speed of the racing drone; when the flying state of the racing drone is in a preset state, adjusting the first photographing parameter of the racing drone to be a second photographing parameter (S22), wherein the second photographing parameter is related to image quality; and photographing on the basis of the second photographing parameter to obtain a target video (S23). The method may obtain high-quality target videos while ensuring flight safety.

Description

Image processing method, device, traversing machine, image optimization system and storage medium

technical field

The present disclosure relates to the field of image processing, and more particularly, to an image processing method, a device, a traversing machine, an image optimization system and a storage medium.

Background technique

When flying at high speed, in order to ensure that there is no motion blur, users on the ground can see the surrounding environment through the video returned by the image to ensure flight safety. When shooting video, the shooting parameters are usually set higher. For example, to ensure Shutter speed, at the expense of sensitivity, is pulled higher, resulting in poor quality photos obtained by extracting frames from recorded video.

Therefore, how to improve the quality of the video and image captured by the traversing machine is an urgent problem to be solved.

SUMMARY OF THE INVENTION

The purpose of the present disclosure is to provide an image processing method for a traversing machine, which can obtain a high-quality target video, and the target image obtained according to the target video has better picture quality.

Other features and advantages of the present disclosure will become apparent from the following detailed description, or be learned in part by practice of the present disclosure.

According to a first aspect of the present disclosure, there is provided an image processing method for a time-travel aircraft, comprising: acquiring a flight state of a time-travel aircraft, the time-travel aircraft using first shooting parameters to shoot, the first shooting parameters and the time-travel aircraft The flight speed of the aircraft is related;

When the flying state of the time-travelling aircraft is in a preset state, adjusting the first shooting parameter of the time-travelling aircraft to a second shooting parameter, and the second shooting parameter is related to the image quality;

Shooting based on the second shooting parameters to obtain a target video.

According to a second aspect of the present disclosure, there is provided an image processing apparatus, wherein the image processing apparatus includes a processor, and the processor is configured to: acquire the flight status of the time-travelling aircraft, and the time-travelling aircraft uses first shooting parameters to shoot, and the The first shooting parameter is related to the flight speed of the crossing aircraft;

Shooting based on the second shooting parameters to obtain a target video.

According to a third aspect of the present disclosure, there is provided a traversing aircraft, comprising: a fuselage, a power system, and the image processing device according to the second aspect; wherein, the power system is installed on the fuselage, and is used for Provide flight power.

According to a fourth aspect of the present disclosure, an image optimization system is provided, comprising: a remote control terminal and the traversing machine as described in the third aspect.

According to a fifth aspect of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the functions described in the first aspect of the embodiments of the present disclosure are implemented. Image processing method for traversing machine.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present disclosure more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some of the present disclosure. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is an architectural diagram of an image optimization system according to an exemplary embodiment of the present disclosure;

FIG. 2 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure;

3 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure;

FIG. 4 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure;

FIG. 5 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure;

6 is a block diagram of a traversing machine according to an exemplary embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure.

detailed description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be employed. In other instances, well-known solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

In addition, the drawings are merely schematic illustrations of the present disclosure, and the same reference numerals in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted. Some of the block diagrams shown in the figures are functional entities that do not necessarily necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

FIG. 1 is an architectural diagram of an image optimization system according to an exemplary embodiment of the present disclosure.

As shown in FIG. 1 , the image optimization system 100 may include a remote control terminal 101 , a remote control terminal 102 and a traversing machine 104 . Among them, the remote control terminal 101 and the remote control terminal 102 can communicate with the traversing machine 104 through the network 103, and the data transmission between the remote control terminal 101, the remote control terminal 102 and the traversing machine 104 can be carried out through wireless transmission, such as WiFi, Bluetooth, zigbee, etc. . Communication between the remote control terminal 101, the remote control terminal 102 and the traversing machine 104 can be performed through traditional 4G, 5G, WiFi, or the Internet.

The

remote control terminals

101 and 102 can, for example, send the user's operation instruction; for example, the traverse aircraft 104 can obtain the flight status of the traverse aircraft 104 after receiving the user's operation instruction, and can also automatically obtain the flight status of the traverse aircraft 104; When the flight state of 104 is in a preset state, the first shooting parameter of the time-travelling machine 104 can be adjusted to the second shooting parameter, wherein the preset state can be, for example, that the time-travelling machine 104 is in a hovering state or a low-speed flying state; Shooting can be performed based on the adjusted second shooting parameters to obtain the target video; the pass-through machine 104 can store the target video in the pass-through machine 104, and can also extract frames from the target video to obtain the target image; the pass-through machine can And/or the target image is sent to the

remote control terminals

101 and 102; the

remote control terminals

101 and 102 can display the target video and/or the target image to the user. The

remote control terminals

101 and 102 can be, for example, but not limited to, a universal remote control or a dedicated remote control for the traversing aircraft 104, and can also be mobile terminals such as flying glasses, mobile phones, computers, tablet computers, handheld terminals, etc., on which corresponding application programs are run. , which can be used to remotely control the traversing machine 104. A display device, such as a display screen or a projection device, may be provided on the

remote control terminals

101 and 102, which may be used to display the target video or target image sent by the traversing machine 104. The

remote control terminals

101 and 102 can receive the operation instructions input by the user, and the

remote control terminals

101 and 102 can send the operation instructions to the through machine 104 .

FIG. 2 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure. The image processing method for a pass-through aircraft provided by the embodiments of the present disclosure may be executed by any electronic device with computing processing capability. As shown in FIG. 2 , the image processing method 20 for a pass-through aircraft provided by an embodiment of the present disclosure may include steps S21-S23.

In step S21, the flight status of the crossing aircraft is acquired.

The crossover machine can be a high-speed small UAV, a small quadcopter with a short battery life, and can be used to travel through woods, buildings, etc. An image acquisition device may be set on the traversing machine for acquiring target images, for example, it may be used for taking photos and videos. The drone uses a first shooting parameter to shoot during flight, and the first shooting parameter is related to the flight speed of the drone. For example, in the process of high-speed flight, in order to ensure that the captured video picture is not blurred, the shutter speed of the camera is usually set higher and the sensitivity is set higher. When the processor processes the image, it will also increase the image darkness. Brightening intensity in the area; the sensitivity and the brightening intensity in the dark area of the image are set higher, resulting in strong image noise, so the processor will also set the image noise reduction intensity higher and the image sharpening intensity higher.

For example, the image acquisition device can be directly fixed on the traveling machine, or can be fixed on the traveling machine through a pan-tilt, for example, the pan-tilt can be used to change the direction of the image acquisition device.

The flight status of the TRX may include, for example, the environmental information of the TRX, the instrument data of the TRX, the navigation data of the TRX, the flight control status of the TRX, the instrument data of the TRX, and the like.

By obtaining the flight status of the TRX, it is possible to judge the flight speed of the TRX, whether there are obstacles around, and whether the TRX has shakes, etc.

For example, the flight status of the crossing aircraft may be acquired in real time, or the flight status of the crossing aircraft may be acquired periodically.

In some embodiments, acquiring the flight status of the time-travelling aircraft includes: acquiring environmental information of the time-travelling aircraft, wherein the environmental information includes distance information between the time-travelling aircraft and a preset object.

For example, the traversing aircraft may be provided with one or more sensors for acquiring environmental information around the traversing aircraft. Among them, one or more sensors may be one or more infrared sensors, lidars, etc., which may be used to measure the distance from the traversing aircraft to the preset object.

The preset objects may be, for example, buildings around the crossing aircraft, trees around the crossing aircraft, aircraft around the crossing aircraft, and the like.

During the flight, the time-travel aircraft can obtain the distance information between the time-travel aircraft and the preset object to determine whether there is a need to take pictures.

In some embodiments, acquiring the flight status of the crossing aircraft includes: acquiring navigation data of the crossing aircraft.

During the flight process, the aircraft can obtain the navigation data of the aircraft, and the navigation system of the aircraft can provide the position, speed, and flight attitude of the reference coordinate system to the aircraft, and guide the aircraft to fly according to the designated route.

In some embodiments, acquiring the flight status of the flying boat includes: acquiring instrument data of the flying boat, wherein the instrument data includes jitter information of the flying boat. For example, the instrument data can be acquired based on the IMU (Inertial measurement unit, inertial measurement unit) on the traversing aircraft.

In some embodiments, acquiring the flight status of the time-travelling aircraft includes: acquiring instrument data of the time-travelling aircraft, wherein the instrument data includes jitter information of the gimbal.

During the flight process of the TRX, the instrument data of the TRX can be obtained, and the instrument data can include the jitter information of the TRX and the gimbal, so as to obtain the jitter of the TRX and the gimbal.

In some embodiments, acquiring the flight status of the time-traversing aircraft may include: after receiving an operation instruction sent by the target object or periodically, acquiring the flight state of the time-travelling aircraft.

The fly-through aircraft can periodically obtain the flight status of the fly-through aircraft. The period can be set according to the actual situation, for example, it can be 30 seconds, 1 minute, and so on.

After receiving the operation command sent by the target object, the flying machine can also obtain the flight status of the flying machine.

The target object may be, for example, the operator who controls the ride-through aircraft.

For example, the operation instruction of the target object can be sent through the remote control terminal. For example, the target object can operate the buttons of the remote control terminal to send the operation instruction to the traversing machine.

The operation instructions of the target object can also be sent through the flying glasses.

For example, the flying glasses can be head-mounted glasses, and the flying glasses can be provided with a touchpad and somatosensory control. The flying glasses can be seamlessly combined with the panoramic function of the flying machine, presenting a panoramic view as if you are in the air overlooking the vast world, and rich multimedia playback. The function can make the audio-visual more shocking. The somatosensory control and panoramic view of the flying glasses can improve the user experience.

For example, the flying glasses can obtain operation instructions by judging the operator's gesture or posture. For example, when the operator nods, the operation instructions can be triggered. After the flying glasses obtain the operator's nodding motion, the operation instructions are sent to the drone; When the pilot poses a preset gesture, the goggles can recognize the gesture, match it in the preset gesture pattern library, and after the matching is successful, it can send an operation command to the crossing aircraft.

The action triggering the operation instruction includes but is not limited to the nodding action, which can be set according to the user's needs, and the preset gesture mode library can be set according to the needs, and can also be continuously updated according to the needs. The operation instruction can be, for example, a photographing instruction, and the photographing instruction can, for example, be an instruction to select a shooting mode, or it can include a preset object that the user wants to shoot; the operation instruction can also be other commands to control the flying machine, such as controlling the attitude and speed of the flying machine. The operation instructions are not limited in the present disclosure.

In step S22, when the flight state of the time-travel aircraft is in the preset state, the first shooting parameter of the time-travel aircraft is adjusted to the second shooting parameter.

In some embodiments, the preset state may be that the traversing machine receives a photographing instruction sent by the user. For example, after receiving the photographing instruction sent by the user, the aircraft can directly adjust the first shooting parameter of the aircraft to the second shooting parameter, or obtain the flight status of the aircraft after receiving the photographing command sent by the user. Whether to adjust the first shooting parameter of the time-travelling aircraft to the second shooting parameter is determined by judging whether the flight state of the time-travelling aircraft is in the preset state.

The embodiment of the present disclosure can transmit the target video to the user for viewing in real time based on a single sensor. After the user triggers the photo-taking command, the traverse machine can extract the target photo from the target video recorded in real time, and the target photo can be taken as the photo taken by the user. This method can not interrupt the video recording. By optimizing the function of PIV , turning a low-cost camera into a recordable video, reducing the production cost in the field of traversing aircraft. After the drone recognizes that the user needs to take a picture, for example, after the drone receives the user's photographing instruction, the first shooting parameter can be adjusted to the second shooting parameter for shooting, and the target video obtained based on the second shooting parameter can be extracted from the target video. The photos obtained from the frames have better picture quality and can meet the needs of users for taking pictures.

In some embodiments, the preset state may be that the aircraft is in a hovering state or the flight speed of the aircraft is less than a first preset threshold. In this application, if the aircraft is in the hovering state or the flight speed of the aircraft is lower than the preset threshold, the default user has a need to take pictures, or the default user wants to see the surrounding environment clearly, the aircraft can switch the shooting parameters at this time to ensure the quality of the picture. .

The first preset threshold can be set as required to ensure the flight safety of the crossing aircraft.

For example, the drone obtains the flight speed of the drone, and judges whether the drone is in a hovering state or a low-speed flying state based on the flight speed. When the drone is in a hovering state or a low-speed flying state, adjust the first shooting parameter of the drone. is the second shooting parameter.

When the drone is in a hovering state or flying at a low speed, the first shooting parameter of the drone can be adjusted to the second shooting parameter to obtain a target video or target image with better picture quality.

In some embodiments, the preset state may be that a preset object is photographed by the drone. For example, when the drone shoots a preset object, the first shooting parameter of the drone is adjusted to the second shooting parameter.

The preset objects may be buildings, animals and plants, for example. The preset object can be set as required, or set according to the operation instruction sent by the user.

For example, if the object the user wants to photograph is a tree, the operation command sent by the remote control terminal or the flying glasses may include the preset object as a tree, and when a tree is photographed by the flying machine, the first shooting parameter can be automatically adjusted to the second Shooting parameters to shoot.

In some embodiments, the preset state of the traversing aircraft may be that the distance between the traversing aircraft and the preset object is less than the second preset threshold.

For example, after obtaining the distance information between the passing machine and the preset object, by comparing the relationship between the distance information between the passing machine and the preset object and the second preset threshold, when the distance information between the passing machine and the preset object is less than the second When the preset threshold, that is, when the drone is close to the object to be photographed, the first shooting parameter of the drone can be adjusted to the second shooting parameter; when the distance information between the drone and the preset object is greater than or equal to the second preset When the threshold is set, that is, when the drone is far away from the object to be photographed, the drone keeps the first shooting parameters and continues to shoot. The second preset threshold can be set as required.

In some embodiments, the preset state of the ride-through machine may be that the ride-through machine is in a steady state.

For example, the instrument data obtained by the T-boat may include the jitter information of the T-boat, and whether the T-boat is in a stable state is judged by the jitter information of the T-boat; shooting parameters.

When the aircraft is in a stable state, adjusting the shooting parameters for shooting can obtain high-quality target video or target photos under the condition of ensuring safety.

In some embodiments, the preset state of the traversing machine may be that the gimbal is in a steady state.

For example, the instrument data obtained by the PTZ may include the jitter information of the PTZ, and whether the PTZ is in a stable state is determined by the jitter information of the PTZ. When the PTZ is in a stable state, the first shooting parameter of the PTZ is adjusted to the second one. shooting parameters.

When the gimbal is in a stable state, adjusting the shooting parameters for shooting can obtain high-quality target video or target photos under the condition of ensuring safety. In some embodiments, the second shooting parameter may be, for example, one or more of shutter speed, light sensitivity, aperture, image sharpening intensity, image noise reduction intensity, image dark area brightening intensity, or focal length.

In some embodiments, adjusting the first shooting parameter of the traverse plane to the second shooting parameter includes: reducing shutter speed, reducing sensitivity, reducing aperture, reducing image sharpening intensity, reducing image noise reduction intensity, and reducing image dark area enhancement. One or more of brightness intensity or adjusting focus.

During the flight of the time-travel aircraft, in order to ensure the clarity of the captured video and allow the user to see the surrounding environment clearly, combined with the flight speed of the time-travel aircraft, the shooting parameters of the video are usually set higher, and the target video obtained according to the higher shooting parameters , the target image obtained after frame extraction of the target video is of poor quality. By reducing the shooting parameters of the traverse plane, adjusting the first shooting parameters to the second shooting parameters, and shooting according to the adjusted shooting parameters, the target video is obtained, and the target image obtained after the frame is extracted from the target video has a higher quality. Excellent, more in line with the shooting needs of users.

During the flight of the crossover aircraft, the shooting parameters are usually set higher.

For example, the speed of the traversing machine is fast when traversing. In order to ensure that the captured video picture is not blurred, the shutter speed of the camera is usually set higher and the sensitivity is set higher. When the processor processes the image, it will also improve the image. Dark area brightening intensity; the sensitivity and image dark area brightening intensity are set higher, resulting in strong image noise, so the processor will also set the image noise reduction intensity higher, and the image sharpening intensity is set higher .

During the flight of the crossover aircraft, in order to see a large enough field of view, the focal length is set high, for example, the focal length is set to infinity, and the focal length is set to ultra-wide angle.

It should be noted that the target video obtained by shooting based on the first shooting parameters can be transmitted to the remote control terminal in real time for the user to watch when the flying machine is flying at high speed. .

When a frame is taken from the target video obtained by shooting based on the first shooting parameter, as the target image, since the first shooting parameter is usually set high, such as a high shutter speed, the obtained target image may have the problem of blurred image quality , does not meet the user's requirements for photos.

When the fly-through machine meets the above preset state, you can adjust the shooting parameters of the fly-through machine, for example, you can reduce the shutter speed, reduce the ISO sensitivity, reduce the aperture, reduce the image sharpening intensity, reduce the image noise reduction intensity, reduce the image dark area and brighten One or more of intensity or focus adjustment can obtain high-quality target video and target image.

By reducing the shooting parameters of the traversing machine, and extracting frames from the target video obtained by shooting based on the second shooting parameters, the obtained target image has better picture quality and is more in line with the user's requirements for photos.

It should be noted that the purpose of the preset state set in this application is to identify whether the user needs to take pictures. If the preset state is met, it is recognized that the user has the need to take pictures. Therefore, the shooting parameters of the shooting device when recording are switched to the second one. Shooting parameters, the second shooting parameters are more in line with the user's shooting needs than the first shooting parameters. After switching to the second shooting parameter, the recorded video is more in line with the shooting parameters when taking pictures, and then a picture that meets the user's photographing needs can be extracted from the recorded video stream.

In addition to identifying whether the user needs to take pictures based on the preset state, whether the preset state is satisfied can also be used as the triggering condition for whether to switch the shooting parameters. The first shooting parameter is switched to the second shooting parameter. For example, if the aircraft is in a real-time image transmission liveview screen to the ground terminal for preview or the aircraft is in the state of video recording, when it is detected that the aircraft is hovering or flying at a low speed, the shooting parameters also need to be switched. This is because the shooting parameters of the time-travel aircraft are usually set higher when flying at high speed, and it is obviously unreasonable to continue to use higher shooting parameters to shoot when the aircraft is flying at low speed or even hovering. It is necessary to adjust the shooting parameters to normal. To obtain a high-quality picture, for example, you can reduce the shutter speed, reduce the sensitivity, reduce the aperture, reduce the image sharpening intensity, reduce the image noise reduction intensity, reduce the image dark area brightening intensity, or adjust the focus. to capture higher quality images.

For example, an exposure system can be set in the traverse machine, and the exposure system can intelligently switch the exposure strategy and automatically adjust the shooting parameters of the traverse machine.

For example, reducing the sensitivity can reduce the sensitivity from 400 to 100. The obtained target video or target image is simpler in post-processing, and there is no problem of overexposure of local areas. For example, the local area can be the target video or target image. sky area.

To adjust the focal length, for example, the focal length can be set to a preset distance, and the focal length can be adjusted from an ultra-wide-angle to a normal wide-angle, so that high-quality target videos and target images can be obtained.

The first shooting parameter and the second shooting parameter can be set according to the actual situation. For example, the first shooting parameter can be set according to the flight speed of the time-travel aircraft and the requirements for recording videos, and the second shooting parameter can be set according to the user's requirements for the quality of the photos. set up.

In some embodiments, the first shooting parameter is set according to whether the picture taken by the time-travel aircraft can be seen clearly by the user when flying at high speed; the second shooting parameter is set according to the user's requirement for the picture quality of the photographed picture.

The high-speed flight may be, for example, that the flight speed of the crossing aircraft is greater than a preset value, and the preset value may be set as required; for example, the first shooting parameter may also be determined according to the resolution of the captured video.

In step S23, shooting is performed based on the second shooting parameters to obtain a target video.

The traversing machine can shoot according to the adjusted second shooting parameters to obtain high-quality target video.

The second shooting parameter may be, for example, one or more of shutter speed, sensitivity, aperture, image sharpening intensity, image noise reduction intensity, image dark area brightening intensity, or focal length.

In some embodiments, the shutter speed of the first shooting parameter is higher than the shutter speed of the second shooting parameter, the sensitivity of the first shooting parameter is higher than the sensitivity of the second shooting parameter, and the aperture of the first shooting parameter is greater than that of the second shooting parameter The aperture of the parameter, the intensity of sharpening the image in the first shooting parameter is greater than the intensity of sharpening the image in the second shooting parameter, and the intensity of noise reduction processing in the first shooting parameter is greater than the second shooting parameter. The intensity of performing noise reduction processing on the image in the first shooting parameter or the intensity of brightening the dark area of the image in the first shooting parameter is greater than the intensity of brightening the dark area of the image in the second shooting parameter.

For example, shooting based on the adjusted sensitivity and the intensity of brightening the dark areas of the image, the obtained target video has less noise.

For example, when shooting based on the adjusted focal length and focal length, the obtained target video does not have serious distortion problems.

The image processing method for the time-travel aircraft according to the embodiment of the present disclosure, by acquiring the flight state of the time-travel aircraft, when the flight state of the time-travel aircraft is in a preset state, adjusting the shooting parameters of the time-travel aircraft, and shooting based on the adjusted shooting parameters, A high-quality target video can be obtained, and the target image obtained according to the target video is of better quality.

FIG. 3 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.

On the basis of the image processing method 20 for a pass-through machine shown in FIG. 2 , the image processing method 30 for a pass-through machine shown in FIG. 3 may further include steps S31-S32.

In step S31, a target image is acquired based on the target video.

In some embodiments, the target image can be obtained by extracting frames from the target video based on the PIV (Photo In Video, obtaining a photo from a video) technology.

For example, a high-quality target image can be obtained by extracting frames from a high-quality target video shot by a traverse plane based on the PIV technology, or a target image can be obtained based on the target video based on other technologies.

Extracting frames from the target video can be achieved by using image processing tools, such as OpenCV (Open Computer Vision, open source computer vision) tool, which can process the target video according to the preset frame frequency and number of frames to obtain the target image. The target image is a picture taken from the target video. The target image can be set according to the user's needs. The target image can be one or multiple.

The target image may be, for example, an image containing a preset object, such as an image of a tree, an image of a building, or the like.

The target image may be, for example, an image at a preset position or an image at a preset height.

The target image may be, for example, an image captured based on the second capturing parameter.

Extracting frames from the target video to obtain the target image may include: determining the number of images to be extracted from the target video based on the duration of the target video; extracting frames from the target video according to the duration of the target video and the number of images to be extracted to obtain the target video image.

For example, the relationship between the duration range of the target video and the number of images to be extracted can be preset, the duration of the target video can be obtained, and the number of images to be extracted can be determined according to the duration of the target video and the preset relationship between the duration of the target video and the number of images to be extracted .

For example, the extraction interval can be determined according to the duration of the target video and the number of images to be extracted.

For example, according to the decimation interval, frames can be extracted from the target video at every decimation interval to obtain the target image.

After the target image is obtained, image processing can be performed on the target image, for example, the brightness and contrast of the target image can be adjusted, and the picture size, resolution, and compression rate of the target image can also be adjusted according to user requirements.

In the embodiment of the present disclosure, before performing frame extraction processing on the target video, the method may further include: cutting the target video, for example, according to user requirements, the part of the target video that does not meet the user's requirements may be cut off.

In step S32, the target video or target image is sent or stored.

A memory can be provided on the traverse machine for storing the target video shot by the traverse machine and the target image obtained through the target video.

The traverse machine can store the target video in the traverse machine, and can send the target video to the remote control terminal or server, and the remote control terminal or server can process the target video to obtain the target image.

The traverse machine can store the target video and target image in the traverse machine, and can send the target image to the remote control terminal or server for display or processing.

For example, the remote control terminal or server may be provided with a display device, and the display device may be, for example, a display screen or a projection device, etc., which can be used to display the target video or target image sent by the aircraft.

For example, the flying machine can send the target video or target image to the flying glasses, and the flying glasses can show the target video or target image to the user in real time to improve the user experience.

For example, the traversing machine can send the target video or target image to the remote control or mobile terminal, the remote control or mobile terminal can display the target video or target image to the user in real time, and the mobile terminal can process and store the target video or target image.

For example, the traversing machine can send the target video or target image to the server, and the server can process the target video or target image, for example, can process the target video or target image through PS (Photoshop, image processing software).

FIG. 4 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.

On the basis of the image processing method 20 for a pass-through machine shown in FIG. 2 , the image processing method 40 for a pass-through machine shown in FIG. 4 may further include steps S41 - S42 .

In step S41, when the flying state of the time-travel aircraft is not in the preset state or reaches the preset time, the second shooting parameter of the time-travel aircraft is adjusted to the first shooting parameter of the time-travel aircraft.

When the flight state of the time-travel aircraft changes from a preset state to a non-preset state, the second shooting parameter of the time-travelling aircraft may be adjusted to the first shooting parameter.

For example, after the drone changes from the hovering state to the high-speed flight state, in order to ensure flight safety, the shooting parameters of the drone can be increased; the distance from the drone to the surrounding objects changes from greater than the second preset threshold to less than or equal to When the second preset threshold is used, the shooting parameters of the flying machine can be increased.

After the time-travelling machine shoots for a preset time based on the second shooting parameter, the second shooting parameter of the time-travelling machine may be adjusted to the first shooting parameter of the time-travelling machine.

For example, after ten minutes of shooting based on the second shooting parameter, the shooting parameter of the riding machine can be increased, wherein the preset time can be set according to actual needs.

In some embodiments, adjusting the second shooting parameter of the traverse machine to the first shooting parameter includes: increasing the shutter speed, increasing the sensitivity, increasing the aperture, increasing the image sharpening intensity, increasing the image noise reduction intensity, increasing the image dark area improvement One or more of brightness intensity or adjusting focus.

In step S42, shooting is performed based on the first shooting parameters of the traverse aircraft.

The time-travelling aircraft can continue to shoot based on the adjusted first shooting parameters, and adjusting the second shooting parameters of the time-travelling aircraft to the first shooting parameters can ensure the flight safety of the time-travelling aircraft during the flight.

FIG. 5 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.

After step S21 of the image processing method 20 for a traversing machine shown in FIG. 2 , the image processing method 50 for a traversing machine shown in FIG. 5 may further include step S51 .

In step S51, when the flight state of the time-travelling aircraft is not in the preset state, shooting is performed based on the first shooting parameter.

In some embodiments, the preset state includes that the time-travel aircraft receives a photographing instruction sent by the user, the time-travel aircraft is in a hovering state, the flight speed of the time-travel aircraft is less than a first preset threshold, or the time-travel aircraft captures a preset object.

For example, when the fly-through machine does not receive the photographing instruction sent by the user, it can photograph based on the first photographing parameter.

For example, when the traversing machine does not photograph the preset object, the shooting can be performed based on the first shooting parameter, the preset object can be set as required, and the preset object can be, for example, buildings, animals and plants, and the like.

For example, after obtaining the distance information between the passing machine and the preset object, by comparing the relationship between the distance information between the passing machine and the preset object and the second preset threshold, when the distance information between the passing machine and the preset object is less than the second When the preset threshold, that is, when the drone is close to the object to be photographed, the first shooting parameter of the drone can be adjusted to the second shooting parameter; when the distance information between the drone and the preset object is greater than or equal to the second preset When the threshold is set, that is, when the drone is far away from the object to be photographed, the drone keeps the first shooting parameters and continues to shoot. The second preset threshold can be set as required. The preset state of the aircraft can be that the aircraft is in a hovering state or the flight speed of the aircraft is lower than a first preset threshold, and the first preset threshold can be set as required.

For example, the drone can obtain the flight speed of the drone, and determine whether the drone is in a hovering state or a low-speed flying state based on the flight speed. When the drone is in a high-speed flight, shooting can be performed based on the first shooting parameter.

The preset state of the drone can be that the drone and the gimbal are in a stable state.

For example, the instrument data that can be obtained by the traversing machine can include the jitter information of the traversing machine and the gimbal. It can be judged whether the traversing machine and the gimbal are in a stable state through the jitter information of the traversing machine and the gimbal. , and shooting can be performed based on the first shooting parameter.

The image processing method for the time-travel aircraft in the embodiment of the present disclosure can ensure the flight safety of the time-travel aircraft by acquiring the flight state of the time-travel aircraft, and when the flight state of the time-travel aircraft is not in the preset state, shooting based on the first shooting parameters .

As will be appreciated by one skilled in the art, various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "Module" or "System".

6 is a block diagram of a traversing machine according to an exemplary embodiment of the present disclosure.

As shown in FIG. 6 , the crossing aircraft 600 may include: a camera 610, a body 620, a power system 630 and an image processing device 640; wherein, the power system 630 may be installed on the body to provide flight power; the image processing device 640 It can be used to: obtain the flight state of the time-travel aircraft; when the flight state of the time-travel aircraft is in a preset state, adjust the first shooting parameter of the time-travel aircraft to the second shooting parameter; shoot based on the second shooting parameter to obtain the target video.

In an exemplary embodiment of the present disclosure, the image processing apparatus 640 is further configured to obtain a target image based on the target video.

In an exemplary embodiment of the present disclosure, the image processing apparatus 640 is further configured to: send or store a target video or a target image.

In an exemplary embodiment of the present disclosure, after obtaining the target video, the image processing device 640 is further configured to: when the flight state of the time-travel aircraft is not in the preset state or reaches a preset time, the second The shooting parameters are adjusted to the first shooting parameters of the time-travel aircraft; the shooting is performed based on the first shooting parameters of the time-travel aircraft.

In an exemplary embodiment of the present disclosure, acquiring the flight status of the time-travel aircraft includes: after receiving an operation instruction sent by the target object or periodically, acquiring the flight state of the time-travel aircraft.

In an exemplary embodiment of the present disclosure, the image processing device 640 is further configured to: when the flying state of the crossover aircraft is not in the preset state, shoot based on the first shooting parameter.

In an exemplary embodiment of the present disclosure, the preset state includes that the aircraft receives a photographing instruction sent by the user, the aircraft is in a hovering state, the flight speed of the aircraft is less than a first preset threshold, or the aircraft has photographed a preset object.

In an exemplary embodiment of the present disclosure, adjusting the first shooting parameter of the traverse plane to the second shooting parameter includes: reducing the shutter speed, reducing the sensitivity, reducing the aperture, reducing the image sharpening intensity, reducing the image noise reduction intensity, One or more of reducing the intensity of brightening in dark areas of the image or adjusting the focus.

In an exemplary embodiment of the present disclosure, acquiring the flight status of the flying machine includes: acquiring environmental information of the flying machine, wherein the environmental information includes distance information between the flying machine and a preset object; The distance of the object is greater than the second preset threshold.

In an exemplary embodiment of the present disclosure, acquiring the flight status of the TRX includes: acquiring navigation data of the TRX; the preset state is a hovering state or the flight speed of the TRX is lower than a first preset threshold.

In an exemplary embodiment of the present disclosure, acquiring the flight status of the RTX includes: acquiring instrument data of the RTX, wherein the instrument data includes jitter information of the RTX; and the preset state is that the RTX is in a stable state.

In an exemplary embodiment of the present disclosure, acquiring the flight status of the flying machine includes: acquiring instrument data of the flying machine, wherein the instrument data includes jitter information of the gimbal; and the preset state is that the gimbal is in a steady state.

In an exemplary embodiment of the present disclosure, acquiring the target image based on the target video includes: extracting frames from the target video based on the PIV technology to acquire the target image.

In the time-travel aircraft of the embodiments of the present disclosure, by acquiring the flight state of the time-travel aircraft, when the flight state of the time-travel aircraft is in a preset state, adjusting the shooting parameters of the time-travel aircraft, and shooting based on the adjusted shooting parameters, can ensure flight safety. At the same time, high-quality target video is obtained.

In addition, the present application further provides an image processing apparatus, where the image processing apparatus includes a processor, and the processor is configured to execute executable program instructions to implement the technical solutions mentioned in the above method embodiments.

Referring to FIG. 7 , a program product 700 for implementing the above method according to an embodiment of the present disclosure is described, which can adopt a portable compact disk read only memory (CD-ROM) and include program codes, and can be stored in a terminal device, For example running on a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

A computer readable signal medium may include a propagated data signal in baseband or as part of a carrier wave with readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).

It should be noted that although several modules or units of the apparatus for action performance are mentioned in the above detailed description, this division is not mandatory. Indeed, according to embodiments of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided into multiple modules or units to be embodied.

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

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

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common general knowledge or techniques in the technical field not disclosed by this disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the appended claims.

Claims

An image processing method for a traversing machine, comprising:

obtaining the flight status of the time-travelling aircraft, the time-travelling aircraft is photographed using a first shooting parameter, and the first shooting parameter is related to the flight speed of the time-travelling aircraft;

When the flying state of the time-travelling aircraft is in a preset state, adjusting the first shooting parameter of the time-travelling aircraft to a second shooting parameter, and the second shooting parameter is related to the image quality;

Shooting based on the second shooting parameters to obtain a target video.
The method of claim 1, further comprising:

Based on the target video, a target image is acquired.
The method of claim 2, further comprising:

Sending or storing the target video or the target image.
The method according to claim 1, characterized in that, after obtaining the target video, further comprising:

When the flight state of the time-travel aircraft is not in the preset state or reaches a preset time, adjusting the second shooting parameter of the time-travel aircraft to the first shooting parameter of the time-travel aircraft;

Shooting is performed based on the first shooting parameters of the flying machine.
The method according to claim 1, wherein acquiring the flight status of the crossing aircraft comprises:

After receiving the operation instruction sent by the target object or periodically, the flight status of the time-travelling aircraft is acquired.
The method according to any one of claims 1 to 5, characterized in that, the first shooting parameter is set according to whether the picture taken by the flying machine at high speed can be seen clearly by the user; the first shooting parameter Second, the shooting parameters are set according to the user's requirements for the image quality of the shooting screen.
The method according to any one of claims 1 to 6, wherein the shutter speed of the first shooting parameter is higher than the shutter speed of the second shooting parameter, and the sensitivity of the first shooting parameter is higher than that of the second shooting parameter. The sensitivity of the second shooting parameter, the aperture of the first shooting parameter is greater than the aperture of the second shooting parameter, and the intensity of sharpening the image in the first shooting parameter is greater than the second shooting parameter The intensity of sharpening the image in the first shooting parameter, the intensity of noise reduction processing in the first shooting parameter is greater than the intensity of noise reduction processing in the second shooting parameter or the first shooting parameter. The intensity of brightening the dark area of the image is greater than the intensity of brightening the dark area of the image in the second shooting parameter.
The method according to claim 1, wherein the preset state comprises that the time-travelling machine receives a photographing instruction sent by a user, the time-travelling machine is in a hovering state, and the flight speed of the time-travelling machine is lower than the first The preset threshold value or the preset object is photographed by the passing machine.
The method according to claim 1, wherein the adjusting the first shooting parameter of the pass-through machine to the second shooting parameter comprises: reducing the shutter speed, reducing the sensitivity, reducing the aperture, reducing the image sharpening intensity, One or more of reducing the intensity of image noise reduction, reducing the intensity of brightening in dark areas of the image, or adjusting the focus.
The method according to claim 1, characterized in that acquiring the flight status of the crossing aircraft comprises: acquiring environmental information of the crossing aircraft, wherein the environmental information includes distance information between the crossing aircraft and a preset object; The preset state is that the distance between the passing machine and the preset object is less than the second preset threshold.
The method according to claim 1, wherein obtaining the flight status of the aircraft includes: obtaining navigation data of the aircraft; the preset state is a hovering state or the flight speed of the aircraft is lower than the first a preset threshold.
The method according to claim 1, wherein obtaining the flight status of the flying boat comprises: obtaining instrument data of the flying boat, wherein the instrument data includes jitter information of the flying boat; the preset state for the crossing machine to be in a steady state.
The method according to claim 1, wherein acquiring the flight status of the flying machine comprises: acquiring instrument data of the flying machine, wherein the instrument data includes the jitter information of the gimbal; the preset state is all The gimbal is in a stable state.
The method according to claim 2, wherein acquiring the target image based on the target video comprises: extracting frames from the target video based on the PIV technology to acquire the target image.
An image processing device, characterized in that the image processing device includes a processor, and the processor is used for:

obtaining the flight status of the time-travelling aircraft, the time-travelling aircraft is photographed using a first shooting parameter, and the first shooting parameter is related to the flight speed of the time-travelling aircraft;

When the flying state of the time-travelling aircraft is in a preset state, adjusting the first shooting parameter of the time-travelling aircraft to a second shooting parameter, and the second shooting parameter is related to the image quality;

Shooting based on the second shooting parameters to obtain a target video.
The image processing apparatus according to claim 15, wherein the processor is further configured to:

Based on the target video, a target image is acquired.
The image processing apparatus according to claim 15 or 16, wherein the processor is used for:

Sending or storing the target video or the target image.
The image processing apparatus according to claim 15, wherein after obtaining the target video, the processor is further configured to:

When the flight state of the time-travel aircraft is not in the preset state or reaches the preset time, adjusting the second shooting parameter of the time-travel aircraft to the first shooting parameter of the time-travel aircraft;

Shooting is performed based on the first shooting parameters of the flying machine.
The image processing device according to claim 15, wherein acquiring the flight status of the crossing aircraft comprises:

After receiving the operation instruction sent by the target object or periodically, the flight status of the time-travelling aircraft is acquired.
The image processing device according to any one of claims 15 to 19, wherein the first shooting parameter is set according to whether a picture shot by the flying machine at a high speed can be clearly seen by a user; The second shooting parameter is set according to the user's requirement for the image quality of the shooting screen.
The image processing device according to any one of claims 15 to 20, wherein the shutter speed of the first shooting parameter is higher than the shutter speed of the second shooting parameter and the sensitivity of the first shooting parameter The sensitivity is higher than the second shooting parameter, the aperture of the first shooting parameter is larger than the aperture of the second shooting parameter, and the intensity of sharpening the image in the first shooting parameter is greater than that of the second shooting parameter. The intensity of sharpening the image in the shooting parameters, the intensity of noise reduction processing on the image in the first shooting parameter is greater than the intensity of noise reduction processing on the image in the second shooting parameter or the first shooting parameter The intensity of brightening the dark area of the image is greater than the intensity of brightening the dark area of the image in the second shooting parameter.
The image processing apparatus according to claim 15, wherein the preset state includes that the time-travelling machine receives a photographing instruction sent by a user, the time-travelling machine is in a hovering state, and the flying speed of the time-travelling machine is less than The first preset threshold or the preset object is photographed by the traversing machine.
The image processing device according to claim 15, wherein the adjusting the first shooting parameter of the pass-through machine to the second shooting parameter comprises: reducing shutter speed, reducing sensitivity, reducing aperture, and reducing image sharpening One or more of Intensity, reducing the intensity of image noise reduction, reducing the intensity of brightening in dark areas of the image, or adjusting the focus.
The image processing apparatus according to claim 15, wherein acquiring the flight status of the time-travelling aircraft comprises: acquiring environmental information of the time-travelling aircraft, wherein the environmental information includes distance information between the time-travelling aircraft and a preset object ; The preset state is that the distance between the passing machine and the preset object is less than the second preset threshold.
The image processing device according to claim 15, wherein acquiring the flight state of the time-travel aircraft comprises: acquiring navigation data of the time-travel aircraft; the preset state is a hovering state or the flight speed of the time-travel aircraft is low at the first preset threshold.
The image processing device according to claim 15, wherein acquiring the flight status of the time-travel aircraft comprises: acquiring instrument data of the time-travel aircraft, wherein the instrument data includes jitter information of the time-travel aircraft; Let the state be that the crossing machine is in a stable state.
The image processing device according to claim 15, wherein acquiring the flight status of the time-travel aircraft comprises: acquiring instrument data of the time-travel aircraft, wherein the instrument data includes jitter information of the gimbal; the preset state for the gimbal to be in a steady state.
The image processing apparatus according to claim 16, wherein acquiring the target image based on the target video comprises: extracting frames from the target video based on the PIV technology to acquire the target image.
A crossing aircraft, comprising: a fuselage, a power system, and the image processing module according to any one of claims 15-28; wherein, the power system is installed on the fuselage to provide flight power.
An image optimization system, characterized by comprising: a remote control terminal and the traversing machine as claimed in claim 29.
The system according to claim 30, characterized in that, the system further comprises glasses, and the glasses are used for receiving and displaying the video or image transmitted by the traversing machine.
A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the method of any one of claims 1-14 is implemented.