WO2023036260A1 - 一种图像获取方法、装置、飞行器和存储介质 - Google Patents

一种图像获取方法、装置、飞行器和存储介质 Download PDF

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Publication number
WO2023036260A1
WO2023036260A1 PCT/CN2022/117902 CN2022117902W WO2023036260A1 WO 2023036260 A1 WO2023036260 A1 WO 2023036260A1 CN 2022117902 W CN2022117902 W CN 2022117902W WO 2023036260 A1 WO2023036260 A1 WO 2023036260A1
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Prior art keywords
aircraft
image acquisition
tracking target
angle
dimensional coordinates
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PCT/CN2022/117902
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English (en)
French (fr)
Inventor
张宇程
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深圳市道通智能航空技术股份有限公司
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Publication of WO2023036260A1 publication Critical patent/WO2023036260A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • Embodiments of the present invention relate to flight control technology, and in particular to an image acquisition method, device, aircraft and storage medium.
  • Aerial vehicles such as unmanned aerial vehicles (Unmanned Aerial Vehicle, UAV), also known as unmanned aerial vehicles, have gained more and more attention due to their advantages such as small size, light weight, flexible maneuverability, quick response, unmanned driving, and low operating requirements. Wide range of applications. Controlling the rotation speed of multiple driving motors in the aircraft power system can realize the adjustment of the aircraft's action or attitude.
  • UAV Unmanned Aerial Vehicle
  • the user can manually control the aircraft to continuously flick to obtain images of the tracking target based on the aircraft.
  • the invention provides an image acquisition method, device, aircraft and storage medium to reduce the difficulty for the aircraft to automatically acquire target images.
  • an embodiment of the present invention provides an image acquisition method, including:
  • the yaw rate during flight is integrated to determine a total yaw angle, and if the total yaw angle is greater than or equal to an angle threshold, it is determined that the image acquisition is completed.
  • An embodiment of the present invention provides an image acquisition method, including: after determining the tracking target, determining the navigation direction according to the received preset information; controlling the aircraft to fly based on the navigation direction while controlling the aircraft to always move towards the tracking target; image acquisition, and continuously acquire the yaw rate of the aircraft during the flight; integrate the yaw rate during the flight to determine the total angle of the yaw angle, if the total angle of the yaw angle is greater than or is equal to the angle threshold, it is determined that the image acquisition is completed.
  • the navigation direction of the aircraft is determined according to the preset information input by the user, and the aircraft is controlled to fly based on the navigation direction while controlling the aircraft to acquire images towards the tracking target.
  • the aircraft is controlled to fly based on the navigation direction while controlling the aircraft to acquire images towards the tracking target.
  • the yaw angular velocity of each point on the flight trajectory of the aircraft and integrate each yaw angular velocity to determine the total angle of the yaw angle. If the total angle of the yaw angle is greater than the angle threshold, it is determined that the aircraft completes the image. Acquisition reduces the difficulty for the user to operate the aircraft, and it can be determined in time whether to complete the image acquisition according to the yaw angle, so that it is convenient to stop shooting in time and obtain a better aerial photography effect.
  • determine the tracking target including:
  • the tracking target is determined according to the initial two-dimensional coordinates.
  • controlling the aircraft to fly based on the navigation direction while controlling the aircraft to always move towards the tracking target to acquire images includes:
  • the aircraft is controlled to acquire images always towards the three-dimensional coordinates.
  • determining the tracking target includes: determining the tracking target according to the three-dimensional coordinates of the tracking target;
  • controlling the aircraft to fly based on the navigation direction while controlling the aircraft to always move towards the tracking target to perform image acquisition includes:
  • the aircraft is controlled to fly based on the navigation direction, and at the same time, the aircraft is controlled to acquire images always towards the three-dimensional coordinates.
  • controlling the aircraft to always perform image acquisition towards the three-dimensional coordinates includes:
  • the aircraft is controlled to always move towards the three-dimensional coordinates to acquire images based on the deflection angle.
  • controlling the aircraft to acquire images always towards the three-dimensional coordinates based on the deflection angle includes:
  • the preset information includes a tail flick direction, a maximum sailing speed and a maximum longitudinal speed, and accordingly, determining the sailing direction according to the received preset information includes: determining the sailing direction according to the tail flick direction;
  • Controlling the aircraft to fly based on the navigation direction includes: controlling the aircraft to perform climbing flight based on the navigation direction, and the navigation speed is lower than the maximum navigation speed, and the climbing speed is lower than the longitudinal speed.
  • an embodiment of the present invention also provides an image acquisition device, including:
  • the direction determination module is used to determine the navigation direction according to the received preset information after determining the tracking target;
  • the flight control module is used to control the aircraft to fly based on the navigation direction while controlling the aircraft to always move towards the tracking target for image acquisition, and continuously acquire the yaw rate of the aircraft during the flight;
  • a summation module configured to integrate the yaw rate during the flight to determine the total angle of the yaw angle, and if the total angle of the yaw angle is greater than or equal to an angle threshold, it is determined that the image acquisition is completed.
  • the embodiment of the present invention also provides an aircraft, the aircraft comprising:
  • processors one or more processors
  • An image acquisition device used for image acquisition
  • the one or more processors When the one or more programs are executed by the one or more processors, the one or more processors implement the image acquisition method as described in any one of the first aspect.
  • an embodiment of the present invention also provides a storage medium containing computer-executable instructions, the computer-executable instructions are used to perform the image acquisition described in any one of the first aspects when executed by a computer processor method.
  • the above computer instructions may be stored on a computer-readable storage medium.
  • the computer-readable storage medium may be packaged together with the processor of the image acquisition device, or may be separately packaged with the processor of the image acquisition device, which is not limited in this application.
  • FIG. 1 is a flow chart of an image acquisition method provided by Embodiment 1 of the present invention.
  • FIG. 2 is a flow chart of an image acquisition method provided by Embodiment 2 of the present invention.
  • FIG. 3 is an implementation flow chart of an image acquisition method provided by Embodiment 2 of the present invention.
  • FIG. 4 is an implementation flowchart of another image acquisition method provided by Embodiment 2 of the present invention.
  • FIG. 5 is a schematic structural diagram of an image acquisition device provided in Embodiment 3 of the present invention.
  • FIG. 6 is a schematic structural diagram of an aircraft provided by Embodiment 4 of the present invention.
  • first and second in the specification and drawings of the present application are used to distinguish different objects, or to distinguish different processes for the same object, rather than to describe a specific sequence of objects.
  • Fig. 1 is a flow chart of an image acquisition method provided by Embodiment 1 of the present invention. This embodiment reduces the difficulty of image acquisition based on tail flicking.
  • This method can be executed by an image acquisition device, as shown in Fig. 1 , the The method specifically includes the following steps:
  • Step 110 after determining the tracking target, determine the navigation direction according to the received preset information.
  • the received preset information can be stored in the memory of the aircraft.
  • the preset information can be determined according to the user's input information, and the preset information can be stored in the memory.
  • the preset information can include tail flick direction.
  • the tracking target may be the object to be photographed, and the aircraft may be used to acquire image information of the object to be photographed, that is, to acquire an image of the object, and the image of the object may include picture information and video information of the object to be tracked.
  • the aircraft may fly near the tracking target after take-off, and acquire the target image of the tracking target based on the image acquisition device. After the image acquisition device acquires the initial target image, it can be determined that the aircraft has framed the tracking target, and then the navigation direction can be determined according to the tail-flick direction contained in the received preset information.
  • the aircraft can fly straight based on the sailing direction.
  • the navigation direction of the aircraft can be determined according to the preset information, and the tracking target can always be obtained by the aircraft during the flight based on the navigation direction. target image.
  • Step 120 controlling the aircraft to fly based on the navigation direction while controlling the aircraft to always move towards the tracking target to acquire images, and continuously acquire the yaw angular velocity of the aircraft during the flight.
  • the aircraft is always facing the tracking target
  • the shooting direction of the aircraft is always facing the tracking target, that is, the direction of the gimbal is always facing the tracking target
  • the yaw angle is the angle between the current shooting direction of the aircraft and the next shooting direction.
  • the aircraft may be a quadrotor aircraft, therefore, the shooting direction and the sailing direction of the aircraft may be different.
  • the aircraft can be controlled to fly based on the navigation direction, and at the same time, the shooting direction of the aircraft can be controlled to always face the tracking target, so as to obtain target images of the tracking target. Because the shooting direction of the aircraft is always facing the tracking target while flying based on the navigation direction, the shooting direction changes in real time. Furthermore, there is a certain angle between the current shooting direction and the next shooting direction.
  • the real-time changing shooting direction makes the aircraft have a real-time yaw angle, and the yaw angular velocity can be continuously obtained during the flight.
  • the aircraft based on the four-rotor aircraft, it is possible to control the aircraft to fly based on the navigation direction and at the same time control the shooting direction of the aircraft towards the tracking target, so that the aircraft can always obtain the target image of the tracking target during the flight process, and the aircraft can be realized.
  • Automatic tail flick which reduces the difficulty of tail flick shooting and is easy for users to operate.
  • the shooting direction is towards the tracking target, which ensures that the aircraft and the tracking target can obtain better aerial photography effects at any angle and distance.
  • Step 130 Integrate the yaw angular velocity during the flight to determine the total angle of the yaw angle. If the total angle of the yaw angle is greater than or equal to an angle threshold, it is determined that the image acquisition is completed.
  • the aircraft has real-time yaw angular velocity during the flight, and the total angle of the yaw angle during the flight can indicate the angle through which the shooting direction of the aircraft is turned.
  • the user Since the user cannot obtain the distance between the tracking target and the starting point of shooting, it is difficult to determine the shooting duration and sailing distance, and the versatility of using the time threshold and distance threshold to determine whether the shooting is completed is low. Therefore, the user can input an angle threshold in advance, which can be used to determine whether the capture is complete.
  • the total angle of the yaw angle may be determined, specifically, the yaw rate may be integrated based on a frequency of 100 Hz, so as to determine the total angle of the yaw angle. Compare the total angle of the yaw angle with the angle threshold. If the total angle is greater than or equal to the angle threshold, it indicates that the angle of the shooting direction of the aircraft is enough to capture a complete target image of the tracking target. Therefore, when the total angle is greater than or equal to the angle threshold , it can be determined that image acquisition is completed, and shooting ends.
  • whether the aircraft has completed the image acquisition is determined by the angle through which the shooting direction turns, which has higher versatility, and can be determined in time to complete the image acquisition.
  • An image acquisition method provided by Embodiment 1 of the present invention includes: after determining the tracking target, determining the navigation direction according to the received preset information; controlling the aircraft to fly based on the navigation direction while controlling the aircraft to always move towards the tracking target
  • the target performs image acquisition, and continuously obtains the yaw rate of the aircraft during the flight; the yaw rate during the flight is integrated to determine the total angle of the yaw angle, if the total angle of the yaw angle If it is greater than or equal to the angle threshold, it is determined that the image acquisition is completed.
  • the navigation direction of the aircraft is determined according to the preset information input by the user, and the aircraft is controlled to fly based on the navigation direction while controlling the aircraft to acquire images towards the tracking target.
  • the aircraft can also continuously determine the yaw angular velocity of each point of the aircraft on the flight track, and then determine the total angle of the yaw angle. If the total angle of the yaw angle is greater than the angle threshold, it is determined that the aircraft has completed image acquisition, which reduces the user's operating time of the aircraft. difficulty, and according to the yaw angle, it can be determined in time whether to complete the image acquisition, so that it is convenient to stop shooting in time and obtain a better aerial photography effect.
  • FIG. 2 is a flow chart of an image acquisition method provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the foregoing embodiments. As shown in Figure 2, in this embodiment, the method may also include:
  • Step 210 after determining the tracking target, determine the navigation direction according to the received preset information.
  • the preset information includes a tail-flick direction
  • determining the sailing direction according to the received preset information includes: determining the sailing direction according to the tail-flick direction.
  • the tail-flick direction can be the flight direction of the aircraft for flight shooting
  • the tail-flick angle can be determined according to the tail-flick direction and the current direction
  • the flight direction of the aircraft can be rotated based on the tail-flick angle so that the flight direction is consistent with the tail-flick direction.
  • determining the tracking target includes:
  • the initial target image of the tracking target can be obtained, and then the initial two-dimensional coordinates of the tracking target in the initial target image can be determined, and then the aircraft can determine the tracking target in the two-dimensional coordinate system.
  • the aircraft after the aircraft selects the tracking target, it determines the initial two-dimensional coordinates of the tracking target according to the initially acquired initial target image, and determines the tracking target based on the initial two-dimensional coordinates.
  • determining the tracking target includes: determining the tracking target according to three-dimensional coordinates of the tracking target.
  • the aircraft after the aircraft reaches the vicinity of the tracking target, it can conduct a test flight, and the three-dimensional coordinates of the tracking target can be determined during the test flight.
  • an initial test flight target image of the tracked target can be obtained.
  • the aircraft can be controlled to fly in a straight line, and the target image of the tracking target can always be obtained by controlling the aircraft.
  • the first coordinates and the second coordinates of the tracking target in the next flight test target image determine the three-dimensional coordinates of the tracking target, and then the aircraft can determine the tracking target based on the three-dimensional coordinates in the three-dimensional coordinate system.
  • the aircraft after the aircraft has selected a tracking target, it can conduct a test flight.
  • the three-dimensional coordinates of the tracking target can be determined according to the obtained initial flight test target image and the next flight test target image, and the tracking target can be determined based on the three-dimensional coordinates.
  • Step 220 Control the aircraft to fly based on the navigation direction and at the same time control the aircraft to always move towards the tracking target to acquire images, and continuously acquire the yaw angular velocity of the aircraft during the flight.
  • controlling the aircraft to fly based on the sailing direction includes: controlling the aircraft to perform climbing flight based on the sailing direction, and the sailing speed is less than The maximum sailing speed, and the climb speed are less than the longitudinal speed.
  • the aircraft may be controlled to acquire images during the process of gradually climbing and flying.
  • the preset information may include the maximum longitudinal speed and the maximum flight speed.
  • the flight speed of the aircraft can be controlled to be less than the maximum flight speed, and the climb speed of the aircraft can also be controlled to be less than the maximum longitudinal speed.
  • the preset information can also include the maximum altitude.
  • the flying height of the aircraft can also be controlled to be less than the climbing height. If the flying height is greater than or equal to the climbing height, the aircraft is controlled to perform parallel flight at a fixed height. .
  • step 220 may specifically include:
  • the aircraft when determining the tracking target, has acquired the initial target image and initial two-dimensional coordinates.
  • the flight of the aircraft can be controlled based on the two-dimensional coordinates, the aircraft can acquire the next target image during the flight, and can also determine the next two-dimensional coordinates of the tracking target in the next target image.
  • the two two-dimensional coordinates of the tracking target in the two target images have been obtained, so the two two-dimensional coordinates, namely the initial two-dimensional coordinates and the next two-dimensional coordinates, can be triangulated and calculated to obtain the tracking target More precise location information, that is, the three-dimensional coordinates of the tracking target.
  • controlling the aircraft to always face the tracking target at this time is equivalent to controlling the aircraft to always face the three-dimensional coordinates, and a more accurate target image of the tracking target can be obtained.
  • the shooting direction of the aircraft since the shooting direction of the aircraft is always facing the tracking target while flying based on the navigation direction, the shooting direction changes in real time. Furthermore, there is a certain angle between the current shooting direction and the next shooting direction.
  • the real-time changing shooting direction makes the aircraft have a real-time yaw angular velocity, which can be continuously obtained during the flight.
  • the flight process before determining the three-dimensional coordinates of the tracking target can be determined as the first flight of the aircraft stage, the flight process after determining the three-dimensional coordinates of the tracking target is determined as the second flight stage of the aircraft.
  • the aircraft can locate and track the target according to the two-dimensional coordinates to obtain the target image of the first flight stage; after determining the three-dimensional coordinates of the tracking target, the aircraft can enter the second flight stage, and locate the tracking target according to the three-dimensional coordinates, to acquire the image of the target in the second flight phase.
  • the aircraft may include 2D controllers, 3D controllers, and switching controllers.
  • the flight of the first flight stage of the aircraft can be controlled based on the two-dimensional controller, and the flight of the second flight stage of the aircraft can be controlled based on the three-dimensional controller.
  • the switching controller can be used to The flight process of the aircraft is smoothed, so that the flight process of the aircraft is more stable, and a target image with better quality can be obtained.
  • the tracking target may also be determined whether the tracking target is still within the frame selection range of the aircraft. If the tracking target is still within the frame selection range of the aircraft, continue the flight in the second flight stage; if the tracking target is not within the frame selection range of the aircraft, return to step 210 to re-determine the tracking target.
  • next target image here is the target image at the next continuous moment.
  • the aircraft before the image acquisition process, the aircraft does not know the three-dimensional coordinates of the tracking target, so the aircraft can fly in two flight stages during the image acquisition process, the first flight stage towards the tracking target determined by the two-dimensional coordinates, and The second flight phase towards a tracked target determined by three-dimensional coordinates. It saves flight time and is easy to operate.
  • step 220 may specifically include:
  • the aircraft is controlled to fly based on the navigation direction while the aircraft is controlled to acquire images always towards the three-dimensional coordinates, and the yaw angular velocity of the aircraft is continuously acquired during the flight.
  • the aircraft when determining the tracking target, the aircraft has already determined the three-dimensional coordinates of the tracking target.
  • the flight of the aircraft can be controlled based on three-dimensional coordinates. Controlling the aircraft to always face the tracking target during the flight is equivalent to controlling the aircraft to always face the three-dimensional coordinates, and a more accurate target image of the tracking target can be obtained.
  • the yaw angular velocity formed due to the change of the shooting direction can be continuously obtained during the flight of the aircraft.
  • the aircraft before the image acquisition process, the aircraft has determined the three-dimensional coordinates of the tracking target. Therefore, during the image acquisition process, the aircraft always performs image acquisition towards the three-dimensional coordinates to obtain a more accurate target image.
  • controlling the aircraft to always perform image acquisition towards the three-dimensional coordinates includes:
  • the shooting parameters may include the depth of field, focal length, zoom factor, and working distance of the image acquisition device included in the aircraft.
  • the three-dimensional coordinates can represent the position information of the tracking target.
  • the shooting direction of the aircraft can be determined according to the conversion relationship between the shooting parameters of the aircraft, the position information of the tracking target, and the shooting direction.
  • the included angle between the shooting direction and the sailing direction can be calculated, and the angle is determined as the deflection angle of the shooting direction of the aircraft based on the sailing direction.
  • the shooting direction can be adjusted based on the sailing direction and deflection angle, so that the aircraft always faces the three-dimensional coordinates, so that a more accurate target image with a better viewing angle can be obtained.
  • the aircraft based on the three-dimensional coordinates and the shooting parameters of the aircraft, the aircraft is controlled to acquire images always towards the three-dimensional coordinates, so that the control of the shooting direction of the aircraft is more precise.
  • controlling the aircraft to always face the tracking target may include controlling the aircraft and the gimbal to always face the tracking target.
  • controlling the aircraft to acquire images always towards the three-dimensional coordinates based on the deflection angle includes:
  • the deflection angle is controlled to remain within a preset angle range, so as to determine that the aircraft is always moving towards the tracking target for image acquisition.
  • the preset information may also include an error range of the deflection angle, and the preset angle range may be determined according to the deflection angle and the error range. Specifically, the difference between the deflection angle and the maximum error may be determined as the lower limit of the preset angle range, and the sum of the deflection angle and the maximum error may also be determined as the upper limit of the preset angle range.
  • the shooting direction can be adjusted based on the navigation direction and the preset angle range, so that the aircraft always faces the three-dimensional coordinates for image acquisition.
  • adjusting the shooting direction within the preset angle range can reduce the difficulty of adjusting the shooting direction, making it easier to realize automatic tail-flick shooting.
  • Step 230 Integrate the yaw rate during the flight to determine the total angle of the yaw angle. If the total angle of the yaw angle is greater than or equal to an angle threshold, it is determined that the image acquisition is completed.
  • the aircraft has real-time yaw angular velocity during flight, and the total angle of yaw angle during flight can indicate the angle by which the shooting direction of the aircraft is turned.
  • the user Since the user cannot obtain the distance between the tracking target and the starting point of shooting, it is difficult to determine the shooting duration and navigation distance, and the versatility of using the time threshold and navigation threshold to determine whether the shooting is completed is low. Therefore, the user can also input an angle threshold in advance, which can be used to determine whether to stop shooting.
  • the total angle of the yaw angle may be determined. Specifically, the total angle of the yaw angle may be determined by integrating and summing the yaw angular velocity based on a frequency of 100 Hz. Compare the total angle of the yaw angle with the angle threshold. If the total angle is greater than or equal to the angle threshold, it indicates that the angle of the shooting direction of the aircraft is enough to capture a complete target image of the tracking target. Therefore, when the total angle is greater than or equal to the angle threshold , it can be determined that image acquisition is completed, and shooting ends.
  • whether the aircraft has completed the image acquisition is determined by the angle through which the shooting direction turns, which has higher versatility, and can be determined in time to complete the image acquisition.
  • An image acquisition method provided by Embodiment 2 of the present invention includes: after determining the tracking target, determining the navigation direction according to the received preset information; controlling the aircraft to fly based on the navigation direction while controlling the aircraft to always move towards the tracking target
  • the target performs image acquisition, and continuously obtains the yaw rate of the aircraft during the flight; the yaw rate during the flight is integrated to determine the total angle of the yaw angle, if the total angle of the yaw angle If it is greater than or equal to the angle threshold, it is determined that the image acquisition is completed.
  • the navigation direction of the aircraft is determined according to the preset information input by the user, and the aircraft is controlled to fly based on the navigation direction while controlling the aircraft to acquire images towards the tracking target.
  • the aircraft is controlled to fly based on the navigation direction while controlling the aircraft to acquire images towards the tracking target.
  • the yaw angular velocity of each point on the flight trajectory of the aircraft and integrate each yaw angular velocity to determine the total angle of the yaw angle. If the total angle of the yaw angle is greater than the angle threshold, it is determined that the aircraft completes the image.
  • the acquisition reduces the difficulty for the user to operate the aircraft, and it can be determined in time according to the yaw angle whether the image acquisition is completed, so that it is convenient to stop shooting in time and obtain better aerial photography effects.
  • the aircraft in the process of image acquisition, can fly in two flight stages, the first flight stage toward the tracking target determined by the two-dimensional coordinates, and the second flight stage toward the tracking target determined by the three-dimensional coordinates, which saves flight time. time and is easy to operate.
  • the aircraft Before the image acquisition process, if the aircraft has determined the three-dimensional coordinates of the tracking target, the aircraft always performs image acquisition towards the three-dimensional coordinates during the image acquisition process, so as to obtain a more accurate target image.
  • FIG. 3 is an implementation flowchart of an image acquisition method provided in Embodiment 2 of the present invention, and exemplarily shows one implementation manner. As shown in Figure 3, including:
  • Step 310 Determine the initial two-dimensional coordinates of the tracking target in the acquired initial target image; determine the tracking target according to the initial two-dimensional coordinates; determine the navigation direction according to the received preset information.
  • Step 320 control the aircraft to fly based on the navigation direction and acquire the next target image, and determine the next two-dimensional coordinates of the tracking target in the next target image; Triangulation calculation is performed on the two-dimensional coordinates to determine the three-dimensional coordinates of the tracking target.
  • Step 330 Determine the shooting direction of the aircraft according to the three-dimensional coordinates and the shooting parameters of the aircraft; determine the deflection angle of the aircraft based on the sailing direction based on the shooting direction and the sailing direction; The angle controls the aircraft to always perform image acquisition towards the three-dimensional coordinates.
  • Step 340 continuously acquire the yaw rate of the aircraft during the flight.
  • Step 350 Integrate the yaw angular velocity during flight to determine the total angle of yaw angle.
  • steps 320, 330, 340 and 350 may be performed simultaneously.
  • Step 360 determine whether the total angle is smaller than the total angle threshold.
  • step 330 If the total angle is less than the total angle threshold, go back to step 330; if the total angle is greater than or equal to the angle threshold, go to step 370.
  • Step 370 determine that the image acquisition is completed, and end the shooting.
  • Embodiment 2 of the present invention provides an implementation of an image acquisition method, which includes determining the initial two-dimensional coordinates of the tracking target in the acquired initial target image; determining the tracking target according to the initial two-dimensional coordinates; and determining the tracking target according to the received Determine the navigation direction based on the received preset information; control the aircraft to fly based on the navigation direction and acquire the next target image, and determine the next two-dimensional coordinates of the tracking target in the next target image; Three-dimensional coordinates and the next two-dimensional coordinates are triangulated to determine the three-dimensional coordinates of the tracking target; at the same time, the shooting direction of the aircraft is determined according to the three-dimensional coordinates and the shooting parameters of the aircraft; based on the shooting direction Determine the deflection angle of the aircraft based on the navigation direction with the navigation direction; control the aircraft to always move towards the three-dimensional coordinates for image acquisition based on the deflection angle; continuously acquire the yaw angular velocity of the aircraft during the flight ; Integrate the yaw ang
  • the navigation direction of the aircraft is determined according to the preset information input by the user, and the aircraft is controlled to fly based on the navigation direction while controlling the aircraft to acquire images towards the tracking target.
  • the aircraft does not know the three-dimensional coordinates of the tracking target, so the aircraft can fly in two flight stages during the image acquisition process, the first flight stage toward the tracking target determined by the two-dimensional coordinates, and the second flight stage toward the tracking target determined by the three-dimensional coordinates . It saves flight time and is easy to operate.
  • FIG. 4 is an implementation flowchart of another image acquisition method provided by Embodiment 2 of the present invention, and exemplarily shows one implementation manner. As shown in Figure 4, including:
  • Step 410 Determine the tracking target according to the three-dimensional coordinates of the tracking target; determine the navigation direction according to the received preset information.
  • Step 420 controlling the aircraft to fly based on the navigation direction.
  • Step 430 Determine the shooting direction of the aircraft according to the three-dimensional coordinates and the shooting parameters of the aircraft; determine the deflection angle of the aircraft based on the sailing direction based on the shooting direction and the sailing direction; The angle controls the aircraft to always perform image acquisition towards the three-dimensional coordinates.
  • Step 440 continuously acquire the yaw rate of the aircraft during the flight.
  • Step 450 Integrate the yaw angular velocity during flight to determine the total angle of yaw angle.
  • steps 420, 430, 440 and 450 may be performed simultaneously.
  • Step 460 determine whether the total angle is smaller than the total angle threshold.
  • step 470 If the total angle is less than the total angle threshold, go back to step 420; if the total angle is greater than or equal to the angle threshold, go to step 470.
  • Step 470 determine that image acquisition is completed, and end shooting.
  • Embodiment 2 of the present invention provides an implementation of an image acquisition method, which includes determining the tracking target according to the three-dimensional coordinates of the tracking target; determining the navigation direction according to the received preset information; controlling the aircraft to fly based on the navigation direction; At the same time, determine the shooting direction of the aircraft according to the three-dimensional coordinates and the shooting parameters of the aircraft; determine the deflection angle of the aircraft based on the navigation direction based on the shooting direction and the navigation direction; The aircraft always performs image acquisition towards the three-dimensional coordinates; continuously acquires the yaw angular velocity of the aircraft during the flight; integrates the yaw angular velocity during the flight to determine the total angle of the yaw angle; determines the total Whether the angle is less than the total angle threshold; if the total angle is less than the total angle threshold, control the aircraft to continue flying based on the navigation direction, and at the same time obtain the total angle for image acquisition and calculation of the yaw angle; if the total angle is greater than or equal to the
  • the navigation direction of the aircraft is determined according to the preset information input by the user, and the aircraft is controlled to fly based on the navigation direction while controlling the aircraft to acquire images towards the tracking target.
  • the aircraft has determined the three-dimensional coordinates of the tracking target. Therefore, during the image acquisition process, the aircraft always faces the three-dimensional coordinates for image acquisition, and can acquire more accurate target images.
  • the angle threshold it is determined that the aircraft has completed the image acquisition, which reduces the difficulty for the user to operate the aircraft, and it can be determined in time according to the yaw angular velocity whether the image acquisition is completed, so that it is convenient to stop shooting in time and obtain a better aerial photography effect.
  • FIG. 5 is a schematic structural diagram of an image acquisition device provided by Embodiment 3 of the present invention.
  • the device is applicable to image acquisition based on tail flick and reduces the difficulty of image acquisition based on tail flick.
  • the device can be realized by software and/or hardware, and is generally integrated in the aircraft.
  • the device includes:
  • the direction determination module 510 is configured to determine the navigation direction according to the received preset information after determining the tracking target;
  • the flight control module 520 is used to control the aircraft to fly based on the navigation direction while controlling the aircraft to always move towards the tracking target for image acquisition, and continuously acquire the yaw angle of the aircraft during the flight;
  • the summation module 530 is configured to continuously sum the yaw angles during the flight, and if the total angle of the yaw angles is greater than or equal to an angle threshold, it is determined that the image acquisition is completed.
  • the image acquisition device after determining the tracking target, determines the navigation direction according to the received preset information; controls the aircraft to fly based on the navigation direction, and at the same time controls the aircraft to always move towards the tracking target to perform image acquisition, and Continuously acquire the yaw angle of the aircraft during the flight; continuously sum the yaw angles during the flight, and if the total angle of the yaw angle is greater than or equal to an angle threshold, it is determined that the image acquisition is completed.
  • the navigation direction of the aircraft is determined according to the preset information input by the user, and the aircraft is controlled to fly based on the navigation direction while controlling the aircraft to acquire images towards the tracking target.
  • the flight can also continuously determine the yaw angle of each point on the flight track of the aircraft, and accumulate each yaw angle. If the total angle of the yaw angle is greater than the angle threshold, it is determined that the aircraft has completed the image acquisition, which reduces the user's operation of the aircraft. difficulty, and according to the yaw angle, it can be determined in time whether to complete the image acquisition, so that it is convenient to stop shooting in time and obtain a better aerial photography effect.
  • the direction determination module 510 is specifically used for:
  • control flight module 520 is specifically used for:
  • the direction determination module 510 is specifically used for:
  • the tracking target is determined according to the three-dimensional coordinates of the tracking target; and the navigation direction is determined according to the received preset information.
  • control flight module 520 is specifically used for:
  • the aircraft is controlled to fly based on the navigation direction, and at the same time, the aircraft is controlled to acquire images always towards the three-dimensional coordinates, and the yaw angle of the aircraft is continuously acquired during the flight.
  • control flight module 520 is specifically used for:
  • controlling the aircraft to acquire images always towards the three-dimensional coordinates based on the deflection angle includes:
  • the deflection angle is controlled to remain within a preset angle range, so as to determine that the aircraft is always moving towards the tracking target for image acquisition.
  • the preset information includes the direction of the tail flick, the maximum sailing speed and the maximum longitudinal speed.
  • the direction determination module 510 is specifically used to: The sailing direction; a flight control module, specifically used to: control the aircraft to perform climbing flight based on the sailing direction, and the sailing speed is less than the maximum sailing speed, and the climb speed is less than the longitudinal speed; at the same time, control the aircraft Image acquisition is always performed towards the tracking target, and the yaw angle of the aircraft is continuously acquired during flight.
  • the image acquisition device provided by the embodiment of the present invention can execute the image acquisition method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.
  • Figure 6 is a schematic structural diagram of an aircraft provided in Embodiment 4 of the present invention.
  • the aircraft includes a processor 610, a memory 620, and an image acquisition device 630; the number of processors 610 in the aircraft can be one or more One, one processor 610 is taken as an example in FIG. 6; the processor 610, memory 620 and image acquisition device 630 in the aircraft can be connected through a bus or in other ways. In FIG. 6, the connection through a bus is taken as an example.
  • the memory 620 can be used to store software programs, computer-executable programs and modules, such as program instructions/modules corresponding to the image acquisition method in the embodiment of the present invention (for example, direction determination in the image acquisition device) module 510, control flight module 520 and summation module 530).
  • the processor 610 executes various functional applications and data processing of the aircraft by running the software programs, instructions and modules stored in the memory 620 , that is, realizes the above-mentioned image acquisition method.
  • the processor 610 may include one or more central processing units (central processing unit, CPU), and may also include multiple processors 610. Each CPU in these processors 610 may be a single-core processor (single-CPU), or a multi-core processor (multi-CPU). Processor 610 herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • CPU central processing unit
  • processors 610 may be a single-core processor (single-CPU), or a multi-core processor (multi-CPU).
  • Processor 610 herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the memory 620 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the memory 620 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • memory 620 may further include memory located remotely from processor 610 , and such remote memory may be connected to the aircraft via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the image acquiring device 630 is used for acquiring the target image of the tracking target.
  • the aircraft provided in the embodiments of the present invention can execute the image acquisition methods provided in the above embodiments, and have corresponding functions and beneficial effects.
  • Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions, the computer-executable instructions are used to execute an image acquisition method when executed by a computer processor, the method comprising:
  • the yaw rate during flight is integrated to determine a total yaw angle, and if the total yaw angle is greater than or equal to an angle threshold, it is determined that the image acquisition is completed.
  • the computer storage medium in the embodiments of the present invention may use any combination of one or more computer-readable media.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer-readable storage medium may be, for example but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages. Programming language - such as "C" or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through the Internet using an Internet service provider). connect).
  • the present application also provides a computer program product, the computer program product includes computer instructions, and when the computer instructions are run on the computer, the computer is made to execute the image acquisition methods provided in Embodiment 1 and Embodiment 2.
  • each module or each step of the present invention described above can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed on a network formed by multiple computing devices.
  • they can be implemented with executable program codes of computer devices, so that they can be stored in storage devices and executed by computing devices, or they can be made into individual integrated circuit modules, or a plurality of modules in them Or the steps are fabricated into a single integrated circuit module to realize.
  • the present invention is not limited to any specific combination of hardware and software.

Abstract

一种图像获取方法、装置（630）、飞行器和存储介质，方法包括：确定跟踪目标后，根据接收到的预设信息确定航行方向（110）；控制飞行器基于航行方向飞行的同时控制飞行器始终朝向跟踪目标进行图像获取，并在飞行过程中持续获取飞行器的偏航角速度（120）；对飞行过程中的偏航角速度进行积分以确定偏航角的总角度，如果偏航角的总角度大于或者等于角度阈值，则确定完成图像获取（130）。方法控制飞行器基于确定的航行方向飞行，同时控制飞行器朝向跟踪目标进行图像获取，飞行过程中确定飞行器偏航角的总角度，如果总角度大于角度阈值，则确定完成图像获取，降低操作飞行器的难度，可以及时确定完成图像获取，便于及时停止拍摄，得到较好的航拍效果。

Description

一种图像获取方法、装置、飞行器和存储介质
本申请要求于2021年9月10日提交中国专利局、申请号为2021110624567、申请名称为“一种图像获取方法、装置、飞行器和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及飞行控制技术，尤其涉及一种图像获取方法、装置、飞行器和存储介质。
背景技术
飞行器，如无人飞行器(Unmanned Aerial Vehicle，UAV)，也称无人机，以其具有体积小、重量轻、机动灵活、反应快速、无人驾驶、操作要求低等优点，得到了越来越广泛的应用。控制飞行器动力系统中多个驱动电机的转速，可以实现对飞行器动作或姿态的调整。
现有技术中，用户可以手动控制飞行器持续甩尾，以基于飞行器对跟踪目标进行图像获取，在一次图像获取过程中需要操作俯仰、横滚、偏航和云台俯仰四个方向的杆量。
但是，手动控制飞行器持续甩尾的过程对用户的操作熟练度需求较高，同时操作俯仰、横滚、偏航和云台俯仰四个方向的杆量操作难度较高。
发明内容
本发明提供一种图像获取方法、装置、飞行器和存储介质，以降低飞行器自动获取目标图像的难度。
第一方面，本发明实施例提供了一种图像获取方法，包括：
确定跟踪目标后，根据接收到的预设信息确定航行方向；
控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度；
对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。
本发明实施例提供一种图像获取方法，包括：确定跟踪目标后，根据接收到的预设信息确定航行方向；控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度；对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。上述技术方案，在确定飞行器框选到跟踪目标后，根据用户输入的预设信息确定飞行器的航行方向，控制飞行器基于航行方向飞行的同时控制飞行器朝向跟踪目标进行图像获取，当然，在飞行的过程中还可以持续确定飞行器在航行轨迹上各点的偏航角速度，并对各偏航角速度进行积分以确定偏航角的总角度，如果偏航角的总角度大于角度阈值，则确定飞行器完成图像获取，降低了用户操作飞行器的难度，且根据偏航角可以及时确定是否完成图像获取，便于及时停止拍摄，得到较好的航拍效果。
进一步地，确定跟踪目标，包括：
确定所述跟踪目标在获取到的初始目标图像中的初始二维坐标；
根据所述初始二维坐标确定所述跟踪目标。
进一步地，控制所述飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，包括：
控制所述飞行器基于所述航行方向飞行并获取下一目标图像，确定所述跟踪目标在所述下一目标图像的下一二维坐标；
对所述初始二维坐标和所述下一二维坐标进行三角化测算，确定所述跟踪目标的三维坐标；
控制所述飞行器始终朝向所述三维坐标进行图像获取。
进一步地，确定跟踪目标，包括：根据跟踪目标的三维坐标确定所述跟踪目标；
相应地，控制所述飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，包括：
控制所述飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述三维坐标进行图像获取。
进一步地，控制所述飞行器始终朝向所述三维坐标进行图像获取，包括：
根据所述三维坐标以及所述飞行器的拍摄参数确定所述飞行器的拍摄方向；
基于所述拍摄方向和所述航行方向确定所述飞行器基于所述航行方向的偏转角度；
基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取。
进一步地，基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取，包括：
控制所述偏转角度保持在预设角度范围内，以确定所述飞行器始终朝向所 述跟踪目标进行图像获取。
进一步地，所述预设信息包括甩尾方向、最大航行速度和最大纵向速度，相应地，根据接收到的预设信息确定航行方向，包括：根据所述甩尾方向确定所述航行方向；
控制所述飞行器基于所述航行方向飞行，包括：控制所述飞行器基于所述航行方向进行爬升飞行，且航行速度小于所述最大航行速度，以及爬升速度小于所述纵向速度。
第二方面，本发明实施例还提供了一种图像获取装置，包括：
方向确定模块，用于确定跟踪目标后，根据接收到的预设信息确定航行方向；
控制飞行模块，用于控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度；
求和模块，用于对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。
第三方面，本发明实施例还提供了一种飞行器，所述飞行器包括：
一个或多个处理器；
存储装置，用于存储一个或多个程序；
图像获取装置，用于进行图像获取；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如第一方面中任一所述的图像获取方法。
第四方面，本发明实施例还提供了一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行如第一方面中任一所述的图像获取方法。
需要说明的是，上述计算机指令可以全部或者部分存储在计算机可读存储介质上。其中，计算机可读存储介质可以与图像获取装置的处理器封装在一起的，也可以与图像获取装置的处理器单独封装，本申请对此不做限定。
本申请中第二方面、第三方面、第四方面的描述，可以参考第一方面的详细描述；并且，第二方面、第三方面、第四方面的描述的有益效果，可以参考第一方面的有益效果分析，此处不再赘述。
在本申请中，上述图像获取装置的名字对设备或功能模块本身不构成限定，在实际实现中，这些设备或功能模块可以以其他名称出现。只要各个设备或功能模块的功能和本申请类似，属于本申请权利要求及其等同技术的范围之内。
本申请的这些方面或其他方面在以下的描述中会更加简明易懂。
附图说明
图1为本发明实施例一提供的一种图像获取方法的流程图；
图2为本发明实施例二提供的一种图像获取方法的流程图；
图3为本发明实施例二提供的一种图像获取方法的实现流程图；
图4为本发明实施例二提供的另一种图像获取方法的实现流程图；
图5为本发明实施例三提供的一种图像获取装置的结构示意图；
图6为本发明实施例四提供的一种飞行器的结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。
本申请的说明书以及附图中的术语“第一”和“第二”等是用于区别不同的对象，或者用于区别对同一对象的不同处理，而不是用于描述对象的特定顺序。
此外，本申请的描述中所提到的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选的还包括其他没有列出的步骤或单元，或可选的还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各项操作(或步骤)描述成顺序的处理，但是其中的许多操作可以被并行地、并发地或者同时实施。此外，各项操作的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。此外，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
需要说明的是，本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。
在本申请的描述中，除非另有说明，“多个”的含义是指两个或两个以上。
实施例一
图1为本发明实施例一提供的一种图像获取方法的流程图，本实施例降低了基于甩尾进行图像获取的难度，该方法可以由图像获取装置来执行，如图1所示，该方法具体包括如下步骤：
步骤110、确定跟踪目标后，根据接收到的预设信息确定航行方向。
其中，飞行器的存储器中可以存储有接收到的预设信息，在控制飞行器飞行前，可以根据用户的输入信息确定预设信息，并将该预设信息存储至存储器，预设信息可以包括甩尾方向。跟踪目标可以为被拍摄物，飞行器可以用于获取被拍摄物的图像信息，即获取目标图像，目标图像可以包括跟踪目标的图片信息和视频信息。
具体地，飞行器在起飞后可以飞行至跟踪目标附近，并基于图像获取装置获取跟踪目标的目标图像。在图像获取装置获取到初始目标图像后，可以确定飞行器框选到跟踪目标，进而可以根据接收到的预设信息所包含的甩尾方向确定航行方向。
在确定航行方向后，飞行器可以基于该航行方向进行直线飞行。
本发明实施例中，如果飞行器已经飞行至跟踪目标附近，且已经框选到跟踪目标，则可以根据预设信息确定飞行器的航行方向，飞行器基于该航行方向 飞行的过程中始终可以获取到跟踪目标的目标图像。
步骤120、控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度。
其中，飞行器始终朝向跟踪目标可以理解为飞行器的拍摄方向始终朝向跟踪目标，即云台方向始终朝向跟踪目标，偏航角为飞行器的当前拍摄方向与下一拍摄方向之间的夹角。
本发明实施例中，飞行器可以为四旋翼飞行器，因此，飞行器的拍摄方向和航行方向可以不同。
具体地，在确定飞行器的航行方向后，可以控制飞行器基于航行方向飞行，同时，可以控制飞行器的拍摄方向始终朝向跟踪目标，以获取跟踪目标的目标图像。由于飞行器在基于航行方向飞行的同时拍摄方向始终朝向跟踪目标，拍摄方向在实时变化。进而当前拍摄方向与下一拍摄方向之间存在一定的夹角。飞行器在基于航行方向飞行时，实时变化的拍摄方向使得飞行器存在实时的偏航角，在飞行过程中可以持续获取该偏航角速度。
本发明实施例中，基于四旋翼的飞行器，可以控制飞行器基于航行方向飞行的同时控制飞行器的拍摄方向朝向跟踪目标，使得飞行器在飞行过程中始终可以获取到跟踪目标的目标图像，可以实现飞行器的自动甩尾，降低了甩尾拍摄的难度，便于用户操作。而且，拍摄方向朝向跟踪目标，保证了飞行器与跟踪目标在任何角度与距离下都能得到较好的航拍效果。
步骤130、对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。
其中，飞行器在飞行过程中存在实时的偏航角速度，飞行过程中偏航角的总角度可以表明飞行器的拍摄方向转过的角度。
由于用户无法得到跟踪目标与开始拍摄起点的距离，所以难以确定拍摄时长和航行距离，采用时间阈值和距离阈值确定拍摄是否完成的泛用性较低。因此，用户可以提前输入角度阈值，该角度阈值可以用于确定拍摄是否完成。
具体地，在飞行器的飞行过程中，可以确定偏航角的总角度，具体可以基于100HZ的频率对偏航角速度进行积分，以确定偏航角的总角度。比较偏航角的总角度和角度阈值，如果总角度大于或者等于角度阈值，则表明飞行器的拍摄方向转过的角度足以拍摄到跟踪目标完整的目标图像，因此，在总角度大于或者等于角度阈值时，可以确定完成图像获取，并结束拍摄。
本发明实施例中，通过拍摄方向转过的角度确定飞行器是否完成图像获取，泛用性更高，可以及时确定完成图像获取。
本发明实施例一提供的一种图像获取方法，包括：确定跟踪目标后，根据接收到的预设信息确定航行方向；控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度；对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。上述技术方案，在确定飞行器框选到跟踪目标后，根据用户输入的预设信息确定飞行器的航行方向，控制飞行器基于航行方向飞行的同时控制飞行器朝向跟踪目标进行图像获取，当然，在飞行的过程中还可以持续确定飞行器在航行轨迹上各点的偏航角速度，进而确定偏航角的总角度，如果偏航角的总角度大于角度阈值，则确定飞行器完成图像获取，降低了用户操作飞行器的 难度，且根据偏航角可以及时确定是否完成图像获取，便于及时停止拍摄，得到较好的航拍效果。
实施例二
图2为本发明实施例二提供的一种图像获取方法的流程图，本实施例是在上述实施例的基础上进行具体化。如图2所示，在本实施例中，该方法还可以包括：
步骤210、确定跟踪目标后，根据接收到的预设信息确定航行方向。
其中，所述预设信息包括甩尾方向，相应地，根据接收到的预设信息确定航行方向，包括：根据所述甩尾方向确定所述航行方向。
具体地，甩尾方向可以为飞行器进行飞行拍摄的航行方向，根据甩尾方向和当前方向可以确定甩尾角度，基于甩尾角度转动飞行器的航行方向，使得航行方向与甩尾方向保持一致。
一种实施方式中，确定跟踪目标，包括：
确定所述跟踪目标在获取到的初始目标图像中的初始二维坐标；根据所述初始二维坐标确定所述跟踪目标。
本实施方式中，飞行器在到达跟踪目标附近后，不存在试飞过程。
具体地，飞行器框选到跟踪目标后，可以获取跟踪目标的初始目标图像，进而可以确定跟踪目标在初始目标图像中的初始二维坐标，进而飞行器可以在二维坐标系中确定跟踪目标。
本发明实施例中，飞行器在框选到跟踪目标后，根据初始获取到的初始目标图像确定跟踪目标的初始二维坐标，并基于初始二维坐标实现确定跟踪目标。
另一种实施方式中，确定跟踪目标，包括：根据跟踪目标的三维坐标确定所述跟踪目标。
本实施方式中，飞行器在到达跟踪目标附近后，可以进行试飞，试飞过程中可以确定跟踪目标的三维坐标。
具体地，飞行器框选到跟踪目标后，可以获取跟踪目标的初始试飞目标图像。在试飞过程中，可以控制飞行器直线飞行，且控制飞行器始终可以获取到跟踪目标的目标图像，因此，在试飞过程中获取到下一试飞目标图像时，可以根据跟踪目标在初始试飞目标图像中的第一坐标以及跟踪目标在下一试飞目标图像中的第二坐标确定跟踪目标的三维坐标，进而飞行器可以在三维坐标系中基于三维坐标确定跟踪目标。
本发明实施例中，飞行器在框选到跟踪目标后，可以进行试飞。试飞过程中可以根据获取到的初始试飞目标图像和下一试飞目标图像确定跟踪目标的三维坐标，实现基于三维坐标确定跟踪目标。
步骤220、控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度。
其中，所述预设信息还包括最大航行速度和最大纵向速度，相应地，控制所述飞行器基于所述航行方向飞行，包括：控制所述飞行器基于所述航行方向进行爬升飞行，且航行速度小于所述最大航行速度，以及爬升速度小于所述纵向速度。
具体地，为了得到更好的航拍效果，可以控制飞行器在逐渐爬升飞行的过程中进行图像获取。当然，预设信息可以包括最大纵向速度和最大航行速度， 在飞行器的爬升飞行中，可以控制飞行器的航行速度小于最大航行速度，还可以控制飞行器的爬升速度小于最大纵向速度。
需要说明的是，预设信息还可以包括最大高度，在飞行器的爬升飞行中，还可以控制飞行器的航行高度小于爬升高度，如果航行高度大于或者等于爬升高度，则控制飞行器进行固定高度的平行飞行。
一种实施方式中，步骤220具体可以包括：
控制所述飞行器基于所述航行方向飞行并获取下一目标图像，确定所述跟踪目标在所述下一目标图像的下一二维坐标；对所述初始二维坐标和所述下一二维坐标进行三角化测算，确定所述跟踪目标的三维坐标；控制所述飞行器始终朝向所述三维坐标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度。
本实施方式中，在确定跟踪目标时，飞行器已经获取到了初始目标图像和初始二维坐标。
具体地，可以基于二维坐标控制飞行器飞行，飞行器在飞行过程中可以获取下一目标图像，还可以确定跟踪目标在下一目标图像中的下一二维坐标。此时，已经获取到了跟踪目标在两个目标图像中的两个二维坐标，因此可以对两个二维坐标，即初始二维坐标和下一二维坐标进行三角化测算，以得到跟踪目标更精确的位置信息，即跟踪目标的三维坐标。可以理解的是，此时控制飞行器始终朝向跟踪目标，相当于控制飞行器始终朝向三维坐标，可以获取到跟踪目标更加精确的目标图像。
同样地，由于飞行器在基于航行方向飞行的同时拍摄方向始终朝向跟踪目标，拍摄方向在实时变化。进而当前拍摄方向与下一拍摄方向之间存在一定的 夹角。飞行器在基于航行方向飞行时，实时变化的拍摄方向使得飞行器存在实时的偏航角速度，在飞行过程中可以持续获取该偏航角速度。
当然，在对初始二维坐标和下一二维坐标进行三角化测算之前，还未确定跟踪目标的三维坐标，因此，可以将确定跟踪目标的三维坐标前的飞行过程确定为飞行器的第一飞行阶段，将确定跟踪目标的三维坐标后的飞行过程确定为飞行器的第二飞行阶段。在第一飞行阶段，飞行器可以根据二维坐标定位跟踪目标，以获取第一飞行阶段的目标图像；在确定跟踪目标的三维坐标后，飞行器可以进入第二飞行阶段，根据三维坐标定位跟踪目标，以获取第二飞行阶段的目标图像。
另外，飞行器可以包括二维控制器、三维控制器和切换控制器。基于二维控制器可以控制飞行器第一飞行阶段的飞行，基于三维控制器可以控制飞行器第二飞行阶段的飞行，在第一飞行阶段和第二飞行阶段的切换过程中，可以基于切换控制器对飞行器的飞行过程进行平滑处理，以使得飞行器的飞行过程更加稳定，获取到质量更好的目标图像。
需要说明的是，在第一飞行阶段结束飞行后，还可以确定跟踪目标是否还在飞行器的框选范围内。若跟踪目标还在飞行器的框选范围内，则继续进行第二飞行阶段的飞行；若跟踪目标不在飞行器的框选范围内，则返回执行步骤210，重新确定跟踪目标。
还需要说明的是，为了便于描述，此处的下一目标图像为下一连续时刻的目标图像。
本发明实施例中，在图像获取过程之前，飞行器未知跟踪目标的三维坐标，因此图像获取过程中飞行器可以进行两个飞行阶段的飞行，朝向二维坐标确定 的跟踪目标的第一飞行阶段，以及朝向三维坐标确定的跟踪目标的第二飞行阶段。节省了飞行时间，且便于操作。
另一种实施方式中，步骤220具体可以包括：
控制所述飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述三维坐标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度。
本实施方式中，在确定跟踪目标时，飞行器已经确定了跟踪目标的三维坐标。
具体地，可以基于三维坐标控制飞行器飞行。飞行过程中控制飞行器始终朝向跟踪目标，相当于控制飞行器始终朝向三维坐标，可以获取到跟踪目标更加精确的目标图像。
同样地，在飞行器的飞行过程中可以持续获取由于拍摄方向变化而形成的偏航角速度。
本发明实施例中，在图像获取过程之前，飞行器已经确定了跟踪目标的三维坐标，因此，图像获取过程中飞行器始终朝向三维坐标进行图像获取，以获取到更为精确的目标图像。
一种实施方式中，控制所述飞行器始终朝向所述三维坐标进行图像获取，包括：
根据所述三维坐标以及所述飞行器的拍摄参数确定所述飞行器的拍摄方向；基于所述拍摄方向和所述航行方向确定所述飞行器基于所述航行方向的偏转角度；基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取。
其中，拍摄参数可以包括飞行器所包含的图像获取装置的景深、焦距、变焦倍数以及工作距离等。
具体地，三维坐标可以表示跟踪目标的位置信息，在基于三维坐标确定跟踪目标的位置信息后，可以根据飞行器的拍摄参数、跟踪目标的位置信息以及拍摄方向的转换关系确定飞行器的拍摄方向。确定拍摄方向后，可以计算拍摄方向和航行方向之前的夹角，并将该夹角确定为飞行器的拍摄方向基于航行方向的偏转角度。当然，在确定航行方向和拍摄方向的偏转角度后，可以基于航行方向和偏转角度调整拍摄方向，以使得飞行器始终朝向三维坐标，进而可以获取到更加精确且视角更好的目标图像。
本发明实施例中，基于三维坐标和飞行器的拍摄参数控制飞行器始终朝向三维坐标进行图像获取，使得对飞行器拍摄方向的控制更加精确。
当然，控制飞行器始终朝向跟踪目标可以包括控制飞行器和云台始终朝向跟踪目标。
一种实施方式中，基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取，包括：
控制所述偏转角度保持在预设角度范围内，以确定所述飞行器始终朝向所述跟踪目标进行图像获取。
其中，预设信息还可以包括偏转角度的误差范围，根据偏转角度和误差范围，可以确定预设角度范围。具体可以将偏转角度与最大误差的差值确定为预设角度范围的下限，还可以将偏转角度与最大误差的和值确定为预设角度范围的上限。
具体地，可以基于航行方向和预设角度范围调整拍摄方向，以使得飞行器始终朝向三维坐标进行图像获取。
本发明实施例中，在预设角度范围内调整拍摄方向，可以降低调整拍摄方 向的难度，使得自动甩尾拍摄更容易实现。
步骤230、对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。
同样地，飞行器在飞行过程中存在实时的偏航角速度，飞行过程中偏航角的总角度可以表明飞行器的拍摄方向转过的角度。
由于用户无法得到跟踪目标与开始拍摄起点的距离，所以难以确定拍摄时长和航行距离，采用时间阈值和航行阈值确定拍摄是否完成的泛用性较低。因此，用户还可以提前输入角度阈值，该角度阈值可以用于确定拍摄是否停止。
具体地，在飞行器的飞行过程中，可以确定偏航角的总角度，，具体可以基于100HZ的频率对偏航角速度进行积分求和，以确定偏航角的总角度。比较偏航角的总角度和角度阈值，如果总角度大于或者等于角度阈值，则表明飞行器的拍摄方向转过的角度足以拍摄到跟踪目标完整的目标图像，因此，在总角度大于或者等于角度阈值时，可以确定完成图像获取，并结束拍摄。
本发明实施例中，通过拍摄方向转过的角度确定飞行器是否完成图像获取，泛用性更高，可以及时确定完成图像获取。
本发明实施例二提供的一种图像获取方法，包括：确定跟踪目标后，根据接收到的预设信息确定航行方向；控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度；对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。上述技术方案，在确定飞行器框选到跟踪目标后，根据用户输入的预设信息确定飞行器的航行方向，控制飞行器基于航行方向飞行的同时控制飞 行器朝向跟踪目标进行图像获取，当然，在飞行的过程中还可以持续确定飞行器在航行轨迹上各点的偏航角速度，并对各偏航角速度进行积分以确定偏航角的总角度，如果偏航角的总角度大于角度阈值，则确定飞行器完成图像获取，降低了用户操作飞行器的难度，且根据偏航角可以及时确定是否完成图像获取，便于及时停止拍摄，得到较好的航拍效果。
另外，在图像获取的过程中，飞行器可以进行两个飞行阶段的飞行，朝向二维坐标确定的跟踪目标的第一飞行阶段，以及朝向三维坐标确定的跟踪目标的第二飞行阶段，节省了飞行时间，且便于操作。
当然，在图像获取过程之前，如果飞行器已经确定了跟踪目标的三维坐标，在图像获取过程中飞行器始终朝向三维坐标进行图像获取，以获取到更为精确的目标图像。
图3为本发明实施例二提供的一种图像获取方法的实现流程图，示例性的给出了其中一种实现方式。如图3所示，包括：
步骤310、确定所述跟踪目标在获取到的初始目标图像中的初始二维坐标；根据所述初始二维坐标确定所述跟踪目标；根据接收到的预设信息确定航行方向。
步骤320、控制所述飞行器基于所述航行方向飞行并获取下一目标图像，确定所述跟踪目标在所述下一目标图像的下一二维坐标；对所述初始二维坐标和所述下一二维坐标进行三角化测算，确定所述跟踪目标的三维坐标。
步骤330、根据所述三维坐标以及所述飞行器的拍摄参数确定所述飞行器的拍摄方向；基于所述拍摄方向和所述航行方向确定所述飞行器基于所述航行 方向的偏转角度；基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取。
步骤340、在飞行过程中持续获取所述飞行器的偏航角速度。
步骤350、对飞行过程中的所述偏航角速度进行积分，确定偏航角的总角度。
在实际应用中，可以同时执行步骤320、330、340和350。
步骤360、确定总角度是否小于总角度阈值。
如果总角度小于总角度阈值，则返回执行步骤330；如果总角度大于或者等于角度阈值，则执行步骤370。
步骤370、确定完成图像获取，结束拍摄。
本发明实施例二提供的一种图像获取方法的实现方式，确定所述跟踪目标在获取到的初始目标图像中的初始二维坐标；根据所述初始二维坐标确定所述跟踪目标；根据接收到的预设信息确定航行方向；控制所述飞行器基于所述航行方向飞行并获取下一目标图像，确定所述跟踪目标在所述下一目标图像的下一二维坐标；对所述初始二维坐标和所述下一二维坐标进行三角化测算，确定所述跟踪目标的三维坐标；同时根据所述三维坐标以及所述飞行器的拍摄参数确定所述飞行器的拍摄方向；基于所述拍摄方向和所述航行方向确定所述飞行器基于所述航行方向的偏转角度；基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取；在飞行过程中持续获取所述飞行器的偏航角速度；对飞行过程中的所述偏航角速度进行积分，确定偏航角的总角度；确定总角度是否小于总角度阈值；如果总角度小于总角度阈值，则控制飞行器继续基于航行方向飞行，同时获取进行图像获取并计算偏航角的总角度；如果总角度大于 或者等于角度阈值，则确定完成图像获取，结束拍摄。上述技术方案，在确定飞行器框选到跟踪目标后，根据用户输入的预设信息确定飞行器的航行方向，控制飞行器基于航行方向飞行的同时控制飞行器朝向跟踪目标进行图像获取，在图像获取过程之前，飞行器未知跟踪目标的三维坐标，因此图像获取过程中飞行器可以进行两个飞行阶段的飞行，朝向二维坐标确定的跟踪目标的第一飞行阶段，以及朝向三维坐标确定的跟踪目标的第二飞行阶段。节省了飞行时间，且便于操作。当然，在飞行的过程中还可以持续确定飞行器在航行轨迹上各点的偏航角速度，并对各偏航角速度进行积分以确定偏航角的总角度，如果偏航角的总角度大于角度阈值，则确定飞行器完成图像获取，降低了用户操作飞行器的难度，且根据偏航角速度可以及时确定是否完成图像获取，便于及时停止拍摄，得到较好的航拍效果。
图4为本发明实施例二提供的另一种图像获取方法的实现流程图，示例性的给出了其中一种实现方式。如图4所示，包括：
步骤410、根据跟踪目标的三维坐标确定所述跟踪目标；根据接收到的预设信息确定航行方向。
步骤420、控制所述飞行器基于所述航行方向飞行。
步骤430、根据所述三维坐标以及所述飞行器的拍摄参数确定所述飞行器的拍摄方向；基于所述拍摄方向和所述航行方向确定所述飞行器基于所述航行方向的偏转角度；基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取。
步骤440、在飞行过程中持续获取所述飞行器的偏航角速度。
步骤450、对飞行过程中的所述偏航角速度进行积分，确定偏航角的总角度。
在实际应用中，可以同时执行步骤420、430、440和450。
步骤460、确定总角度是否小于总角度阈值。
如果总角度小于总角度阈值，则返回执行步骤420；如果总角度大于或者等于角度阈值，则执行步骤470。
步骤470、确定完成图像获取，结束拍摄。
本发明实施例二提供的一种图像获取方法的实现方式，根据跟踪目标的三维坐标确定所述跟踪目标；根据接收到的预设信息确定航行方向；控制所述飞行器基于所述航行方向飞行；同时根据所述三维坐标以及所述飞行器的拍摄参数确定所述飞行器的拍摄方向；基于所述拍摄方向和所述航行方向确定所述飞行器基于所述航行方向的偏转角度；基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取；在飞行过程中持续获取所述飞行器的偏航角速度；对飞行过程中的所述偏航角速度进行积分，确定偏航角的总角度；确定总角度是否小于总角度阈值；如果总角度小于总角度阈值，则控制飞行器继续基于航行方向飞行，同时获取进行图像获取并计算偏航角的总角度；如果总角度大于或者等于角度阈值，则确定完成图像获取，结束拍摄。上述技术方案，在确定飞行器框选到跟踪目标后，根据用户输入的预设信息确定飞行器的航行方向，控制飞行器基于航行方向飞行的同时控制飞行器朝向跟踪目标进行图像获取，在图像获取过程之前，飞行器已经确定了跟踪目标的三维坐标，因此，图像获取过程中飞行器始终朝向三维坐标进行图像获取，可以获取到更为精确的目标图像。当然，在飞行的过程中还可以持续确定飞行器在航行轨迹上各点的 偏航角速度，并对各偏航角速度进行积分以确定偏航角的总角度，如果偏航角的总角度大于角度阈值，则确定飞行器完成图像获取，降低了用户操作飞行器的难度，且根据偏航角速度可以及时确定是否完成图像获取，便于及时停止拍摄，得到较好的航拍效果。
实施例三
图5为本发明实施例三提供的一种图像获取装置的结构示意图，该装置可以适用于基于甩尾进行图像获取的情况，降低基于甩尾获取图像的难度。该装置可以通过软件和/或硬件实现，并一般集成在飞行器中。
如图5所示，该装置包括：
方向确定模块510，用于确定跟踪目标后，根据接收到的预设信息确定航行方向；
控制飞行模块520，用于控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角；
求和模块530，用于对飞行过程中的所述偏航角进行持续求和，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。
本实施例提供的图像获取装置，确定跟踪目标后，根据接收到的预设信息确定航行方向；控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角；对飞行过程中的所述偏航角进行连续求和，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。上述技术方案，在确定飞行器框选 到跟踪目标后，根据用户输入的预设信息确定飞行器的航行方向，控制飞行器基于航行方向飞行的同时控制飞行器朝向跟踪目标进行图像获取，当然，在飞行的过程中还可以持续确定飞行器在航行轨迹上各点的偏航角，并对各偏航角进行累加，如果偏航角的总角度大于角度阈值，则确定飞行器完成图像获取，降低了用户操作飞行器的难度，且根据偏航角可以及时确定是否完成图像获取，便于及时停止拍摄，得到较好的航拍效果。
在上述实施例的基础上，方向确定模块510，具体用于：
确定所述跟踪目标在获取到的初始目标图像中的初始二维坐标；根据所述初始二维坐标确定所述跟踪目标；根据接收到的预设信息确定航行方向。
在上述实施例的基础上，控制飞行模块520，具体用于：
控制所述飞行器基于所述航行方向飞行并获取下一目标图像，确定所述跟踪目标在所述下一目标图像的下一二维坐标；对所述初始二维坐标和所述下一二维坐标进行三角化测算，确定所述跟踪目标的三维坐标；控制所述飞行器始终朝向所述三维坐标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角。
在上述实施例的基础上，方向确定模块510，具体用于：
根据跟踪目标的三维坐标确定所述跟踪目标；根据接收到的预设信息确定航行方向。
在上述实施例的基础上，控制飞行模块520，具体用于：
控制所述飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述三维坐标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角。
在上述实施例的基础上，控制飞行模块520，具体用于：
控制所述飞行器基于所述航行方向飞行；同时根据所述三维坐标以及所述飞行器的拍摄参数确定所述飞行器的拍摄方向；基于所述拍摄方向和所述航行方向确定所述飞行器基于所述航行方向的偏转角度；基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角。
在上述实施例的基础上，基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取，包括：
控制所述偏转角度保持在预设角度范围内，以确定所述飞行器始终朝向所述跟踪目标进行图像获取。
在上述实施例的基础上，所述预设信息包括甩尾方向、最大航行速度和最大纵向速度，相应地，方向确定模块510，具体用于：确定跟踪目标后，根据所述甩尾方向确定所述航行方向；控制飞行模块，具体用于：控制所述飞行器基于所述航行方向进行爬升飞行，且航行速度小于所述最大航行速度，以及爬升速度小于所述纵向速度；同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角。
本发明实施例所提供的图像获取装置可执行本发明任意实施例所提供的图像获取方法，具备执行方法相应的功能模块和有益效果。
实施例四
图6为本发明实施例四提供的一种飞行器的结构示意图，如图6所示，该飞行器包括处理器610、存储器620和图像获取装置630；飞行器中处理器610的数量可以是一个或多个，图6中以一个处理器610为例；飞行器中的处理器 610、存储器620和图像获取装置630可以通过总线或其他方式连接，图6中以通过总线连接为例。
存储器620作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的图像获取方法对应的程序指令/模块(例如，图像获取装置中的方向确定模块510、控制飞行模块520和求和模块530)。处理器610通过运行存储在存储器620中的软件程序、指令以及模块，从而执行飞行器的各种功能应用以及数据处理，即实现上述的图像获取方法。
处理器610可以包括一个或多个中央处理器(central processing unit，CPU)，还可以包括多个处理器610。这些处理器610中的每一个CPU可以是一个单核处理器(single-CPU)，也可以是一个多核处理器(multi-CPU)。这里的处理器610可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
存储器620可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器620可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器620可进一步包括相对于处理器610远程设置的存储器，这些远程存储器可以通过网络连接至飞行器。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
图像获取装置630用于获取跟踪目标的目标图像。
本发明实施例提供的飞行器可以执行上述实施例提供的图像获取方法，具备相应的功能和有益效果。
实施例五
本发明实施例五还提供一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行一种图像获取方法，该方法包括：
确定跟踪目标后，根据接收到的预设信息确定航行方向；
控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角；
对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。
本发明实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是但不限于：电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读 的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，程序设计语言包括面向对象的程序设计语言，诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
当然，本申请还提供一种计算机程序产品，该计算机程序产品包括计算机指令，当计算机指令在计算机上运行时，使得计算机执行如实施例一和实施例二所提供的图像获取方法。
本领域普通技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个计算装置上，或者分布在多个计算装置所组成的网络上，可选地，他们可以用计算机装置可执行的程序代码来实现，从而可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路 模块来实现。这样，本发明不限制于任何特定的硬件和软件的结合。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种图像获取方法，其特征在于，包括：
    确定跟踪目标后，根据接收到的预设信息确定航行方向；
    控制飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度；
    对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。
  2. 根据权利要求1所述的图像获取方法，其特征在于，确定跟踪目标，包括：
    确定所述跟踪目标在获取到的初始目标图像中的初始二维坐标；
    根据所述初始二维坐标确定所述跟踪目标。
  3. 根据权利要求2所述的图像获取方法，其特征在于，控制所述飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，包括：
    控制所述飞行器基于所述航行方向飞行并获取下一目标图像，确定所述跟踪目标在所述下一目标图像的下一二维坐标；
    对所述初始二维坐标和所述下一二维坐标进行三角化测算，确定所述跟踪目标的三维坐标；
    控制所述飞行器始终朝向所述三维坐标进行图像获取。
  4. 根据权利要求1所述的图像获取方法，其特征在于，确定跟踪目标，包括：根据跟踪目标的三维坐标确定所述跟踪目标；
    相应地，控制所述飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述跟踪目标进行图像获取，包括：
    控制所述飞行器基于所述航行方向飞行的同时控制所述飞行器始终朝向所述三维坐标进行图像获取。
  5. 根据权利要求3或4任一所述的图像获取方法，其特征在于，控制所述飞行器始终朝向所述三维坐标进行图像获取，包括：
    根据所述三维坐标以及所述飞行器的拍摄参数确定所述飞行器的拍摄方向；
    基于所述拍摄方向和所述航行方向确定所述飞行器基于所述航行方向的偏转角度；
    基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取。
  6. 根据权利要求5所述的图像获取方法，其特征在于，基于所述偏转角度控制所述飞行器始终朝向所述三维坐标进行图像获取，包括：
    控制所述偏转角度保持在预设角度范围内，以确定所述飞行器始终朝向所述跟踪目标进行图像获取。
  7. 根据权利要求1所述的图像获取方法，其特征在于，所述预设信息包括甩尾方向、最大航行速度和最大纵向速度，相应地，根据接收到的预设信息确定航行方向，包括：根据所述甩尾方向确定所述航行方向；
    控制所述飞行器基于所述航行方向飞行，包括：控制所述飞行器基于所述航行方向进行爬升飞行，且航行速度小于所述最大航行速度，以及爬升速度小于所述纵向速度。
  8. 一种图像获取装置，其特征在于，包括：
    方向确定模块，用于确定跟踪目标后，根据接收到的预设信息确定航行方向；
    控制飞行模块，用于控制飞行器基于所述航行方向飞行的同时控制所述飞 行器始终朝向所述跟踪目标进行图像获取，并在飞行过程中持续获取所述飞行器的偏航角速度；
    求和模块，用于对飞行过程中的所述偏航角速度进行积分以确定偏航角的总角度，如果所述偏航角的总角度大于或者等于角度阈值，则确定完成图像获取。
  9. 一种飞行器，其特征在于，所述飞行器包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序；
    图像获取装置，用于进行图像获取；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-7中任一所述的图像获取方法。
  10. 一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行如权利要求1-7中任一所述的图像获取方法。
PCT/CN2022/117902 2021-09-10 2022-09-08 一种图像获取方法、装置、飞行器和存储介质 WO2023036260A1 (zh)

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