Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, in one embodiment, provide a kind of unmanned plane shoot control system 100, comprise mobile terminal 102 and unmanned plane 104.Set up wireless connections between mobile terminal 102 and unmanned plane 104, between mobile terminal 102 and unmanned plane 104, transmit data by these wireless connections.Unmanned plane 104 can be any one in fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, umbrella wing unmanned plane, flapping wing unmanned plane and unmanned airship.
As shown in Figure 2, in one embodiment, provide a kind of mobile terminal 102, comprise the processor, non-volatile memory medium, built-in storage, communicator, display screen and the input unit that are connected by system bus.Wherein processor has computing function and controls the function of mobile terminal 102 work, and this processor is configured to perform a kind of unmanned plane filming control method.Non-volatile memory medium comprises at least one in magnetic storage medium, optical storage media and flash memory type storage medium.Non-volatile memory medium stores operating system and unmanned plane imaging control device, and this unmanned plane imaging control device has the functional module realizing a kind of unmanned plane filming control method.Built-in storage is used for providing high-speed cache for operating system and unmanned plane imaging control device.Communicator is used for carrying out radio communication with unmanned plane 104.Display screen comprises at least one in LCDs, flexible display screen and electric ink display screen.Input unit comprises at least one in physical button, trace ball, Trackpad and the touch control layer overlapping with display screen, and wherein touch control layer and display screen are combined to form touch screen.
As shown in Figure 3, in one embodiment, provide a kind of unmanned plane 104, comprise the processor, non-volatile memory medium, built-in storage, communicator, flight drive unit, filming apparatus and the positioner that are connected by system bus.Wherein processor has computing function and controls the function of unmanned plane 104 work, and this processor is configured to perform a kind of unmanned plane image pickup method.Non-volatile memory medium comprises at least one in magnetic storage medium, optical storage media and flash memory type storage medium.Non-volatile memory medium stores operating system and unmanned plane filming apparatus, and this unmanned plane filming apparatus has the functional module realizing a kind of unmanned plane image pickup method.Built-in storage is used for providing high-speed cache for operating system and unmanned plane filming apparatus.Communicator is used for carrying out radio communication with mobile terminal 102.Flight drive unit, for controlling the unmanned plane during flying action of unmanned plane 104, controls unmanned plane during flying action mainly through the flying speed and heading controlling unmanned plane 104.For rotor wing unmanned aerial vehicle, flight drive unit mainly comprises rotor and rotor control device.Filming apparatus is used for photographic images, and the image of shooting comprises picture and video.Positioner can be GPS (GlobalPositioningSystem, global positioning system) positioner, for locating the position of unmanned plane 104.
As shown in Figure 4, in one embodiment, provide a kind of unmanned plane filming control method, the mobile terminal 102 that the present embodiment is applied in above-mentioned Fig. 1 and Fig. 2 in this way illustrates.The method specifically comprises the steps:
Step 402, obtains shooting enabled instruction.
Mobile terminal runs and has camera application program, this camera application program can be that system carries application program or third party application, realizes each step of this unmanned plane filming control method by this camera application program.Particularly, mobile terminal can detect predefine event, gets shooting enabled instruction when predefine event being detected.In one embodiment, terminal can detect predefine event and start timing when predefine event being detected, obtains shooting enabled instruction when timing reaches preset duration.
In one embodiment, mobile terminal can show shooting and start control, and detection takes enabled instruction to the operation that this shooting starts control accordingly to obtain.Such as, mobile terminal can start control 502 in unmanned plane shooting page display shooting as shown in Figure 5, and user clicks this shooting startup control 502 can trigger shooting enabled instruction.
The operation of shooting startup control is comprised at least one in cursor clicking operation, touch clicking operation and gesture operation.Wherein take enabled instruction to automatically snap to control unmanned plane for the default automatic shooting pattern started according to determining.
In one embodiment, mobile terminal can detect rocking of mobile terminal fuselage, gets take enabled instruction accordingly when detecting and rocking.In one embodiment, mobile terminal also can detect phonetic order input with the shooting enabled instruction obtaining speech form.
In one embodiment, this unmanned plane filming control method also comprises: determine default automatic shooting pattern.Particularly, mobile terminal determines default automatic shooting pattern by camera application program.Presetting automatic shooting pattern is utilize self-defining parameter to realize the mode of predefined automation shooting action.
In one embodiment, preset automatic shooting pattern and comprise lock onto target automatic shooting pattern and latch-up-free target automatic shooting pattern.Wherein lock onto target automatic shooting pattern is the target that locks for shooting object carries out the mode that automatically snaps; Latch-up-free target automatic shooting pattern can be called landscape automatic shooting pattern, be not with specific target for reference object carries out the style of shooting that automatically snaps.
In one embodiment, mobile terminal can select the default automatic shooting pattern given tacit consent to be defined as the default automatic shooting pattern of current use.In another embodiment, the default automatic shooting pattern that mobile terminal can also select took use last time is defined as the default automatic shooting pattern of current use.
In one embodiment, mobile terminal can provide the option of multiple default automatic shooting pattern, and detect the default automatic shooting pattern that the operational order acting on an option determines to choose, thus the default automatic shooting pattern chosen is defined as the default automatic shooting pattern of current use.
Illustrate, mobile terminal is after startup camera application, the unmanned plane shooting page as shown in Figure 5 can be entered, the option 501 of display 2 default automatic shooting patterns in this unmanned plane shooting page, is respectively the option 501a of lock onto target automatic shooting pattern and the option 501b of latch-up-free target automatic shooting pattern.By click option 501, user can determine that the default automatic shooting pattern of current use automatically snaps pattern for lock onto target, relatively, user clicks on tabs 502 can determine that the default automatic shooting pattern of current use is for latch-up-free target automatic shooting pattern.
Step 404, according to shooting enabled instruction, reads the combination the preset manipulation instruction preset associated by automatic shooting pattern.
Particularly, mobile terminal, after getting shooting enabled instruction, can read from this locality and manipulate instruction with the combination preset of the default automatic shooting pattern association determined.This combination manipulation instruction for trigger unmanned plane a series of tools orderly combinative movement to complete automatic shooting.
In one embodiment, mobile terminal can be made regular check on whether server exist and manipulate instruction with the combination of default automatic shooting pattern association, if exist, the combination manipulation instruction of down loading updating is to upgrade the local combination the preset manipulation instruction preset associated by automatic shooting pattern.In another embodiment, make regular check on can be replaced and check when combination that user triggers manipulation instruction renewal rewards theory being detected.
In one embodiment, mobile terminal when receiving the combination manipulation instruction update notification of server push, can manipulate instruction from the combination manipulation instruction of server down loading updating to upgrade the local and default combination preset automatically snapping pattern association.
Step 406, is sent to unmanned plane by combination manipulation instruction, makes unmanned plane perform corresponding a series of actions successively with photographic images according to combination manipulation instruction.
Particularly, the combination of reading manipulation instruction is sent to unmanned plane by the wireless connections between unmanned plane by mobile terminal.Wireless connections can adopt Wi-Fi to connect or WAPI connects such WLAN (wireless local area network) connection, also can adopt common dedicated radio link.Unmanned plane, after the combination manipulation instruction receiving mobile terminal transmission, performs the task that this combination manipulation a series of actions set by instruction completes automatic shooting image.
In one embodiment, a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
In one embodiment, unmanned plane during flying action comprises at least one that unmanned plane during flying speed adjustment action, the adjustment action of unmanned plane direction, the action of unmanned plane Height Adjustment, unmanned plane hover action, unmanned plane rotary movement and unmanned plane are leaned to one side in action.
In one embodiment, shooting visual field adjustment action comprises the Pan and Zoom in the shooting visual field, and the shooting visual field refers to the spatial dimension captured by filming apparatus of unmanned plane.Concrete mobile terminal rotates the translation realizing taking the visual field by control unmanned plane and/or filming apparatus, can also realize the convergent-divergent taking the visual field by mobile unmanned plane or adjustment filming apparatus focal length.
In one embodiment, acquisition parameters comprises at least one in photosensitivity (being commonly called as ISO value), f-number, shutter speed, focal length, auto-focusing mode, Exposure Metering and white balance.Wherein auto-focusing mode comprises the range finding auto-focusing mode of camera lens based on filming apparatus and the range measurement between target that is taken, and based at least one in the focus detection auto-focusing mode of imaging clearly.Exposure Metering comprises at least one in an Exposure Metering, middle body Exposure Metering, central emphasis average metering mode, average metering mode and multi-region Exposure Metering.
Above-mentioned unmanned plane filming control method, after shooting enabled instruction being detected, just automatically can read the combination preset manipulation instruction that default automatic shooting pattern is associated and send to unmanned plane, unmanned plane just can manipulate instruction according to combination and perform a series of action successively and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger shooting enabled instruction and just can control unmanned plane and automatically complete shooting task, simplify operation, improve operation ease.
In one embodiment, this unmanned plane filming control method also comprises: receive the image of the shooting that unmanned plane returns and store.Particularly, unmanned plane can by the image of shooting by wireless connections real-time Transmission to mobile terminal, mobile terminal then receives image that unmanned plane returns and under being stored in predetermined directory.In one embodiment, mobile terminal can receive multiple image of unmanned plane continuous shooting and filter out a highest image storage of definition.In one embodiment, mobile terminal can receive a series of images that unmanned plane takes continuously and store according to default video format.
In one embodiment, mobile terminal can make regular check on the default automatic shooting pattern whether server existing renewal, if exist, the default automatic shooting pattern of down loading updating and the combination manipulation instruction be associated, thus the combination the preset manipulation instruction upgrading local default automatic shooting pattern and be associated.In another embodiment, make regular check on can be replaced detect combination manipulation instruction renewal rewards theory time check.
In one embodiment, mobile terminal can when receiving the default automatic shooting schema update notice of server push, from the default automatic shooting pattern of server down loading updating and the combination manipulation instruction that is associated, thus the combination the preset manipulation instruction upgrading local default automatic shooting pattern and be associated.
In one embodiment, when default automatic shooting pattern is lock onto target automatic shooting pattern, step 406 comprises: combination manipulation instruction is sent to unmanned plane, unmanned plane is made to obtain the target of locking, default flight parameter and default acquisition parameters according to combination manipulation instruction, take in the visual field so that the target of locking is remained on and fly relative to the locus of the target of locking according to flight parameter adjustment unmanned plane, and when flying according to acquisition parameters photographic images.
Particularly, the automatic shooting pattern that lock onto target automatic shooting pattern is the target that locks is reference object.The target of locking can be arbitrarily by the target that image recognition identifies from the shooting visual field, comprises at least one in people, building, vehicle and plant etc.
When default automatic shooting pattern is lock onto target automatic shooting pattern, unmanned plane obtains the target of locking, default flight parameter and default acquisition parameters according to corresponding combination manipulation instruction.And then, the target of locking remains in the shooting visual field by unmanned plane, and fly according to the flight parameter obtained, with the adjustment when flying relative to the locus of the target of locking, thus make unmanned plane along both fixed tracks flight of the target relative to locking, and carry out photographic images when flying according to the acquisition parameters obtained.
Wherein flight parameter comprises the spatial position change parameter of unmanned plane relative to the target of locking, can also comprise flying speed parameter or fuselage rotational parameters.Can determine locus and the heading of unmanned plane according to spatial position change parameter, flying speed parameter can determine speed during unmanned plane during flying, and the rotation of fuselage when fuselage rotational parameters can adjust unmanned plane during flying.
The target of locking remains in the shooting visual field by unmanned plane, specifically can realize according at least one in fuselage rotational parameters, camera lens turn around parameters and Focussing parameter.Wherein fuselage rotational parameters is included in flight parameter, and camera lens turn around parameters and Focussing parameter are included in acquisition parameters.
Unmanned plane is when adjusting the locus of target of unmanned plane relative to locking, the position of unmanned plane in 3 D stereo coordinate system can be adjusted according to unmanned plane relative to the spatial position change parameter of the target of locking, be closed relative to the position sign of target in 3 D stereo coordinate system of locking in the position of unmanned plane in 3 D stereo coordinate system and state spatial position change parameter.
Illustrate, with reference to Fig. 6, unmanned plane 104 can fly according to both fixed tracks 602 of the flight parameter obtained along the target 601 relative to locking, unmanned plane 104 is taken in the visual field the target 602 of locking to be remained at by the adjustment shooting visual field in flight course, and carrys out photographic images according to the acquisition parameters obtained.Video or the synthesising picture of the multi-angle of the target comprising locking can be shot like this.
Unmanned plane can be diversified relative to both fixed tracks of target of locking, can be the track in a plane, than the annular trace at horizontal plane or vertical plane as shown in Figure 6; Both fixed track also can be three-dimensional track, spiral trajectory as shown in Figure 7.Wherein in the figure 7, unmanned plane from ground along by locking target 601 centered by spiral trajectory spiral upwards, until reach preset height or until locking target exceed shooting the visual field.
In one embodiment, unmanned plane according to combination manipulation instruction obtain locking target time, can shooting the visual field in search for target, by the target label searched shooting the visual field preview image in and feed back to mobile terminal.The mark of target that mobile terminal can show preview image and search, and detect the selection instruction of the mark to display, thus using selection instruction target corresponding to the mark selected as locking target and notify unmanned plane, make unmanned plane obtain the target of locking.
Illustrate, mobile terminal can provide the page of target lock-on as shown in Figure 8, thus in the target lock-on page, show the preview image 801 that unmanned plane provides, and in preview image 801, show the mark 802 of the target searched, comprise the mark 802a of portrait target and the mark 802b of building target.User can choose corresponding portrait target by clicking mark 802a.The target lock-on page can also provide rocking bar control 803, and mobile terminal detects the shooting visual field operation of rocking bar control being adjusted to unmanned plane.
In one embodiment, during the target that unmanned plane locks according to combination manipulation instruction acquisition, also can search for target in the shooting visual field, and carry out according to preset strategy the target automatically determining locking from the target searched.Such as unmanned plane can determine the target of locking according to the priority of lock onto target, such as preferential using the target of portrait target as locking; Target maximum for area can also be defined as the target locked.
In above-described embodiment, under lock onto target automatic shooting pattern, mobile terminal can control unmanned plane and obtain image with the target of locking for reference object automatically flies and takes, such user does not need the unmanned plane learning complexity to operate and shooting skill just can shoot the image for specific objective with certain level, easy and simple to handle, improve operation ease.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, step 406 comprises: combination manipulation instruction is sent to unmanned plane, make unmanned plane according to combination manipulation instruction obtain preset flight parameter and preset acquisition parameters, with according to flight parameter control unmanned plane fly along pre-set flight track time according to acquisition parameters photographic images.
Particularly, under latch-up-free target automatic shooting pattern, unmanned plane not with specific target for reference object, but combination manipulation instruction control under fly along pre-set flight track, and in flight course according to preset acquisition parameters carry out photographic images.Such latch-up-free target automatic shooting pattern is particularly suitable for the shooting of landscape image.
Pre-set flight track can be predefined flight path available arbitrarily, and closing and not closed figure, the such as closed figure such as annular or polygon in such as space in arbitrary plane can also be the not closed figure such as arc, fold-line-shaped; Pre-set flight track can also be the such space multistory shape of spiral trajectory.
Illustrate, with reference to Fig. 9, under latch-up-free target automatic shooting pattern, the pre-set flight track flight of the annular that unmanned plane can be gone up along the horizontal plane, unmanned plane has tangent line as point of contact on this pre-set flight track, unmanned plane, being spinned with the direction of the direction of rotation of pre-set flight track along in pre-set flight track flight course by edge, makes the shooting visual field of unmanned plane remain at tangent line side corresponding to point of contact, current unmanned plane place with photographic images.The landscape image of horizontal full angle can be automatically snapped out like this.
In above-described embodiment, under latch-up-free target automatic shooting pattern, mobile terminal can control unmanned plane and automatically flies along pre-set flight track and take acquisition image, such user does not need the unmanned plane learning complexity to operate and shooting skill just can shoot the landscape image with certain level, easy and simple to handle, improve operation ease.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, step 406 comprises: the geographical location information obtaining setting, geographical location information and combination manipulation instruction are sent to unmanned plane, make unmanned plane obtain the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction, and control unmanned plane along the flight of pre-set flight track and according to acquisition parameters photographic images according to flight parameter after flight to geographical location information place.
Particularly, geographical location information refers to the information for indicating geographical position, can represent with longitude and latitude, also can represent with the three-dimensional coordinate in 3 D stereo coordinate system.
The geographical location information of acquisition for mobile terminal setting, specifically can obtain the geographical location information of geographical location information as setting of input.Mobile terminal also can receive the preview image of unmanned plane real-time Transmission and show, and chooses geographical position according to user to the operation in geographical position in preview image, and the geographical location information that acquisition is chosen is as the geographical location information set.Mobile terminal also can show the electronic chart of current unmanned plane region, chooses geographical position according to the operation of user to electronic chart, and the geographical location information that acquisition is chosen is as the geographical location information set.
Unmanned plane can obtain geographical location information and the current residing geographical location information of unmanned plane of setting, just can determine the flight path of unmanned plane, thus the geographical location information place of setting is arrived in flight automatically according to two kinds of geographical location information.Then unmanned plane just can fly along pre-set flight track under combination manipulation instruction controls, and carrys out photographic images according to the acquisition parameters preset in flight course.
Illustrate, mobile terminal can show the input control 503 of the geographical location information of fixed point shooting in the unmanned plane shooting page as shown in Figure 5, user inputs GPS geographical location information in this input control 503, just can set the geographical location information of fixed point shooting, thus control unmanned plane starts automatically to take along pre-set flight track when flying the geographical location information place of setting.
In above-described embodiment, under latch-up-free target automatic shooting pattern, mobile terminal can control unmanned plane to start in locality automatically to fly along pre-set flight track and take to obtain image.Such user does not need to learn complicated unmanned plane operation and shooting skill, and unmanned plane just can be utilized to shoot landscape image in specific place, and operation is convenient.And the fixed point automatic shooting of latch-up-free target can reflect the shooting demand of user more.
As shown in Figure 10, in one embodiment, this unmanned plane filming control method also comprises the step obtaining combination manipulation instruction, specifically comprises the steps:
Step 1002, obtains photographs sample.
Particularly, mobile terminal can obtain photographs captured by professional photographer as photographs sample, and the photographs sample of acquisition mates with default automatic shooting pattern.Photographs sample comprises at least one in picture sample and video sample.
Step 1004, dissolves camera site parameter and acquisition parameters from photographs sample size.
Particularly, can quantize camera site parameter according to the position of object in photographs sample and deformation, wherein camera site parameter refers to the parameter of the camera position representing shooting photographs sample, such as represents the parameter of side shooting, represents that the parameter etc. of shooting is looked up in the parameter of overlooking shooting and expression.
For the building target in photographs sample or portrait target, side shooting, the position overlooking target when taking and look up shooting and deformation have difference, utilize this species diversity just can quantize camera site parameter.For video sample, can the motion of tracking object quantize a series of tool camera site parameter orderly.Error can be there is in the camera site parameter quantizing with the real position of camera.
The photographs sample of professional photographer's shooting directly can carry acquisition parameters, then mobile terminal can directly using the acquisition parameters that the carries acquisition parameters as quantification.If photographs sample does not carry acquisition parameters, then can by analyzing the element of composition photographs sample, thus quantize acquisition parameters according to the combination of element.The photographs sample of such as landscape element generally adopts less f-number and less focal length; The photographs sample of portrait element generally adopts larger f-number and middle parfocal; The photographs sample with substantial light line element generally adopts shutter speed and lower photosensitivity faster; The photographs sample with inadequate light elements generally adopts slower shutter speed and higher photosensitivity; The photographs sample with moving object element generally adopts shutter speed, larger f-number and higher photosensitivity faster; The photographs sample with stationary object element generally adopts slower shutter speed, less f-number and less photosensitivity.The acquisition parameters photographs sample can be quantized by the combination of various element.
Step 1006, goes out the flight parameter of unmanned plane according to camera site calculation of parameter.
Particularly, position residing when camera site parameter can indicate unmanned plane photographic images, and the flight path of unmanned plane is continuous print, here according to the flight parameter that camera site calculation of parameter goes out, can be used for controlling unmanned plane and realize reaching home the complete flight path of position from original position to camera site and after completing shooting.
Step 1008, generates combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantizing.
Particularly, mobile terminal can generate combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantized, a series of tools that the combination manipulation instruction of generation can be used to trigger unmanned plane orderly combinative movement to complete the combination manipulation instruction of automatic shooting.Here the flight parameter calculated as the flight parameter preset, quantizes the acquisition parameters that when unmanned plane performs step 406 as the acquisition parameters preset when unmanned plane performs step 406.
Step 1010, by the combination of generation manipulation instruction and corresponding default automatic shooting pattern association storing.
The default automatic shooting pattern association that the combination of generation manipulation instruction is mated with photographs sample by mobile terminal also stores, and default automatic shooting pattern here comprises lock onto target automatic shooting pattern and latch-up-free target automatic shooting pattern.
In the present embodiment, by analyzing the photographs sample of specialty, can quantize flight parameter and the acquisition parameters of the photographs can shooting specialty.Such novice users first can learn Techniques for Photography and unmanned plane method of operation, unmanned plane just can be utilized to automatically snap out the photographs of specialty, improve operation ease.
As shown in figure 11, in one embodiment, provide a kind of unmanned plane image pickup method, the unmanned plane 104 that the present embodiment is applied in above-mentioned Fig. 1 and Fig. 3 in this way illustrates.The method specifically comprises the steps:
Step 1102, sets up wireless connections with mobile terminal.
Particularly, unmanned plane initiatively or can set up wireless connections with mobile terminal passively.Wireless connections can adopt Wi-Fi to connect or WAPI connects such WLAN (wireless local area network) connection, also can adopt common dedicated radio link.
Step 1104, the combination preset corresponding with default automatic shooting pattern of mobile terminal receive reading and sending manipulates instruction.
Presetting automatic shooting pattern is utilize self-defining parameter to realize the mode of predefined automation shooting action.In one embodiment, preset automatic shooting pattern and comprise lock onto target automatic shooting pattern and latch-up-free target automatic shooting pattern.Wherein lock onto target automatic shooting pattern is the target that locks for shooting object carries out the mode that automatically snaps; Latch-up-free target automatic shooting pattern can be called landscape automatic shooting pattern, be not with specific target for reference object carries out the style of shooting that automatically snaps.
Mobile terminal, after determining default automatic shooting pattern, obtains shooting enabled instruction, according to shooting enabled instruction, reads the combination the preset manipulation instruction preset associated by automatic shooting pattern.Combination manipulation instruction is sent to unmanned plane by mobile terminal, makes unmanned plane perform corresponding a series of actions successively with photographic images according to combination manipulation instruction.
Step 1106, performs corresponding a series of actions with photographic images successively according to combination manipulation instruction.
Particularly, unmanned plane, after the combination manipulation instruction receiving mobile terminal transmission, performs the task that this combination manipulation a series of actions set by instruction completes automatic shooting image.In one embodiment, a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
In one embodiment, unmanned plane during flying action comprises at least one that unmanned plane during flying speed adjustment action, the adjustment action of unmanned plane direction, the action of unmanned plane Height Adjustment, unmanned plane hover action, unmanned plane rotary movement and unmanned plane are leaned to one side in action.
In one embodiment, shooting visual field adjustment action comprises the Pan and Zoom in the shooting visual field, and the shooting visual field refers to the spatial dimension captured by filming apparatus of unmanned plane.Concrete mobile terminal rotates the translation realizing taking the visual field by control unmanned plane and/or filming apparatus, can also realize the convergent-divergent taking the visual field by mobile unmanned plane or adjustment filming apparatus focal length.
In one embodiment, acquisition parameters comprises at least one in photosensitivity, f-number, shutter speed, focal length, auto-focusing mode, Exposure Metering and white balance.Wherein auto-focusing mode comprises the range finding auto-focusing mode of camera lens based on filming apparatus and the range measurement between target that is taken, and based at least one in the focus detection auto-focusing mode of imaging clearly.Exposure Metering comprises at least one in an Exposure Metering, middle body Exposure Metering, central emphasis average metering mode, average metering mode and multi-region Exposure Metering.
Step 1108, is back to mobile terminal by the image of shooting.
Particularly, unmanned plane can by the image of shooting by wireless connections real-time Transmission to mobile terminal, mobile terminal then receives image that unmanned plane returns and under being stored in predetermined directory.In one embodiment, mobile terminal can receive multiple image of unmanned plane continuous shooting and filter out a highest image storage of definition.In one embodiment, mobile terminal can receive a series of images that unmanned plane takes continuously and store according to default video format.
Above-mentioned unmanned plane image pickup method, by communication and communication of mobile terminal, mobile terminal is after determining default automatic shooting pattern, just automatically can read the corresponding combination preset manipulate instruction and send to unmanned plane, unmanned plane just can perform a series of action successively according to combination manipulation instruction and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger the reading combination corresponding with default automatic shooting pattern and manipulate instruction and send to unmanned plane, unmanned plane just can complete shooting task automatically, simplify operation, improve operation ease.
As shown in figure 12, in one embodiment, when default automatic shooting pattern is lock onto target automatic shooting pattern, step 1106 comprises:
Step 1202, obtains the target of locking, default flight parameter and default acquisition parameters according to combination manipulation instruction.
Particularly, the automatic shooting pattern that lock onto target automatic shooting pattern is the target that locks is reference object.The target of locking can be arbitrarily by the target that image recognition identifies from the shooting visual field, comprises at least one in people, building, vehicle and plant etc.
In one embodiment, unmanned plane according to combination manipulation instruction obtain locking target time, can shooting the visual field in search for target, by the target label searched shooting the visual field preview image in and feed back to mobile terminal.The mark of target that mobile terminal can show preview image and search, and detect the selection instruction of the mark to display, thus using selection instruction target corresponding to the mark selected as locking target and notify unmanned plane, make unmanned plane obtain the target of locking.
In one embodiment, during the target that unmanned plane locks according to combination manipulation instruction acquisition, also can search for target in the shooting visual field, and carry out according to preset strategy the target automatically determining locking from the target searched.Such as unmanned plane can determine the target of locking according to the priority of lock onto target, such as preferential using the target of portrait target as locking; Target maximum for area can also be defined as the target locked.
Step 1204, remains on the target of locking and takes in the visual field and fly relative to the locus of the target of locking according to flight parameter adjustment unmanned plane.
Particularly, unmanned plane obtains the target of locking, default flight parameter and default acquisition parameters according to corresponding combination manipulation instruction.And then the target of locking remains in the shooting visual field by unmanned plane, and flies according to the flight parameter obtained, with the adjustment when flying relative to the locus of the target of locking, thus make unmanned plane along both fixed tracks flight of the target relative to locking.
Wherein flight parameter comprises the spatial position change parameter of unmanned plane relative to the target of locking, can also comprise flying speed parameter or fuselage rotational parameters.Can determine locus and the heading of unmanned plane according to spatial position change parameter, flying speed parameter can determine speed during unmanned plane during flying, and the rotation of fuselage when fuselage rotational parameters can adjust unmanned plane during flying.
The target of locking remains in the shooting visual field by unmanned plane, specifically can realize according at least one in fuselage rotational parameters, camera lens turn around parameters and Focussing parameter.Wherein fuselage rotational parameters is included in flight parameter, and camera lens turn around parameters and Focussing parameter are included in acquisition parameters.
Unmanned plane is when adjusting the locus of target of unmanned plane relative to locking, the position of unmanned plane in 3 D stereo coordinate system can be adjusted according to unmanned plane relative to the spatial position change parameter of the target of locking, be closed relative to the position sign of target in 3 D stereo coordinate system of locking in the position of unmanned plane in 3 D stereo coordinate system and state spatial position change parameter.
Step 1206, when flying according to acquisition parameters photographic images.
Particularly, unmanned plane fly time according to acquisition parameters photographic images.
In above-described embodiment, under lock onto target automatic shooting pattern, mobile terminal can control unmanned plane and obtain image with the target of locking for reference object automatically flies and takes, such user does not need the unmanned plane learning complexity to operate and shooting skill just can shoot the image for specific objective with certain level, easy and simple to handle, improve operation ease.
As shown in figure 13, in one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, step 1106 comprises:
Step 1302, obtains the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction.
Step 1304, controls unmanned plane according to flight parameter and flies along pre-set flight track.
Wherein, pre-set flight track can be predefined flight path available arbitrarily, and closing and not closed figure, the such as closed figure such as annular or polygon in such as space in arbitrary plane can also be the not closed figure such as arc, fold-line-shaped; Pre-set flight track can also be the such space multistory shape of spiral trajectory.
Step 1306, when unmanned plane during flying according to acquisition parameters photographic images.
Particularly, under latch-up-free target automatic shooting pattern, unmanned plane not with specific target for reference object, but combination manipulation instruction control under fly along pre-set flight track, and in flight course according to preset acquisition parameters carry out photographic images.Such latch-up-free target automatic shooting pattern is particularly suitable for the shooting of landscape image.
In above-described embodiment, under latch-up-free target automatic shooting pattern, mobile terminal can control unmanned plane and automatically flies along pre-set flight track and take acquisition image, such user does not need the unmanned plane learning complexity to operate and shooting skill just can shoot the landscape image with certain level, easy and simple to handle, improve operation ease.
As shown in figure 14, in one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, step 1106 comprises:
Step 1402, the geographical location information of the setting that mobile terminal receive sends.
Particularly, geographical location information refers to the information for indicating geographical position, can represent with longitude and latitude, also can represent with the three-dimensional coordinate in 3 D stereo coordinate system.
The geographical location information of acquisition for mobile terminal setting, specifically can obtain the geographical location information of geographical location information as setting of input.Mobile terminal also can receive the preview image of unmanned plane real-time Transmission and show, and chooses geographical position according to user to the operation in geographical position in preview image, and the geographical location information that acquisition is chosen is as the geographical location information set.Mobile terminal also can show the electronic chart of current unmanned plane region, chooses geographical position according to the operation of user to electronic chart, and the geographical location information that acquisition is chosen is as the geographical location information set.
Step 1404, obtains the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction.
Step 1406, flies and to fly along pre-set flight track according to flight parameter to geographical location information place.
Step 1408, when unmanned plane during flying according to acquisition parameters photographic images.
Particularly, unmanned plane can obtain geographical location information and the current residing geographical location information of unmanned plane of setting, just can determine the flight path of unmanned plane, thus the geographical location information place of setting is arrived in flight automatically according to two kinds of geographical location information.Then unmanned plane just can fly along pre-set flight track under combination manipulation instruction controls, and carrys out photographic images according to the acquisition parameters preset in flight course.
In above-described embodiment, under latch-up-free target automatic shooting pattern, mobile terminal can control unmanned plane to start in locality automatically to fly along pre-set flight track and take to obtain image.Such user does not need to learn complicated unmanned plane operation and shooting skill, and unmanned plane just can be utilized to shoot landscape image in specific place, and operation is convenient, and the fixed point automatic shooting of latch-up-free target can reflect the shooting demand of user more.
In one embodiment, combination manipulation instruction obtains according to photographs sample analysis, specifically dissolve camera site parameter and acquisition parameters from photographs sample size, the flight parameter of unmanned plane is gone out according to camera site calculation of parameter, generate combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantizing, and then the combination generated is manipulated instruction and corresponding default automatic shooting pattern association.
In the present embodiment, by analyzing the photographs sample of specialty, can quantize flight parameter and the acquisition parameters of the photographs can shooting specialty.Such novice users first can learn Techniques for Photography and unmanned plane method of operation, unmanned plane just can be utilized to automatically snap out the photographs of specialty, improve operation ease.
As shown in figure 15, in one embodiment, provide a kind of unmanned plane imaging control device 1500, there is the functional module of the unmanned plane filming control method realizing each embodiment above-mentioned.Unmanned plane imaging control device 1500 comprises shooting enabled instruction acquisition module 1502, combination manipulation instruction fetch module 1503 and combination manipulation instruction sending module 1504.
Shooting enabled instruction acquisition module 1502, for obtaining shooting enabled instruction.
Combination manipulation instruction fetch module 1503, for according to shooting enabled instruction, reads the combination the preset manipulation instruction preset associated by automatic shooting pattern.
Combination manipulation instruction sending module 1504, for combination manipulation instruction is sent to unmanned plane, makes unmanned plane perform corresponding a series of actions successively with photographic images according to combination manipulation instruction.
As shown in figure 16, in one embodiment, unmanned plane imaging control device 1500 also comprises: mode decision module 1501, for determining default automatic shooting pattern.
As shown in figure 16, in one embodiment, unmanned plane imaging control device 1500 also comprises: image receiver module 1505, for receiving the image of the shooting that unmanned plane returns and storing.
In one embodiment, a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
In one embodiment, when default automatic shooting pattern is lock onto target automatic shooting pattern, combination manipulation instruction sending module 1504 is also for being sent to unmanned plane by combination manipulation instruction, unmanned plane is made to obtain the target of locking, default flight parameter and default acquisition parameters according to combination manipulation instruction, take in the visual field so that the target of locking is remained on and fly relative to the locus of the target of locking according to flight parameter adjustment unmanned plane, and according to acquisition parameters photographic images.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, combination manipulation instruction sending module 1504 is also for being sent to unmanned plane by combination manipulation instruction, make unmanned plane according to combination manipulation instruction obtain preset flight parameter and preset acquisition parameters, with according to flight parameter control unmanned plane fly along pre-set flight track time according to acquisition parameters photographic images.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, combination manipulation instruction sending module 1504 is also for obtaining the geographical location information of setting, geographical location information and combination manipulation instruction are sent to unmanned plane, make unmanned plane obtain the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction, and control unmanned plane along the flight of pre-set flight track and according to acquisition parameters photographic images according to flight parameter after flight to geographical location information place.
As shown in figure 16, in one embodiment, unmanned plane imaging control device 1500 also comprises: sample acquisition module 1506, parameter quantification module 1507, flight parameter computing module 1508, combination manipulation directive generation module 1509 and combination manipulation instruction relating module 1510.
Sample acquisition module 1506, for obtaining photographs sample.
Parameter quantification module 1507, for dissolving camera site parameter and acquisition parameters from photographs sample size.
Flight parameter computing module 1508, for going out the flight parameter of unmanned plane according to camera site calculation of parameter.
Combination manipulation directive generation module 1509, for generating combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantizing.
Combination manipulation instruction relating module 1510, for storing the combination of generation manipulation instruction and corresponding default automatic shooting pattern association.
Above-mentioned unmanned plane imaging control device 1500, after shooting enabled instruction being detected, just automatically can read the combination preset manipulation instruction that default automatic shooting pattern is associated and send to unmanned plane, unmanned plane just can manipulate instruction according to combination and perform a series of action successively and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger shooting enabled instruction and just can control unmanned plane and automatically complete shooting task, simplify operation, improve operation ease.
As shown in figure 17, in one embodiment, a kind of unmanned plane 1700, comprises processor 1701, also comprise be connected with processor 1701 communicator 1702, fly drive unit 1703 and the filming apparatus 1704 for photographic images.
Communicator 1702 is for setting up wireless connections with mobile terminal; The combination preset corresponding with default automatic shooting pattern of mobile terminal receive reading and sending manipulates instruction.
Processor 1701 is for manipulating instruction to perform a series of actions successively with photographic images by control flight drive unit 1703 and filming apparatus 1704 according to combination.
Communicator 1702 is also for being back to mobile terminal by the image of shooting.
In one embodiment, a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
In one embodiment, when default automatic shooting pattern is lock onto target automatic shooting pattern, processor 1701 is also for obtaining the target of locking, default flight parameter and default acquisition parameters according to combination manipulation instruction; The target of locking is remained in the shooting visual field, and adjust unmanned plane fly relative to the locus of target of locking according to the flight parameter drive unit 1703 that controls to fly; And control filming apparatus 1704 when unmanned plane during flying according to acquisition parameters photographic images.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, processor 1701 is also for obtaining the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction; Control flight drive unit 1703 according to flight parameter to control unmanned plane is flown according to desired guiding trajectory, and control filming apparatus 1704 when unmanned plane during flying according to acquisition parameters photographic images.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, communicator 1702 is also for the geographical location information of the setting of mobile terminal receive transmission; Processor 1701 is also for obtaining the pre-acquisition parameters established flight parameter and preset according to combination manipulation instruction; Control flight drive unit 1703 to fly along pre-set flight track according to flight parameter again after making unmanned plane during flying to geographical location information place, and control filming apparatus 1704 when unmanned plane during flying according to acquisition parameters photographic images.
Above-mentioned unmanned plane 1700, by communication and communication of mobile terminal, mobile terminal is after determining default automatic shooting pattern, just automatically can read the corresponding combination preset manipulate instruction and send to unmanned plane, unmanned plane just can perform a series of action successively according to combination manipulation instruction and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger the reading combination corresponding with default automatic shooting pattern and manipulate instruction and send to unmanned plane, unmanned plane just can complete shooting task automatically, simplify operation, improve operation ease.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, described program can be stored in a computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, described storage medium can be the non-volatile memory mediums such as magnetic disc, CD, read-only store-memory body (Read-OnlyMemory, ROM), or random store-memory body (RandomAccessMemory, RAM) etc.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification is recorded.
The above embodiment only have expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.