WO2022188151A1

WO2022188151A1 - Image photographing method, control apparatus, movable platform, and computer storage medium

Info

Publication number: WO2022188151A1
Application number: PCT/CN2021/080462
Authority: WO
Inventors: 翁松伟; 付洁; 王泽森
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-12
Filing date: 2021-03-12
Publication date: 2022-09-15
Also published as: CN116762354A

Abstract

An image photographing method, a control apparatus, a movable platform, and a computer storage medium. The image photographing method (200) comprises: identifying a photographic target, that meets a preset photographic condition, within the photographic range of a movable platform (S201); acquiring image composition planning information matching the photographic target (S202); on the basis of the image composition planning information, determining a target photographic position where the movable platform should be located when photographing the photographic target (S203); and after controlling the movable platform to be at the target photographic position, controlling, on the basis of the image composition planning information, a photographic apparatus mounted on the movable platform to photograph the photographic target (S204). According to the method, a user can be quickly assisted to complete photographing by a photographic apparatus on a movable platform using preset image composition planning information without spending too much time on image composition, etc., thereby reducing learning costs of the user.

Description

Image shooting method, control device, movable platform and computer storage medium

manual

technical field

The present invention generally relates to the technical field of data processing, and more particularly, to an image capturing method, a control device, a movable platform and a computer storage medium.

Background technique

For users in the Internet era, it is extremely important to complete drone aerial photography quickly and with high quality. Especially for new users who have just tried drone aerial photography, it takes a certain amount of energy to practice the flight of drones. If they still need to pay attention to composition, it may cause some users to lose interest in aerial photography.

At present, although some drones are equipped with the one-button shooting function, the one-button shooting function usually needs to be selected by the user. For some new users, it is difficult to clearly select the appropriate shooting method or shooting angle at the beginning stage. to quickly capture great photos or videos.

SUMMARY OF THE INVENTION

The present application has been made to solve at least one of the above-mentioned problems. Specifically, one aspect of the present application provides an image shooting method, the image shooting method includes: identifying a shooting target within a shooting range of a movable platform that meets preset shooting conditions; acquiring composition planning information matching the shooting target ; Based on the composition planning information, determine the target shooting position that the movable platform should be in when shooting the shooting target; After controlling the movable platform to be in the target shooting position, based on the composition planning information The photographing device mounted on the movable platform is controlled to photograph the photographing target.

Another aspect of the present application provides a movable platform, the movable platform includes:

Movable platform body;

a photographing device, arranged on the movable platform body, for photographing images;

A communication interface for communicating with the control device;

memory for storing executable program instructions;

one or more processors, configured to execute the program instructions stored in the memory, so that the processors perform the following steps: identifying the shooting targets that meet preset shooting conditions within the shooting range of the movable platform; obtaining composition planning information matched with the shooting target; based on the composition planning information, determine the target shooting position that the movable platform should be in when shooting the shooting target; when the movable platform is controlled to be in the After the target shooting position is determined, the shooting device is controlled to shoot the shooting target based on the composition planning information.

Yet another aspect of the present application provides a control device, the control device comprising:

a communication interface, at least used to communicate with a movable platform, wherein a photographing device is provided on the movable platform;

memory for storing executable program instructions;

one or more processors for executing the program instructions stored in the memory, causing the processors to perform the following steps:

Identify the shooting targets that meet the preset shooting conditions within the shooting range of the movable platform;

acquiring composition planning information that matches the shooting target;

determining, based on the composition planning information, a target shooting position that the movable platform should be in when shooting the shooting target;

outputting a control instruction, so that the movable platform moves to the target shooting position based on the control instruction after acquiring the control instruction, and enables the movable platform to control the shooting device based on the composition planning information photographing the photographing target;

A display for displaying visual information.

Another aspect of the present application further provides a computer storage medium on which a computer program is stored, and when the computer program is executed by a processor, the aforementioned image capturing method is implemented.

In the image shooting method, movable platform, control device and computer storage medium in the embodiments of the present application, after identifying the shooting target within the shooting range of the movable platform that meets the preset shooting conditions, the shooting device is controlled based on the composition planning information to shoot the shooting target. Target shooting, so that users can quickly use the preset composition planning information to assist users to complete the shooting of the shooting device on the movable platform without spending too much time on composition, etc., and can shoot with high quality and good effect. , which reduces the user's learning cost and improves the user's experience.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 shows a schematic diagram of an aircraft in an embodiment of the present application;

FIG. 2 shows a flowchart of an image capturing method in an embodiment of the present application;

Fig. 3 shows the schematic diagram of the scenic spots of a plurality of loops in an embodiment of the present application;

FIG. 4 shows a schematic diagram of a satellite map in an embodiment of the present application;

FIG. 5 shows a schematic block diagram of a movable platform in an embodiment of the present application;

FIG. 6 shows a schematic block diagram of a control device in an embodiment of the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application more apparent, the exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, some technical features known in the art have not been described in order to avoid confusion with the present application.

It should be understood that the application may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a," "an," and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "compose" and/or "include", when used in this specification, identify the presence of stated features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, parts and/or groups. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

For a thorough understanding of the present application, detailed structures and methods will be presented in the following description in order to explain the technical solutions proposed by the present application. Alternative embodiments of the present application are described in detail below, however, the present application may have other embodiments in addition to these detailed descriptions.

The image capturing method, control device, movable platform and computer storage medium of the present application will be described in detail below with reference to the accompanying drawings. The features of the embodiments and implementations described below may be combined with each other without conflict.

It should be noted that the image capturing method for a movable platform provided in the embodiments of the present application can be applied to a movable platform and any other application scenarios involving image capturing. For example, the movable platform may include an aircraft (such as an unmanned aerial vehicle). , robot, unmanned vehicle, and unmanned ship, the embodiments of the present application do not limit specific application scenarios.

In the embodiments of the present application, the case where the movable platform is an aircraft is mainly used as an example to describe the solution of the present application, but it can be understood that this is not intended to limit the application scenarios of the present application.

In one example, FIG. 1 shows a schematic diagram of an aircraft 100 in one embodiment of the present application. The aircraft 100 includes a carrier (ie, a frame) 102 and a load 104 . Those skilled in the art will appreciate that any of the embodiments described herein with respect to aircraft are applicable to any aircraft (eg, unmanned aerial vehicles, also known as drones). In some embodiments, the load 104 may be located directly on the aircraft 100 without the need for the carrier 102 . Aircraft 100 may include processor 101 , memory 102 , powertrain 106 , sensing system 108 , and communication system 110 . These components are interconnected by a bus system and/or other form of connection mechanism (not shown). The payload 104 may include a camera or the like.

The powertrain 106 may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, nozzles. For example, the rotating body of the power mechanism may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. An aircraft may have one or more power mechanisms. All powertrains can be of the same type. Alternatively, one or more of the power mechanisms may be of a different type. Powertrain 106 may be mounted on the aircraft by suitable means, such as by support elements (eg, drive shafts). The powertrain 106 may be installed in any suitable location on the aircraft 100, such as the top end, the lower end, the front end, the rear end, the side, or any combination thereof.

In some embodiments, the powertrain 106 enables the aircraft to take off vertically from a surface, or land vertically on a surface, without requiring any horizontal movement of the aircraft 100 (eg, without taxiing on a runway). Optionally, powertrain 106 may allow aircraft 100 to preset positions and/or steering wheel in the air. One or more of the power mechanisms 106 may be controlled independently of the other power mechanisms. Alternatively, one or more power mechanisms 106 may be controlled simultaneously. For example, the aircraft 100 may have multiple horizontal rotations to track the lift and/or push of the target. The horizontally oriented rotator can be actuated to provide the ability of the aircraft 100 to take off vertically, land vertically, and hover. In some embodiments, one or more of the horizontal rotating bodies may rotate clockwise, while the other one or more of the horizontal rotating bodies may rotate counterclockwise. For example, there are the same number of rotating bodies that rotate clockwise as there are counter-clockwise rotating bodies. The rate of rotation of each horizontal rotator can be varied independently to effect lift and/or push operations caused by each rotator to adjust the spatial orientation, velocity, and/or acceleration of the aircraft 100 (eg, relative to up to three rotation and translation of degrees of freedom).

Sensing system 108 may include one or more sensors to sense spatial orientation, velocity, and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of aircraft 100 . The one or more sensors include any of the sensors described above, including GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. Sensing data provided by the sensing system 108 may be used to track the spatial orientation, velocity, and/or acceleration of the target 100 (as described below, using a suitable processing unit and/or control unit). Optionally, the sensing system 108 may be used to collect data on the environment of the aircraft, such as climatic conditions, potential obstacles to be approached, locations of geographic features, locations of man-made structures, image information, and the like.

The communication system 110 enables communication with the control device 112 having the communication system 114 via a wireless signal 116 .

Communication systems

110, 114 may include any number of transmitters, receivers, and/or transceivers for wireless communication. The communication may be one-way communication, so that data can be sent from one direction. For example, one-way communication may include that only the aircraft 100 transmits data to the control device 112, or vice versa. One or more transmitters of communication system 110 may transmit data to one or more receivers of communication system 114, and vice versa. Optionally, the communication may be two-way communication, so that data may be transmitted between the aircraft 100 and the control device 112 in both directions. Two-way communication includes that one or more transmitters of communication system 110 can transmit data to one or more receivers of communication system 114, and vice versa.

In certain embodiments, control device 112 may provide control data to, and receive from, one or more of aircraft 100 , carrier 102 , and payload 104 . Information (eg position and/or motion information of the aircraft, carrier or payload, payload sensing data, eg image data captured by a camera such as a camera). In some embodiments, the control data for the control device may include instructions regarding position, movement, actuation, or control of the aircraft, carrier and/or load. For example, the control data may cause changes in the position and/or orientation of the aircraft (eg, by controlling the power mechanism 106 ), or cause movement of the carrier relative to the aircraft (eg, by controlling the carrier 102 ). Control data from a control device can result in load control, such as controlling the operation of a camera or other image capture device (capturing still or moving images, zooming, turning on or off, switching shooting modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing the viewing angle or field of view). In some embodiments, the communication of the aircraft, carrier and/or payload may include information from one or more sensors (eg, sensing system 108 or payload 104). The communication may include sensory information transmitted from one or more different types of sensors, such as GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. The sensed information is about the position (eg, orientation, position), motion, or acceleration of the aircraft, carrier, and/or load. The sensed information transmitted from the load includes the data captured by the load or the status of the load. The control data transmitted by the control device 112 may be used to track the status of one or more of the aircraft 100, the carrier 102, or the payload 104. Alternatively or concurrently, carrier 102 and payload 104 may each include a communication module for communicating with control device 112 so that the control device may communicate or track aircraft 100 , carrier 102 and payload 104 individually.

In some embodiments, aircraft 100 may communicate with other remote devices in addition to controls 112 , which may also communicate with other remote devices in addition to aircraft 100 . For example, the aircraft and/or controls 112 may be in communication with another aircraft or a carrier or payload of another aircraft. When desired, the additional remote device may be a second control device or other computing device (eg, a computer, desktop, tablet, smartphone, or other mobile device). The remote device may transmit data to the aircraft 100 , receive data from the aircraft 100 , transmit data to the control device 112 , and/or receive data from the control device 112 . Optionally, the remote device may be connected to the Internet or other telecommunications network to allow data received from aircraft 100 and/or controls 112 to be uploaded to a website or server.

In some embodiments, the movement of the aircraft, the movement of the carrier, and the movement of the load relative to a fixed reference (eg, the external environment), and/or relative to each other, may be controlled by the control device. The control device may be a remote control terminal, located remotely from the aircraft, carrier and/or load. The control device may be located on or affixed to the support platform. Optionally, the control device may be hand-held or wearable. For example, the control device may include a smartphone, tablet, desktop, computer, glasses, gloves, helmet, microphone, or any combination thereof. The control means may comprise a user interface such as a keyboard, mouse, joystick, touch screen or display. Any suitable user input may interact with the control device, such as manual input of commands, voice control, gesture control, or positional control (eg, by movement, position, or tilt of the control device).

The aircraft 100 may include one or more memories 102, and the memory 102 stores a computer program executed by the processor, for example, for storing corresponding steps and program instructions for implementing the image capturing method according to the embodiment of the present application. One or more computer program products may be included, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and/or cache memory, or the like. The non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, and the like.

Aircraft 100 may include one or more processors 101, which may be central processing units (CPUs), graphics processing units (GPUs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or have data processing capabilities and/or other forms of processing units for instruction execution capabilities, and may control other components in aircraft 100 to perform desired functions. The processor can execute the program instructions stored in the memory, so as to execute the relevant steps in the image capturing method of the embodiments of the present application described below. For example, a processor can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSMs), digital signal processors (DSPs), or combinations thereof. In this embodiment, the processor includes a Field Programmable Gate Array (FPGA), or one or more ARM processors.

In view of the existence of the above problems, an embodiment of the present application provides an image shooting method, the image shooting method includes: identifying a shooting target within a shooting range of a movable platform that meets preset shooting conditions; acquiring composition planning information matching the shooting target ; Based on the composition planning information, determine the target shooting position where the movable platform should be when shooting the shooting target; after controlling the movable platform to be at the target shooting position, control the shooting device to shoot the shooting target based on the composition planning information. In the image shooting method in the embodiment of the present application, after identifying a shooting target that meets the preset shooting conditions within the shooting range of the movable platform, the shooting device is controlled to shoot the shooting target based on the composition planning information, so that the user does not need to compose the image and so on. If you spend too much time, you can quickly use the preset composition planning information to assist the user to complete the shooting of the shooting device on the movable platform, and can shoot high-quality and effective images, reducing the user's learning cost and improving user experience.

It should be noted that, in the image capturing method provided by the embodiments of the present application, the execution subject may be a movable platform (such as an aircraft), the capturing device is set on the movable platform, the movable platform and the control device are communicatively connected, and the execution subject may also be Part or all of the computer equipment that can realize the control of the movable platform and the control of the photographing device carried on the movable platform by software, hardware or a combination of software and hardware, or can also be a movable platform and a control device, which can be The mobile platform can perform some steps in the image capturing method, and the control device executes some steps in the image capturing method, for example, the control device performs display-related steps and acquires user instructions based on user operations, and outputs the user instructions to the movable platform, Steps such as making the movable platform move to the target shooting position according to the user's instruction, and shooting the shooting target.

Hereinafter, the image capturing method provided by the embodiments of the present application will be described with reference to the accompanying drawings.

As an example, as shown in FIG. 2 , the image capturing method 200 provided by this embodiment of the present application includes the following steps S201 to S204:

First, in step S201, a shooting target within the shooting range of the movable platform that meets the preset shooting conditions is identified. By automatically identifying the shooting target within the shooting range of the movable platform that meets the preset shooting conditions, the user can quickly understand the photographable sights or buildings near the movable platform.

The shooting target can be de-identified in real time during the flight of the movable platform, or, the control command input by the user through the control device to start automatic shooting can also be obtained. In response to the control command, the movable platform or the control device starts to identify the movable platform. Shooting targets that meet the preset shooting conditions within the shooting range of the platform. Exemplarily, the control device may display an operation button corresponding to shooting, and may acquire a control instruction to start automatic shooting entered by the user through the operation button (eg, clicking the operation button).

Any suitable method may be used to identify the shooting targets within the shooting range of the movable platform that meet the preset shooting conditions, and there may be one or more shooting targets within the shooting range.

In one example, identifying a shooting target that meets a preset shooting condition within the shooting range of the movable platform includes: acquiring calibration information of the shootable object, wherein the calibration information includes at least one of the following information: the shooting object has been calibrated The shape feature information and the position marker information of the calibrated photographable objects; obtain the feature information of the photographable objects within the shooting range of the movable platform, and the feature information includes shape feature information and/or position information.

Optionally, the calibration information includes at least one of the following information: shape feature information of the calibrated photographable object, position marker information of the calibrated photographable object, for example, the calibration information includes shape feature information of the calibrated photographable object, Optionally, the shape feature information of the calibrated photographable object includes at least one of the following feature information: the top-view shape feature of the photographable object, the side-view shape feature of the photographable object, or may also include other information that can identify the photographable object. The shape feature of the photographed object, and the top-view shape feature of the photographable object may be, for example, the shape feature of the roof of a building. The position marking information of the photographable object that has been calibrated may include the latitude and longitude coordinates of the photographable object, or any other coordinate information that can mark the position of the photographable object, and the like.

The calibration information can be obtained by pre-calibrating the shape features of photographable objects such as scenic spots or buildings. For example, a scenic spot composed of multiple rings in the top view can be set as a crop circle, as shown in Figure 3. For example, , the strip-shaped building built on the mountain is set as the Great Wall, the spiral-rising high-rise building is set as the Canton Tower, the bamboo-shaped building is set as the Chunsun Building, or the calibration information of other corresponding photographable objects. The calibration information can be pre-stored in the memory of the mobile platform, or the calibration information can be stored in a server such as a cloud device, and can be directly retrieved and used when needed.

The feature information of the photographable objects within the shooting range of the movable platform can be obtained by any suitable method. The feature information of the object includes: acquiring image information within the shooting range of the movable platform; and identifying the shape feature information of the shootable object within the shooting range of the movable platform based on the image information. The image information may include image data captured by a camera lens (such as an infrared lens or a visible light lens) on the movable platform body, or may include image data collected by a binocular lens, or a Time of Flight (TOF) camera. The collected image data, or the image data can also be a satellite map, such as a satellite map within the shooting range of the movable platform provided by the control device, etc. When using the image information provided by the satellite map, the movable platform stored by the control device can be obtained by obtaining the information. The satellite map within the shooting range of the mobile platform, or when the satellite map is not stored, the current position information of the mobile platform or the position information of the current control device can also be obtained, and the satellite map within the shooting range of the mobile platform can be downloaded and obtained based on the position information. . Optionally, the shape feature information of the photographable objects in the image information can be recognized based on an intelligent recognition method such as machine learning, or the recognition can also be performed based on any other suitable method.

In one example, identifying the shooting targets within the shooting range of the movable platform that meet the preset shooting conditions further includes: after acquiring the feature information of the shootable objects within the shooting range of the movable platform, classifying the features of the shootable objects The information and calibration information are matched to identify the shooting targets within the shooting range of the movable platform. For example, the shape features of the shooting targets that meet the preset shooting conditions are matched with the shape feature information of at least one calibrated photographable object, and the preset shooting conditions are satisfied. The shape feature of the conditional photographing target matches the shape feature information of at least one calibrated photographable object, that is, the photographing target may be a calibrated photographable object, or may also be other photographable objects with substantially the same shape as the calibrated photographable object. A photographic object, that is, the same calibrated photographable object corresponds to one or more photographic objects having substantially the same shape feature.

For another example, the position information of the shooting target that satisfies the preset shooting conditions matches the position mark information of a calibrated photographable object. The corresponding shape of the target matches and the position information of the shooting target matches the position marker information in the calibration information, or, it can also be that only the position information matches the position marker information in the calibration information.

In one example, the location marker information of the calibration information includes geographic location information of one or more calibrated photographable objects, such as latitude and longitude coordinate information, and the feature information of the photographable objects and the calibration information are matched to identify the photographing of the movable platform. The shooting targets within the range include: acquiring first position information, and identifying one or more shooting targets around the first position information that match the position marker information in the calibration information, wherein the first position information includes the following information. At least one: starting coordinate information when the movable platform starts to move, coordinate position information where the control device is located, current location information of the movable platform, or other information that can roughly characterize the location where the movable platform is located. For example, it can be based on the GPS sensor carried by the mobile platform to obtain geographic location information (the starting coordinate information when the mobile platform starts to move or the current location information of the mobile platform), or the geographic location information obtained from the control device of the mobile platform. Position information (for example, coordinate position information where the control device is located), etc., based on one or more of these data to identify and acquire feature information of the photographable objects within the photographing range of the movable platform.

In one example, when the photographing method is performed by a control device communicatively connected to the movable platform, the method further includes: after recognizing one or more photographing targets within the photographing range of the movable platform that meet the preset photographing conditions , each shooting target is marked in the image information by the logo; the image information and each logo are displayed on the display interface of the control device, and the user can quickly know the information of the shooting target by identifying the shooting target, so that the user can decide whether to The target is photographed, and when multiple photographing targets are displayed, it is convenient for the user to intuitively select the target to be photographed.

The identification of the shooting target includes at least one of the following identification information: a pattern identification or a text identification, or may also include any other identification information that can identify the shooting target, and the pattern identification includes an arrow pattern identification or other identification information that can identify the shooting target. Pattern identification, for example, when a shooting target such as the Recocoon Stadium as shown in Figure 4 is identified within the shooting range of the movable platform (for example, within the flight range of the drone), a satellite map is displayed on the display interface of the control device, And mark the Chongcocoon Stadium on the satellite map with the arrow pointing. The text identification may include the name or other text description of the shooting target. Optionally, the shooting target can also be identified by, for example, a digital identification. For example, when one shooting target is identified, a number "1" is used for identification, and when multiple shooting targets are identified, each The shooting targets are identified. For example, when three shooting targets are identified, "1, 2, and 3" are used to identify each shooting target.

In one example, image information is displayed on the display interface of the control device, and multiple shooting targets are displayed in the image information, and the image information includes a satellite map or image data collected by sensors of the movable platform (for example, the control device communicates with the movable platform). connection, the control device can obtain the image data collected by the sensor of the movable platform in real time), when multiple shooting targets are identified, the image shooting method of the present application further includes: based on the user's selection instruction, determining the multiple shooting targets. One for shooting, for example, the control device selects one of the multiple shooting targets in the image information based on the selection instruction input by the user to shoot, for example, obtains the selection input by the user by, for example, clicking on one of the multiple shooting targets in the image information instruction, so as to select one of the multiple shooting targets in the image information for shooting.

Next, with continued reference to FIG. 2 , in step S202 , the composition planning information matching the shooting target is acquired.

The composition planning information includes at least one of the following: a composition method, a preset height of the movable platform (that is, a preset height of the movable platform when the composition is preset), shooting parameters, and shooting orientation, wherein the composition method includes: the shooting target is in The proportion of the shooting picture, and/or the position of the shooting target in the shooting picture, or other composition methods that can make the shooting image better. The shooting parameters include, but are not limited to, a preset field of view, exposure parameters, etc. corresponding to the preset composition. Based on the preset height of the movable platform and the preset field of view of the photographing device, an image corresponding to the composition mode can be photographed and acquired.

The composition planning information can be pre-stored in the memory of the movable platform, or stored in the memory of other computing devices that can communicate with the movable platform or the control device, and can be directly obtained when needed, so as to avoid users using the movable platform. The above-mentioned shooting device spends too much time on composition and other aspects when shooting images, which improves the user experience and shooting efficiency.

In an example, acquiring the composition planning information matching the shooting target includes: acquiring composition planning information of at least one historically shot image of the shooting target; and determining the composition planning information of the shooting target based on the composition planning information of the at least one historically shot image For example, composition planning information such as the latitude, longitude and height when the mobile platform was photographed can be obtained according to the exif information of historically photographed images, such as the picture, and the preset composition can be performed through these information. The composition planning information is used to photograph the photographic target.

The historical shooting images can be the shooting images collected by various photography applications (Application, APP for short), such as photos, videos, etc., which can be the most liked or viewed images for the user, or the user can select his/herself from the historical shooting images Any image you want to shoot.

In another example, acquiring composition planning information that matches the shooting target includes: acquiring a data set of composition planning information of calibrated photographable objects, wherein the composition planning information of each calibrated photographable object is for each calibrated photographable object. The satellite map around the photographable object is obtained by performing a preset composition, for example, by performing a preset composition on the satellite map, and adjusting the proportion of the shooting target such as a building in the picture, etc.; wherein, the data set of the composition planning information can be a preset composition. There is data information in the movable platform or other computing devices, and composition planning information matching the shooting target is obtained from the data set.

Next, in step S203, based on the composition planning information, a target shooting position where the movable platform should be when shooting the shooting target is determined.

The target shooting position may include the target shooting height of the movable platform, that is, the height the movable platform should be at when shooting, and the target shooting position may also include geographic location information such as latitude and longitude coordinate information, which may be based on the selected shooting target. Obtaining geographic location information, for example, the control device may obtain geographic location information of a selected photographing target based on a satellite map, and output the geographic location information to the movable platform.

In one example, the target shooting position includes a target shooting height, and based on the composition planning information, determining the target shooting position that the movable platform should be in when shooting the shooting target includes: based on the composition planning information and the current field of view of the shooting device, determining The estimated shooting height of the movable platform; obtain the restricted height around the position of the movable platform; compare the estimated shooting height with the limited height (when the movable platform is an aircraft, the limited height is also the limited flying height), Determine the target shooting height, so as to avoid the estimated shooting height being higher than the limit height, which will cause the movable platform to stray into the restricted flight area and cause potential safety risks.

The estimated shooting height that the movable platform should be at when shooting according to the composition planning information can be calculated based on any suitable method. For example, based on the composition planning information and the current field of view of the shooting device, determine the estimated shooting height of the movable platform. The height includes: obtaining the current field of view of the shooting device of the movable platform; obtaining the preset field of view of the shooting device and the preset height of the movable platform in the preset composition based on the composition planning information; Field and current field of view to determine the estimated shooting height of the movable platform.

The estimated shooting height H can be calculated by the following formula (1):

Wherein, V is the radius of the current field of view during actual shooting, and β is the current field of view (fov) of the shooting device during actual shooting.

The current field of view of the shooting device can be directly read from the shooting device. Since the actual shooting needs to be taken according to the composition planning information in the preset composition, the radius of the preset field of view in the preset composition and the current field of view in the actual shooting The radius is the same, which is represented by V in this paper. The radius of the preset field of view can be calculated by the following formula (2):

Among them, θ is the preset field of view when the preset composition is used, and h is the preset height of the movable platform when the preset composition is used.

Substitute formula (2) into formula (1), and finally obtain formula (3). The estimated shooting height H can be calculated and obtained by formula (3). Formula (3) is as follows:

Optionally, comparing the estimated shooting height and the restricted height data to determine the target shooting height, including: when the estimated shooting height is higher than the limited height, the target shooting height is set as the limited height; when the estimated shooting height is lower than the limit height; When it is equal to or equal to the limit height, the target shooting height is set to the estimated shooting height.

Optionally, the restricted height can be obtained from local laws and regulations around the location where the movable platform is located. The local laws and regulations stipulate the relevant provisions of the restricted flying area, and the restricted flying area can include at least one of the following: (1) Civil aviation Large airports; (2) General aviation fixed-wing airports; (3) Helicopter airports; (4) Special area restricted areas (such as restricted flight areas), such as Washington, Beijing, commercial areas, military areas, office areas, etc.; (5) other Restricted areas (eg, restricted areas), such as temporary restricted areas (eg, restricted areas).

In an example, the shooting method of the present application further includes: when the estimated shooting height is higher than the limit height, outputting first prompt information, which may be a movable platform such as a drone. When it is determined that the estimated shooting height is higher than the limit height The first prompt information is output, and the first prompt information may be, for example, a sound output by the movable platform or control an alarm device such as an LED light to flash for prompting.

If shooting based on the restricted height, the shooting effect of the preset composition may not be fully realized. Therefore, the user is prompted through the first prompt information so that the user can decide whether to continue shooting, and the automatic shooting can be ended based on the obtained user instruction.

In one example, the control device acquires and displays first prompt information, and the first prompt information may be sent by a movable platform such as a drone when it is determined that the estimated shooting height is higher than the limit height, or it may be sent by the control device when the estimated shooting height is higher than the limit height. When it is determined that the estimated shooting height is higher than the limit height, the first prompt information can be text information or other information that can prompt the user. The text information, such as "the preset shooting height is higher than the limit height", can also be distinguished by The manner of displaying the first prompt information includes, but is not limited to, flashing display, highlight display, differentiated font color, etc., so that the user can obtain the prompt information conspicuously and make a decision.

In other examples, it is also possible to output the first prompt information after controlling the movable platform to fly to the limit height, for example, prompting the user to have flown to the limit height, and also to send back the image data collected by the sensor of the movable platform in real time. , so that it is convenient for the user to judge whether the image data captured when the movable platform is at the restricted height rather than the estimated shooting height meets the user's needs, and then the user decides whether to shoot.

In an example, the shooting method of the present application further includes: acquiring the current power of the movable platform, and when it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is greater than the current power, the shooting is not triggered. Shooting of the target, that is, without triggering the movable platform such as the aircraft to fly to the target shooting position; when it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is less than the current power, the shooting of the shooting target is triggered. , such as controlling the movable platform to fly to the target shooting position, so as to avoid the problem of unable to shoot due to insufficient power.

The method of the present application further includes: when it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is greater than the current power, output second prompt information, so that the user can know the reason why the automatic shooting cannot be triggered, so that the user can timely to replenish the battery or perform other operations.

After the target shooting position is determined, the movable platform is controlled to move to the target shooting position.

Continuing as shown in FIG. 2 , in step S204 , after the movable platform is controlled to be at the target shooting position, the shooting device mounted on the movable platform is controlled to shoot the shooting target based on the composition planning information. Based on the composition planning information, the shooting device is controlled to shoot the shooting target, so that the user can quickly use the preset composition planning information to assist the user to complete the shooting of the shooting device on the movable platform without spending too much time on composition, etc., and It can shoot high-quality and effective images, reduce the user's learning cost, and improve the user's experience.

In one example, the image capturing method is executed by a control device that is communicatively connected to the movable platform, and after controlling the movable platform to be at the target shooting position, controlling the shooting device to shoot the shooting target based on the composition planning information, including: After the control device acquires the feedback information sent by the movable platform, it displays the feedback information, which is sent after the movable platform is in the target shooting position. “Location” and other text descriptions, so that users can know the information in time and proceed to the next step.

In one example, the image capturing method is performed by a movable platform, and the movable platform is communicatively connected to a control device. After the movable platform is controlled to be at the target shooting position, the shooting device is controlled to shoot the shooting target based on the composition planning information, including: : After controlling the movable platform to be at the target shooting position, output feedback information, so that the control device displays the feedback information after acquiring the feedback information sent by the movable platform.

After the movable platform is controlled to be at the target shooting position, the selection of shooting modes is opened to the user. For example, the control device displays options corresponding to each shooting mode of the shooting device based on user instructions, wherein the shooting modes include at least one of the following modes : single shot, stacking, panorama, 360° panorama, or any other shooting mode; then, obtain the mode selection instruction input by the user, for example, obtain the mode input by the user by clicking the shooting mode option displayed on the shooting mode setting interface Select the instruction, and determine the shooting mode for shooting according to the mode selection instruction, and the shooting device of the movable platform shoots the shooting target based on the shooting mode indicated by the mode selection instruction, so as to obtain a shooting image with a specific effect, and can make the user Familiarize yourself with the shooting effects of different shooting functions of the mobile platform shooting device faster, and increase your interest in shooting.

In one example, after controlling the movable platform to be at the target shooting position, controlling the shooting device to shoot the shooting target based on the composition planning information includes: displaying a shooting effect diagram corresponding to the selected shooting mode on the display interface of the control device, and shooting The renderings include a preset composition generated from one or more satellite maps that satisfies the composition planning information of the shooting target, or the renderings can also be obtained from the sensor of the movable platform after the movable platform is in the target shooting position. Live image data.

In an example, after controlling the movable platform to be at the target shooting position, controlling the shooting device to shoot the shooting target based on the composition planning information, including: controlling the device to acquire and display the estimated shooting time of the selected shooting mode, and the estimated shooting time That is, it refers to the time required for shooting according to the composition planning information, so that the user can decide whether to continue shooting.

After the shooting mode is determined, after controlling the movable platform to be at the target shooting position, controlling the shooting device to shoot the shooting target based on the composition planning information, further comprising: acquiring the position of the light source, for example, acquiring current time information and weather information; Time information and weather information to determine the position of the light source; then, based on the position of the light source and the composition planning information, control the shooting device to shoot the target at one or more shooting angles, for example, according to the position of the light source, adjust the position of the shooting device so that the target is in the During the sunny day and sunset time, shooting is performed at one or more shooting angles such as the front light position, the side light position, and the backlight position. Therefore, the user does not need to manually adjust the shooting angle and learn the shooting skills of various shooting angles. Shooting from multiple shooting angles, so that you can quickly understand the shooting effects of different shooting angles, obtain images with multiple effects, save the time and energy spent by users on shooting, improve the user experience, and make non- Ordinary users of professional aerial photography can obtain more shooting images from shooting angles that cannot be noticed, increasing users' interest in aerial photography.

According to the position of the light source and the position of the photographing device, for example, the position of the movable platform can be controlled and adjusted, or when the photographing device is set on the pan-tilt, the orientation of the pan-tilt can be controlled and adjusted to adjust the orientation of the photographing device.

The control device can obtain time information and weather information from, for example, satellite maps, applications with weather information, etc., and can output the time information and weather information to the movable platform, or the control device can directly output the position information of the light source, and the movable platform can obtain the light source. location information.

The image capturing method of the present application further includes: acquiring an image captured by the capturing device, and displaying the image on a display interface of the control device.

To sum up, according to the image shooting method in the embodiment of the present application, after identifying the shooting target that meets the preset shooting conditions within the shooting range of the movable platform, the shooting device is controlled to shoot the shooting target based on the composition planning information, so that the user is not required to shoot. If you spend too much time on composition and other aspects, you can quickly use the preset composition planning information to assist the user to complete the shooting of the shooting device on the movable platform, and can shoot high-quality and effective images, reducing the user's The learning cost improves the user experience.

An embodiment of the present application also provides a movable platform, and the movable platform may include an aircraft (eg, an unmanned aerial vehicle), a robot, an unmanned vehicle, a ship, a gimbal, and the like. The embodiments of the present application mainly take the case where the movable platform is an aircraft as an example.

As shown in FIG. 5 , the movable platform may include: a movable platform body 500, a photographing device 504, a communication interface (also referred to as a communication system herein, when the movable platform is an aircraft, the communication interface may correspond to the foregoing communication system 110), The memory 502, one or more processors 501, the photographing device 504 is arranged on the movable platform body 500 for photographing images, the communication interface 504 is at least used for communicating with the control device, and the memory 502 is used for storing executable program instructions; The movable platform may also have a power mechanism, and the power mechanism is used to move the movable platform; one or more processors 501 are configured to execute program instructions stored in the memory, so that the processor executes the relevant steps of the image capturing method in the foregoing embodiments, For the detailed description of the corresponding steps, reference may be made to the foregoing description of the image capturing method, which will not be repeated here.

As an example, the one or more processors 501 are configured to execute program instructions stored in the memory 502, so that the processors perform the following steps: identifying a shooting target within the shooting range of the movable platform that meets preset shooting conditions; Matching composition planning information; based on the composition planning information, determine the target shooting position that the movable platform should be in when shooting the shooting target; after controlling the movable platform to be at the target shooting position, control the shooting device to shoot the shooting target based on the composition planning information. shoot. In one example, the processor 501 identifies a shooting target within the shooting range of the movable platform that meets a preset shooting condition, including: acquiring calibration information of the shootable object, where the calibration information includes at least one of the following information: calibrated The shape feature information of the photographable objects and the position mark information of the calibrated photographable objects; obtain the feature information of the photographable objects within the shooting range of the movable platform, and the feature information includes shape feature information and/or position information; The feature information and the calibration information are matched to identify the shooting target within the shooting range of the movable platform, wherein the shape feature of the shooting target that satisfies the preset shooting conditions matches the shape feature information of at least one calibrated photographable object, and /or, the location information of the photographing target is matched with the location marker information of a calibrated photographable object.

Optionally, the shape feature information of the calibrated photographable object includes at least one of the following feature information: a top-view shape feature of the photographable object, and a side-view shape feature of the photographable object.

Optionally, the composition planning information includes at least one of the following: composition mode, height of the movable platform during shooting, shooting parameters, and shooting orientation, wherein the composition mode includes: the proportion of the shooting target in the shooting picture, and/or , the position of the shooting target in the shooting screen.

In an example, when the calibration information includes the shape feature information of the calibrated photographable object, the processor 501 acquires the feature information of the photographable object within the photographing range of the movable platform, including: acquiring the photographic object within the photographing range of the movable platform. Image information; based on the image information, identify the shape feature information of the photographable objects within the photographing range of the movable platform. The image information includes at least one of the following information: satellite maps, image data collected by sensors of the movable platform, etc., satellite maps such as satellite maps within the shooting range of the movable platform provided by the control device, etc. When the image information is used, the satellite map within the shooting range of the movable platform stored by the control device can be obtained, or when the satellite map is not stored, the current position information of the movable platform or the current position information of the control device can also be obtained. Download the location information to obtain a satellite map within the shooting range of the mobile platform.

In an example, the processor 501 is further configured to: after identifying one or more shooting targets within the shooting range of the movable platform that meet the preset shooting conditions, mark each shooting target with an identifier in the image information; output the image information and logos, so that the control device displays image information and each logo on the display interface. Optionally, the identification includes at least one of the following identification information: a pattern identification or a character identification, and the pattern identification includes an arrow pattern identification.

In one example, the location marker information includes geographic location information of the calibrated photographable object, such as latitude and longitude coordinate information, and the processor 501 matches the feature information of the photographable object with the calibration information to identify the photographing target within the photographing range of the movable platform , including: acquiring first position information, where the first position information includes at least one of the following information: the starting coordinate information when the movable platform starts to move, the coordinate position information where the control device is located; The location tag information matches one or more shooting targets.

Image information is displayed on the display interface of the control device, and multiple shooting targets are displayed in the image information. The image information includes a satellite map or image data collected by sensors of a movable platform. In one example, when multiple shooting targets are identified , the processor 501 is further configured to: determine one of the multiple shooting targets to shoot based on the user's selection instruction, for example, the processor obtains the selection instruction output by the control device, and determines one of the multiple shooting targets to shoot, that is, to determine Select the subject indicated by the command to shoot.

In an example, the processor 501 obtains composition planning information matching the shooting target, including: obtaining composition planning information of at least one historically captured image of the shooting target; For composition planning information, for example, the control device acquires composition planning information of at least one historically captured image, and outputs the compositional planning information, and the processor 501 acquires the compositional planning information of at least one historically captured image from the control device.

In an example, the processor 501 obtains composition planning information matching the shooting target, including: obtaining a data set of composition planning information of the calibrated photographable objects, wherein the composition planning information of each calibrated photographable object is for each The satellite map around the object that can be photographed has been calibrated and obtained by preset composition; the composition planning information matching the shooting target is obtained from the data set.

Optionally, the same calibrated photographable object corresponds to one or more photographic targets having substantially the same shape feature.

In one example, the target shooting position includes the target shooting height, and the processor 501 determines, based on the composition planning information, the target shooting position that the movable platform should be in when shooting the shooting target, including: based on the composition planning information and the current view of the shooting device field, determine the estimated shooting height of the movable platform; obtain the restricted height around the location of the movable platform; compare the estimated shooting height with the limited height to determine the target shooting height.

In one example, the processor 501 compares the estimated shooting height with the restricted height data, and determines the target shooting height, including: when the estimated shooting height is higher than the limited height, the target shooting height is set as the limited height; when the estimated shooting height is higher than the limited height; When the shooting height is lower than or equal to the limit height, the target shooting height is set as the estimated shooting height.

In one example, the processor 501 determines the estimated shooting height of the movable platform based on the composition planning information and the current field of view of the shooting device, including: acquiring the current field of view of the shooting device of the movable platform; based on the composition planning information, acquiring When the composition is preset, the preset field of view of the shooting device and the preset height of the movable platform are determined; the estimated shooting height of the movable platform is determined based on the preset height, the preset field of view, and the current field of view.

In an example, the processor 501 is further configured to: output the first prompt information when the estimated shooting height is higher than the limit height. It can be a movable platform such as a drone that outputs first prompt information when it is determined that the estimated shooting height is higher than the limit height. The first prompt information can be, for example, a sound output by the movable platform or control an alarm device such as an LED light to flash to prompt. Alternatively, the processor 501 is further configured to: when the estimated shooting height is higher than the limit height, output the first prompt information, so that the control device acquires and displays the first prompt information.

In an example, the processor 501 is further configured to: acquire the current power of the movable platform, and when it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is greater than the current power, then do not trigger the shooting of the target shooting; when it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is less than the current power, the shooting of the shooting target is triggered.

In an example, the processor 501 is further configured to: when it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is greater than the current power, output the second prompt information, so that the control device obtains and displays the first Two prompt information.

In one example, after controlling the movable platform to be at the target shooting position, the processor 501 controls the shooting device to shoot the shooting target based on the composition planning information, including: after controlling the movable platform to be at the target shooting position, outputting feedback information to After the control device obtains the feedback information, the feedback information is displayed, and the control device is caused to display options corresponding to each shooting mode of the shooting device based on the user's instruction, wherein the shooting mode includes at least one of the following modes: single shooting, stacking, Panorama and 360° panorama; obtain the mode selection instruction output by the control device, and determine the shooting mode for shooting according to the mode selection instruction.

In one example, after controlling the movable platform to be at the target shooting position, the processor 501 controls the shooting device to shoot the shooting target based on the composition planning information, including: when the mode selection instruction output by the control device is acquired, outputting the selected The shooting effect map corresponding to the shooting mode, so that the control device displays the shooting effect map corresponding to the selected shooting mode, and the shooting effect map includes a preset composition generated from one or more satellite maps that meets the composition planning information of the shooting target.

In one example, after controlling the movable platform to be at the target shooting position, the processor 501 controls the shooting device to shoot the shooting target based on the composition planning information, including: when the mode selection instruction output by the control device is acquired, outputting the selected The estimated shooting time corresponding to the shooting mode, so that the control device acquires and displays the estimated shooting time of the selected shooting mode.

In one example, after controlling the movable platform to be at the target shooting position, the processor 501 controls the shooting device to shoot the shooting target based on the composition planning information, including: acquiring current time information and weather information; based on the time information and weather information, Determine the position of the light source; based on the position of the light source and the composition planning information, control the photographing device to photograph the photographing target at one or more photographing angles.

According to the movable platform in the embodiment of the present application, after identifying a shooting target that meets the preset shooting conditions within the shooting range of the movable platform, the shooting device is controlled to shoot the shooting target based on the composition planning information, so that the user does not need to compose the picture, etc. If you spend too much time in the aspect, you can quickly use the preset composition planning information to assist the user to complete the shooting of the shooting device on the movable platform, and can shoot high-quality and effective images, reducing the user's learning cost, Improve the user experience.

As shown in FIG. 6 , an embodiment of the present application further provides a control device for a movable platform, and the control device may be an external device independent of the movable platform, such as a control device for the movable platform. The control device may include, for example, a control device for a movable platform. Mobile phone, remote control, tablet computer, notebook, etc., the control device can also be a part or all of the control system of the mobile platform, or can realize the control method of the mobile platform through software, hardware or a combination of software and hardware. part or all of computer equipment.

As shown in FIG. 6, the control device 600 of the movable platform includes one or more memories 601, one or more processors 602, a communication interface 603 (which may correspond to the communication system 114 in FIG. 1), a display 604, etc., These components are interconnected by a bus system and/or other form of connection mechanism (not shown). It should be noted that the components and structures of the device 600 shown in FIG. 6 are only exemplary and not restrictive, and the control device 600 may also have other components and structures as required. The processor 602 is configured to execute the program instructions stored in the memory 601, so that the processor executes some steps and all steps of the image capturing method in the foregoing, wherein, in order to avoid repetition, for the detailed description of some steps, reference may be made to the foregoing, which will not be repeated here. Repeat.

The memory 601 is used to store various data and executable program instructions generated during the movement of the relevant movable platform, for example, used to store various application programs or algorithms for implementing various specific functions. One or more computer program products may be included, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and/or cache memory, among others. Non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, and the like.

Processor 602 may be a central processing unit (CPU), graphics processing unit (GPU), application specific integrated circuit (ASIC), field programmable gate array (FPGA), or other form of processing with data processing capabilities and/or instruction execution capabilities unit, and may control other components in device 600 to perform desired functions. For example, a processor can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSMs), digital signal processors (DSPs), graphics processing units (GPUs), or the like The combination.

The display 604 is used to display various visual information, for example, the visual information includes, but is not limited to, image data returned by the movable platform, various operation pages, images captured by the photographing device, and the like.

As shown in FIG. 6 , the control device 600 of the movable platform may include one or more memories 601 for storing executable program instructions, and a processor 602 for executing the program instructions stored in the memory 601, so that the processor executes the following Steps: Identify the shooting target that meets the preset shooting conditions within the shooting range of the movable platform; obtain composition planning information that matches the shooting target; based on the composition planning information, determine the target shooting where the movable platform should be when shooting the shooting target position; output control instructions, so that after the movable platform obtains the control instructions, it moves to the target shooting position based on the control instructions, and enables the movable platform to control the shooting device to shoot the shooting target based on the composition planning information.

In one example, the processor 602 identifies a shooting target that meets a preset shooting condition within the shooting range of the movable platform, including: acquiring calibration information of the shootable object, wherein the calibration information includes at least one of the following information: calibrated The shape feature information of the photographable object, the position marker information of the calibrated photographable object; the calibration information can be stored in the memory of the movable platform, or in other servers, and the control device can obtain the calibration information from the movable platform or the server, Obtain the feature information of the photographable objects within the shooting range of the movable platform, and the feature information includes shape feature information and/or position information; Shooting targets, wherein the shape features of the shooting targets that meet the preset shooting conditions are matched with the feature information of at least one calibrated photographable object, and/or the position information of the shooting target and the position mark information of a calibrated photographable object match.

Optionally, the shape feature information of the calibrated photographable object includes at least one of the following feature information: a top-view shape feature of the photographable object, and a side-view shape feature of the photographable object. Optionally, the same calibrated photographable object corresponds to one or more photographic targets having substantially the same shape feature.

Optionally, the control device obtains feature information output by the movable platform, or the control device obtains image information output from the movable platform, such as image data collected by a sensor, etc., and the processor 602 automatically identifies the shape features of the photographable objects in the image information. information, or, the processor 602 obtains the shape feature information of the photographable objects in the satellite map to automatically identify the satellite map, or the processor 602 obtains the position information of the photographing target output by the position sensor of the movable platform, and the like.

In one example, when the calibration information includes the shape feature information of the calibrated photographable object, the processor 602 acquires the feature information of the photographable object within the photographing range of the movable platform, including: acquiring the photographic object within the photographing range of the movable platform. Image information; based on the image information, identify the shape feature information of the photographable objects within the photographing range of the movable platform. Optionally, the image information includes at least one of the following information: a satellite map, and image data collected by sensors of the movable platform.

In one example, after recognizing one or more shooting targets within the shooting range of the movable platform that meet the preset shooting conditions, the processor 602 is configured to mark each shooting target with an identifier in the image information, and the image information includes the following information At least one of: satellite map, image data collected by sensors of the movable platform; the display 604 is used to display image information and various signs. Optionally, the identification includes at least one of the following identification information: a pattern identification or a character identification, and the pattern identification includes an arrow pattern identification.

In one example, the location marker information includes geographic location information of one or more calibrated photographable objects, and the processor 602 matches the feature information of the photographable objects with the calibration information to identify the photographing target within the photographing range of the movable platform , including: acquiring first position information, where the first position information includes at least one of the following information: the starting coordinate information when the movable platform starts to move, the coordinate position information where the control device is located; The location tag information matches one or more shooting targets.

In an example, when multiple shooting targets are identified, the processor 602 is further configured to: select one of the multiple shooting targets in the image information for shooting based on a selection instruction input by the user.

In one example, the processor is configured to acquire composition planning information matching the shooting target, including: acquiring composition planning information of at least one historically shot image of the shooting target; and determining the composition planning information of the shooting target based on the composition planning information of at least one historically shot image Composition planning information, and outputting the composition planning information, so that the movable platform obtains the composition planning information and shoots the shooting target based on the composition planning information.

In one example, the processor is configured to acquire composition planning information that matches the shooting target, including: acquiring a dataset of composition planning information of calibrated photographable objects, wherein the composition planning information of each calibrated photographable object is for each Obtained by pre-setting the composition on the satellite map around the target that has been calibrated; obtaining the composition planning information matching the shooting target from the data set, and outputting the composition planning information, so that the mobile platform can obtain the composition planning information and based on the composition planning information The composition planning information is used to photograph the photographic target.

Optionally, the composition planning information includes at least one of the following: composition mode, preset height of the movable platform, shooting parameters, and shooting orientation, wherein the composition mode includes: the proportion of the shooting target in the shooting picture, and/or , the position of the shooting target in the shooting screen.

In one example, the target shooting position includes the target shooting height, and the processor 602 determines, based on the composition planning information, the target shooting position that the movable platform should be in when shooting the shooting target, including: based on the composition planning information and the current first position of the shooting device In a field of view, determine the estimated shooting height of the movable platform; obtain the restricted height around the position of the movable platform; compare the estimated shooting height with the limited height to determine the target shooting height.

In one example, the processor 602 determines the estimated shooting height of the movable platform based on the composition planning information and the current field of view of the shooting device, including: acquiring the current field of view of the shooting device of the movable platform; When the composition is preset, the preset field of view of the shooting device and the preset height of the movable platform are determined; the estimated shooting height of the movable platform is determined based on the preset height, the preset field of view, and the current field of view.

In one example, the processor 602 compares the estimated shooting height with the limited height data, and determines the target shooting height, including: when the estimated shooting height is higher than the limited height, the target shooting height is set as the limited height; when the estimated shooting height is higher than the limited height; When the shooting height is lower than or equal to the limit height, the target shooting height is set as the estimated shooting height.

In an example, the display 604 is further configured to: acquire and display first prompt information, where the first prompt information is used to prompt that the estimated shooting height of the movable platform is higher than the limit height. The first prompt information is output when the processor 602 determines that the estimated shooting height is higher than the limit height, or the first prompt information is output when the movable platform determines that the estimated shooting height is higher than the limit height. of.

In an example, the display 604 is further configured to acquire and display second prompt information, where the second prompt information is used to prompt the movable platform to move from the current position to the target shooting position and return to the home, and the required power is greater than the current power, and the target shooting position includes Target shooting height, target shooting height includes estimated shooting height or restricted height.

In one example, the display 604 is further configured to: acquire and display feedback information output after the movable platform is in the target shooting position; and display options corresponding to each shooting mode of the shooting device based on user instructions, wherein the shooting modes include the following modes At least one of: Single Shot, Felling, Panorama, 360° Panorama.

In one example, the processor 602 is further configured to: obtain a mode selection instruction input by the user, determine a shooting mode for shooting according to the mode selection instruction, and output the mode selection instruction, so as to control the shooting device of the movable platform based on the corresponding the shooting mode to shoot.

In one example, the display 604 is further configured to: display a shooting effect map corresponding to the selected shooting mode, where the shooting effect map includes a preset composition generated from one or more satellite maps and satisfying the composition planning information of the shooting target.

In one example, the display 604 is further configured to: display the estimated shooting time corresponding to the selected shooting mode.

Optionally, the display 604 is further configured to display at least one of the following information: weather information, time information, location information, and light source location information.

In one example, the control device 600 further includes an output device that can output various information (eg, images or sounds) to the outside (eg, a user), and may include one or more of a display, a speaker, and the like.

In one example, the control device 600 further includes a display, which can be used to obtain a grid map of the restricted area, and display the grid map on the display interface.

In one example, the control device 600 further includes a communication interface 603 for communicating between various components in the control device 600 and between the various components of the control device 600 and other devices outside the system, for example, when the device is an external device When the device is installed, it can communicate with the movable platform through the communication interface, so that information can be exchanged between the two.

The communication interface 603 is an interface that can be any currently known communication protocol, such as a wired interface or a wireless interface, wherein the communication interface can include one or more serial ports, a USB interface, an Ethernet port, WiFi, a wired network, and a DVI interface, The device integrates interconnect modules or other suitable various ports, interfaces, or connections. Device 600 may also access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G, 6G, or a combination thereof. In one exemplary embodiment, the communication interface receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication interface further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In one example, device 600 also includes an input device (not shown) that may be a device used by a user to input instructions, and may include one or more of a keyboard, trackball, mouse, microphone, touch screen, etc., or other controls An input device consisting of buttons.

The control device in the embodiment of the present application is used to implement the aforementioned image capturing method, and thus also has the advantages of the aforementioned image capturing method.

In addition, the embodiments of the present application further provide a computer storage medium, such as a computer-readable storage medium, on which a computer program is stored. One or more computer program instructions may be stored on the computer storage medium, and the processor may execute the program instructions stored in the memory to implement the functions (implemented by the processor) in the embodiments of the present application described herein and/or or other desired functions, for example, to execute the corresponding steps of the image capturing method 200 according to the embodiment of the present application, various application programs and various data may also be stored in the computer-readable storage medium, for example, the application program uses and/or various data generated, etc.

For example, the computer-readable storage medium may include, for example, a memory card of a smartphone, a storage component of a tablet computer, a hard disk of a personal computer, a read only memory (ROM), an erasable programmable read only memory (EPROM), a portable compact disk read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium can be any combination of one or more computer-readable storage media.

It should be understood that various parts of this application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one of the following techniques known in the art, or a combination thereof: discrete with logic gates for implementing logic functions on data signals Logic circuits, application-specific integrated circuits with suitable combinational logic gate circuits, Programmable Gate Array (hereinafter referred to as: PGA), Field Programmable Gate Array (Field Programmable Gate Array; referred to as: FPGA), etc.

Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described example embodiments are exemplary only, and are not intended to limit the scope of the application thereto. Various changes and modifications may be made therein by those of ordinary skill in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, FIG. , or in its description. However, this method of application should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the corresponding claims reflect, the invention lies in the fact that the corresponding technical problem may be solved with less than all features of a single disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or apparatus so disclosed may be used in any combination, except that the features are mutually exclusive. Processes or units are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the present application within and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The present application can also be implemented as a program of apparatus (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the application, and alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

Claims

An image capturing method, characterized in that the method comprises:

Identify the shooting targets that meet the preset shooting conditions within the shooting range of the movable platform;

acquiring composition planning information that matches the shooting target;

determining, based on the composition planning information, a target shooting position that the movable platform should be in when shooting the shooting target;

After the movable platform is controlled to be at the target shooting position, the shooting device mounted on the movable platform is controlled to shoot the shooting target based on the composition planning information.
The image shooting method according to claim 1, wherein the identifying the shooting target within the shooting range of the movable platform that meets the preset shooting conditions comprises:

Obtaining calibration information of the photographable object, wherein the calibration information includes at least one of the following information: shape feature information of the calibrated photographable object, and position marker information of the calibrated photographable object;

acquiring feature information of the photographable objects within the shooting range of the movable platform, where the feature information includes shape feature information and/or position information;

Match the feature information of the photographable object with the calibration information, and identify the photographing target within the photographing range of the movable platform, wherein the shape feature of the photographing target that meets the preset photographing conditions and at least one The feature information of the calibrated photographable object is matched, and/or the position information of the photographed object is matched with the position marker information of a calibrated photographable object.
The image shooting method according to claim 1, wherein the composition planning information includes at least one of the following: composition mode, preset height of the movable platform, shooting parameters, and shooting orientation, wherein the composition mode includes: : the proportion of the shooting target in the shooting picture, and/or the position of the shooting target in the shooting picture.
The image capturing method according to claim 2, wherein when the calibration information includes shape feature information of the calibrated photographable object, the acquiring the characteristics of the photographable object within the photographing range of the movable platform information, including:

acquiring image information within the shooting range of the movable platform;

Based on the image information, the shape feature information of the photographable objects within the photographing range of the movable platform is identified.
The image capturing method according to claim 4, wherein the image information includes at least one of the following information: a satellite map, and image data collected by a sensor of the movable platform.
The image capturing method according to claim 4, wherein the image capturing method is performed by a control device communicatively connected to the movable platform, and the method further comprises:

After recognizing one or more shooting targets within the shooting range of the movable platform that meet the preset shooting conditions, marking each shooting target with an identifier in the image information;

The image information and each of the signs are displayed on the display interface of the control device.
The image capturing method according to claim 6, wherein the identification includes at least one of the following identification information: a pattern identification or a text identification, and the pattern identification includes an arrow pattern identification.
The image capturing method according to claim 2, wherein the location marker information includes geographic location information of one or more calibrated photographable objects, and the feature information of the photographable objects and the calibration The information is matched to identify the shooting target within the shooting range of the movable platform, including:

Acquiring first position information, where the first position information includes at least one of the following information: starting coordinate information when the movable platform starts to move, and coordinate position information where the control device is located;

Identifying one or more shooting targets around the first position information that match the position marker information.
The image capturing method according to claim 4 or 8, wherein,

When multiple shooting targets are identified, the image shooting method further includes: determining one of the multiple shooting targets to shoot based on a user's selection instruction.
The image shooting method according to claim 9, wherein image information is displayed on the display interface of the control device, a plurality of shooting targets are displayed in the image information, and the image information includes a satellite map or the movable The image data collected by the sensor of the platform, and determining one of the multiple shooting targets for shooting based on the user's selection instruction, including:

The control device selects one of the plurality of photographing targets in the image information for photographing based on a selection instruction input by the user.
The image shooting method according to claim 1, wherein the acquiring composition planning information matching the shooting target comprises:

acquiring composition planning information of at least one historically shot image of the shooting target;

Based on the composition planning information of the at least one historically shot image, the composition planning information of the shooting target is determined.
The image shooting method according to claim 1, wherein the acquiring composition planning information matching the shooting target comprises:

Obtain the data set of the composition planning information of the calibrated photographable objects, wherein the composition planning information of each of the calibrated photographable objects is obtained by performing preset composition on the satellite maps around each of the calibrated photographable objects;

The composition planning information matching the shooting target is acquired from the data set.
1. The image capturing method of claim 1, wherein the same calibrated photographable object corresponds to one or more photographing objects having substantially the same shape feature.
The image capturing method according to claim 2, wherein the shape feature information of the calibrated photographable object includes at least one of the following feature information: a top-view shape feature of the photographable object, a side view of the photographable object shape features.
The image shooting method according to claim 1, wherein the target shooting position includes a target shooting height, and it is determined based on the composition planning information that the movable platform should be in a position when shooting the shooting target. target shooting locations, including:

determining an estimated shooting height of the movable platform based on the composition planning information and the current field of view of the shooting device;

Obtain the restricted height around the position of the movable platform;

The estimated shooting height is compared with the limit height, and the target shooting height is determined.
The image shooting method according to claim 15, wherein the determining the estimated shooting height of the movable platform based on the composition planning information and the current field of view of the shooting device comprises:

obtaining the current field of view of the photographing device of the movable platform;

obtaining, based on the composition planning information, a preset field of view of the photographing device and a preset height of the movable platform when a preset composition is used;

Based on the preset height, the preset field of view, and the current field of view, an estimated shooting height of the movable platform is determined.
The image shooting method according to claim 15, wherein the comparing the estimated shooting height with the restricted height data to determine the target shooting height comprises:

When the estimated shooting height is higher than the limit height, the target shooting height is set as the limit height; or,

When the estimated shooting height is lower than or equal to the limit height, the target shooting height is set as the estimated shooting height.
The image capturing method of claim 17, wherein the image capturing method further comprises:

When the estimated shooting height is higher than the limit height, first prompt information is output.
The image capturing method of claim 1, wherein the image capturing method further comprises:

Obtain the current power of the movable platform, and when it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is greater than the current power, the shooting of the shooting target is not triggered ;

When it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is less than the current power, the shooting of the shooting target is triggered.
19. The image capturing method according to claim 19, wherein the image capturing method further comprises: when it is determined that the movable platform moves from the current position to the target shooting position and returns to home, the required power is greater than the current When the battery is charged, the second prompt message is output.
The image capturing method according to claim 1, wherein the image capturing method is executed by a control device communicatively connected to the movable platform, and after controlling the movable platform to be at the target capturing position, based on The composition planning information controls the photographing device to photograph the photographing target, including:

After the control device acquires the feedback information sent by the movable platform, the feedback information is displayed, and the feedback information is sent after the movable platform is in the target shooting position;

The control device displays, based on user instructions, options corresponding to each shooting mode of the shooting device, wherein the shooting mode includes at least one of the following modes: single shot, stacking, panorama, and 360° panorama;

The control device acquires a mode selection instruction input by the user, and determines a shooting mode for shooting according to the mode selection instruction.
The image shooting method according to claim 21, wherein after controlling the movable platform to be at the target shooting position, controlling the shooting device to shoot the shooting target based on the composition planning information, comprising: :

The shooting effect map corresponding to each selected shooting mode is displayed on the display interface of the control device, and the shooting effect map includes a preset composition generated from one or more satellite maps and satisfying the composition planning information of the shooting target.
The image shooting method according to claim 21, wherein after controlling the movable platform to be at the target shooting position, controlling the shooting device to shoot the shooting target based on the composition planning information, comprising: :

The control device acquires and displays the estimated shooting time of the selected shooting mode.
The image shooting method according to claim 1, wherein after controlling the movable platform to be at the target shooting position, controlling the shooting device to shoot the shooting target based on the composition planning information, comprising: :

Get current time information and weather information;

determining the location of the light source based on the time information and weather information;

Based on the position of the light source and the composition planning information, the photographing device is controlled to photograph the photographing target at one or more photographing angles.
A movable platform, characterized in that the movable platform comprises:

Movable platform body;

a photographing device, arranged on the movable platform body, for photographing images;

A communication interface for communicating with the control device;

memory for storing executable program instructions;

one or more processors for executing the program instructions stored in the memory, causing the processors to perform the following steps:

Identify the shooting targets that meet the preset shooting conditions within the shooting range of the movable platform;

acquiring composition planning information that matches the shooting target;

determining, based on the composition planning information, a target shooting position that the movable platform should be in when shooting the shooting target;

After the movable platform is controlled to be at the target shooting position, the shooting device is controlled to shoot the shooting target based on the composition planning information.
The movable platform of claim 25, wherein the processor identifies a shooting target within a shooting range of the movable platform that meets preset shooting conditions, comprising:

Obtaining calibration information of the photographable object, wherein the calibration information includes at least one of the following information: shape feature information of the calibrated photographable object, and position marker information of the calibrated photographable object;

acquiring feature information of the photographable objects within the shooting range of the movable platform, where the feature information includes shape feature information and/or position information;

Match the feature information of the photographable object with the calibration information, and identify the photographing target within the photographing range of the movable platform, wherein the shape feature of the photographing target that meets the preset photographing conditions and at least one The feature information of the calibrated photographable object is matched, and/or the position information of the photographed object is matched with the position marker information of a calibrated photographable object.
The movable platform according to claim 25, wherein the composition planning information includes at least one of the following: composition mode, preset height of the movable platform, shooting parameters, and shooting orientation, wherein the composition mode includes: : the proportion of the shooting target in the shooting picture, and/or the position of the shooting target in the shooting picture.
The movable platform according to claim 25, wherein when the calibration information includes shape feature information of the calibrated photographable objects, the processor acquires the photographable objects within the photographing range of the movable platform characteristic information, including:

acquiring image information within the shooting range of the movable platform;

Based on the image information, the shape feature information of the photographable objects within the photographing range of the movable platform is identified.
The movable platform of claim 28, wherein the image information includes at least one of the following information: a satellite map, and image data collected by sensors of the movable platform.
The movable platform of claim 25, wherein the processor is further configured to:

After recognizing one or more shooting targets within the shooting range of the movable platform that meet the preset shooting conditions, marking each shooting target with an identifier in the image information;

The image information and the logo are output, so that the control device displays the image information and each of the logos on the display interface.
The movable platform according to claim 30, wherein the identification includes at least one of the following identification information: a pattern identification or a character identification, and the pattern identification includes an arrow pattern identification.
The movable platform according to claim 24, wherein the location marker information includes geographic location information of the calibrated photographable object, and the processor performs a comparison between the feature information of the photographable object and the calibration information. Match, identify the shooting target within the shooting range of the movable platform, including:

Acquiring first position information, where the first position information includes at least one of the following information: starting coordinate information when the movable platform starts to move, and coordinate position information where the control device is located;

Identifying one or more shooting targets around the first position information that match the position marker information.
The movable platform according to claim 28 or 32, wherein when multiple shooting targets are identified, the processor is further configured to: determine one of the multiple shooting targets based on a user's selection instruction to shoot.
The movable platform according to claim 33, wherein image information is displayed on the display interface of the control device, the photographable object is displayed in the image information, and the image information includes a satellite map or all The image data collected by the sensor of the movable platform, the processor determines one of the plurality of photographable objects as the photographing target based on the user's selection instruction, including:

obtaining the selection instruction output by the control device;

Based on the selection instruction, one of the plurality of photographing targets is determined to be photographed.
The movable platform of claim 25, wherein the processor obtains composition planning information matching the shooting target, comprising:

acquiring composition planning information of at least one historically shot image of the shooting target;

Based on the composition planning information of the at least one historically shot image, the composition planning information of the shooting target is determined.
The movable platform of claim 25, wherein the processor obtains composition planning information matching the shooting target, comprising:

obtaining a dataset of composition planning information of the calibrated photographable objects, wherein the composition planning information of each of the calibrated photographable objects is obtained by performing preset composition on satellite maps around each calibrated photographable object;

The composition planning information matching the shooting target is acquired from the data set.
26. The movable platform of claim 25, wherein the same calibrated photographable object corresponds to one or more photographing targets having substantially the same shape feature.
The movable platform according to claim 26, wherein the shape feature information of the calibrated photographable object includes at least one of the following feature information: a top-view shape feature of the photographable object, a side view of the photographable object shape features.
The movable platform according to claim 25, wherein the target shooting position includes a target shooting height, and the processor determines the movable platform when shooting the shooting target based on the composition planning information The target shooting position to be in, including:

determining an estimated shooting height of the movable platform based on the composition planning information and the current field of view of the shooting device;

Obtain the restricted height around the position of the movable platform;

The estimated shooting height is compared with the limit height, and the target shooting height is determined.
The movable platform of claim 39, wherein the processor determines the estimated shooting height of the movable platform based on the composition planning information and the current field of view of the shooting device, comprising:

obtaining the current field of view of the photographing device of the movable platform;

Based on the composition planning information, the preset field of view of the shooting device and the preset height of the movable platform are obtained when the preset composition is obtained;

Based on the preset height, the preset field of view, and the current field of view, an estimated shooting height of the movable platform is determined.
The movable platform of claim 39, wherein the processor compares the estimated shooting height with the restricted height data, and determines the target shooting height, comprising:

When the estimated shooting height is higher than the limit height, the target shooting height is set as the limit height; or

When the estimated shooting height is lower than or equal to the limit height, the target shooting height is set as the estimated shooting height.
The movable platform of claim 41, wherein the processor is further configured to:

When the estimated shooting height is higher than the limit height, first prompt information is output.
The movable platform of claim 25, wherein the processor is further configured to:

Obtain the current power of the movable platform, and when it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is greater than the current power, the shooting of the shooting target is not triggered ;

When it is determined that the power required for the movable platform to move from the current position to the target shooting position and return home is less than the current power, the shooting of the shooting target is triggered.
The mobile platform according to claim 43, wherein the processor is further configured to: when it is determined that the mobile platform needs to move from the current position to the target shooting position and return home, the power required for it is greater than the current When the power is low, output the second prompt information, so that the control device acquires and displays the second prompt information.
The movable platform according to claim 25, wherein after controlling the movable platform to be at the target shooting position, the processor controls the shooting device to shoot the shooting target based on the composition planning information Filming, including:

After controlling the movable platform to be at the target shooting position, output feedback information, so that the control device displays the feedback information after acquiring the feedback information, and causes the control device to display the shooting device based on user instructions options corresponding to each shooting mode of , wherein the shooting mode includes at least one of the following modes: single shot, stacking, panorama, and 360° panorama;

A mode selection instruction output by the control device is acquired, and a shooting mode for shooting is determined according to the mode selection instruction.
The movable platform according to claim 45, wherein after controlling the movable platform to be at the target shooting position, the processor controls the shooting device to shoot the shooting target based on the composition planning information Filming, including:

When the mode selection instruction output by the control device is obtained, a shooting effect map corresponding to the selected shooting mode is output, so that the control device displays the shooting effect map corresponding to the selected shooting mode, and the shooting effect map includes one or more shooting effects. A preset composition that satisfies the composition planning information of the shooting target and is generated from a satellite map.
The movable platform according to claim 45, wherein after controlling the movable platform to be at the target shooting position, the processor controls the shooting device to shoot the shooting target based on the composition planning information Filming, including:

When the mode selection instruction output by the control device is acquired, the estimated shooting time corresponding to the selected shooting mode is output, so that the control device acquires and displays the estimated shooting time of the selected shooting mode.
The movable platform according to claim 25, wherein after controlling the movable platform to be at the target shooting position, the processor controls the shooting device to shoot the shooting target based on the composition planning information Filming, including:

Get current time information and weather information;

determining the location of the light source based on the time information and weather information;

Based on the position of the light source and the composition planning information, the photographing device is controlled to photograph the photographing target at one or more photographing angles.
The movable platform according to any one of claims 25 to 48, wherein the movable platform comprises an aircraft, a robot, a vehicle, a pan/tilt or a ship.
A control device, characterized in that the control device comprises:

a communication interface, at least used to communicate with a movable platform, wherein a photographing device is provided on the movable platform;

memory for storing executable program instructions;

one or more processors for executing the program instructions stored in the memory, causing the processors to perform the following steps:

Identify the shooting targets that meet the preset shooting conditions within the shooting range of the movable platform;

acquiring composition planning information that matches the shooting target;

determining, based on the composition planning information, a target shooting position that the movable platform should be in when shooting the shooting target;

outputting a control instruction, so that the movable platform moves to the target shooting position based on the control instruction after acquiring the control instruction, and enables the movable platform to control the shooting device based on the composition planning information photographing the photographing target;

A display for displaying visual information.
The control device according to claim 50, wherein the processor identifies a shooting target within a shooting range of the movable platform that meets a preset shooting condition, comprising:

Obtaining calibration information of the photographable object, wherein the calibration information includes at least one of the following information: shape feature information of the calibrated photographable object, and position marker information of the calibrated photographable object;

acquiring feature information of the photographable objects within the shooting range of the movable platform, where the feature information includes shape feature information and/or position information;

Match the feature information of the photographable object with the calibration information, and identify the photographing target within the photographing range of the movable platform, wherein the shape feature of the photographing target that meets the preset photographing conditions and at least one The feature information of the calibrated photographable object is matched, and/or the position information of the photographed object is matched with the position marker information of a calibrated photographable object.
The control device according to claim 51, wherein the composition planning information includes at least one of the following: composition mode, preset height of the movable platform, shooting parameters, and shooting orientation, wherein the composition mode includes: The proportion of the shooting object in the shooting picture, and/or the position of the shooting object in the shooting picture.
The control device according to claim 51, wherein when the calibration information includes shape feature information of the calibrated photographable object, the processor acquires the photographable object within the photographing range of the movable platform. Characteristic information, including:

acquiring image information within the shooting range of the movable platform;

Based on the image information, the shape feature information of the photographable objects within the photographing range of the movable platform is identified.
The control device according to claim 53, wherein the image information includes at least one of the following information: a satellite map, and image data collected by sensors of the movable platform.
The control device according to claim 50, wherein after recognizing one or more shooting targets within the shooting range of the movable platform that meet the preset shooting conditions, the processor is configured to pass the image information through the image information. Each shooting target is marked and marked, and the image information includes at least one of the following information: a satellite map, and image data collected by a sensor of the movable platform;

The display is used to display the image information and each of the logos.
The control device according to claim 55, wherein the identification includes at least one of the following identification information: a pattern identification or a character identification, and the pattern identification includes an arrow pattern identification.
The control device of claim 51, wherein the location marker information includes geographic location information of one or more calibrated photographable objects, and the processor compares the feature information of the photographable objects with the The calibration information is matched to identify the shooting target within the shooting range of the movable platform, including:

Acquiring first position information, where the first position information includes at least one of the following information: starting coordinate information when the movable platform starts to move, and coordinate position information where the control device is located;

Identifying one or more shooting targets around the first position information that match the position marker information.
The control device according to claim 53 or 55, wherein when multiple shooting targets are identified, the processor is further configured to:

Based on the selection instruction input by the user, one of the plurality of shooting targets is selected in the image information for shooting.
The control device according to claim 50, wherein the processor is configured to acquire composition planning information matching the shooting target, comprising:

acquiring composition planning information of at least one historically shot image of the shooting target;

Based on the composition planning information of the at least one historically shot image, the composition planning information of the shooting target is determined.
The control device according to claim 50, wherein the processor is configured to acquire composition planning information matching the shooting target, comprising:

obtaining a dataset of composition planning information of the calibrated photographable objects, wherein the composition planning information of each of the calibrated photographable objects is obtained by performing preset composition on satellite maps around each calibrated photographable object;

The composition planning information matching the shooting target is acquired from the data set.
51. The control device of claim 50, wherein the same calibrated photographable object corresponds to one or more photographing targets having substantially the same shape feature.
The control device according to claim 51, wherein the shape feature information of the calibrated photographable object includes at least one of the following feature information: the top-view shape feature of the photographable object, the side-view shape of the photographable object feature.
The control device according to claim 51, wherein the target shooting position includes a target shooting height, and the processor determines, based on the composition planning information, that the movable platform should be used when shooting the shooting target. The target shooting position in which it is located, including:

determining an estimated shooting height of the movable platform based on the composition planning information and the current field of view of the shooting device;

Obtain the restricted height around the position of the movable platform;

The estimated shooting height is compared with the limit height, and the target shooting height is determined.
The control device according to claim 63, wherein the processor determines the estimated shooting height of the movable platform based on the composition planning information and the current field of view of the shooting device, comprising:

obtaining the current field of view of the photographing device of the movable platform;

obtaining, based on the composition planning information, a preset field of view of the photographing device and a preset height of the movable platform when a preset composition is used;

Based on the preset height, the preset field of view, and the current field of view, an estimated shooting height of the movable platform is determined.
The control device of claim 63, wherein the processor compares the estimated shooting height with the restricted height data, and determines the target shooting height, comprising:

When the estimated shooting height is higher than the limit height, the target shooting height is set as the limit height; or

When the estimated shooting height is lower than or equal to the limit height, the target shooting height is set as the estimated shooting height.
The control device of claim 63, wherein:

The display is further configured to: acquire and display first prompt information, the first prompt information is used to prompt that the estimated shooting height of the movable platform is higher than the limit height, and the first prompt information is when the processor determines The estimated shooting height is output when the height is higher than the limit height, or the first prompt information is output when the movable platform determines that the estimated shooting height is higher than the limit height.
The control device according to claim 63, wherein the display is further configured to acquire and display second prompt information, wherein the second prompt information is used to prompt the movable platform to move from the current position to the target shooting position And the power required for returning home is greater than the current power, the target shooting position includes the target shooting height, and the target shooting height includes the estimated shooting altitude or the limit altitude.
The control device of claim 50, wherein the display is further configured to:

Obtain and display the feedback information output after the movable platform is in the target shooting position; and

Options corresponding to each shooting mode of the shooting device are displayed based on a user instruction, wherein the shooting mode includes at least one of the following modes: single shooting, stacking, panorama, and 360° panorama.
The control device of claim 68, wherein the processor is further configured to:

The mode selection instruction input by the user is acquired, and according to the mode selection instruction, a shooting mode for shooting is determined, and the mode selection instruction is output to control the shooting device of the movable platform to shoot based on the corresponding shooting mode.
The control device according to claim 69, wherein the display is further configured to: display a shooting effect map corresponding to the selected shooting mode, and the shooting effect map includes a satisfactory image generated from one or more satellite maps. The preset composition of the composition planning information of the shooting target.
The control device according to claim 69, wherein the display is further configured to: display the estimated shooting time corresponding to the selected shooting mode.
The control device according to claim 50, wherein the display is further configured to display at least one of the following information: weather information, time information, location information, and light source location information.
A computer storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the image capturing method described in any one of 1 to 24 is implemented.