WO2023041014A1

WO2023041014A1 - Image acquisition method and device, and aircraft and storage medium

Info

Publication number: WO2023041014A1
Application number: PCT/CN2022/119236
Authority: WO
Inventors: 张宇程
Original assignee: 深圳市道通智能航空技术股份有限公司
Priority date: 2021-09-17
Filing date: 2022-09-16
Publication date: 2023-03-23
Also published as: CN113784050A; CN113784050B

Abstract

Disclosed in the present invention are an image acquisition method and device, and an aircraft and a storage medium. The method comprises: determining a navigation direction of an aircraft and a rotation direction of a gimbal; while the aircraft is controlled to fly on the basis of the navigation direction, rotating the gimbal on the basis of the rotation direction of the gimbal to perform image acquisition on a photographing target; and determining the photographing progress in a flight process, and if the photographing progress satisfies a preset requirement, determining that image acquisition is completed. According to the technical solution, while the aircraft is controlled to fly on the basis of the navigation direction, the gimbal rotates to rotationally photograph the photographing target, such that image acquisition of the photographing target based on rotation-based camera movement is achieved; and the photographing progress can be determined in the flight process of the aircraft, and when it is determined that the photographing progress satisfies the preset requirement, it is determined that image acquisition of the photographing target is completed, such that automation of rotary photographing is further achieved, the difficulty of rotary photographing on the basis of the aircraft is reduced, and the applicability of the aircraft is improved.

Description

Image acquisition method, device, aircraft and storage medium

This application claims the priority of the Chinese patent application with the application number 2021110932799 and the application title "An image acquisition method, device, aircraft and storage medium" submitted to the China Patent Office on September 17, 2021, the entire content of which is incorporated by reference incorporated in this application.

technical field

Embodiments of the present invention relate to flight control technology, and in particular to an image acquisition method, device, aircraft and storage medium.

Background technique

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. The aircraft may include a gimbal for image acquisition of a shooting target.

In the prior art, when the aircraft is looking down or looking up at the shooting target, the effect of rotating the mirror can be realized by rotating the yaw angle of the aircraft.

However, limited by the limit of the gimbal, it is more difficult to shoot with the rotating mirror, and the shooting effect is not good.

Contents of the invention

The invention provides an image acquisition method, device, aircraft and storage medium, so as to realize the rotating shooting of the shooting target.

In a first aspect, an embodiment of the present invention provides an image acquisition method, including:

Determine the flight direction of the aircraft and the rotation direction of the gimbal;

While controlling the aircraft to fly based on the navigation direction, rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target;

The shooting progress is determined during the flight, and if the shooting progress satisfies a preset requirement, it is determined that the image acquisition is completed.

An embodiment of the present invention provides an image acquisition method, including: determining the navigation direction of the aircraft and the rotation direction of the gimbal; while controlling the aircraft to fly based on the navigation direction, rotating the gimbal based on the rotation direction of the gimbal to photograph the target Perform image acquisition; determine the shooting progress during the flight, and if the shooting progress satisfies the preset requirements, determine to complete the image acquisition. The above technical solution controls the aircraft to fly based on the navigation direction while rotating the gimbal to rotate and shoot the shooting target, realizes the image acquisition of the shooting target based on the rotating mirror, and can also determine the shooting progress during the flight of the aircraft, and When it is determined that the shooting progress meets the preset requirements, it is determined to complete the image acquisition of the shooting target, which further realizes the automation of rotating shooting, reduces the difficulty of rotating shooting based on the aircraft, and improves the applicability of the aircraft.

Further, determine the navigation direction of the aircraft, including:

The received preset heading is determined as the sailing direction, or the current pan/tilt angle direction is determined as the sailing direction.

Further, before determining the received preset heading as the sailing direction, the method further includes: determining a photographing target.

Further, the preset heading includes approaching the shooting target or away from the shooting target, and accordingly, controlling the aircraft to fly based on the navigation direction includes:

The aircraft is controlled to fly based on a direction close to the shooting target, or the aircraft is controlled to fly based on a direction away from the shooting target.

Further, while determining the flight direction of the aircraft and the rotation direction of the gimbal, it also includes:

Determine the distance threshold and angle threshold of the current shooting;

Accordingly, filming progress is determined during the flight, including:

The shooting progress is determined based on the distance threshold or the angle threshold during the flight.

Further, the shooting progress is determined during the flight, and if the shooting progress meets the preset requirements, it is determined that the image acquisition is completed, including:

Determine the flight speed of the aircraft during the flight, integrate the flight speed to determine the flight distance, if the flight distance is greater than or equal to the distance threshold, determine that the shooting progress meets the preset requirements, and determine that the image acquisition is completed ;

or,

Determine the rotation speed of the gimbal during the flight, integrate the rotation speed to determine the rotation angle, if the rotation angle is greater than or equal to the angle threshold, determine that the shooting progress meets the preset requirements, and determine that the image is completed Obtain.

Further, if the shooting target is lost during the flight, the current gimbal angle direction is determined as the navigation direction, and the aircraft is continued to be controlled to fly based on the navigation direction.

In a second aspect, an embodiment of the present invention also provides an image acquisition device, including:

A determination module is used to determine the navigation direction of the aircraft and the rotation direction of the gimbal;

An acquisition module, configured to control the aircraft to fly based on the navigation direction, and at the same time to rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target;

The execution module is used to determine the shooting progress during the flight, and if the shooting progress meets the preset requirements, it is determined that the image acquisition is completed.

In a third aspect, the embodiment of the present invention also provides an aircraft, the aircraft comprising:

one or more processors;

storage means for storing one or more programs;

The cloud platform is used for image acquisition of the shooting target;

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.

In a fourth 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.

It should be noted that all or part of the above computer instructions may be stored on a computer-readable storage medium. Wherein, 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.

For the description of the second aspect, the third aspect, and the fourth aspect in this application, you can refer to the detailed description of the first aspect; and, for the beneficial effects of the description of the second aspect, the third aspect, and the fourth aspect, you can refer to the first aspect The beneficial effect analysis will not be repeated here.

In this application, the names of the above-mentioned image acquisition devices do not limit the equipment or functional modules themselves, and in actual implementation, these equipment or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of the present application, they fall within the scope of the claims of the present application and their equivalent technologies.

These or other aspects of the present application will be more clearly understood in the following description.

Description of drawings

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 another implementation flow chart of an image acquisition method provided in Embodiment 2 of the present invention;

FIG. 5 is an implementation flowchart of another image acquisition method provided by Embodiment 2 of the present invention;

FIG. 6 is another implementation flowchart of another image acquisition method provided by Embodiment 2 of the present invention;

FIG. 7 is a schematic structural diagram of an image acquisition device provided in Embodiment 3 of the present invention;

FIG. 8 is a schematic structural diagram of an aircraft provided by Embodiment 4 of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

The term "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations.

The terms "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.

In addition, the terms "including" and "having" mentioned in the description of the present application and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include other unlisted steps or units, or may optionally also include Other steps or elements inherent to the process, method, product or apparatus are included.

Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe various operations (or steps) as sequential processing, many of the operations may be performed in parallel, concurrently, or simultaneously. In addition, the order of operations can be rearranged. The process may be terminated when its operations are complete, but may also have additional steps not included in the figure. The processing may correspond to a method, function, procedure, subroutine, subroutine, or the like. In addition, the embodiments and the features in the embodiments of the present invention can be combined with each other under the condition of no conflict.

It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used as examples, illustrations or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application shall not be interpreted as being more preferred or more advantageous than other embodiments or design schemes. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete manner.

In the description of the present application, unless otherwise specified, the meaning of "plurality" refers to two or more.

In the prior art, when the aircraft rotates and shoots the shooting target based on the rotating mirror, it is limited by the roll angle of the gimbal, which makes shooting difficult. Therefore, the present application proposes an image acquisition method to reduce the difficulty of rotating and photographing the photographing target and facilitate user operations.

The image acquisition method will be described in detail below in conjunction with various embodiments.

Embodiment one

Fig. 1 is a flow chart of an image acquisition method provided by Embodiment 1 of the present invention. This embodiment is applicable to the case of rotating an object to be photographed. This method can be executed by an image acquisition device, as shown in Fig. 1 , specifically including Follow the steps below:

Step 110, determine the flying direction of the aircraft and the rotation direction of the gimbal.

Wherein, the aircraft may be a quadrotor aircraft, the gimbal may be a four-axis gimbal, and the gimbal may be used to acquire target images of the shooting target. The sailing direction may include sailing close to the shooting target, sailing away from the shooting target, or sailing along the direction of the gimbal angle. The rotation direction of the gimbal can include clockwise rotation or counterclockwise rotation.

Specifically, before controlling the flight of the aircraft, the navigation direction and rotation direction of the aircraft may be determined according to the input information of the user. Of course, the input information here can only determine whether the sailing direction is close to the shooting target or far away from the shooting target.

In practical applications, if the shooting target is not frame-selected before the image acquisition of the shooting target, it can be determined that the flying direction of the aircraft is to sail along the gimbal angle, and at this time, the sailing along the gimbal angle can be forward sailing.

In the embodiment of the present invention, before the aircraft is controlled to rotate and shoot the shooting target, the navigation direction of the aircraft and the rotation direction of the gimbal can be determined, and further the aircraft can be controlled to fly based on the navigation direction, and the gimbal can also be controlled to perform rotation based on the rotation direction of the gimbal. Rotate to take a rotating shot of the subject.

Step 120 , while controlling the aircraft to fly based on the navigation direction, rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target.

Specifically, while controlling the aircraft to fly based on the navigation direction, the gimbal can also be controlled to rotate based on the rotation direction of the gimbal, so as to rotate and shoot the shooting target, realize the image acquisition of the shooting target, and further realize the Image acquisition of the shooting target.

In the embodiment of the present invention, controlling the aircraft to rotate the gimbal to shoot the shooting target during the flight can solve the problem that the effect of shooting the rotating mirror movement will be limited by the pitch angle of the gimbal, and control the aircraft to automatically rotate and shoot the shooting target. The knot frees the user's hands, reduces the difficulty of rotating shooting, and improves the versatility of the aircraft for rotating shooting.

Step 130, determine the shooting progress during the flight, if the shooting progress meets the preset requirements, then determine that the image acquisition is completed.

On the one hand, the shooting progress can be determined according to the flight distance of the aircraft. Of course, while determining the flight direction of the aircraft and the rotation direction of the gimbal, the distance threshold can also be determined. At this time, the preset requirement may be that the flight distance is greater than or equal to the distance threshold. If the flight distance of the aircraft is greater than or equal to the distance threshold, it is determined that the shooting progress meets the preset requirement.

On the other hand, the shooting progress can also be determined according to the rotation angle of the gimbal. Of course, while determining the flight direction of the aircraft and the rotation direction of the gimbal, an angle threshold can also be determined. At this time, the preset requirement may be that the rotation angle is greater than or equal to the angle threshold. If the rotation angle of the pan/tilt is greater than or equal to the angle threshold, it is determined that the shooting progress meets the preset requirement. It should be noted that if the angle threshold determined according to the user input information is greater than the angle limit of the pan/tilt, then the angle limit of the pan/tilt is determined as the angle threshold. Here, the angle limit of the pan/tilt can be a fixed value determined according to the installation structure when the pan/tilt is installed.

Specifically, during the flight of the aircraft, the real-time flight speed can be determined, and the flight speed can be integrated to determine the moving distance, and the ratio of the moving distance to a distance threshold can be determined to determine the real-time shooting progress. During the flight of the aircraft, the real-time rotation angular velocity of the gimbal can also be determined, and the rotation angular velocity can be integrated to determine the rotation angle, and the ratio of the rotation angle to the angle threshold can be determined to determine the real-time shooting progress. Of course, in practical applications, the rotation angle of the gimbal can also be obtained directly, and the rotation angle can be compared with the angle threshold to determine the shooting progress. At this time, the shooting progress only includes shooting unfinished and shooting completed. If the rotation angle is smaller than the angle threshold, it is determined that the shooting is not completed; if the rotation angle is greater than or equal to the angle threshold, it is determined that the shooting is completed.

An image acquisition method provided by Embodiment 1 of the present invention includes: determining the navigation direction of the aircraft and the rotation direction of the gimbal; while controlling the aircraft to fly based on the navigation direction, rotating the gimbal pair based on the rotation direction of the gimbal The shooting target performs image acquisition; the shooting progress is determined during the flight, and if the shooting progress meets the preset requirements, it is determined that the image acquisition is completed. The above technical solution controls the aircraft to fly based on the navigation direction while rotating the gimbal to rotate and shoot the shooting target, realizes the image acquisition of the shooting target based on the rotating mirror, and can also determine the shooting progress during the flight of the aircraft, and When it is determined that the shooting progress meets the preset requirements, it is determined to complete the image acquisition of the shooting target, which further realizes the automation of rotating shooting, reduces the difficulty of rotating shooting based on the aircraft, and improves the applicability of the aircraft.

Embodiment two

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, determine the flying direction of the aircraft and the rotation direction of the gimbal.

Specifically, before controlling the aircraft to fly, the user can select a preset heading direction based on the input interface of the aircraft, and can also select a gimbal rotation direction. The preset heading directions that can be selected by the user may include sailing close to the shooting target and sailing away from the shooting target, and the rotation directions of the pan/tilt that may be selected by the user may include clockwise rotation and counterclockwise rotation.

In one embodiment, determining the navigation direction of the aircraft includes:

Among them, the current gimbal angle direction can be determined according to the gimbal pitch angle and flight heading angle.

Specifically, after the aircraft starts flying, if there is a process of frame-selecting the shooting target before the image acquisition of the shooting target, that is, there is a step of determining the shooting target, then the preset heading direction selected by the user can be determined as the navigation direction , that is, the navigation direction can be determined as being close to the shooting target or far away from the shooting target; The platform angle direction is determined as the heading direction.

Wherein, the frame selection of the shooting target may be to determine the position of the shooting target, specifically, the position of the shooting target in the target image acquired by the pan/tilt may be determined. If there is a step of determining the shooting target before the image acquisition of the shooting target, the pan/tilt is controlled to acquire the target image of the shooting target, and the two-dimensional coordinates of the shooting target in the target image are determined to realize the determination of the shooting target.

In the embodiment of the present invention, according to whether the shooting target is determined before image acquisition of the shooting target, a method for determining the navigation direction can be obtained.

Preferably, if the shooting target is lost during the flight, the current gimbal angle direction is determined as the navigation direction, and the control of the aircraft to fly based on the navigation direction is continued.

Specifically, when the aircraft is flying close to or away from the shooting target, if the shooting target is lost, the gimbal angle direction is determined as the heading direction, and the flight continues. If the aircraft was previously flying in the direction close to the shooting target, then in the process of continuing the flight, the gimbal angle direction can be determined as the navigation direction and fly close to the shooting target direction; similarly, if the aircraft was previously flying in the direction away from the shooting target, then In the process of continuing the flight, the angle direction of the gimbal can also be determined as the navigation direction, and the flight is far away from the shooting target.

In the embodiment of the present invention, if the shooting target has been determined before the image acquisition of the shooting target, and the shooting target is lost during the flight of the aircraft, that is, the shooting target disappears within the visible range of the gimbal, then the current gimbal angle can be The direction is determined as the navigation direction, and the control of the aircraft to fly based on the navigation direction is continued.

In one embodiment, while determining the navigation direction of the aircraft and the rotation direction of the gimbal, it also includes:

Determine the distance threshold and angle threshold for the current shot.

Specifically, the distance information input by the user based on the input interface may be determined as the distance threshold, and the angle information input by the user based on the input interface may be determined as the angle threshold.

It should be noted that if the angle information input by the user is greater than the angle limit of the pan/tilt, the angle limit of the pan/tilt is determined as the angle threshold.

In the embodiment of the present invention, first, the user can determine the navigation direction of the aircraft, the rotation direction of the gimbal, the distance threshold and the angle threshold of the current shooting based on the input interface of the aircraft, and then according to whether the aircraft determines the shooting target before the image acquisition of the shooting target, Determine the specific direction of navigation.

Step 220 , while controlling the aircraft to fly based on the navigation direction, rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target.

Specifically, while controlling the aircraft to fly based on the navigation direction, the gimbal is controlled to rotate based on the rotation direction of the gimbal, which can realize the rotation and shooting of the shooting target, realize the image acquisition of the shooting target, and further realize the image acquisition based on the rotating mirror. Image acquisition of the shooting target.

In one embodiment, the preset heading includes approaching the shooting target or away from the shooting target, and accordingly, controlling the aircraft to fly based on the navigation direction includes:

Specifically, while controlling the aircraft to fly in a direction close to the shooting target, the gimbal can also be controlled to rotate based on the rotation direction of the gimbal, so as to rotate and shoot the shooting target; of course, when controlling the aircraft to fly away from the shooting target While flying in the direction of the gimbal, you can also control the gimbal to rotate based on the gimbal rotation direction, so as to rotate and shoot the shooting target. Of course, the image acquisition of the shooting target can be realized, and the image acquisition of the shooting target based on the rotating mirror is further realized;

In the embodiment of the present invention, the aircraft is controlled to rotate the gimbal to rotate and shoot the shooting target during the flight process close to or far away from the shooting target. The automatic rotation shooting of the shooting target can combine and free the user's hands, reduce the difficulty of rotation shooting, and improve the versatility of the aircraft for rotation shooting.

Step 230, determine the shooting progress during the flight, if the shooting progress meets the preset requirements, then determine that the image acquisition is completed.

In this embodiment of the present invention, determining the shooting progress during the flight includes: determining the shooting progress based on the distance threshold or the angle threshold during the flight.

In one embodiment, step 230 may specifically include:

Determine the flight speed of the aircraft during the flight, integrate the flight speed to determine the flight distance, if the flight distance is greater than or equal to the distance threshold, determine that the shooting progress meets the preset requirements, and determine that the image acquisition is completed .

Specifically, the flight speed of the aircraft may be obtained in real time during the flight of the aircraft, and meanwhile the flight speed may be integrated in real time based on time to determine the flight distance. Of course, the flight distance can also be compared with the distance threshold while obtaining the flight distance. If the flying distance is less than the distance threshold, it is determined that the shooting progress does not meet the preset requirements, and the image acquisition of the shooting target is continued; if the flying distance is greater than or equal to the distance threshold, it is determined that the shooting progress meets the preset requirements, and it is determined that the image of the shooting target is completed Obtain.

In another implementation manner, step 230 may specifically include:

Specifically, the rotation speed of the gimbal can be obtained in real time during the flight of the aircraft, and at the same time, the rotation speed can be integrated in real time based on the frequency to determine the rotation angle of the gimbal. Wherein, the frequency may be 100HZ. Certainly, while obtaining the rotation angle of the gimbal, the rotation angle and the angle threshold may also be compared. If the rotation angle is less than the angle threshold, it is determined that the shooting progress does not meet the preset requirements, and the image acquisition of the shooting target is continued; if the rotation angle is greater than or equal to the angle threshold, it is determined that the shooting progress meets the preset requirements, and it is determined that the image of the shooting target is completed Obtain.

In the embodiment of the present invention, it is realized that the shooting progress is determined according to the flying distance of the aircraft or the rotation angle of the gimbal, which further improves the applicability of the aircraft.

An image acquisition method provided by Embodiment 2 of the present invention includes: determining the navigation direction of the aircraft and the rotation direction of the gimbal; while controlling the aircraft to fly based on the navigation direction, rotating the gimbal pair based on the rotation direction of the gimbal The shooting target performs image acquisition; the shooting progress is determined during the flight, and if the shooting progress meets the preset requirements, it is determined that the image acquisition is completed. The above technical solution controls the aircraft to fly based on the navigation direction while rotating the gimbal to rotate and shoot the shooting target, realizes the image acquisition of the shooting target based on the rotating mirror, and can also determine the shooting progress during the flight of the aircraft, and When it is determined that the shooting progress meets the preset requirements, it is determined to complete the image acquisition of the shooting target, which further realizes the automation of the rotation shooting, reduces the difficulty of the rotation shooting based on the aircraft, and improves the applicability of the aircraft.

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 received preset heading as the sailing direction, determine the rotation direction of the gimbal of the aircraft, the distance threshold and the angle threshold of the current shooting.

Step 320, determine the shooting target.

Step 330: Control the aircraft to fly in a direction close to the shooting target, or control the aircraft to fly in a direction away from the shooting target, and at the same time rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target .

Step 340, determine whether the shooting target is lost during the flight.

If the shooting target is lost, execute step 350; if the shooting target is not lost, return to step 330.

Step 350 : Determine the current gimbal angle direction as the sailing direction, and control the aircraft to fly based on the sailing direction, and at the same time, rotate the gimbal based on the gimbal rotation direction to acquire images of the shooting target.

Step 360: Determine the flight speed of the aircraft during the flight, and integrate the flight speed to determine the flight distance.

Step 370, when it is determined that the flight distance is greater than or equal to the distance threshold, determine that the shooting progress meets the preset requirement, and determine that the image acquisition is completed.

Fig. 4 is another implementation flowchart of an image acquisition method provided by Embodiment 2 of the present invention. As shown in Fig. 4, in another implementation manner, steps 360 and 370 may be replaced by

steps

380 and 390.

Step 380: Determine the rotation speed of the gimbal during the flight, and integrate the rotation speed to determine the rotation angle.

Step 390 , when it is determined that the rotation angle is greater than or equal to the angle threshold, it is determined that the shooting progress meets the preset requirement, and it is determined that the image acquisition is completed.

Embodiment 2 of the present invention provides an implementation of an image acquisition method, which determines the received preset heading as the navigation direction, determines the rotation direction of the gimbal of the aircraft, and the distance threshold and angle threshold of the current shooting; determines the shooting target ; Control the aircraft to fly based on a direction close to the shooting target, or control the aircraft to fly based on a direction away from the shooting target, and at the same time rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target; Determine whether the shooting target is lost during the flight; if the shooting target is lost, then determine the current gimbal angle direction as the navigation direction, and control the aircraft to fly based on the navigation direction, while rotating the cloud based on the gimbal rotation direction The station performs image acquisition on the shooting target; if the shooting target is not lost, continue to control the aircraft to fly based on the direction close to the shooting target, or control the aircraft to fly based on the direction away from the shooting target, and at the same time based on the Rotate the cloud platform in the rotation direction of the cloud platform to acquire images of the shooting target; determine the flight speed of the aircraft during the flight, and integrate the flight speed to determine the flight distance; when the flight distance is determined to be greater than or equal to the distance threshold When it is determined that the shooting progress meets the preset requirements, it is determined that the image acquisition is completed, or, during the flight, the rotation speed of the pan/tilt is determined, and the rotation speed is integrated to determine the rotation angle; when the rotation angle is determined to be greater than or equal to the specified When the above-mentioned angle threshold is determined, it is determined that the shooting progress meets the preset requirements, and it is determined that the image acquisition is completed. In the above technical solution, the aircraft is controlled to fly in a direction close to the shooting target or in a direction away from the shooting target while rotating the gimbal to rotate and shoot the shooting target, so as to realize the image acquisition of the shooting target based on the rotating mirror. The shooting progress can be determined according to the distance threshold or angle threshold during the flight of the aircraft, and the image acquisition of the shooting target can be determined when the shooting progress is determined to meet the preset requirements, which further realizes the automation of rotation shooting and reduces the need for rotation based on the aircraft. The difficulty of shooting improves the applicability of the aircraft.

FIG. 5 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 5, including:

Step 510: Determine the current gimbal angle direction as the navigation direction, determine the gimbal rotation direction of the aircraft, and the distance threshold and angle threshold of the current shooting.

Step 520 : While controlling the aircraft to fly based on the navigation direction, rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target.

Step 530: Determine the flight speed of the aircraft during the flight, and integrate the flight speed to determine the flight distance.

Step 540, when it is determined that the flight distance is greater than or equal to the distance threshold, determine that the shooting progress meets the preset requirement, and determine that the image acquisition is completed.

FIG. 6 is another implementation flowchart of another image acquisition method provided by Embodiment 2 of the present invention. As shown in FIG. 6 , in another implementation manner, steps 530 and 540 may be replaced by

steps

550 and 560 .

Step 550: Determine the rotation speed of the gimbal during the flight, and integrate the rotation speed to determine the rotation angle.

Step 560: When it is determined that the rotation angle is greater than or equal to the angle threshold, it is determined that the shooting progress meets the preset requirement, and it is determined that the image acquisition is completed.

An implementation of an image acquisition method provided by Embodiment 2 of the present invention, the current gimbal angle direction is determined as the navigation direction, the gimbal rotation direction of the aircraft, the distance threshold and the angle threshold of the current shooting are determined; the aircraft is controlled While flying based on the navigation direction, rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target; determine the flight speed of the aircraft during the flight, and integrate the flight speed to determine the flight distance; When it is determined that the flight distance is greater than or equal to the distance threshold, it is determined that the shooting progress meets the preset requirements, and it is determined that the image acquisition is completed, or; determine the rotation speed of the gimbal during the flight, and integrate the rotation speed to obtain Determine the rotation angle; when it is determined that the rotation angle is greater than or equal to the angle threshold, it is determined that the shooting progress meets the preset requirements, and it is determined that the image acquisition is completed. The above technical solution controls the aircraft to fly based on the current angle direction of the gimbal and rotates the gimbal to shoot the shooting target, and realizes the image acquisition of the shooting target based on the rotating mirror. Or the angle threshold determines the shooting progress, and when it is determined that the shooting progress meets the preset requirements, it is determined to complete the image acquisition of the shooting target, which further realizes the automation of rotating shooting, reduces the difficulty of rotating shooting based on the aircraft, and improves the applicability of the aircraft.

Embodiment Three

FIG. 7 is a schematic structural diagram of an image acquisition device provided by Embodiment 3 of the present invention, and the device can be adapted to rotate an object to be photographed. The device can be realized by software and/or hardware, and is generally integrated in the aircraft.

As shown in Figure 7, the device includes:

Determining module 710, is used for determining the sailing direction of aircraft and the rotation direction of gimbal;

An acquisition module 720, configured to control the aircraft to fly based on the navigation direction, and at the same time, rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target;

The execution module 730 is configured to determine the shooting progress during the flight, and if the shooting progress meets the preset requirements, it is determined that the image acquisition is completed.

The image acquisition device provided in this embodiment determines the navigation direction of the aircraft and the rotation direction of the gimbal; controls the aircraft to fly based on the navigation direction, and rotates the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target ; Determine the shooting progress during the flight, if the shooting progress meets the preset requirements, then determine to complete the image acquisition. The above technical solution controls the aircraft to fly based on the navigation direction while rotating the gimbal to rotate and shoot the shooting target, realizes the image acquisition of the shooting target based on the rotating mirror, and can also determine the shooting progress during the flight of the aircraft, and When it is determined that the shooting progress meets the preset requirements, it is determined to complete the image acquisition of the shooting target, which further realizes the automation of the rotation shooting, reduces the difficulty of the rotation shooting based on the aircraft, and improves the applicability of the aircraft.

On the basis of the above-mentioned embodiments, the determination module 710 is specifically used for:

determining the received preset heading as the navigation direction, or determining the current PTZ angle direction as the navigation direction;

Determine the rotation direction of the gimbal.

On the basis of the foregoing embodiments, the device also includes:

The target determining module is used for determining the shooting target.

On the basis of the above-mentioned embodiments, the preset course navigation direction includes approaching the shooting target or being far away from the shooting target. Correspondingly, the obtaining module 720 is specifically used for:

controlling the aircraft to fly based on a direction close to the shooting target, or controlling the aircraft to fly based on a direction away from the shooting target;

At the same time, the pan-tilt is rotated based on the rotational direction of the pan-tilt to acquire images of the shooting target.

On the basis of the above embodiments, the determination module 710 is further configured to:

Determine the distance threshold and angle threshold of the current shooting;

Correspondingly, the execution module 730 is specifically used for:

determining the shooting progress based on the distance threshold or the angle threshold during the flight;

If the shooting progress satisfies the preset requirement, it is determined that the image acquisition is completed.

On the basis of the above embodiments, the execution module 730 is specifically used for:

or,

On the basis of the foregoing embodiments, the device also includes:

The re-determining module is configured to determine the current gimbal angle direction as the navigation direction if the shooting target is lost during the flight, and continue to control the aircraft to fly based on the navigation direction.

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.

Embodiment four

Fig. 8 is a schematic structural diagram of an aircraft provided by Embodiment 4 of the present invention. As shown in Fig. 8, the aircraft includes a processor 810, a memory 820 and a platform 830; the number of processors 810 in the aircraft may be one or more In FIG. 8, a processor 810 is taken as an example; the processor 810, the memory 820 and the pan/tilt 830 in the aircraft can be connected through a bus or in other ways. In FIG. 8, the connection through a bus is taken as an example.

The memory 820, as a computer-readable storage medium, 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, the determination module in the image acquisition device 101, obtaining module 102 and executing module 103). The processor 810 executes various functional applications and data processing of the aircraft by running the software programs, instructions and modules stored in the memory 820 , that is, implements the above-mentioned image acquisition method.

The processor 810 may include one or more central processing units (central processing unit, CPU), and may also include multiple processors 810. Each CPU in these processors 810 may be a single-core processor (single-CPU), or a multi-core processor (multi-CPU). Processor 810 herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).

The memory 820 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. In addition, the memory 820 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. In some examples, memory 820 may further include memory located remotely relative to processor 810 , 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 pan-tilt 830 is used for image acquisition of the shooting 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 five

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 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. In this document, 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. In cases involving a remote computer, 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).

Of course, 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.

Those of ordinary skill in the art should understand that 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. Optionally, 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. As such, the present invention is not limited to any specific combination of hardware and software.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims

An image acquisition method, characterized in that, comprising:

Determine the flight direction of the aircraft and the rotation direction of the gimbal;

While controlling the aircraft to fly based on the navigation direction, rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target;

The shooting progress is determined during the flight, and if the shooting progress satisfies a preset requirement, it is determined that the image acquisition is completed.
The image acquisition method according to claim 1, wherein determining the navigation direction of the aircraft comprises:

The received preset heading is determined as the sailing direction, or the current pan/tilt angle direction is determined as the sailing direction.
The image acquisition method according to claim 2, further comprising: determining a shooting target before determining the received preset heading as the navigation direction.
The image acquisition method according to claim 2, wherein the preset heading includes approaching the shooting target or away from the shooting target, and correspondingly, controlling the aircraft to fly based on the navigation direction includes:

The aircraft is controlled to fly based on a direction close to the shooting target, or the aircraft is controlled to fly based on a direction away from the shooting target.
The image acquisition method according to claim 1, wherein, while determining the navigation direction of the aircraft and the rotation direction of the gimbal, it also includes:

Determine the distance threshold and angle threshold of the current shooting;

Accordingly, filming progress is determined during the flight, including:

The shooting progress is determined based on the distance threshold or the angle threshold during the flight.
The image acquisition method according to claim 5, wherein the shooting progress is determined during the flight, and if the shooting progress satisfies preset requirements, it is determined that the image acquisition is completed, including:

Determine the flight speed of the aircraft during the flight, integrate the flight speed to determine the flight distance, if the flight distance is greater than or equal to the distance threshold, determine that the shooting progress meets the preset requirements, and determine that the image acquisition is completed ;

or,

Determine the rotation speed of the gimbal during the flight, integrate the rotation speed to determine the rotation angle, if the rotation angle is greater than or equal to the angle threshold, determine that the shooting progress meets the preset requirements, and determine that the image is completed Obtain.
The image acquisition method according to claim 3, wherein if the shooting target is lost during the flight, the current gimbal angle direction is determined as the navigation direction, and the control of the aircraft is continued based on the Navigation direction to fly.
An image acquisition device, characterized in that it comprises:

A determination module is used to determine the navigation direction of the aircraft and the rotation direction of the gimbal;

An acquisition module, configured to control the aircraft to fly based on the navigation direction, and at the same time to rotate the gimbal based on the rotation direction of the gimbal to acquire images of the shooting target;

The execution module is used to determine the shooting progress during the flight, and if the shooting progress meets the preset requirements, it is determined that the image acquisition is completed.
An aircraft, characterized in that the aircraft comprises:

one or more processors;

storage means for storing one or more programs;

The cloud platform is used for image acquisition of the shooting target;

When the one or more programs are executed by the one or more processors, the one or more processors are made to implement the image acquisition method according to any one of claims 1-7.
A storage medium containing computer-executable instructions for performing the image acquisition method according to any one of claims 1-7 when executed by a computer processor.