技术领域technical field
本发明涉及无人飞行器的技术领域，特别是涉及一种基于无人飞行器的续拍方法和一种无人飞行器。The invention relates to the technical field of unmanned aerial vehicles, in particular to a continuous shooting method based on unmanned aerial vehicles and an unmanned aerial vehicle.
背景技术Background technique
随着科技的快速发展，无人飞行器广泛普及，在自然灾害监测与评估、城市规划与市政管理、数字地球以及广告摄影等领域，经常需要无人机进行航拍。With the rapid development of science and technology, unmanned aerial vehicles are widely popularized. In the fields of natural disaster monitoring and assessment, urban planning and municipal management, digital earth and advertising photography, drones are often required for aerial photography.
在很多场景下，航拍时间一般比较长，但是，由于无人飞行器的电池容量有限，其续航能力有限，航拍20分钟左右，往往会电力供应不足，导致无法继续拍摄。In many scenarios, the aerial photography time is generally relatively long. However, due to the limited battery capacity of the unmanned aerial vehicle, its battery life is limited. The aerial photography takes about 20 minutes, and the power supply is often insufficient, resulting in the inability to continue shooting.
因此，为了完成航拍，无人飞行器需要多次进行航拍，录制了多段视频。Therefore, in order to complete the aerial photography, the unmanned aerial vehicle needs to take aerial photography many times and record multiple videos.
由于航拍中断，导致前后两段视频相差较大，往往会无法衔接，出现断层问题。Due to the interruption of aerial photography, there is a big difference between the two videos before and after, and often they cannot be connected, and there are faults.
发明内容Contents of the invention
鉴于上述问题，提出了本发明以便提供一种克服上述问题或者至少部分地解决上述问题的一种基于无人飞行器的续拍方法和相应的一种无人飞行器。In view of the above problems, the present invention is proposed in order to provide a continuous shooting method based on an unmanned aerial vehicle and a corresponding unmanned aerial vehicle that overcome the above problems or at least partially solve the above problems.
依据本发明的一个方面，提供了一种基于无人飞行器的续拍方法，包括：According to one aspect of the present invention, a kind of continuous shooting method based on unmanned aerial vehicle is provided, comprising:
当无人飞行器检测到续拍特征对象时，从所述续拍特征对象中提取在先停止航拍操作时记录的飞行状态信息和特征图像数据；When the unmanned aerial vehicle detects the continuous shooting feature object, it extracts the flight state information and feature image data recorded when the aerial photography operation was stopped earlier from the continuous shooting feature object;
按照所述飞行状态信息飞行至在先停止航拍操作的位置；Fly to the position where the aerial photography operation was previously stopped according to the flight status information;
在所述在先停止航拍操作的位置中，按照所述飞行状态信息获取一帧或多帧候选图像数据；In the position where the aerial photography operation is stopped first, one or more frames of candidate image data are acquired according to the flight state information;
判断所述一帧或多帧候选图像数据与所述特征图像数据是否匹配；若是，则继续航拍操作。Judging whether the one or more frames of candidate image data match the feature image data; if yes, continue the aerial photography operation.
可选地，还包括：Optionally, also include:
在无人飞行器检测到满足预设的续拍条件时，停止航拍操作；When the unmanned aerial vehicle detects that the preset continuous shooting conditions are met, the aerial photography operation is stopped;
记录停止航拍操作时的飞行状态信息和特征图像数据；Record the flight status information and characteristic image data when the aerial photography operation is stopped;
基于所述飞行状态信息和所述特征图像数据生成续拍特征对象。A continuous shooting feature object is generated based on the flight state information and the feature image data.
可选地，所述续拍条件包括如下的一种或多种：Optionally, the shooting conditions include one or more of the following:
电量低于预设的电量阈值，飞行高度低于预设的高度阈值。The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold.
可选地，所述飞行状态信息包括经纬度和高度；Optionally, the flight status information includes latitude and longitude and altitude;
所述按照所述飞行状态信息飞行至在先停止航拍操作的位置的步骤包括：The step of flying to the position where the aerial photography operation was previously stopped according to the flight status information includes:
按照所述经纬度飞行至在先停止航拍操作的水平位置；Fly to the horizontal position where the aerial photography operation was stopped earlier according to the latitude and longitude;
在所述在先停止航拍操作的水平位置上，按照所述高度飞行至在先停止航拍操作的垂直位置。At the horizontal position where the aerial photography operation was stopped earlier, fly to the vertical position where the aerial photography operation was stopped earlier according to the altitude.
可选地，所述飞行状态信息包括拍摄角度；Optionally, the flight status information includes a shooting angle;
所述在所述在先停止航拍操作的位置中，按照所述飞行状态信息获取一帧或多帧候选图像数据的步骤包括：The step of obtaining one or more frames of candidate image data according to the flight state information in the position where the aerial photography operation is stopped first includes:
在所述在先停止航拍操作的位置中，按照所述拍摄角度调整拍摄装置；In the position where the aerial photography operation is stopped first, adjusting the photographing device according to the photographing angle;
调用调整之后的拍摄装置获取一帧或多帧候选图像数据。Call the adjusted shooting device to acquire one or more frames of candidate image data.
可选地，所述判断所述一帧或多帧候选图像数据与所述特征图像数据是否匹配的步骤包括：Optionally, the step of judging whether the one or more frames of candidate image data matches the feature image data includes:
提取所述一帧或多帧候选图像数据边缘的第一区域图像数据；Extracting the first region image data of the edge of the one or more frames of candidate image data;
提取所述特征图像数据边缘的第二区域图像数据；extracting the second area image data of the edge of the feature image data;
判断所述第一区域图像数据与所述第二区域图像数据是否匹配；judging whether the image data of the first area matches the image data of the second area;
若是，则判定所述候选图像数据与所述特征图像数据匹配；If so, then determine that the candidate image data matches the feature image data;
若否，则判定所述候选图像数据与所述特征图像数据不匹配。If not, it is determined that the candidate image data does not match the feature image data.
可选地，还包括：Optionally, also include:
删除继续航拍操作之前获取的一帧或多帧候选图像数据；Delete one or more frames of candidate image data acquired before continuing the aerial photography operation;
存储继续航拍操作之后获取的一帧或多帧候选图像数据。One or more frames of candidate image data obtained after continuing the aerial photography operation are stored.
可选地，还包括：Optionally, also include:
向遥控器发送开始航拍操作的信号。Send a signal to the remote control to start aerial photography.
根据本发明的另一方面，提供了一种无人飞行器，包括：According to another aspect of the present invention, an unmanned aerial vehicle is provided, comprising:
续拍数据读取模块，适于在无人飞行器检测到续拍特征对象时，从所述续拍特征对象中提取在先停止航拍操作时记录的飞行状态信息和特征图像数据；The continuous shooting data reading module is adapted to extract the flight state information and characteristic image data recorded when the aerial photography operation was stopped earlier from the continuous shooting characteristic object when the unmanned aerial vehicle detects the continuous shooting characteristic object;
飞行模块，适于按照所述飞行状态信息飞行至在先停止航拍操作的位置；A flight module, adapted to fly to the position where the aerial photography operation was previously stopped according to the flight state information;
拍摄模块，适于在所述在先停止航拍操作的位置中，按照所述飞行状态信息获取一帧或多帧候选图像数据；The photographing module is adapted to obtain one or more frames of candidate image data according to the flight state information at the position where the aerial photographing operation was stopped first;
图像匹配模块，适于判断所述一帧或多帧候选图像数据与所述特征图像数据是否匹配；若是，则调用航拍继续模块；An image matching module, adapted to determine whether the one or more frames of candidate image data match the feature image data; if so, call the aerial photography continuation module;
航拍继续模块，适于继续航拍操作。The aerial photography continuation module is suitable for continuing the aerial photography operation.
可选地，还包括：Optionally, also include:
航拍停止模块，适于在无人飞行器检测到满足预设的续拍条件时，停止航拍操作；The aerial photography stop module is adapted to stop the aerial photography operation when the unmanned aerial vehicle detects that the preset continuation condition is met;
续拍数据记录模块，适于记录停止航拍操作时的飞行状态信息和特征图像数据；The continuous shooting data recording module is suitable for recording flight status information and characteristic image data when the aerial photography operation is stopped;
续拍特征对象生成模块，适于基于所述飞行状态信息和所述特征图像数据生成续拍特征对象。The continuous shooting feature object generation module is adapted to generate the continuous shooting feature object based on the flight status information and the feature image data.
可选地，所述续拍条件包括如下的一种或多种：Optionally, the shooting conditions include one or more of the following:
电量低于预设的电量阈值，飞行高度低于预设的高度阈值。The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold.
可选地，所述飞行状态信息包括经纬度和高度；Optionally, the flight status information includes latitude and longitude and altitude;
所述飞行模块还适于：The flight module is also adapted to:
按照所述经纬度飞行至在先停止航拍操作的水平位置；Fly to the horizontal position where the aerial photography operation was stopped earlier according to the latitude and longitude;
在所述在先停止航拍操作的水平位置上，按照所述高度飞行至在先停止航拍操作的垂直位置。At the horizontal position where the aerial photography operation was stopped earlier, fly to the vertical position where the aerial photography operation was stopped earlier according to the altitude.
可选地，所述飞行状态信息包括拍摄角度；Optionally, the flight status information includes a shooting angle;
所述拍摄模块还适于：The camera module is also suitable for:
在所述在先停止航拍操作的位置中，按照所述拍摄角度调整拍摄装置；In the position where the aerial photography operation is stopped first, adjusting the photographing device according to the photographing angle;
调用调整之后的拍摄装置获取一帧或多帧候选图像数据。Call the adjusted shooting device to acquire one or more frames of candidate image data.
可选地，所述图像匹配模块还适于：Optionally, the image matching module is also suitable for:
提取所述一帧或多帧候选图像数据边缘的第一区域图像数据；Extracting the first region image data of the edge of the one or more frames of candidate image data;
提取所述特征图像数据边缘的第二区域图像数据；extracting the second area image data of the edge of the characteristic image data;
判断所述第一区域图像数据与所述第二区域图像数据是否匹配；judging whether the image data of the first area matches the image data of the second area;
若是，则判定所述候选图像数据与所述特征图像数据匹配；If so, then determine that the candidate image data matches the feature image data;
若否，则判定所述候选图像数据与所述特征图像数据不匹配。If not, it is determined that the candidate image data does not match the feature image data.
可选地，还包括：Optionally, also include:
候选图像数据删除模块，适于删除继续航拍操作之前获取的一帧或多帧候选图像数据；Candidate image data deletion module, suitable for deleting one or more frames of candidate image data acquired before continuing the aerial photography operation;
候选图像数据存储模块，适于存储继续航拍操作之后获取的一帧或多帧候选图像数据。The candidate image data storage module is suitable for storing one or more frames of candidate image data acquired after the aerial photography operation is continued.
可选地，还包括：Optionally, also include:
信号发送模块，适于向遥控器发送开始航拍操作的信号。The signal sending module is suitable for sending a signal to the remote controller to start the aerial photography operation.
本发明实施例按照飞行状态信息飞行至在先停止航拍操作的位置，并获取一帧或多帧候选图像数据，与停止航拍时的特征图像数据进行匹配，以在合适的状态继续航拍操作，航拍中断前后的两段视频文件可以通过匹配的帧候选图像数据与特征图像数据进行衔接，避免了断层现象。The embodiment of the present invention flies to the position where the aerial photography operation was previously stopped according to the flight state information, and obtains one or more frames of candidate image data, and matches with the characteristic image data when the aerial photography was stopped, so as to continue the aerial photography operation in a suitable state, and the aerial photography The two video files before and after the interruption can be connected through matching frame candidate image data and feature image data, thereby avoiding fault phenomenon.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the specific embodiments of the present invention are enumerated below.
附图说明Description of drawings
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same parts. In the attached picture:
图1示出了根据本发明一个实施例的一种基于无人飞行器的续拍方法实施例1的步骤流程图；Fig. 1 shows a flow chart of the steps of Embodiment 1 of a method for continuing shooting based on an unmanned aerial vehicle according to an embodiment of the present invention;
图2示出了根据本发明一个实施例的一种无人飞行器的结构示意图；Fig. 2 shows a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present invention;
图3A至图3F示出了根据本发明一个实施例的一种无人飞行器的飞行原理图；3A to 3F show a schematic diagram of the flight of an unmanned aerial vehicle according to an embodiment of the present invention;
图4示出了根据本发明一个实施例的一种基于无人飞行器的续拍方法实施例2的步骤流程图；以及Fig. 4 shows a flow chart of the steps of Embodiment 2 of a continuous shooting method based on an unmanned aerial vehicle according to an embodiment of the present invention; and
图5示出了根据本发明一个实施例的一种无人飞行器实施例的结构框图。Fig. 5 shows a structural block diagram of an embodiment of an unmanned aerial vehicle according to an embodiment of the present invention.
具体实施方式detailed description
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
参照图1，示出了根据本发明一个实施例的一种基于无人飞行器的续拍方法实施例1的步骤流程图，具体可以包括如下步骤：Referring to Fig. 1 , it shows a flow chart of the steps of Embodiment 1 of a continuous shooting method based on an unmanned aerial vehicle according to an embodiment of the present invention, which may specifically include the following steps:
步骤101，当无人飞行器检测到续拍特征对象时，从所述续拍特征对象中提取在先停止航拍操作时记录的飞行状态信息和特征图像数据；Step 101, when the unmanned aerial vehicle detects the continuous shooting feature object, extract the flight status information and feature image data recorded when the aerial photography operation was stopped earlier from the continuous shooting feature object;
需要说明的是，本发明实施例可以应用于无人飞行器(Unmanned AerialVehicle，UAV)中，即利用无线遥控或程序控制来执行特定航空任务的飞行器，其不搭载操作人员，采用空气动力为飞行器提供所需的升力，能够自动飞行或远程引导。It should be noted that the embodiment of the present invention can be applied to an unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV), that is, an aircraft that uses wireless remote control or program control to perform specific aviation tasks. The required lift to be able to fly autonomously or remotely guided.
在具体实现中，无人飞行器具有位置传感器和摄像头，在先可以在停止航拍操作时，可以通过位置传感器记录飞行状态信息(即记录停止飞行时状态的信息)，以及，调用摄像头拍摄一帧特征图像数据。In a specific implementation, the unmanned aerial vehicle has a position sensor and a camera. When the aerial photography operation is stopped, the flight status information (that is, the information of the state when recording the stop flight) can be recorded by the position sensor, and the camera is called to take a frame feature image data.
将飞行状态信息和特征图像数据生成续拍特征对象，存储在数据库中。The flight status information and feature image data are generated into continuous shooting feature objects and stored in the database.
若当前飞行时检测到续拍特征对象，则可以表示当前需要进行续拍。If the continuous shooting feature object is detected during the current flight, it may indicate that the continuous shooting needs to be performed currently.
步骤102，按照所述飞行状态信息飞行至在先停止航拍操作的位置；Step 102, fly to the position where the aerial photography operation was stopped earlier according to the flight state information;
在本发明实施例中，飞行状态信息可以包括经纬度和高度。In the embodiment of the present invention, the flight status information may include latitude, longitude and altitude.
具体而言，无人飞行器中的位置传感器可以包括地理定位模块，例如，GPS(GlobalPositioning System，全球定位系统)模块、北斗模块等，通过该地理定位模块，可以识别无人飞行器在停止航拍时所处的经纬度。Specifically, the position sensor in the unmanned aerial vehicle may include a geographic positioning module, for example, a GPS (Global Positioning System, Global Positioning System) module, a Beidou module, etc., through which the geographic positioning module can identify the location of the unmanned aerial vehicle when it stops aerial photography. The latitude and longitude of the location.
此外，无人飞行器中的位置传感器还可以包括高度传感器，例如，气压高度传感器等，可以识别无人飞行器在停止航拍时所处的高度。In addition, the position sensor in the unmanned aerial vehicle may also include an altitude sensor, for example, a barometric altitude sensor, etc., which can identify the altitude at which the unmanned aerial vehicle stops taking aerial photography.
因此，若检测到续拍特征对象，可以从中提取经纬度和高度，按照经纬度飞行至在先停止航拍操作的水平位置，在在先停止航拍操作的水平位置上，按照高度飞行至指定的垂直位置。Therefore, if the continuous shooting feature object is detected, the latitude and longitude and altitude can be extracted from it, and then fly to the horizontal position where the aerial photography operation was stopped earlier according to the latitude and longitude, and fly to the specified vertical position according to the height at the horizontal position where the aerial photography operation was stopped earlier.
在飞行时，以四旋翼飞行器为例，如图2所示，四旋翼飞行器采用四个旋翼作为飞行的直接动力源，旋翼对称分布在机体的前、后、左、右四个方向，四个旋翼处于同一高度平面，且四个旋翼的结构和半径都相同，旋翼201和旋翼203逆时针旋转，旋翼202和旋翼204顺时针旋转，四个电机对称的安装在无人飞行器的支架端，支架中间空间安放飞行控制计算机200和其他外部设备(如摄像头)。When flying, take the quadrotor aircraft as an example. As shown in Figure 2, the quadrotor aircraft uses four rotors as the direct power source for the flight, and the rotors are symmetrically distributed in the front, rear, left, and right directions of the body. The rotors are at the same height plane, and the structures and radii of the four rotors are the same, the rotors 201 and 203 rotate counterclockwise, the rotors 202 and 204 rotate clockwise, and the four motors are symmetrically installed on the bracket end of the UAV. The flight control computer 200 and other external devices (such as cameras) are placed in the middle space.
四旋翼飞行器是通过调节四个电机转速来改变旋翼转速，实现升力的变化，从而控制飞行器的姿态和位置。The quadrotor aircraft changes the rotation speed of the rotor by adjusting the rotation speed of the four motors to realize the change of the lift force, thereby controlling the attitude and position of the aircraft.
四旋翼飞行器是一种六自由度的垂直升降机，但只有四个输入力，同时却有六个状态输出，所以它又是一种欠驱动系统。Quadrotor aircraft is a vertical elevator with six degrees of freedom, but it has only four input forces and six state outputs at the same time, so it is an underactuated system.
规定沿x轴正方向运动称为向前运动，箭头在旋翼的运动平面上方表示此电机转速提高，在下方表示此电机转速下降，六自由度如下：It is stipulated that the movement along the positive direction of the x-axis is called forward movement. The arrow above the movement plane of the rotor indicates that the motor speed increases, and the arrow below indicates that the motor speed decreases. The six degrees of freedom are as follows:
1、垂直运动；1. Vertical movement;
如图3A所示，同时增加旋翼201、旋翼202、旋翼203、旋翼204的四个电机的输出功率，旋翼201、旋翼202、旋翼203、旋翼204转速增加使得总的拉力增大，当总拉力足以克服整机的重量时，四旋翼飞行器便离地垂直上升；反之，同时减小旋翼201、旋翼202、旋翼203、旋翼204的四个电机的输出功率，四旋翼飞行器则垂直下降，直至平衡落地，实现了沿z轴的垂直运动。As shown in Figure 3A, increase the output power of four motors of rotor 201, rotor 202, rotor 203, rotor 204 at the same time, rotor 201, rotor 202, rotor 203, rotor 204 rotating speed increase makes total pulling force increase, when total pulling force When it is enough to overcome the weight of the complete machine, the quadrotor aircraft will rise vertically from the ground; otherwise, the output power of the four motors of rotor 201, rotor 202, rotor 203, and rotor 204 will be reduced simultaneously, and the quadrotor aircraft will descend vertically until balanced Landing, the vertical movement along the z-axis is realized.
当外界扰动量为零时，在旋翼201、旋翼202、旋翼203、旋翼204产生的升力等于四旋翼飞行器所受重力时，四旋翼飞行器便保持悬停状态。When the external disturbance is zero, the quadrotor will keep hovering when the lift generated by the rotor 201, the rotor 202, the rotor 203 and the rotor 204 is equal to the gravity of the quadrotor.
2、俯仰运动；2. Pitching movement;
如图3B所示中，旋翼201的电机的转速上升，旋翼203的电机的转速下降(改变量大小相等)，旋翼202的电机、旋翼204的电机的转速保持不变。As shown in FIG. 3B , the rotational speed of the motor of rotor 201 increases, the rotational speed of the motor of rotor 203 decreases (the amount of change is equal), and the rotational speeds of the motors of rotor 202 and rotor 204 remain unchanged.
由于旋翼201的升力上升，旋翼203的升力下降，产生的不平衡力矩使机身绕y轴旋转。As the lift force of the rotor 201 rises, the lift force of the rotor 203 decreases, and the resulting unbalanced moment causes the fuselage to rotate around the y-axis.
同理，当旋翼201的电机的转速下降，旋翼203的电机的转速上升，机身便绕y轴向另一个方向旋转，实现四旋翼飞行器的俯仰运动。Similarly, when the rotational speed of the motor of the rotor 201 decreases, the rotational speed of the motor of the rotor 203 increases, and the fuselage rotates around the y-axis in another direction to realize the pitching motion of the quadrotor aircraft.
3、滚转运动；3. Rolling motion;
如图3C所示，改变旋翼202和旋翼204的电机的转速，保持旋翼201和旋翼203的电机的转速不变，则可使机身绕x轴旋转(正向和反向)，实现四旋翼飞行器的滚转运动。As shown in Figure 3C, changing the rotating speed of the motors of the rotor 202 and the rotor 204, keeping the rotating speed of the motors of the rotor 201 and the rotor 203 constant, can make the fuselage rotate around the x axis (forward and reverse), and realize the quadrotor Rolling motion of the aircraft.
4、偏航运动；4. Yaw movement;
旋翼转动过程中由于空气阻力作用会形成与转动方向相反的反扭矩，为了克服反扭矩影响，可使四个旋翼中的两个正转，两个反转，且对角线上的各个旋翼转动方向相同。反扭矩的大小与旋翼转速有关，当四个电机转速相同时，四个旋翼产生的反扭矩相互平衡，四旋翼飞行器不发生转动；当四个电机转速不完全相同时，不平衡的反扭矩会引起四旋翼飞行器转动。During the rotation of the rotor, due to the effect of air resistance, an anti-torque opposite to the direction of rotation will be formed. In order to overcome the influence of the anti-torque, two of the four rotors can be rotated forward and two reversed, and each rotor on the diagonal can rotate same direction. The magnitude of the counter torque is related to the rotational speed of the rotors. When the rotational speeds of the four motors are the same, the counter torques generated by the four rotors are mutually balanced, and the quadrotor aircraft does not rotate; when the rotational speeds of the four motors are not exactly the same, the unbalanced counter torque will Causes the quadrotor to turn.
如图3D所示，当旋翼201和旋翼203的电机的转速上升，旋翼202和旋翼204的电机的转速下降时，旋翼201和旋翼203对机身的反扭矩大于旋翼202和旋翼204对机身的反扭矩，机身便在富余反扭矩的作用下绕z轴转动，实现飞行器的偏航运动，转向与旋翼201和旋翼203的电机的转向相反。As shown in Figure 3D, when the rotating speed of the motor of rotor 201 and rotor 203 rises, when the rotating speed of the motor of rotor 202 and rotor 204 decreases, the reaction torque of rotor 201 and rotor 203 to the fuselage is greater than that of rotor 202 and rotor 204 to the fuselage The reaction torque of the fuselage is just rotated around the z axis under the effect of surplus reaction torque, realizes the yaw motion of the aircraft, and the steering of the motors of the rotor 201 and the rotor 203 is opposite to the steering.
5、前后运动；5. Back and forth movement;
要想实现飞行器在水平面内前后、左右的运动，必须在水平面内对飞行器施加一定的力。In order to realize the movement of the aircraft back and forth, left and right in the horizontal plane, a certain force must be applied to the aircraft in the horizontal plane.
如图3E所示，增加旋翼203的电机的转速，使拉力增大，相应减小旋翼201的电机的转速，使拉力减小，同时保持其它两个电机转速不变，反扭矩仍然要保持平衡。As shown in Figure 3E, increasing the rotational speed of the motor of the rotor 203 increases the pulling force, correspondingly decreases the rotational speed of the motor of the rotor 201 to reduce the pulling force, while keeping the rotational speed of the other two motors unchanged, the counter torque still needs to be balanced .
按图3B的理论，四旋翼飞行器首先发生一定程度的倾斜，从而使旋翼拉力产生水平分量，因此可以实现四旋翼飞行器的前飞运动。向后飞行与向前飞行正好相反。According to the theory in FIG. 3B , the quadrotor aircraft first tilts to a certain degree, so that the rotor pulling force produces a horizontal component, so the forward flight movement of the quadrotor aircraft can be realized. Flying backwards is the exact opposite of flying forwards.
在图3B和图3C中，四旋翼飞行器在产生俯仰、翻滚运动的同时也会产生沿x、y轴的水平运动。In FIG. 3B and FIG. 3C , the quadrotor aircraft also generates horizontal motion along the x and y axes while generating pitch and roll motions.
6、倾向运动；6. Tend to exercise;
由于结构对称，所以倾向飞行的工作原理与前后运动完全一样。Due to the symmetrical structure, leaning flight works exactly the same as fore and aft motion.
如图3F所示，As shown in Figure 3F,
增加旋翼204的电机的转速，使拉力增大，相应减小旋翼202的电机的转速，使拉力减小，同时保持其它两个电机转速不变，反扭矩仍然要保持平衡。Increase the rotating speed of the motor of the rotor 204 to increase the pulling force, correspondingly reduce the rotating speed of the motor of the rotor 202 to reduce the pulling force, while keeping the speed of the other two motors constant, the counter torque will still be balanced.
四旋翼飞行器首先发生一定程度的倾斜，从而使旋翼拉力产垂直平分量，因此可以实现四旋翼飞行器的倾向运动。向左飞行与向右飞行正好相反。The quadrotor aircraft first tilts to a certain degree, so that the rotor pull produces a vertical component, so the inclined motion of the quadrotor aircraft can be realized. Flying left is the exact opposite of flying right.
当然，上述四旋翼飞行器只是作为示例，在实施本发明实施例时，可以根据实际情况设置其他无人飞行器，例如，六旋翼飞行器、单旋翼飞行器等等，本发明实施例对此不加以限制。Of course, the above-mentioned quadrotor aircraft is only an example. When implementing the embodiment of the present invention, other unmanned aerial vehicles, such as six-rotor aircraft, single-rotor aircraft, etc., can be set according to the actual situation, which is not limited by the embodiment of the present invention.
步骤103，在所述在先停止航拍操作的位置中，按照所述飞行状态信息获取一帧或多帧候选图像数据；Step 103, acquiring one or more frames of candidate image data according to the flight state information at the position where the aerial photography operation was stopped first;
虽然当前按照飞行轨迹信息飞行，但是，也无法确保一定与先停止航拍的位置完全重合，两者飞行的位置多多少少会存在差异，因此，为了提高前后两次飞行时所拍摄的录像衔接得更加准确，可以按照飞行状态信息飞行至与停止航拍的位置附近的位置，在该附近的位置对拍摄角度进行微调。Although it is currently flying according to the flight trajectory information, it cannot be guaranteed that it will completely coincide with the position where the aerial photography was stopped first. There will be more or less differences in the flying positions of the two. More accurately, you can fly to a position near the position where the aerial photography stops according to the flight status information, and fine-tune the shooting angle at the nearby position.
在具体实现中，飞行状态信息可以包括拍摄角度。In a specific implementation, the flight status information may include a shooting angle.
具体而言，无人飞行器中的摄像头安装在云台上，即安装、固定摄像头的支撑设备。Specifically, the camera in the unmanned aerial vehicle is installed on the gimbal, that is, the support device for installing and fixing the camera.
因此，在所述在先停止航拍操作的位置中，按照该拍摄角度调整拍摄装置，调用调整之后的拍摄装置获取一帧或多帧候选图像数据。Therefore, in the position where the aerial photography operation is stopped first, the photographing device is adjusted according to the photographing angle, and the adjusted photographing device is called to obtain one or more frames of candidate image data.
以全方位的云台为例，其内部设置有两个电机，分别负责云台的上下和左右各方向的转动，以带动摄像头沿上下和左右各方向转动，实现拍摄角度的调整。Taking the omni-directional pan/tilt as an example, there are two motors inside it, which are respectively responsible for the rotation of the pan/tilt in the up, down, left and right directions, so as to drive the camera to rotate in the up, down, left and right directions to realize the adjustment of the shooting angle.
步骤104，判断所述一帧或多帧候选图像数据与所述特征图像数据是否匹配；若是，则执行步骤105；Step 104, judging whether the one or more frames of candidate image data match the feature image data; if so, execute step 105;
步骤105，继续航拍操作。Step 105, continue the aerial photography operation.
在本发明实施例中，可以计算候选图像数据与特征图像数据之间的相似度，若相似度大于或等于预设的相似度阈值，认为两者匹配、前后衔接，则可以以该候选图像数据作为起始点继续在先的航拍操作。In the embodiment of the present invention, the similarity between the candidate image data and the feature image data can be calculated. If the similarity is greater than or equal to the preset similarity threshold, it is considered that the two are matched and connected, and the candidate image data can be used Use it as a starting point to continue the previous aerial photography operation.
若相似度小于该相似度阈值，认为两者不匹配，前后不衔接，由于候选图像数据是持续拍摄的，因此，此时可以重新计算另一帧候选图像数据与特征图像数据之间的相似度，直至两者匹配。If the similarity is less than the similarity threshold, it is considered that the two do not match, and the front and back are not connected. Since the candidate image data is continuously captured, at this time, the similarity between another frame of candidate image data and the feature image data can be recalculated. , until the two match.
其中，相似度可以用于对于两帧图像数据(候选图像数据与特征图像数据)之间内容的相似程度进行打分，根据分数的高低来判断图像数据内容的相近程度。Wherein, the similarity can be used to score the similarity of content between two frames of image data (candidate image data and feature image data), and judge the similarity of image data content according to the score.
本发明实施例，可以对图像数据(候选图像数据与特征图像数据)进行整体对比，即对图像数据(候选图像数据与特征图像数据)整体计算相似度。In the embodiment of the present invention, the image data (candidate image data and feature image data) can be compared as a whole, that is, the similarity degree can be calculated for the image data (candidate image data and feature image data) as a whole.
进一步而言，可以通过如下方式计算图像数据(候选图像数据与特征图像数据)之间整体的相似度：Further, the overall similarity between image data (candidate image data and feature image data) can be calculated in the following manner:
一、基于直方图计算相似度；1. Calculate the similarity based on the histogram;
假设具有图像数据A和图像数据B，分别计算两幅图像的直方图，HistA，HistB，然后计算两个直方图的归一化相关系数(如巴氏距离，直方图相交距离等等)，获得相似度。Suppose you have image data A and image data B, calculate the histograms of the two images, HistA, HistB, and then calculate the normalized correlation coefficient of the two histograms (such as Bhattacharyachian distance, histogram intersection distance, etc.), to obtain similarity.
这种方式是基于向量之间的差异来进行图像相似程度的度量，直方图能够很好的归一化，比如通常的256个bin条的。This method is based on the difference between the vectors to measure the similarity of the image, and the histogram can be well normalized, such as the usual 256 bins.
那么两帧分辨率不同的图像数据可以直接通过计算直方图来计算相似度很方便。Then two frames of image data with different resolutions can directly calculate the similarity by calculating the histogram, which is very convenient.
二、基于矩阵分解计算相似度；Second, calculate the similarity based on matrix decomposition;
图像数据本身就是一个矩阵，可以依靠矩阵分解，如SVD(Singular ValueDecomposition，奇异值分解)、NMF(Non-negative Matrix Factorization，非负矩阵分解)来获取矩阵中一些代表这个矩阵元素值和分布的一些鲁棒性特征来对图像数据的相似度进行计算。Image data itself is a matrix, you can rely on matrix decomposition, such as SVD (Singular Value Decomposition, singular value decomposition), NMF (Non-negative Matrix Factorization, non-negative matrix factorization) to obtain some of the matrix element values and distributions in the matrix Robust features are used to calculate the similarity of image data.
三、基于特征点计算相似度。3. Calculate the similarity based on the feature points.
每一帧图像数据都有自己的特征点，这些特征点表征图像数据中比较重要的一些位置，如Harris角点和Sift特征点等等。Each frame of image data has its own feature points, which represent some important positions in the image data, such as Harris corner points and Sift feature points, etc.
那么，将得到的图像数据的特征点进行比较，如果相似的特征点数目较多，那么可以认为这两帧图像数据的相似程度较高。Then, the feature points of the obtained image data are compared, and if the number of similar feature points is large, it can be considered that the similarity of the two frames of image data is relatively high.
此外，由于无人飞行器已经飞行至与先停止航拍操作的位置附近的位置，候选图像数据与特征图像数据之间相差不大，因此，为了减少计算量，可以通过候选图像数据与特征图像数据之间边缘的对比，判断候选图像数据与特征图像数据是否匹配。In addition, since the unmanned aerial vehicle has already flown to a position close to the position where the aerial photography operation was stopped first, the difference between the candidate image data and the feature image data is not large. Therefore, in order to reduce the amount of calculation, the candidate image data and feature image data can be Compare the edges between them to judge whether the candidate image data matches the feature image data.
具体而言，可以提取一帧或多帧候选图像数据边缘的第一区域图像数据，提取特征图像数据边缘的第二区域图像数据，判断第一区域图像数据与所述第二区域图像数据是否匹配。Specifically, it is possible to extract the first region image data of the edge of one or more frames of candidate image data, extract the second region image data of the edge of the feature image data, and judge whether the first region image data matches the second region image data .
若是，则判定该候选图像数据与该特征图像数据匹配，若否，则判定该候选图像数据与该特征图像数据不匹配。If yes, it is determined that the candidate image data matches the characteristic image data, and if not, it is determined that the candidate image data does not match the characteristic image data.
进一步而言，可以通过如下方式检测图像数据(候选图像数据与特征图像数据)的边缘：Further, the edge of the image data (candidate image data and feature image data) can be detected in the following manner:
1、索贝尔算子；1. Sobel operator;
索贝尔算子是一种一阶微分算子，利用像素近邻区域的梯度值来计算一个像素的梯度，然后根据一定的阈值来取舍，得到图像中的边缘。The Sobel operator is a first-order differential operator, which uses the gradient value of the pixel's neighboring area to calculate the gradient of a pixel, and then chooses according to a certain threshold to obtain the edge in the image.
2、坎尼边缘检测；2. Canny edge detection;
坎尼边缘检测算法是高斯函数的一阶微分，根据对信噪比与定位乘积进行测度，得到最优化逼近算子。The Canny edge detection algorithm is the first-order differential of the Gaussian function, and the optimal approximation operator is obtained by measuring the product of the signal-to-noise ratio and the location.
3、高斯的拉普拉斯算法3. Gaussian Laplacian Algorithm
高斯的拉普拉斯LoG算法是一种二阶边缘检测方法，通过寻找图像的灰度值的二阶微分中的零穿越(Zero Corssing)来检测边缘点。Gaussian Laplacian LoG algorithm is a second-order edge detection method, which detects edge points by looking for zero crossing (Zero Corssing) in the second-order differential of the gray value of the image.
当然，上述匹配的判断方式只是作为示例，在实施本发明实施例时，可以根据实际情况设置其他匹配的判断方式，本发明实施例对此不加以限制。另外，除了上述匹配的判断方式外，本领域技术人员还可以根据实际需要采用其它匹配的判断方式，本发明实施例对此也不加以限制。Certainly, the above matching judging manner is only an example. When implementing the embodiment of the present invention, other matching judging manners may be set according to actual conditions, which is not limited in the embodiment of the present invention. In addition, in addition to the above matching judging manner, those skilled in the art may also use other matching judging manners according to actual needs, which is not limited in this embodiment of the present invention.
本发明实施例按照飞行状态信息飞行至在先停止航拍操作的位置，并获取一帧或多帧候选图像数据，与停止航拍时的特征图像数据进行匹配，以在合适的状态继续航拍操作，航拍中断前后的两段视频文件可以通过匹配的帧候选图像数据与特征图像数据进行衔接，避免了断层现象。The embodiment of the present invention flies to the position where the aerial photography operation was previously stopped according to the flight state information, and obtains one or more frames of candidate image data, and matches with the characteristic image data when the aerial photography was stopped, so as to continue the aerial photography operation in a suitable state, and the aerial photography The two video files before and after the interruption can be connected through matching frame candidate image data and feature image data, thereby avoiding fault phenomenon.
参照图4，示出了根据本发明一个实施例的一种基于无人飞行器的续拍方法实施例2的步骤流程图，具体可以包括如下步骤：Referring to FIG. 4 , it shows a flow chart of the steps of Embodiment 2 of a continuous shooting method based on an unmanned aerial vehicle according to an embodiment of the present invention, which may specifically include the following steps:
步骤401，在无人飞行器检测到满足预设的续拍条件时，停止航拍操作；Step 401, when the unmanned aerial vehicle detects that the preset continuous shooting condition is met, stop the aerial photography operation;
应用本发明实施例，可以预先设置续拍条件，在满足该续拍条件时，可以停止当前的航拍操作，已对无人飞行机进行调整，如下降并更换电池/充电等。Applying the embodiment of the present invention, the continuous shooting condition can be set in advance. When the continuous shooting condition is satisfied, the current aerial photography operation can be stopped, and the unmanned aerial vehicle has been adjusted, such as descending and replacing/charging the battery.
在具体实现中，该续拍条件可以包括如下的一种或多种：In a specific implementation, the continuation condition may include one or more of the following:
电量低于预设的电量阈值，飞行高度低于预设的高度阈值。The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold.
当然，除上述续拍条件之外，本领域技术人员还可以根据实际情况设置其他续拍条件，如接收到遥控器发出的停止航拍操作的指令等等，本发明实施例对此不加以限制。Of course, in addition to the above-mentioned continuous shooting conditions, those skilled in the art can also set other continuous shooting conditions according to the actual situation, such as receiving an instruction to stop the aerial photography operation from the remote control, etc., which are not limited by the embodiment of the present invention.
步骤402，记录停止航拍操作时的飞行状态信息和特征图像数据；Step 402, recording the flight status information and characteristic image data when the aerial photography operation is stopped;
在具体实现中，无人飞行器中可以通过地理定位模块，例如，GPS(GlobalPositioning System，全球定位系统)模块、北斗模块等，识别无人飞行器在停止航拍时所处的经纬度。In a specific implementation, the UAV may use a geographic positioning module, such as a GPS (Global Positioning System, Global Positioning System) module, a Beidou module, etc., to identify the latitude and longitude where the UAV stops aerial photography.
此外，还可以通过高度传感器，例如，气压高度传感器等，识别无人飞行器在停止航拍时所处的高度。In addition, the altitude at which the unmanned aerial vehicle stops aerial photography can also be identified through an altitude sensor, for example, a barometric altitude sensor.
并且，在停止航拍时调用摄像头拍摄一帧特征图像数据。And, when the aerial photography is stopped, the camera is called to capture a frame of characteristic image data.
步骤403，基于所述飞行状态信息和所述特征图像数据生成续拍特征对象；Step 403, generating continuous shooting feature objects based on the flight state information and the feature image data;
在具体实现中，飞行状态信息可以写入特征图像数据生成中，如直接嵌入特征图像数据上，或者，作为特征图像数据的名称等，即续拍特征对象为单一的图像文件。In a specific implementation, the flight status information can be written into the feature image data generation, such as directly embedded in the feature image data, or used as the name of the feature image data, that is, the continuous shooting feature object is a single image file.
飞行状态信息也可以独立于特征图像数据存储，如记载在xml(ExtensibleMarkup Language，可扩展标记语言)文件或其他文件中，即续拍特征对象为多个文件的集合。The flight state information can also be stored independently of the feature image data, such as recorded in an xml (Extensible Markup Language, Extensible Markup Language) file or other files, that is, the continuous shooting feature object is a collection of multiple files.
步骤404，当无人飞行器检测到续拍特征对象时，从所述续拍特征对象中提取在先停止航拍操作时记录的飞行状态信息和特征图像数据；Step 404, when the unmanned aerial vehicle detects the continuous shooting feature object, extract the flight status information and feature image data recorded when the aerial photography operation was stopped earlier from the continuous shooting feature object;
步骤405，按照所述飞行状态信息飞行至在先停止航拍操作的位置；Step 405, fly to the position where the aerial photography operation was stopped earlier according to the flight state information;
步骤406，在所述在先停止航拍操作的位置中，按照所述飞行状态信息获取一帧或多帧候选图像数据；Step 406, acquiring one or more frames of candidate image data according to the flight state information at the position where the aerial photography operation was stopped first;
步骤407，判断所述一帧或多帧候选图像数据与所述特征图像数据是否匹配；若是，则执行步骤408；Step 407, judging whether the one or more frames of candidate image data match the feature image data; if so, execute step 408;
步骤408，继续航拍操作；Step 408, continue the aerial photography operation;
步骤409，向遥控器发送开始航拍操作的信号；Step 409, sending a signal to the remote controller to start the aerial photography operation;
在本发明实施例中，可以向遥控器发送开始航拍操作的信号，提示继续航拍操作，让用户通过遥控器可对无人飞行器进行控制。In the embodiment of the present invention, a signal to start the aerial photography operation can be sent to the remote controller, prompting to continue the aerial photography operation, so that the user can control the UAV through the remote controller.
步骤410，删除继续航拍操作之前获取的一帧或多帧候选图像数据；Step 410, deleting one or more frames of candidate image data acquired before continuing the aerial photography operation;
步骤411，存储继续航拍操作之后获取的一帧或多帧候选图像数据。Step 411 , storing one or more frames of candidate image data acquired after continuing the aerial photography operation.
在本发明实施例中，继续航拍操作之前获取的一帧或多帧候选图像数据，与特征图像数据不匹配，无法作为起始点，可以直接删除。In the embodiment of the present invention, one or more frames of candidate image data obtained before continuing the aerial photography operation do not match the feature image data, and cannot be used as a starting point, and can be directly deleted.
继续航拍操作之后获取的一帧或多帧候选图像数据，与特征图像数据匹配，可以作为起始点，存储之后可以通过编码等处理，生成视频文件。One or more frames of candidate image data obtained after the aerial photography operation is matched with the feature image data can be used as a starting point, and after storage, it can be processed by encoding to generate a video file.
续拍前后的两段视频文件，可以通过匹配的帧候选图像数据与特征图像数据进行衔接，避免了断层现象。The two video files before and after the continuous shooting can be connected through the matching frame candidate image data and feature image data, avoiding the fault phenomenon.
对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明实施例并不受所描述的动作顺序的限制，因为依据本发明实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本发明实施例所必须的。For the method embodiment, for the sake of simple description, it is expressed as a series of action combinations, but those skilled in the art should know that the embodiment of the present invention is not limited by the described action order, because according to the embodiment of the present invention , certain steps may be performed in other order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.
参照图5，示出了根据本发明一个实施例的一种无人飞行器实施例的结构框图，具体可以包括如下模块：Referring to Figure 5, it shows a structural block diagram of an unmanned aerial vehicle embodiment according to an embodiment of the present invention, which may specifically include the following modules:
续拍数据读取模块501，适于在无人飞行器检测到续拍特征对象时，从所述续拍特征对象中提取在先停止航拍操作时记录的飞行状态信息和特征图像数据；The continuous shooting data reading module 501 is adapted to extract the flight state information and characteristic image data recorded when the aerial photography operation was stopped earlier from the continuous shooting characteristic object when the unmanned aerial vehicle detects the continuous shooting characteristic object;
飞行模块502，适于按照所述飞行状态信息飞行至在先停止航拍操作的位置；The flight module 502 is adapted to fly to the position where the aerial photography operation was previously stopped according to the flight state information;
拍摄模块503，适于在所述在先停止航拍操作的位置中，按照所述飞行状态信息获取一帧或多帧候选图像数据；The photographing module 503 is adapted to obtain one or more frames of candidate image data according to the flight state information at the position where the aerial photographing operation was previously stopped;
图像匹配模块504，适于判断所述一帧或多帧候选图像数据与所述特征图像数据是否匹配；若是，则调用航拍继续模块505；The image matching module 504 is adapted to determine whether the one or more frames of candidate image data match the characteristic image data; if so, call the aerial photography continuation module 505;
航拍继续模块505，适于继续航拍操作。The aerial photography continuation module 505 is adapted to continue the aerial photography operation.
在本发明的一种可选实施例中，该无人飞行器还可以包括如下模块：In an optional embodiment of the present invention, the unmanned aerial vehicle may also include the following modules:
航拍停止模块，适于在无人飞行器检测到满足预设的续拍条件时，停止航拍操作；The aerial photography stop module is adapted to stop the aerial photography operation when the unmanned aerial vehicle detects that the preset continuation condition is met;
续拍数据记录模块，适于记录停止航拍操作时的飞行状态信息和特征图像数据；The continuous shooting data recording module is suitable for recording flight status information and characteristic image data when the aerial photography operation is stopped;
续拍特征对象生成模块，适于基于所述飞行状态信息和所述特征图像数据生成续拍特征对象。The continuous shooting feature object generation module is adapted to generate the continuous shooting feature object based on the flight status information and the feature image data.
在具体实现中，所述续拍条件可以包括如下的一种或多种：In a specific implementation, the shooting continuation conditions may include one or more of the following:
电量低于预设的电量阈值，飞行高度低于预设的高度阈值。The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold.
在本发明的一种可选实施例中，所述飞行状态信息可以包括经纬度和高度；In an optional embodiment of the present invention, the flight status information may include latitude and longitude and altitude;
所述飞行模块502还可以适于：The flight module 502 may also be adapted to:
按照所述经纬度飞行至在先停止航拍操作的水平位置；Fly to the horizontal position where the aerial photography operation was stopped earlier according to the latitude and longitude;
在所述在先停止航拍操作的水平位置上，按照所述高度飞行至在先停止航拍操作的垂直位置。At the horizontal position where the aerial photography operation was stopped earlier, fly to the vertical position where the aerial photography operation was stopped earlier according to the altitude.
在本发明的一种可选实施例中，所述飞行状态信息可以包括拍摄角度；In an optional embodiment of the present invention, the flight status information may include a shooting angle;
所述拍摄模块503还可以适于：The camera module 503 can also be adapted to:
在所述在先停止航拍操作的位置中，按照所述拍摄角度调整拍摄装置；In the position where the aerial photography operation is stopped first, adjusting the photographing device according to the photographing angle;
调用调整之后的拍摄装置获取一帧或多帧候选图像数据。Call the adjusted shooting device to acquire one or more frames of candidate image data.
在本发明的一种可选实施例中，所述图像匹配模块504还可以适于：In an optional embodiment of the present invention, the image matching module 504 may also be adapted to:
提取所述一帧或多帧候选图像数据边缘的第一区域图像数据；Extracting the first region image data of the edge of the one or more frames of candidate image data;
提取所述特征图像数据边缘的第二区域图像数据；extracting the second area image data of the edge of the feature image data;
判断所述第一区域图像数据与所述第二区域图像数据是否匹配；judging whether the image data of the first area matches the image data of the second area;
若是，则判定所述候选图像数据与所述特征图像数据匹配；If so, then determine that the candidate image data matches the feature image data;
若否，则判定所述候选图像数据与所述特征图像数据不匹配。If not, it is determined that the candidate image data does not match the characteristic image data.
在本发明的一种可选实施例中，该无人飞行器还可以包括如下模块：In an optional embodiment of the present invention, the unmanned aerial vehicle may also include the following modules:
候选图像数据删除模块，适于删除继续航拍操作之前获取的一帧或多帧候选图像数据；Candidate image data deletion module, suitable for deleting one or more frames of candidate image data acquired before continuing the aerial photography operation;
候选图像数据存储模块，适于存储继续航拍操作之后获取的一帧或多帧候选图像数据。The candidate image data storage module is suitable for storing one or more frames of candidate image data acquired after the aerial photography operation is continued.
在本发明的一种可选实施例中，该无人飞行器还可以包括如下模块：In an optional embodiment of the present invention, the unmanned aerial vehicle may also include the following modules:
信号发送模块，适于向遥控器发送开始航拍操作的信号。The signal sending module is suitable for sending a signal to the remote controller to start the aerial photography operation.
对于无人飞行器实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。For the unmanned aerial vehicle embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, please refer to the part of the description of the method embodiment.
在此提供的算法和显示不与任何特定计算机、虚拟系统或者其它设备固有相关。各种通用系统也可以与基于在此的示教一起使用。根据上面的描述，构造这类系统所要求的结构是显而易见的。此外，本发明也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现在此描述的本发明的内容，并且上面对特定语言所做的描述是为了披露本发明的最佳实施方式。The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other device. Various generic systems can also be used with the teachings based on this. The structure required to construct such a system is apparent from the above description. Furthermore, the present invention is not specific to any particular programming language. It should be understood that various programming languages can be used to implement the content of the present invention described herein, and the above description of specific languages is for disclosing the best mode of the present invention.
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.
类似地，应当理解，为了精简本公开并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, in order to streamline this disclosure and to facilitate an understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. Modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method or method so disclosed may be used in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在下面的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。Furthermore, those skilled in the art will understand that although some embodiments described herein include some features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention. and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的基于无人飞行器的续拍设备中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of some or all of the components in the continuous shooting device based on an unmanned aerial vehicle according to an embodiment of the present invention. Function. The present invention can also be implemented as an apparatus or an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.
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