WO2020211785A1 - Photographing control method for aircraft, and aircraft and flight system - Google Patents

Photographing control method for aircraft, and aircraft and flight system Download PDF

Info

Publication number
WO2020211785A1
WO2020211785A1 PCT/CN2020/084959 CN2020084959W WO2020211785A1 WO 2020211785 A1 WO2020211785 A1 WO 2020211785A1 CN 2020084959 W CN2020084959 W CN 2020084959W WO 2020211785 A1 WO2020211785 A1 WO 2020211785A1
Authority
WO
WIPO (PCT)
Prior art keywords
aircraft
light source
camera device
control method
frequency
Prior art date
Application number
PCT/CN2020/084959
Other languages
French (fr)
Chinese (zh)
Inventor
魏姗姗
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2020211785A1 publication Critical patent/WO2020211785A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/71—Circuitry for evaluating the brightness variation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/745—Detection of flicker frequency or suppression of flicker wherein the flicker is caused by illumination, e.g. due to fluorescent tube illumination or pulsed LED illumination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • This application relates to the field of image acquisition technology, and in particular to an aircraft shooting control method, aircraft and flight system.
  • the shooting environment of the aerial drone is a light source powered by AC power
  • light and dark stripes are often flickering in the shooting picture, which is caused by the flickering of the lights.
  • the brightness of the AC light source changes periodically, and the CMOS sensor of the image acquisition device adopts line exposure.
  • the start time of the exposure is different between different lines, resulting in different energy integrated by the sensor, thus producing light and dark stripes.
  • adjusting the exposure time of the image capture device according to the frequency of the light source can effectively improve the flickering of light and dark stripes in the shooting picture.
  • the purpose of the present invention is to provide an aircraft shooting control method, aircraft and flight system.
  • the present invention provides a shooting control method for an aircraft, the aircraft is provided with a camera device, the camera device has an anti-flicker mode, and the shooting control method includes: determining whether the camera device needs to enter the camera Flicker mode; when the camera device needs to enter the anti-flicker mode, obtain the current position information of the aircraft; obtain the light source frequency corresponding to the current position information according to the current position information; obtain the Video frame rate; according to the light source frequency and the video frame rate, calculate the exposure time that matches the light source frequency; update the current exposure time of the camera device to the exposure time that matches the light source frequency .
  • the judging whether the camera device needs to enter the anti-flicker mode includes: obtaining the illumination brightness of the environment in which the aircraft is located; judging whether the illumination brightness exceeds a brightness threshold; if the illumination brightness is less than or equal to the Brightness threshold, it is determined that the camera device needs to enter the anti-flicker mode.
  • the method further includes: if the illumination brightness is greater than a brightness threshold, determining whether the aircraft can obtain the positioning signal; if the aircraft fails to obtain the positioning signal, determining that the camera device needs to enter The anti-flicker mode.
  • the method further includes: if the illumination brightness is greater than the brightness threshold, determining whether the terminal device can obtain the positioning signal, wherein the terminal device is in communication with the aircraft; if the terminal device fails to obtain According to the positioning signal, it is determined that the camera device needs to enter the anti-flicker mode.
  • the determining whether the camera device needs to enter the anti-flicker mode includes: determining whether the aircraft or the terminal equipment communicatively connected with the aircraft receives a positioning signal; if the positioning signal is not received, then determining The camera device needs to enter the anti-flicker mode.
  • acquiring the current position information of the aircraft includes: determining whether the aircraft can receive a positioning signal; if the aircraft can receive the The positioning signal is used to obtain the current position information of the aircraft according to the positioning signal received by the aircraft.
  • the method further includes: if the aircraft fails to receive the positioning signal, determining whether the terminal device communicatively connected with the aircraft can receive the location information; if the terminal device can receive the location information, Then, the position information of the terminal device is used as the current position information of the aircraft.
  • the obtaining the video frame rate of the camera device specifically includes: obtaining a video frame rate setting instruction sent by the terminal device, and setting the video frame rate of the camera device according to the setting instruction.
  • the present invention also provides an aircraft provided with a camera device, the aircraft including: a memory for storing a computer executable program; and a processor for calling the computer executable program to perform the aforementioned shooting control method.
  • the present invention also provides a flight system, including an aircraft provided with a camera device and a terminal device communicatively connected with the aircraft, the aircraft further comprising: a memory for storing computer executable programs; and a processor for calling The computer can execute a program to execute the aforementioned shooting control method.
  • the aircraft shooting control method, aircraft and flight system provided by the present invention obtain the current position information of the aircraft during image shooting, and obtain the information of the area corresponding to the current position according to the current position information.
  • AC frequency correspondingly adjust the exposure time of the camera device according to the AC frequency of the corresponding area of the current location, so as to obtain better image effects.
  • FIG. 1 is a flow chart of the steps of the aircraft shooting control method provided by the first embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the frame structure of the flight system provided by the second embodiment of the present invention.
  • FIG. 3A is a flowchart of a specific implementation of step S101.
  • FIG. 3B is a flowchart of a specific implementation of step S101.
  • Fig. 3C is a step flow chart of a specific implementation of step S101.
  • Fig. 3D is a step flow chart of a specific implementation of step S101.
  • Fig. 4A is a step flow chart of a specific implementation of step S102.
  • Fig. 4B is a step flow chart of a specific implementation of step S102.
  • Fig. 5 is a structural block diagram of an aircraft provided by a third embodiment of the present invention.
  • the present invention provides a shooting control method and a flying system of an aircraft.
  • the present invention obtains the current position information of the aircraft during image shooting, and obtains the AC frequency of the area corresponding to the current position according to the current position information.
  • the exposure time of the camera device is adjusted correspondingly according to the frequency of the alternating current in the corresponding area of the current position, so as to eliminate the light and dark stripes in the shooting picture and obtain a better image effect.
  • FIG. 1 is a photographing control method of an aircraft provided by a first embodiment of the present invention, which is applied to an aircraft 10 of a flying system 100.
  • the aircraft is provided with a camera 101 for taking pictures through the camera 101.
  • the control method includes the following steps S101-S106:
  • step S101 determining whether the camera device needs to enter an anti-flicker mode.
  • the flight system 100 includes an aircraft 10 and a terminal device 20 communicatively connected with the aircraft 10.
  • the aircraft 10 is equipped with a camera 101, and the camera 101 is used to obtain image information.
  • the image captured by the imaging device 101 may have alternating light and dark stripes.
  • the imaging device 101 is provided with an anti-flicker mode, which is used to prevent the AC light source from interfering with the imaging of the imaging device 101. If it is not in a lighting environment powered by an AC power supply, the anti-flicker mode does not need to be turned on.
  • the aircraft 10 Before the aircraft 10 controls the imaging device 101 to perform imaging, the aircraft 10 detects or determines whether the imaging device 101 needs to enter the anti-flicker mode.
  • step S101 includes:
  • Step S1011a Obtain the illumination brightness of the environment where the aircraft is located.
  • the aircraft 10 is provided with a light sensor, and the aircraft 10 obtains the light brightness of the environment in which the aircraft 10 is located through the light sensor.
  • Step S1012a Determine whether the brightness of the illumination exceeds the brightness threshold.
  • the corresponding brightness value is compared with the preset brightness threshold, and it is judged whether the obtained illumination brightness of the ambient light exceeds the brightness threshold.
  • Step S1013a If the illumination brightness is less than or equal to the brightness threshold, it is determined that the imaging device needs to enter the anti-flicker mode.
  • the imaging device 101 If the brightness of the ambient light is less than or equal to the brightness threshold, it is considered that the environment may be indoors, and supplementary light is needed, then it is determined that the imaging device 101 needs to enter the anti-flicker mode.
  • step S101 includes:
  • Step S1011b Obtain the illumination brightness of the environment where the aircraft is located.
  • Step S1011b is the same as step S1011a in FIG. 3A, and will not be repeated here.
  • Step S1012b Determine whether the brightness of the illumination exceeds a brightness threshold.
  • Step S1012b is the same as step S1012a in FIG. 3A, and will not be repeated here.
  • Step S1013b If the illumination brightness is less than or equal to the brightness threshold, it is determined that the camera device needs to enter the anti-flicker mode.
  • Step S1014b If the illumination brightness is greater than the brightness threshold, determine whether the aircraft can obtain a positioning signal.
  • the positioning signal is obtained by a positioning device provided in the aircraft 10.
  • the positioning signal may be a GPS positioning signal or a Beidou positioning signal.
  • Step S1015b If the aircraft fails to obtain the positioning signal, it is determined that the camera device needs to enter the anti-flicker mode.
  • the environment in which the aircraft 10 is located may be indoors, it is determined that the camera device 101 needs to enter the anti-flicker mode.
  • step S101 includes:
  • Step S1011c Obtain the illumination brightness of the environment where the aircraft is located.
  • Step S1011c is the same as step S1011a in FIG. 3A, and will not be repeated here.
  • Step S1012c Determine whether the brightness of the illumination exceeds a brightness threshold.
  • Step S1012c is the same as step S1012a in FIG. 3A, and will not be repeated here.
  • Step S1013c If the illumination brightness is less than or equal to the brightness threshold, it is determined that the camera device needs to enter the anti-flicker mode.
  • Step S1014c If the illumination brightness is greater than the brightness threshold, it is determined whether the terminal device can obtain the positioning signal, wherein the terminal device is in communication connection with the aircraft.
  • a positioning signal which may be a GPS positioning signal or a Beidou positioning signal.
  • Step S1015c If the terminal device fails to obtain the positioning signal, it is determined that the camera device needs to enter the anti-flicker mode.
  • the terminal device 20 may be indoors, that is, the aircraft 10 wirelessly communicating with the terminal device 20 may also be indoors, that is, it is determined that the camera 101 needs to enter the anti-flicker mode.
  • step S101 includes:
  • Step S1011d Determine whether the aircraft or the terminal device communicatively connected with the aircraft receives a positioning signal.
  • the aircraft 10 and the terminal device 20 communicatively connected with the aircraft 10 are provided with a positioning device, and the positioning device can receive a positioning signal to obtain the position information of the aircraft 10 and realize the positioning of the aircraft 10.
  • the positioning device can be a GPS positioning device or a Beidou positioning device.
  • Step S1012d If the positioning signal is not received, it is determined that the camera device needs to enter the anti-flicker mode.
  • the aircraft 10 and the terminal device 20 communicatively connected with the aircraft 10 do not receive the positioning signal, it is determined that the environment of the aircraft 10 may be indoors, that is, the AC power supply needs to be used to supplement the light, then it is determined that the camera device 101 needs to enter the anti-flicker mode.
  • the environment where the aircraft 10 is located may be outdoor, and the light can be supplemented by natural light without using AC power supply to supplement the light, and the process ends.
  • Step S102 When the camera device needs to enter the anti-flicker mode, acquire current position information of the aircraft.
  • step S102 obtaining the current position information of the aircraft specifically includes:
  • Step S1021a Determine whether the aircraft can receive a positioning signal, where the positioning signal is received by a positioning device provided on the aircraft.
  • Step S1022a If the aircraft can receive the positioning signal, obtain the current position information of the aircraft according to the positioning signal received by the aircraft.
  • the aircraft 10 detects the positioning signal received by the positioning device, the current position information of the aircraft 10 is obtained according to the positioning signal.
  • step S102 acquiring the current position information of the aircraft specifically includes:
  • Step S1021b Determine whether the aircraft can receive a positioning signal, wherein the positioning signal is received by a positioning device provided on the aircraft.
  • Step S1022b If the aircraft can receive the positioning signal, obtain current position information of the aircraft according to the positioning signal received by the aircraft.
  • Step S1023b If the aircraft fails to receive the positioning signal, determine whether the terminal device communicatively connected with the aircraft can receive the location information.
  • Step S1024b If the terminal device can receive the location information, use the location information of the terminal device as the current location information of the aircraft.
  • Step S103 Acquire the light source frequency corresponding to the current position information according to the current position information.
  • the association relationship between the frequency of the light source and the location of the area is preset, where the location information of the area corresponds to the longitude and latitude information range of the location of the area.
  • Obtain current location information that is, obtain the longitude and latitude information of the current location, determine the location area corresponding to the current location according to the obtained current longitude and latitude information, and obtain the current location through the association relationship between the preset light source frequency and the area location The corresponding light source frequency.
  • the frequency of AC power supply from the Chinese power grid is 50HZ, that is, the frequency of the light source is 50HZ.
  • the frequency of AC power supply in Europe, Japan, the United States, and Canada is 60HZ, that is, the frequency of the light source is 60HZ.
  • the light source frequency in China is preset to 50HZ, and the light source frequency in Europe, Japan, the United States, and Canada is 60HZ.
  • the current position information of the aircraft is obtained according to the GPS positioning device, and the current position information of the aircraft is determined according to the current position information. . For example, if the current location information acquired by the positioning device is Shenzhen, Guangdong province, China, that is, the corresponding area is China, and the corresponding light source frequency is 50HZ.
  • Step S104 Obtain the video frame rate of the camera device.
  • the video frame rate to be captured by the camera device 101 on the aircraft 10 may be preset in the camera device 101, that is, when the camera device 101 is turned on, the video frame rate is a default value.
  • the aircraft 101 obtains a video frame rate setting instruction, and sets the video frame rate of the camera device 101 according to the setting instruction, and the video frame rate setting instruction is issued by the user-controlled terminal device 20.
  • the terminal device 20 is in communication connection with the aircraft 10 or the camera 101, and the user remotely sets the video frame rate of the camera 101 through the terminal device 20.
  • Step S105 Calculate an exposure time matching the frequency of the light source according to the frequency of the light source and the video frame rate.
  • the light source energy period T2 is obtained according to the light source frequency f.
  • the light source period corresponding to the light source frequency f is T1
  • the video frame rate is P.
  • the exposure time t is less than or equal to 1/P
  • set the exposure time t to the value closest to 1/P in the integer multiples of the light source energy period T2 to obtain the corresponding camera area
  • t N/2f, that is, N is the largest integer value that N/2f is less than or equal to 1/P
  • N is a positive integer.
  • t [2f/P]/2f, where f is the frequency of the light source, P is the video frame rate, and [2f/P] is the ratio of 2f/P rounded.
  • the frequency of the corresponding light source to obtain the area position corresponding to the current position of the aircraft 10 is 50HZ
  • the video frame rate is 30 frames/s
  • Step S106 Update the current exposure time of the camera device to the exposure time that matches the frequency of the light source.
  • the camera device 101 is controlled to update the current exposure time to an exposure time t that matches the frequency of the current light source, and the camera device 101 uses the matched exposure time t to perform automatic exposure, that is, perform AE exposure to obtain image information.
  • automatic exposure AE, Automatic Exposure
  • AE Automatic Exposure
  • the camera automatically adjusts the exposure according to the intensity of the light to prevent over or under exposure.
  • the aircraft 10 is also provided with a memory 104 and a processor 103, where the processor 103 is the control center of the aircraft 10, which connects various parts of the aircraft 10 through various interfaces and lines.
  • the processor 103 is the control center of the aircraft 10, which connects various parts of the aircraft 10 through various interfaces and lines.
  • the data stored in the memory 104 is called to execute various functions of the terminal device and process data.
  • the processor 103 may be composed of an integrated circuit (Integrated Circuit, IC for short), for example, may be composed of a single packaged IC, or may be composed of connecting multiple packaged ICs with the same function or different functions.
  • the processor 103 may only include a central processing unit, or a combination of a CPU, a digital signal processor (Digital Signal Processor, DSP for short), a GPU, and various control chips.
  • IC Integrated Circuit
  • DSP Digital Signal Processor
  • the memory 104 includes at least one of the following: random access memory, non-volatile memory, and external memory.
  • the memory 104 can be used to store a computer executable program.
  • the processor 103 calls the The computer can execute the program to execute any of the above-mentioned display methods.
  • the memory 104 mainly includes a program storage area and a data storage area.
  • the program storage area can store an operating system, an application program required by at least one function, etc.; the data storage area can store data created according to the use of the terminal, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)

Abstract

Disclosed are a photographing control method for an aircraft, and an aircraft and a flight system, wherein the aircraft is provided with a camera apparatus, and the camera apparatus is provided with an anti-flash mode. The photographing control method comprises: determining whether a camera apparatus needs to enter an anti-flash mode; when the camera apparatus needs to enter the anti-flash mode, acquiring current position information of an aircraft; acquiring, according to the current position information, a light source frequency corresponding to the current position information; acquiring a video frame rate of the camera apparatus; calculating, according to the light source frequency and the video frame rate, an exposure time matching the light source frequency; and updating the current exposure time of the camera apparatus to the exposure time matching the light source frequency. In the present invention, the exposure time of the camera apparatus is correspondingly adjusted according to the frequency of alternating-current power in a region corresponding to a current position, so that a photographed picture without light and dark fringes is acquired, and an automatic anti-flash function is realized.

Description

一种飞行器的拍摄控制方法、飞行器及飞行***Shooting control method of aircraft, aircraft and flying system
本申请要求于2019年4月16日提交中国专利局、申请号为201910304914.X、申请名称为“一种飞行器的拍摄控制方法、飞行器及飞行***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on April 16, 2019, the application number is 201910304914.X, and the application title is "A method of shooting control of an aircraft, an aircraft and a flight system", and its entire contents Incorporated in this application by reference.
技术领域Technical field
本申请涉及图像采集技术领域，尤其涉及一种飞行器的拍摄控制方法、飞行器及飞行***。This application relates to the field of image acquisition technology, and in particular to an aircraft shooting control method, aircraft and flight system.
背景技术Background technique
当航拍无人机的拍摄环境是交流电供电的灯光光源时，拍摄画面中经常会出现明暗条纹闪烁，这种现象是由于灯闪烁造成的。交流电光源的亮度成周期性变化，而图像采集装置的CMOS传感器采用行曝光，不同行之间曝光的起始时间不同，导致传感器积分的能量不同，因此产生了明暗相间的条纹。When the shooting environment of the aerial drone is a light source powered by AC power, light and dark stripes are often flickering in the shooting picture, which is caused by the flickering of the lights. The brightness of the AC light source changes periodically, and the CMOS sensor of the image acquisition device adopts line exposure. The start time of the exposure is different between different lines, resulting in different energy integrated by the sensor, thus producing light and dark stripes.
因此，根据光源频率调整图像采集装置的曝光时间，可以有效改善拍摄画面中出现明暗条纹闪烁现象。Therefore, adjusting the exposure time of the image capture device according to the frequency of the light source can effectively improve the flickering of light and dark stripes in the shooting picture.
然而，不同地区的交流电频率不相同，如何在交流电光源供电的环境下，准确获取光源频率，并根据光源频率调整图像采集装置的曝光时间以获取较优的图像显示效果，是本领域技术人员亟待解决的技术问题。However, the frequency of AC power in different regions is different. How to accurately obtain the frequency of the light source under the environment of AC light source power supply, and adjust the exposure time of the image acquisition device according to the frequency of the light source to obtain a better image display effect is an urgent need for those skilled in the art Technical problems solved.
发明内容Summary of the invention
为了克服现有技术的不足，本发明的目的在于提供一种飞行器的拍摄控制方法、飞行器及飞行***。In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide an aircraft shooting control method, aircraft and flight system.
为实现上述目的，本发明提供一种飞行器的拍摄控制方法，所述飞行器设置有摄像装置，所述摄像装置摄像有抗闪烁模式，所述拍摄控制方法包括：判断所述摄像装置是否需要进入抗闪烁模式；当所述摄像装置需要进入所述抗闪烁模式时，获取所述飞行器的当前位置信息；根据所述当前位置信息，获取所述当前位置信息对应的光源频率；获取所述摄像装置的视频帧率；根据所述光源频率和所述视频帧率，计算出与所述光源频率匹配的曝光时间；将所述摄像装置的当前曝光时间更新为所述与所述光源频率匹配的曝光时间。In order to achieve the above objective, the present invention provides a shooting control method for an aircraft, the aircraft is provided with a camera device, the camera device has an anti-flicker mode, and the shooting control method includes: determining whether the camera device needs to enter the camera Flicker mode; when the camera device needs to enter the anti-flicker mode, obtain the current position information of the aircraft; obtain the light source frequency corresponding to the current position information according to the current position information; obtain the Video frame rate; according to the light source frequency and the video frame rate, calculate the exposure time that matches the light source frequency; update the current exposure time of the camera device to the exposure time that matches the light source frequency .
优选地，所述判断所述摄像装置是否需要进入抗闪烁模式，包括：获取所述飞行器所处环境的光照亮度；判断所述光照亮度是否超过亮度阈值；若所述光照亮度小于或等于所述亮度阈值，则判断所述摄像装置需要进入所述抗闪烁模式。Preferably, the judging whether the camera device needs to enter the anti-flicker mode includes: obtaining the illumination brightness of the environment in which the aircraft is located; judging whether the illumination brightness exceeds a brightness threshold; if the illumination brightness is less than or equal to the Brightness threshold, it is determined that the camera device needs to enter the anti-flicker mode.
优选地，所述方法还包括：若所述光照亮度大于亮度阈值，则判断所述飞行器是否能够获取定位信号；若所述飞行器未能获取到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。Preferably, the method further includes: if the illumination brightness is greater than a brightness threshold, determining whether the aircraft can obtain the positioning signal; if the aircraft fails to obtain the positioning signal, determining that the camera device needs to enter The anti-flicker mode.
优选地，所述方法还包括：若所述光照亮度大于亮度阈值，则判断终端设备是否能够获取定位信号，其中，所述终端设备与所述飞行器通信连接；若所述终端设备未能获取到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。Preferably, the method further includes: if the illumination brightness is greater than the brightness threshold, determining whether the terminal device can obtain the positioning signal, wherein the terminal device is in communication with the aircraft; if the terminal device fails to obtain According to the positioning signal, it is determined that the camera device needs to enter the anti-flicker mode.
优选地，所述判断所述摄像装置是否需要进入抗闪烁模式，包括：判断所述飞行器或与所述飞行器通信连接的终端设备是否接收到定位信号；若未接收到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。Preferably, the determining whether the camera device needs to enter the anti-flicker mode includes: determining whether the aircraft or the terminal equipment communicatively connected with the aircraft receives a positioning signal; if the positioning signal is not received, then determining The camera device needs to enter the anti-flicker mode.
优选地，所述当所述摄像装置需要进入所述抗闪烁模式时，获取所述飞行器的当前位置信息，包括：判断所述飞行器是否能够接收到定位信号；若所述飞行器能够接收到所述定位信号，则根据所述飞行器接收到的所述定位信号获取所述飞行器的当前位置信息。Preferably, when the camera device needs to enter the anti-flicker mode, acquiring the current position information of the aircraft includes: determining whether the aircraft can receive a positioning signal; if the aircraft can receive the The positioning signal is used to obtain the current position information of the aircraft according to the positioning signal received by the aircraft.
优选地，所述方法还包括：若所述飞行器未能接收到定位信号，判断与所述飞行器通信连接的终端设备是否能够接收到位置信息；若所述终端设备能够接收到所述位置信息，则将所述终端设备的位置信息作为所述飞行器当前位置信息。Preferably, the method further includes: if the aircraft fails to receive the positioning signal, determining whether the terminal device communicatively connected with the aircraft can receive the location information; if the terminal device can receive the location information, Then, the position information of the terminal device is used as the current position information of the aircraft.
优选地，所述获取摄像装置的视频帧率，具体包括：获取终端设备发送的视频帧率设置指令，根据所述设置指令设置摄像装置的视频帧率。Preferably, the obtaining the video frame rate of the camera device specifically includes: obtaining a video frame rate setting instruction sent by the terminal device, and setting the video frame rate of the camera device according to the setting instruction.
优选地，所述根据所述光源频率和所述视频帧率，计算出与所述光源频率匹配的曝光时间，具体包括：所述与所述光源频率匹配的曝光时间t满足：t小于等于1/P，且t等于光源能量周期T的整数倍中与1/P最接近的值，其中，T＝1/2f，P为视频帧率，f为光源频率。Preferably, the calculating the exposure time matching the frequency of the light source according to the frequency of the light source and the video frame rate specifically includes: the exposure time t matching the frequency of the light source satisfies: t is less than or equal to 1 /P, and t is equal to the value closest to 1/P in an integer multiple of the light source energy period T, where T=1/2f, P is the video frame rate, and f is the light source frequency.
本发明还提供一种飞行器，所述飞行器设置有摄像装置，所述飞行器包括：存储器，用于存储计算机可执行程序；以及处理器，用于调用所述计算机可执行程序以执行前述的拍摄控制方法。The present invention also provides an aircraft provided with a camera device, the aircraft including: a memory for storing a computer executable program; and a processor for calling the computer executable program to perform the aforementioned shooting control method.
本发明还提供一种飞行***，包括设置有摄像装置的飞行器以及与所述飞行器通信连接的终端设备，所述飞行器还包括：存储器，用于存储计算机可执行程序；以及处理器，用于调用所述计算机可执行程序以执行前述的拍摄控制方法。The present invention also provides a flight system, including an aircraft provided with a camera device and a terminal device communicatively connected with the aircraft, the aircraft further comprising: a memory for storing computer executable programs; and a processor for calling The computer can execute a program to execute the aforementioned shooting control method.
与现有技术相比，本发明所提供的一种飞行器的拍摄控制方法、飞行器及飞行***，通过获取飞行器进行图像拍摄时的当前位置信息，并根据当前位置信息获取当前位置所对应的区域的交流电频率，根据当前位置对应区域的交流电频率对应调整摄像装置的曝光时间，从而获取较佳的图像效果。Compared with the prior art, the aircraft shooting control method, aircraft and flight system provided by the present invention obtain the current position information of the aircraft during image shooting, and obtain the information of the area corresponding to the current position according to the current position information. AC frequency, correspondingly adjust the exposure time of the camera device according to the AC frequency of the corresponding area of the current location, so as to obtain better image effects.
附图说明Description of the drawings
图1为本发明第一实施例提供的飞行器拍摄控制方法步骤流程图。FIG. 1 is a flow chart of the steps of the aircraft shooting control method provided by the first embodiment of the present invention.
图2为本发明第二实施例提供的飞行***框架结构示意图。Fig. 2 is a schematic diagram of the frame structure of the flight system provided by the second embodiment of the present invention.
图3A步骤S101的一种具体实施方式的步骤流程图。FIG. 3A is a flowchart of a specific implementation of step S101.
图3B步骤S101的一种具体实施方式的步骤流程图。FIG. 3B is a flowchart of a specific implementation of step S101.
图3C步骤S101的一种具体实施方式的步骤流程图。Fig. 3C is a step flow chart of a specific implementation of step S101.
图3D步骤S101的一种具体实施方式的步骤流程图。Fig. 3D is a step flow chart of a specific implementation of step S101.
图4A步骤S102的一种具体实施方式的步骤流程图。Fig. 4A is a step flow chart of a specific implementation of step S102.
图4B步骤S102的一种具体实施方式的步骤流程图。Fig. 4B is a step flow chart of a specific implementation of step S102.
图5为本发明第三实施例提供的飞行器的结构框图。Fig. 5 is a structural block diagram of an aircraft provided by a third embodiment of the present invention.
具体实施方式detailed description
下面，结合附图以及具体实施方式，对本发明做进一步描述，需要说明的是，在不相冲突的前提下，以下描述的各实施例之间或各技术特征之间可以任意组合形成新的实施例。Hereinafter, the present invention will be further described with reference to the drawings and specific implementations. It should be noted that, provided that there is no conflict, the following embodiments or technical features can be combined to form new embodiments. .
本发明提供一种飞行器的拍摄控制方法及飞行***，本发明通过获取飞行器进行图像拍摄时的当前位置信息，并根据当前位置信息获取当前位置所对应的区域的交流电频率。根据当前位置对应区域的交流电频率对应调整摄像装置的曝光时间，从而消除拍摄画面中的明暗条纹，获取较佳的图像效果。The present invention provides a shooting control method and a flying system of an aircraft. The present invention obtains the current position information of the aircraft during image shooting, and obtains the AC frequency of the area corresponding to the current position according to the current position information. The exposure time of the camera device is adjusted correspondingly according to the frequency of the alternating current in the corresponding area of the current position, so as to eliminate the light and dark stripes in the shooting picture and obtain a better image effect.
请参阅图1，图1为本发明第一实施例提供的飞行器的拍摄控制方法，应用于飞行***100的飞行器10，该飞行器设置有摄像装置101，以通过该摄像装置101进行拍摄，该拍摄控制方法包括以下步骤S101-S106：Please refer to FIG. 1. FIG. 1 is a photographing control method of an aircraft provided by a first embodiment of the present invention, which is applied to an aircraft 10 of a flying system 100. The aircraft is provided with a camera 101 for taking pictures through the camera 101. The control method includes the following steps S101-S106:
其中，步骤S101：判断所述摄像装置是否需要进入抗闪烁模式。Wherein, step S101: determining whether the camera device needs to enter an anti-flicker mode.
请参阅图2，该飞行***100包括飞行器10以及与飞行器10通讯连接的终端设备20，其中飞行器10搭载有摄像装置101，该摄像装置101用于获取图像信息。Please refer to FIG. 2, the flight system 100 includes an aircraft 10 and a terminal device 20 communicatively connected with the aircraft 10. The aircraft 10 is equipped with a camera 101, and the camera 101 is used to obtain image information.
摄像装置101在交流电源供电的光照环境下，其所拍摄的图像可能出现明暗交替的条纹。摄像装置101设置有抗闪烁模式，该抗闪烁模式用于防止交流电光源对摄像装置101拍摄的干扰，若未处于交流电源供电的光照环境下则无需开启抗闪烁模式。Under the lighting environment powered by AC power, the image captured by the imaging device 101 may have alternating light and dark stripes. The imaging device 101 is provided with an anti-flicker mode, which is used to prevent the AC light source from interfering with the imaging of the imaging device 101. If it is not in a lighting environment powered by an AC power supply, the anti-flicker mode does not need to be turned on.
飞行器10控制摄像装置101进行摄像前，飞行器10检测或判断摄像装置101是否需要进入抗闪烁模式。Before the aircraft 10 controls the imaging device 101 to perform imaging, the aircraft 10 detects or determines whether the imaging device 101 needs to enter the anti-flicker mode.
请参阅图3A，在部分实施例中，步骤S101包括：Referring to FIG. 3A, in some embodiments, step S101 includes:
步骤S1011a：获取所述飞行器所处环境的光照亮度。Step S1011a: Obtain the illumination brightness of the environment where the aircraft is located.
飞行器10设置有光照传感器，飞行器10通过光照传感器获取该飞行器10所处环境的光照亮度。The aircraft 10 is provided with a light sensor, and the aircraft 10 obtains the light brightness of the environment in which the aircraft 10 is located through the light sensor.
步骤S1012a：判断所述光照亮度是否超过亮度阈值。Step S1012a: Determine whether the brightness of the illumination exceeds the brightness threshold.
根据获取的光照亮度生成对应的亮度值与预设的亮度阈值对比，判断获取的环境光的光照亮度是否超过亮度阈值。According to the obtained illumination brightness, the corresponding brightness value is compared with the preset brightness threshold, and it is judged whether the obtained illumination brightness of the ambient light exceeds the brightness threshold.
步骤S1013a：若所述光照亮度小于或等于所述亮度阈值，则判断所述摄 像装置需要进入所述抗闪烁模式。Step S1013a: If the illumination brightness is less than or equal to the brightness threshold, it is determined that the imaging device needs to enter the anti-flicker mode.
若环境光照的亮度小于或等于亮度阈值，视为所处环境可能处于室内，需要进行补光，则判断摄像装置101需要进入抗闪烁模式。If the brightness of the ambient light is less than or equal to the brightness threshold, it is considered that the environment may be indoors, and supplementary light is needed, then it is determined that the imaging device 101 needs to enter the anti-flicker mode.
请参阅图3B，在部分实施例中，步骤S101包括：Referring to FIG. 3B, in some embodiments, step S101 includes:
步骤S1011b：获取所述飞行器所处环境的光照亮度。Step S1011b: Obtain the illumination brightness of the environment where the aircraft is located.
步骤S1011b与图3A中步骤S1011a相同，在此不做赘述。Step S1011b is the same as step S1011a in FIG. 3A, and will not be repeated here.
步骤S1012b：判断所述光照亮度是否超过亮度阈值。Step S1012b: Determine whether the brightness of the illumination exceeds a brightness threshold.
步骤S1012b与图3A中步骤S1012a相同，在此不做赘述。Step S1012b is the same as step S1012a in FIG. 3A, and will not be repeated here.
步骤S1013b：若所述光照亮度小于或等于所述亮度阈值，则判断所述摄像装置需要进入所述抗闪烁模式。Step S1013b: If the illumination brightness is less than or equal to the brightness threshold, it is determined that the camera device needs to enter the anti-flicker mode.
步骤S1014b：若所述光照亮度大于所述亮度阈值，则判断所述飞行器是否能够获取定位信号。Step S1014b: If the illumination brightness is greater than the brightness threshold, determine whether the aircraft can obtain a positioning signal.
当光照亮度大于亮度阈值时，检测并判断飞行器10能否获取到定位信号，该定位信号由设置于飞行器10的定位装置获取，该定位信号可以是GPS定位信号或北斗定位信号。When the illumination brightness is greater than the brightness threshold, it is detected and judged whether the aircraft 10 can obtain a positioning signal. The positioning signal is obtained by a positioning device provided in the aircraft 10. The positioning signal may be a GPS positioning signal or a Beidou positioning signal.
步骤S1015b：若所述飞行器未能获取到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。Step S1015b: If the aircraft fails to obtain the positioning signal, it is determined that the camera device needs to enter the anti-flicker mode.
若飞行器10未能获取到定位信号，该飞行器10所处环境可能为室内，则判断摄像装置101需要进入所述抗闪烁模式。If the aircraft 10 fails to obtain the positioning signal, the environment in which the aircraft 10 is located may be indoors, it is determined that the camera device 101 needs to enter the anti-flicker mode.
请参阅图3C，在部分实施例中，步骤S101包括：Referring to FIG. 3C, in some embodiments, step S101 includes:
步骤S1011c：获取所述飞行器所处环境的光照亮度。Step S1011c: Obtain the illumination brightness of the environment where the aircraft is located.
步骤S1011c与图3A中步骤S1011a相同，在此不做赘述。Step S1011c is the same as step S1011a in FIG. 3A, and will not be repeated here.
步骤S1012c：判断所述光照亮度是否超过亮度阈值。Step S1012c: Determine whether the brightness of the illumination exceeds a brightness threshold.
步骤S1012c与图3A中步骤S1012a相同，在此不做赘述。Step S1012c is the same as step S1012a in FIG. 3A, and will not be repeated here.
步骤S1013c：若所述光照亮度小于或等于所述亮度阈值，则判断所述摄像装置需要进入所述抗闪烁模式。Step S1013c: If the illumination brightness is less than or equal to the brightness threshold, it is determined that the camera device needs to enter the anti-flicker mode.
步骤S1014c：若所述光照亮度大于所述亮度阈值，则判断终端设备是否能够获取定位信号，其中，所述终端设备与所述飞行器通信连接。Step S1014c: If the illumination brightness is greater than the brightness threshold, it is determined whether the terminal device can obtain the positioning signal, wherein the terminal device is in communication connection with the aircraft.
当光照亮度大于亮度阈值时，检测并判断与飞行器10无线通信连接的终端设备20能否获取到定位信号，该定位信号可以是GPS定位信号或北斗定位信号。When the illumination brightness is greater than the brightness threshold, it is detected and determined whether the terminal device 20 wirelessly connected to the aircraft 10 can obtain a positioning signal, which may be a GPS positioning signal or a Beidou positioning signal.
步骤S1015c：若所述终端设备未能获取到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。Step S1015c: If the terminal device fails to obtain the positioning signal, it is determined that the camera device needs to enter the anti-flicker mode.
若终端设备20未能获取到定位信号，则该终端设备20可能处于室内，即与该终端设备20无线通信连接的飞行器10也可能处于室内，也即判断摄像装置101需要进入抗闪烁模式。If the terminal device 20 fails to obtain the positioning signal, the terminal device 20 may be indoors, that is, the aircraft 10 wirelessly communicating with the terminal device 20 may also be indoors, that is, it is determined that the camera 101 needs to enter the anti-flicker mode.
请参阅图3D，在部分实施例中，步骤S101包括：Referring to FIG. 3D, in some embodiments, step S101 includes:
步骤S1011d：判断所述飞行器或与所述飞行器通信连接的终端设备是否 接收到定位信号。Step S1011d: Determine whether the aircraft or the terminal device communicatively connected with the aircraft receives a positioning signal.
飞行器10和与飞行器10通信连接的终端设备20设置有定位装置，定位装置可以接收到定位信号，以获取该飞行器10的位置信息，实现该飞行器10的定位。该定位装置可以GPS定位装置或北斗定位装置。The aircraft 10 and the terminal device 20 communicatively connected with the aircraft 10 are provided with a positioning device, and the positioning device can receive a positioning signal to obtain the position information of the aircraft 10 and realize the positioning of the aircraft 10. The positioning device can be a GPS positioning device or a Beidou positioning device.
步骤S1012d：若未接收到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。Step S1012d: If the positioning signal is not received, it is determined that the camera device needs to enter the anti-flicker mode.
若飞行器10和与飞行器10通信连接的终端设备20未接收到定位信号，则判断飞行器10所处环境可能为室内，即需使用交流电源供电补光，则判断摄像装置101需要进入抗闪烁模式。If the aircraft 10 and the terminal device 20 communicatively connected with the aircraft 10 do not receive the positioning signal, it is determined that the environment of the aircraft 10 may be indoors, that is, the AC power supply needs to be used to supplement the light, then it is determined that the camera device 101 needs to enter the anti-flicker mode.
若接收到定位信号，则判断飞行器10所处环境可能为室外，即可通过自然光补光，无需使用交流电源供电补光，流程结束。If the positioning signal is received, it is determined that the environment where the aircraft 10 is located may be outdoor, and the light can be supplemented by natural light without using AC power supply to supplement the light, and the process ends.
步骤S102：当所述摄像装置需要进入所述抗闪烁模式时，获取所述飞行器的当前位置信息。Step S102: When the camera device needs to enter the anti-flicker mode, acquire current position information of the aircraft.
请参阅图4A，步骤S102中，获取所述飞行器的当前位置信息，具体包括：Referring to FIG. 4A, in step S102, obtaining the current position information of the aircraft specifically includes:
步骤S1021a：判断所述飞行器是否能够接收到定位信号，其中，所述定位信号由设置于所述飞行器的定位装置接收。Step S1021a: Determine whether the aircraft can receive a positioning signal, where the positioning signal is received by a positioning device provided on the aircraft.
步骤S1022a：若所述飞行器能够接收到所述定位信号，则根据所述飞行器接收到的所述定位信号获取所述飞行器的当前位置信息。Step S1022a: If the aircraft can receive the positioning signal, obtain the current position information of the aircraft according to the positioning signal received by the aircraft.
若飞行器10检测到定位装置接收到的定位信号，根据定位信号获取飞行器10的当前位置信息。If the aircraft 10 detects the positioning signal received by the positioning device, the current position information of the aircraft 10 is obtained according to the positioning signal.
若飞行器10未检测到定位装置接收到的定位信号，则流程结束。If the aircraft 10 does not detect the positioning signal received by the positioning device, the process ends.
请参阅图4B，步骤S102中，获取所述飞行器的当前位置信息，具体包括：Referring to FIG. 4B, in step S102, acquiring the current position information of the aircraft specifically includes:
步骤S1021b：判断所述飞行器是否能够接收到定位信号，其中，所述定位信号由设置于所述飞行器的定位装置接收。Step S1021b: Determine whether the aircraft can receive a positioning signal, wherein the positioning signal is received by a positioning device provided on the aircraft.
步骤S1022b：若所述飞行器能够接收到所述定位信号，则根据所述飞行器接收到的所述定位信号获取所述飞行器的当前位置信息。Step S1022b: If the aircraft can receive the positioning signal, obtain current position information of the aircraft according to the positioning signal received by the aircraft.
步骤S1023b：若所述飞行器未能接收到定位信号，判断与所述飞行器通信连接的终端设备是否能够接收到位置信息。Step S1023b: If the aircraft fails to receive the positioning signal, determine whether the terminal device communicatively connected with the aircraft can receive the location information.
步骤S1024b：若所述终端设备能够接收到所述位置信息，则将所述终端设备的位置信息作为所述飞行器当前位置信息。Step S1024b: If the terminal device can receive the location information, use the location information of the terminal device as the current location information of the aircraft.
步骤S103：根据所述当前位置信息，获取所述当前位置信息对应的光源频率。Step S103: Acquire the light source frequency corresponding to the current position information according to the current position information.
预设光源频率与区域位置的关联关系，其中区域位置信息对应有该区域位置所处的经度和纬度信息范围。获取当前位置信息，也即获取当前位置的经度和纬度信息，根据所述获取的当前经度和纬度信息判断当前位置所对应的位置区域，并通过预设光源频率与区域位置的关联关系获取当前位置所对应的光源频率。The association relationship between the frequency of the light source and the location of the area is preset, where the location information of the area corresponds to the longitude and latitude information range of the location of the area. Obtain current location information, that is, obtain the longitude and latitude information of the current location, determine the location area corresponding to the current location according to the obtained current longitude and latitude information, and obtain the current location through the association relationship between the preset light source frequency and the area location The corresponding light source frequency.
示例性地，中国电网交流电供电的频率为50HZ，也即光源频率为50HZ。 欧洲、日本、美国、加拿大的交流电电网供电的频率为60HZ，也即光源频率为60HZ。Exemplarily, the frequency of AC power supply from the Chinese power grid is 50HZ, that is, the frequency of the light source is 50HZ. The frequency of AC power supply in Europe, Japan, the United States, and Canada is 60HZ, that is, the frequency of the light source is 60HZ.
预设将中国的光源频率预设为50HZ，欧洲、日本、美国、加拿大的光源频率为60HZ，根据GPS定位装置获取飞行器当前的位置信息，并根据当前位置信息判断飞行器当前位置信息所对应的区域。如，根据定位装置获取当前位置信息为中国广东省深圳市，即对应的区域即为中国，则对应的光源频率即为50HZ。The light source frequency in China is preset to 50HZ, and the light source frequency in Europe, Japan, the United States, and Canada is 60HZ. The current position information of the aircraft is obtained according to the GPS positioning device, and the current position information of the aircraft is determined according to the current position information. . For example, if the current location information acquired by the positioning device is Shenzhen, Guangdong Province, China, that is, the corresponding area is China, and the corresponding light source frequency is 50HZ.
步骤S104：获取所述摄像装置的视频帧率。Step S104: Obtain the video frame rate of the camera device.
飞行器10搭载的摄像装置101将要进行摄像的视频帧率可以是预设于该摄像装置101内，也即在摄像装置101开启时，该视频帧率即为一个默认值。The video frame rate to be captured by the camera device 101 on the aircraft 10 may be preset in the camera device 101, that is, when the camera device 101 is turned on, the video frame rate is a default value.
也可以是飞行器101获取视频帧率设置指令，并根据设置指令设置摄像装置101的视频帧率，所述视频帧率设置指令由用户操控终端设备20发出。终端设备20与飞行器10或摄像装置101通讯连接，用户通过终端设备20远程设置摄像装置101的视频帧率。It may also be that the aircraft 101 obtains a video frame rate setting instruction, and sets the video frame rate of the camera device 101 according to the setting instruction, and the video frame rate setting instruction is issued by the user-controlled terminal device 20. The terminal device 20 is in communication connection with the aircraft 10 or the camera 101, and the user remotely sets the video frame rate of the camera 101 through the terminal device 20.
步骤S105：根据所述光源频率和所述视频帧率，计算出与所述光源频率匹配的曝光时间。Step S105: Calculate an exposure time matching the frequency of the light source according to the frequency of the light source and the video frame rate.
按照预设的运算公式计算出与当前地区的光源频率匹配的曝光时间，所述计算公式为：t＝[2f/P]/2f。具体地，根据光源频率f获取光源能量周期T2，具体地光源频率f对应的光源周期为T1，且光源周期T1为光源频率f的倒数，即T1＝1/f。The exposure time matching the frequency of the light source in the current area is calculated according to a preset calculation formula, and the calculation formula is: t=[2f/P]/2f. Specifically, the light source energy period T2 is obtained according to the light source frequency f. Specifically, the light source period corresponding to the light source frequency f is T1, and the light source period T1 is the reciprocal of the light source frequency f, that is, T1=1/f.
由于该光源频率f为交流电的光源频率，故光源能量周期T2为光源频率周期T1的1/2，即T2＝1/2*T1，也即T2＝1/2*1/f＝1/2f。Since the light source frequency f is the light source frequency of alternating current, the light source energy period T2 is 1/2 of the light source frequency period T1, that is, T2=1/2*T1, that is, T2=1/2*1/f=1/2f .
视频帧率为P，在曝光时间t在小于等于1/P的前提下，将曝光时间t设置成在光源能量周期T2整数倍中与1/P最接近的值，从而获取对应摄像装置所在区域对应光源频率T1所匹配的曝光时间t。即，t＝N/2f，即N为N/2f小于等于1/P的最大整数值，N为正整数。也即t＝[2f/P]/2f，其中，f为光源频率，P为视频帧率，[2f/P]为对2f/P的比值取整。The video frame rate is P. Under the premise that the exposure time t is less than or equal to 1/P, set the exposure time t to the value closest to 1/P in the integer multiples of the light source energy period T2 to obtain the corresponding camera area Corresponds to the exposure time t matched by the light source frequency T1. That is, t=N/2f, that is, N is the largest integer value that N/2f is less than or equal to 1/P, and N is a positive integer. That is, t=[2f/P]/2f, where f is the frequency of the light source, P is the video frame rate, and [2f/P] is the ratio of 2f/P rounded.
示例性地，获取飞行器10当前位置对应的区域位置的对应光源频率为50HZ，视频帧率为30帧/s，其对应的曝光时间t＝[2f/P]/2f＝[2*50/30]/100＝3/100即t＝3/100，即获取的曝光时间t即为匹配的曝光时间。Exemplarily, the frequency of the corresponding light source to obtain the area position corresponding to the current position of the aircraft 10 is 50HZ, the video frame rate is 30 frames/s, and the corresponding exposure time t=[2f/P]/2f=[2*50/30 ]/100=3/100, that is, t=3/100, that is, the acquired exposure time t is the matched exposure time.
步骤S106：将所述摄像装置的当前曝光时间更新为所述与所述光源频率匹配的曝光时间。Step S106: Update the current exposure time of the camera device to the exposure time that matches the frequency of the light source.
控制摄像装置101将当前曝光时间更新为与当前光源频率匹配的曝光时间t，并使摄像装置101使用该匹配的曝光时间t进行自动曝光，也即进行AE曝光，获取图像信息。其中，自动曝光(AE，Automatic Exposure)是相机根据光线的强弱自动调整曝光量，防止曝光过度或者不足。The camera device 101 is controlled to update the current exposure time to an exposure time t that matches the frequency of the current light source, and the camera device 101 uses the matched exposure time t to perform automatic exposure, that is, perform AE exposure to obtain image information. Among them, automatic exposure (AE, Automatic Exposure) is that the camera automatically adjusts the exposure according to the intensity of the light to prevent over or under exposure.
请再参阅图5，部分实施例中，飞行器10还设置有存储器104以及处理 器103，其中处理器103为飞行器10的控制中心，利用各种接口和线路连接整个所述飞行器10的各个部分，通过运行或执行存储在所述存储器104内的程序和/或单元，调用存储在所述存储器104内的数据，以执行所述终端设备的各种功能和处理数据。Please refer to FIG. 5 again. In some embodiments, the aircraft 10 is also provided with a memory 104 and a processor 103, where the processor 103 is the control center of the aircraft 10, which connects various parts of the aircraft 10 through various interfaces and lines. By running or executing the programs and/or units stored in the memory 104, the data stored in the memory 104 is called to execute various functions of the terminal device and process data.
所述处理器103可以由集成电路(Integrated Circuit，简称IC)组成，例如可以由单颗封装的IC所组成，也可以由连接多颗相同功能或不同功能的封装IC而组成。举例来说，处理器103可以仅包括中央处理器，也可以是CPU、数字信号处理器(Digital Signal Processor，简称DSP)、GPU及各种控制芯片的组合。The processor 103 may be composed of an integrated circuit (Integrated Circuit, IC for short), for example, may be composed of a single packaged IC, or may be composed of connecting multiple packaged ICs with the same function or different functions. For example, the processor 103 may only include a central processing unit, or a combination of a CPU, a digital signal processor (Digital Signal Processor, DSP for short), a GPU, and various control chips.
存储器104包括以下至少一种：随机存取存贮器、非易失性存储器外部存储器，所述存储器104可用于存储计算机可执行程序，所述处理器103通过调用存储在所述存储器104中的计算机可执行程序，从而执行上述任意一种显示方法。存储器104主要包括程序存储区和数据存储区，其中，程序存储区可存储操作***、至少一个功能所需的应用程序等；数据存储区可存储根据终端的使用所创建的数据等。The memory 104 includes at least one of the following: random access memory, non-volatile memory, and external memory. The memory 104 can be used to store a computer executable program. The processor 103 calls the The computer can execute the program to execute any of the above-mentioned display methods. The memory 104 mainly includes a program storage area and a data storage area. The program storage area can store an operating system, an application program required by at least one function, etc.; the data storage area can store data created according to the use of the terminal, etc.
上述实施方式仅为本发明的优选实施方式，不能以此来限定本发明保护的范围，本领域的技术人员在本发明的基础上所做的任何非实质性的变化及替换均属于本发明所要求保护的范围。The foregoing embodiments are only preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention belong to the present invention. The scope of protection required.

Claims (11)

  1. 一种飞行器的拍摄控制方法，所述飞行器设置有摄像装置，所述摄像装置摄像有抗闪烁模式，其特征在于，所述拍摄控制方法包括：A shooting control method for an aircraft, the aircraft is provided with a camera device, and the camera device has an anti-flicker mode for shooting, and is characterized in that the shooting control method includes:
    判断所述摄像装置是否需要进入抗闪烁模式；Determining whether the camera device needs to enter an anti-flicker mode;
    当所述摄像装置需要进入所述抗闪烁模式时，获取所述飞行器的当前位置信息；When the camera device needs to enter the anti-flicker mode, acquiring current position information of the aircraft;
    根据所述当前位置信息，获取所述当前位置信息对应的光源频率；Obtaining the light source frequency corresponding to the current position information according to the current position information;
    获取所述摄像装置的视频帧率；Acquiring the video frame rate of the camera device;
    根据所述光源频率和所述视频帧率，计算出与所述光源频率匹配的曝光时间；Calculating an exposure time matching the frequency of the light source according to the frequency of the light source and the video frame rate;
    将所述摄像装置的当前曝光时间更新为所述与所述光源频率匹配的曝光时间。The current exposure time of the camera device is updated to the exposure time matching the frequency of the light source.
  2. 如权利要求1所述的拍摄控制方法，其特征在于，所述判断所述摄像装置是否需要进入抗闪烁模式，包括：5. The shooting control method according to claim 1, wherein said determining whether the camera device needs to enter an anti-flicker mode comprises:
    获取所述飞行器所处环境的光照亮度；Acquiring the illumination brightness of the environment where the aircraft is located;
    判断所述光照亮度是否超过亮度阈值；Determine whether the illumination brightness exceeds a brightness threshold;
    若所述光照亮度小于或等于所述亮度阈值，则判断所述摄像装置需要进入所述抗闪烁模式。If the illumination brightness is less than or equal to the brightness threshold, it is determined that the imaging device needs to enter the anti-flicker mode.
  3. 如权利要求2所述的拍摄控制方法，其特征在于，所述方法还包括：3. The shooting control method of claim 2, wherein the method further comprises:
    若所述光照亮度大于亮度阈值，则判断所述飞行器是否能够获取定位信号；If the illumination brightness is greater than the brightness threshold, determining whether the aircraft can obtain a positioning signal;
    若所述飞行器未能获取到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。If the aircraft fails to obtain the positioning signal, it is determined that the camera device needs to enter the anti-flicker mode.
  4. 如权利要求2所述的拍摄控制方法，其特征在于，所述方法还包括：3. The shooting control method of claim 2, wherein the method further comprises:
    若所述光照亮度大于所述亮度阈值，则判断终端设备是否能够获取定位信号，其中，所述终端设备与所述飞行器通信连接；If the illumination brightness is greater than the brightness threshold, determining whether a terminal device can obtain a positioning signal, wherein the terminal device is in communication connection with the aircraft;
    若所述终端设备未能获取到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。If the terminal device fails to obtain the positioning signal, it is determined that the camera device needs to enter the anti-flicker mode.
  5. 如权利要求1所述的拍摄控制方法，其特征在于，所述判断所述摄像装置是否需要进入抗闪烁模式，包括：5. The shooting control method according to claim 1, wherein said determining whether the camera device needs to enter an anti-flicker mode comprises:
    判断所述飞行器或与所述飞行器通信连接的终端设备是否接收到定位信号；Determine whether the aircraft or a terminal device communicatively connected with the aircraft receives a positioning signal;
    若未接收到所述定位信号，则判断所述摄像装置需要进入所述抗闪烁模式。If the positioning signal is not received, it is determined that the camera device needs to enter the anti-flicker mode.
  6. 如权利要求1所述的拍摄控制方法，其特征在于，所述当所述摄像装置需要进入所述抗闪烁模式时，获取所述飞行器的当前位置信息，包括：The shooting control method according to claim 1, wherein said acquiring the current position information of the aircraft when the camera device needs to enter the anti-flicker mode comprises:
    判断所述飞行器是否能够接收到定位信号；Determine whether the aircraft can receive positioning signals;
    若所述飞行器能够接收到所述定位信号，则根据所述飞行器接收到的所述定位信号获取所述飞行器的当前位置信息。If the aircraft can receive the positioning signal, acquiring the current position information of the aircraft according to the positioning signal received by the aircraft.
  7. 如权利要求6所述的拍摄控制方法，其特征在于，所述方法还包括：7. The shooting control method of claim 6, wherein the method further comprises:
    若所述飞行器未能接收到定位信号，判断与所述飞行器通信连接的终端设备是否能够接收到位置信息；If the aircraft fails to receive the positioning signal, determine whether the terminal device communicatively connected with the aircraft can receive the location information;
    若所述终端设备能够接收到所述位置信息，则将所述终端设备的位置信息作为所述飞行器当前位置信息。If the terminal device can receive the location information, the location information of the terminal device is used as the current location information of the aircraft.
  8. 如权利要求1-7中任意一项所述的拍摄控制方法，其特征在于，所述获取摄像装置的视频帧率，具体包括：7. The shooting control method according to any one of claims 1-7, wherein said obtaining the video frame rate of the camera device specifically comprises:
    获取终端设备发送的视频帧率设置指令；Obtain the video frame rate setting instruction sent by the terminal device;
    根据所述设置指令设置摄像装置的视频帧率。The video frame rate of the camera device is set according to the setting instruction.
  9. 如权利要求1-7中任意一项所述的拍摄控制方法，其特征在于，所述根据所述光源频率和所述视频帧率，计算出与所述光源频率匹配的曝光时间，具体包括：7. The shooting control method according to any one of claims 1-7, wherein the calculating an exposure time matching the frequency of the light source according to the frequency of the light source and the video frame rate specifically comprises:
    所述与所述光源频率匹配的曝光时间t满足：t小于等于1/P，且t等于光源能量周期T的整数倍中与1/P最接近的值，其中，T＝1/2f，P为视频帧率，f为光源频率。The exposure time t matched with the frequency of the light source satisfies: t is less than or equal to 1/P, and t is equal to the value closest to 1/P in an integer multiple of the light source energy period T, where T=1/2f, P Is the video frame rate and f is the frequency of the light source.
  10. 一种飞行器，所述飞行器设置有摄像装置，其特征在于，所述飞行器包括：An aircraft provided with a camera device, characterized in that the aircraft includes:
    存储器，用于存储计算机可执行程序；以及Memory for storing computer executable programs; and
    处理器，用于调用所述计算机可执行程序以执行如权利要求1～9任意一项所述的拍摄控制方法。The processor is configured to call the computer executable program to execute the shooting control method according to any one of claims 1-9.
  11. 一种飞行***，包括设置有摄像装置的飞行器以及与所述飞行器通信连接的终端设备，其特征在于，所述飞行器还包括：A flight system includes an aircraft provided with a camera device and a terminal device communicatively connected with the aircraft, characterized in that the aircraft further includes:
    存储器，用于存储计算机可执行程序；以及Memory for storing computer executable programs; and
    处理器，用于调用所述计算机可执行程序以执行如权利要求1～9任意一项所述的拍摄控制方法。The processor is configured to call the computer executable program to execute the shooting control method according to any one of claims 1-9.
PCT/CN2020/084959 2019-04-16 2020-04-15 Photographing control method for aircraft, and aircraft and flight system WO2020211785A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910304914.X 2019-04-16
CN201910304914.XA CN110035234A (en) 2019-04-16 2019-04-16 A kind of filming control method of aircraft, aircraft and flight system

Publications (1)

Publication Number Publication Date
WO2020211785A1 true WO2020211785A1 (en) 2020-10-22

Family

ID=67238594

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/084959 WO2020211785A1 (en) 2019-04-16 2020-04-15 Photographing control method for aircraft, and aircraft and flight system

Country Status (2)

Country Link
CN (1) CN110035234A (en)
WO (1) WO2020211785A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110035234A (en) * 2019-04-16 2019-07-19 深圳市道通智能航空技术有限公司 A kind of filming control method of aircraft, aircraft and flight system
CN110784658B (en) * 2019-10-31 2021-12-07 Oppo广东移动通信有限公司 Exposure control method, device, storage medium and terminal equipment
CN113163128B (en) * 2021-05-08 2023-09-12 维沃移动通信（杭州）有限公司 Image exposure method and electronic device
CN115529409B (en) * 2021-06-24 2024-07-12 荣耀终端有限公司 Shooting method and related device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1577040A (en) * 2003-07-08 2005-02-09 索尼株式会社 Imaging apparatus and flicker reduction method
CN104079826A (en) * 2014-06-27 2014-10-01 广东欧珀移动通信有限公司 Method and device for eliminating flicker of intelligent camera shooting device
CN105657288A (en) * 2015-10-28 2016-06-08 乐视移动智能信息技术（北京）有限公司 Camera shooting exposure processing method and terminal
JP2017069741A (en) * 2015-09-30 2017-04-06 カシオ計算機株式会社 Imaging apparatus, flicker detection method and program
CN108184073A (en) * 2018-01-03 2018-06-19 上海传英信息技术有限公司 Image processing apparatus, system, electronic equipment and image processing method
CN110035234A (en) * 2019-04-16 2019-07-19 深圳市道通智能航空技术有限公司 A kind of filming control method of aircraft, aircraft and flight system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4259998B2 (en) * 2003-12-19 2009-04-30 三洋電機株式会社 Flicker detection device and imaging device
CN101247608B (en) * 2008-03-10 2011-12-07 华为终端有限公司 Method and device for self-adaptive adjusting camera parameter of terminal unit
CN105847705A (en) * 2016-04-07 2016-08-10 广东欧珀移动通信有限公司 Method and device for adjusting camera exposure time
CN109247067B (en) * 2016-06-08 2021-02-12 华为技术有限公司 Image processing apparatus and image processing method
CN108476289B (en) * 2017-07-31 2021-02-02 深圳市大疆创新科技有限公司 Video processing method, device, aircraft and system
CN109274984B (en) * 2018-10-16 2021-07-16 深圳开阳电子股份有限公司 Method and device for detecting light source flicker in video sequence and image processing equipment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1577040A (en) * 2003-07-08 2005-02-09 索尼株式会社 Imaging apparatus and flicker reduction method
CN104079826A (en) * 2014-06-27 2014-10-01 广东欧珀移动通信有限公司 Method and device for eliminating flicker of intelligent camera shooting device
JP2017069741A (en) * 2015-09-30 2017-04-06 カシオ計算機株式会社 Imaging apparatus, flicker detection method and program
CN105657288A (en) * 2015-10-28 2016-06-08 乐视移动智能信息技术（北京）有限公司 Camera shooting exposure processing method and terminal
CN108184073A (en) * 2018-01-03 2018-06-19 上海传英信息技术有限公司 Image processing apparatus, system, electronic equipment and image processing method
CN110035234A (en) * 2019-04-16 2019-07-19 深圳市道通智能航空技术有限公司 A kind of filming control method of aircraft, aircraft and flight system

Also Published As

Publication number Publication date
CN110035234A (en) 2019-07-19

Similar Documents

Publication Publication Date Title
WO2020211785A1 (en) Photographing control method for aircraft, and aircraft and flight system
US9357136B2 (en) Using inertial sensors to provide smoothed exposure and white balance adjustments for video and photographic applications
US10771713B2 (en) Imaging control device, imaging control method, and program
CN105208281B (en) A kind of night scene image pickup method and device
US20140071338A1 (en) Method and apparatus for controlling flash
JP2013123223A (en) System and method for controlling luminance of display panel of electronic apparatus
WO2016131329A1 (en) Photography method and device
US10469723B2 (en) Photography lighting control
CN109587407A (en) Exposure amount adjustment method, device and the computer equipment of image taking
CN102472950B (en) Image pickup apparatus and mobile phone equipped therewith
CN104660766B (en) The backlight adjusting method and device of a kind of mobile terminal
US20190116307A1 (en) Photography Environment Control
CN103488026A (en) Method and system for regulating luminance of camera fill flash
CN103051804A (en) Intelligent photo taking method and system of mobile terminal
CN114554105A (en) Method and device for controlling light supplement lamp, camera and storage medium
US20230269844A1 (en) Intelligent lighting control system
CN104902180A (en) Mobile terminal camera parameter adjusting method and mobile terminal
CN104394329B (en) A kind of photographic method, device and mobile terminal
CN107420826B (en) Lighting system with monitoring alarm function
US10277817B2 (en) Information processing apparatus and information processing method
US11082629B2 (en) Image processing device and image processing method for adjusting color of an image
CN203827421U (en) Photographic image display system
JP2010178015A (en) Imaging system, imaging method, and imaging apparatus
WO2021195861A1 (en) Anti-flickering method and apparatus, system and computer-readable storage medium
JP2012032709A (en) Photographing processor, photographing device and photographing control method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20791985

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20791985

Country of ref document: EP

Kind code of ref document: A1