WO2021031159A1 - 比赛拍摄方法、电子设备、无人机与存储介质 - Google Patents
比赛拍摄方法、电子设备、无人机与存储介质 Download PDFInfo
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- WO2021031159A1 WO2021031159A1 PCT/CN2019/101818 CN2019101818W WO2021031159A1 WO 2021031159 A1 WO2021031159 A1 WO 2021031159A1 CN 2019101818 W CN2019101818 W CN 2019101818W WO 2021031159 A1 WO2021031159 A1 WO 2021031159A1
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- competition area
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- 238000005192 partition Methods 0.000 claims description 28
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Definitions
- the embodiments of the present invention relate to the technical field of drone shooting, and in particular, to a game shooting method, electronic equipment, drone, and storage medium.
- the embodiment of the present invention provides a game shooting method, electronic equipment, drone, and storage medium.
- an embodiment of the present application provides a game shooting method, which is applied to a drone equipped with a camera and a pan-tilt, including:
- controlling the camera to generate a fixed focus frame suitable for the number of the target objects According to the number of the target objects, controlling the camera to generate a fixed focus frame suitable for the number of the target objects;
- the parameters of at least one of the drone, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.
- an embodiment of the present application provides an electronic device, which is applied to a drone equipped with a camera and a pan/tilt, including:
- Memory used to store computer programs
- the processor is configured to execute the computer program, specifically:
- controlling the camera to generate a fixed focus frame suitable for the number of the target objects According to the number of the target objects, controlling the camera to generate a fixed focus frame suitable for the number of the target objects;
- the parameters of at least one of the drone, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.
- embodiments of the present application provide a drone, including a fuselage, a power supply battery, a power system, a camera, a pan/tilt, and a processor provided on the fuselage;
- the power supply battery can be the power system Power supply, the power system provides power for the drone;
- the processor is configured to obtain a preset competition area and a target; according to the number of the target, control the camera to generate a fixed focus frame suitable for the number of the target; and when detected When the target is located in the competition area, the parameters of at least one of the power system, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.
- an embodiment of the present application provides a computer storage medium in which a computer program is stored, and the computer program implements the game shooting method as described in the first aspect when executed.
- the game shooting method, electronic equipment, drone, and storage medium provided by the embodiments of this application obtain preset game areas and targets, and control the camera to generate a camera corresponding to the number of targets according to the number of targets. Fix the focus frame, and when it is detected that the target is located in the competition area, adjust the parameters of at least one of the drone, camera and pan/tilt so that the target is located in the fixed focus frame of the camera. That is, in the embodiment of the present application, when tracking and shooting a target in the competition area, there is no need to set up a camera in or around the competition area. Instead, a fixed focus frame suitable for the number of targets is first generated according to the number of targets.
- the tracking and shooting cost of the target is low and flexible It has high performance and can capture the target in time, which improves the efficiency of tracking and shooting the target in the competition area.
- FIG. 1 is a schematic structural diagram of a movable platform involved in an embodiment of the present application
- FIG. 2 is a schematic architecture diagram of an unmanned aerial vehicle system related to an embodiment of the present application
- FIG. 3 is a flowchart of a competition shooting method provided by an embodiment of the application.
- FIG. 4a is a schematic diagram of a target involved in an embodiment of this application.
- FIG. 4b is another schematic diagram of a target involved in an embodiment of the application.
- FIG. 5 is a flowchart of a method for shooting a game according to an embodiment of the application.
- Figure 6a is a top view of a competition area involved in an embodiment of the application.
- Figure 6b is a side view of the competition area shown in Figure 6a;
- FIG. 7 is a flowchart of a competition shooting method provided by an embodiment of the application.
- FIG. 8 is a flowchart of a game shooting method provided by an embodiment of the application.
- FIG. 9 is a flowchart of a game shooting method provided by an embodiment of the application.
- FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the application.
- FIG. 11 is a schematic structural diagram of a drone provided by an embodiment of the application.
- FIG. 12 is a schematic structural diagram of a drone provided by an embodiment of the application.
- FIG. 1 is a schematic architecture diagram of a movable platform involved in an embodiment of the present application.
- the movable platform 100 includes a mobile body 101, a pan-tilt 120 arranged on the mobile body, and a camera 123 arranged on the pan-tilt 120 .
- the mobile body 101 can move in any posture in space, such as horizontal movement and movement, vertical movement and rotation movement.
- the pan/tilt head can rotate in the horizontal direction (that is, in the XY plane), as well as in the vertical direction.
- the above-mentioned movable platform 100 may be an unmanned aerial system, and the corresponding above-mentioned mobile body 101 may be a drone 110.
- the UAV may be a multi-rotor, fixed-wing and other types of UAVs.
- the multi-rotor UAV may include four-rotor, six-rotor, octo-rotor, and other UAVs including other numbers of rotors.
- a rotary wing drone is taken as an example for description.
- the unmanned flying system 100 may include a drone 110, a display device 130, and a control terminal 140.
- the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame.
- the drone 110 can wirelessly communicate with the control terminal 140 and the display device 130.
- the drone 110 includes a frame, and the frame may include a fuselage and a tripod (also called a landing gear).
- the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
- the tripod is connected with the fuselage, and is used for supporting the UAV 110 when landing.
- the power system 150 may include one or more electronic speed regulators (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152.
- the motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom of movement.
- the drone 110 may rotate about one or more rotation axes.
- the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
- the motor 152 may be a DC motor or an AC motor.
- the motor 152 may be a brushless motor or a brushed motor.
- the flight control system 160 may include a flight controller 161 and a sensing system 162.
- the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
- the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
- the global navigation satellite system may be a global positioning system (Global Positioning System, GPS).
- the flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.
- the pan/tilt head 120 may include a motor 122.
- the pan/tilt is used to carry the camera 123.
- the flight controller 161 can control the movement of the pan-tilt 120 through the motor 122.
- the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122.
- the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110.
- the motor 122 may be a DC motor or an AC motor.
- the motor 122 may be a brushless motor or a brushed motor.
- the pan-tilt may be located on the top of the drone or on the bottom of the drone.
- the camera 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the camera 123 may communicate with the flight controller 161 and take pictures under the control of the flight controller 161.
- the camera 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed on the drone 110, so the pan-tilt 120 can be omitted.
- CMOS Complementary Metal Oxide Semiconductor
- CCD Charge-coupled Device
- the display device 130 is located at the ground end of the unmanned aerial system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110.
- the image taken by the imaging device may also be displayed on the display device 130.
- the display device 130 may be an independent device or integrated in the control terminal 140.
- the control terminal 140 is located on the ground end of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.
- FIG. 3 is a flowchart of a game shooting method provided by an embodiment of the application.
- the control method of the embodiment of the application may include:
- the execution subject of the method of this application is an unmanned aerial vehicle, which may be an exemplary flight controller in the unmanned aerial vehicle shown in FIG.
- the competition area is the tracking range of the drone, that is, the drone tracks and photographs the target in the competition area, and the target is located in the fixed focus frame of the camera.
- the competition area may be a specific area within the competition venue, for example, including the competition area and the peripheral expansion area of the competition area.
- the size of the periodical expansion area is set according to actual needs.
- the peripheral expansion area is a periodical extension of 10 meters to the playing field area, so that the playing field area and the playing field area extending 10 meters outward constitute the playing area.
- the embodiment of the application does not limit the way the drone can obtain the competition area.
- the drone can obtain the competition area through image processing. For example, the drone controls the camera to take a picture of the competition area. Then, the user specifies the size of the competition area on the captured competition area picture, for example, the user Carry out a frame selection on the pictures of the shooting venue, and set the area in the selection frame as the competition area.
- the drone can obtain the competition area through the information input by the user. For example, the user inputs the size and boundary of the competition area to the drone, and the drone is based on the size and boundary of the competition area input by the user. Wait for information to get the game area.
- the competition area includes one or more of ball competition area, shooting competition area, track and field competition area, water competition area, and ice and snow competition area.
- the targets involved in this implementation are those tracked by drones.
- the target in the embodiment of the present application includes one or more targets.
- the ball is used as a target, or, as shown in Figure 4b, six players and one ball are both used as the target.
- the target object is basketball, football, rugby, etc.
- the target is one or more athletes.
- the target is one or more referees.
- the setting of the number and types of targets is determined according to actual needs, which is not limited in the embodiments of the present application.
- the fixed focus frame is a field of view frame with a constant focal length, and its field of view range remains unchanged accordingly.
- the camera is controlled to generate a fixed focus frame.
- the size of the fixed focus frame is adapted to the number of targets, even if the target is within the fixed focus frame, so the camera You can track and shoot the target in the fixed focus frame.
- the focal length of the camera is adjusted to generate a first fixed focus frame, so that the one target is located in the first fixed focus frame. Within a certain focal frame.
- the focal length of the camera is adjusted to generate a second fixed focus frame.
- the size of the second fixed focus frame is adapted to the size and number of the target object.
- the shooting range of the second fixed focus frame is larger than the shooting range of the first fixed focus frame.
- adjusting the focal length of the camera to generate a second fixed focus frame may specifically include step A:
- Step A When the number of the target objects is multiple, the focal length of the camera is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of target objects and the focal length value.
- the embodiment of the application presets the focal length values corresponding to different numbers of targets, for example, as shown in Table 1:
- the corresponding focal length value is A1
- the corresponding focal length value is A2
- the corresponding focal length value is A2
- the corresponding focal length value is An.
- controlling the camera to generate a fixed focus frame suitable for the number of targets may include:
- the user inputs a target switching instruction to the drone.
- the drone receives the target switching instruction, it determines the number of targets after switching. For example, the target switching instruction adds 2 targets, so that the drone can be based on the number of targets and the target before switching Switch command, confirm that there are 5 targets after switching.
- control The camera adjusts the focal length to generate a fixed-focus frame suitable for the number of targets (for example, 5) after switching.
- S103 When it is detected that the target is located in the competition area, adjust the parameters of at least one of the drone, the camera, and the pan/tilt so that the target is located in the fixed focus frame of the camera.
- the drone when the target is detected in the competition area, the drone adjusts the parameters of at least one of the drone, the camera, and the pan/tilt so that the target is located in the fixed focus frame of the camera. Realize tracking and shooting of targets in the competition area.
- the fixed focus frame of the camera is always located in the competition area, which can prevent the drone from tracking and shooting non-target objects outside the competition area. , Causing a waste of resources.
- the parameters of at least one of the drone, camera, and pan/tilt are adjusted so that the largest number of targets are located in the fixed focus frame. For example, as shown in Figure 4b, when the target includes 6 players and a ball, if all the targets cannot be located in the fixed focus frame, adjust the parameters of at least one of the drone, camera, and pan/tilt to make as many as possible The target is located in the fixed focus frame to achieve tracking and shooting of as many targets as possible.
- the parameters of the drone are adjusted in S103 so that the target is located in the fixed focus frame of the camera, which may specifically include step B:
- Step B Adjust the parameters of the drone so that the drone and the target are in a preset angle range.
- the parameters of the drone are adjusted so that the angle ⁇ between the drone and the target is within a preset angle range, thereby ensuring that the target is within the fixed focus frame of the camera.
- the aforementioned preset angle range may be the pitch angle range of the drone, that is, the angle between the drone and the target is within the pitch angle range of the drone, so that the target can be guaranteed to be positioned at the camera's pitch.
- the drone In the focal frame, the drone can track and shoot the target.
- the composition when there are multiple targets, the composition may be performed according to the distribution of the targets.
- the drone in the embodiment of the present application may also broadcast the shooting picture through the communication interface.
- the camera is controlled to generate a fixed focus frame suitable for the number of the target, and when the target is detected
- adjust the parameters of at least one of the drone, camera and pan/tilt so that the target is located in the fixed focus frame of the camera. That is, in the embodiment of the present application, when tracking and shooting a target in the competition area, there is no need to set up a camera in or around the competition area. Instead, a fixed focus frame suitable for the number of targets is first generated according to the number of targets.
- the tracking and shooting cost of the target is low and flexible It is high and can capture the target in time, which improves the efficiency of tracking and shooting the target in the competition area.
- the drone is equipped with a gimbal, and the gimbal is equipped with a camera.
- adjusting the parameters of at least one of the drone, camera, and pan/tilt in S103 includes:
- Step C Adjust at least one of the flight parameters of the drone, the movement parameters of the pan/tilt, and the shooting parameters of the camera.
- the flight parameters of the drone include at least one of the following: the movement direction of the drone and/or the attitude of the drone.
- the movement direction of the drone includes the horizontal direction and the vertical direction.
- the flight controller 161 adjusts the flight parameters of the UAV by controlling the power system 150.
- the power system 150 may include one or more electronic governors (referred to as ESCs) 151, One or more propellers 153 and one or more motors 152 corresponding to the one or more propellers 153.
- the electronic governor 151 is used to receive a driving signal generated by the flight controller 161 and provide a driving current to the motor according to the driving signal 152 to control the speed of the motor 152.
- the motor 152 is used to drive the propeller to rotate so as to provide power for the flight of the drone, and the power enables the drone to achieve one or more degrees of freedom of movement.
- the movement parameters of the pan/tilt include at least one of the following: horizontal movement parameters of the pan/tilt, vertical pitch parameters, and rotation angular velocity of the pan/tilt.
- the pan-tilt 120 may include a motor 122.
- the flight controller 161 can control the movement of the pan-tilt 120 through the motor 122.
- the pan/tilt head 120 may rotate around one or more rotation axes, and the rotation axes may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
- the shooting parameters of the camera include at least one of the following: the field of view, aperture, exposure time, sensitivity, and illuminance of the camera.
- the field of view that is, the field of view
- the horizontal field of view is often used to reflect the shooting range of the picture.
- the smaller the field of view the smaller the picture range formed on the photosensitive element.
- the larger the aperture is, the greater the luminous flux through the lens, the higher the sharpness of the image, the smaller the aperture, the smaller the luminous flux through the lens, and the lower the clarity of the image.
- the exposure time is the time required for the shutter to open in order to project light onto the photosensitive surface of the photosensitive material. Long exposure time will bring in more light, which is suitable for poor light conditions.
- Sensitivity is a measure of the sensitivity of the film to light. It is determined by sensitivity measurement and measurement of several values. For the less sensitive film, the exposure time is longer to achieve the same imaging as the more sensitive film. Therefore, it is usually Known as slow film. Highly sensitive negatives are therefore called fast negatives.
- Illuminance is a unit for measuring the sensitivity of the camera, expressed in lux, it is also the camera that can capture images under darker lighting conditions. The lower the value of Lux, it means that the camera can capture clear images under lower lighting conditions.
- At least one of the flight parameters of the drone, the movement parameters of the gimbal, and the shooting parameters of the camera can be adjusted so that the target is located in the fixed focus frame of the camera, thereby enabling the drone to be able to Track and shoot the preset target in the competition area.
- the movement parameters of the pan/tilt may be adjusted preferentially. If the movement parameters of the pan/tilt cannot be adjusted and the target object cannot be located in the fixed focus frame of the camera, then adjust the movement parameters of the camera. Camera parameters. If the target object cannot be located in the fixed focus frame of the camera after adjusting the camera parameters, adjust the flight parameters of the drone.
- two or three of the flight parameters of the drone, the movement parameters of the gimbal, and the shooting parameters of the camera can be adjusted at the same time, so that the target is located on the camera. Within the fixed focus frame.
- adjusting the flight parameters of the drone in step C may include:
- Step C Adjust the movement parameters of the UAV in the first horizontal direction or the movement parameters in the second horizontal direction.
- Fig. 6a is a top view of a competition area related to an embodiment of the application
- Fig. 6b is a side view of the competition area shown in Fig. 6a.
- the competition area is square, assuming that the competition area is rectangular
- the first horizontal direction is the direction of the long side of the competition area, that is, the x-axis direction in Figure 6a
- the second horizontal direction is the competition The direction in which the short side of the area is located, that is, the y-axis direction in Figure 6a and Figure 6b.
- the first horizontal direction and the second horizontal direction respectively correspond to two adjacent sides of the competition area.
- the movement parameters of the drone in the first horizontal direction can be adjusted to make the drone move left and right along the first horizontal direction, thereby making it move along the first horizontal direction or its movement component along the
- the target moving in the first horizontal direction is located in the fixed focus frame of the camera, so that tracking of the shooting target in the first horizontal direction is achieved.
- the horizontal viewing angle of the drone changes along the first horizontal direction, so that the target moving along the first horizontal direction can be located on the camera In the fixed focus frame, the UAV can track and shoot the target in the first horizontal direction.
- the movement parameters of the drone in the second horizontal direction can also be adjusted to make the drone move along the second horizontal direction, so that the drone moves along the second horizontal direction or its movement component
- the target moving in the second horizontal direction is located in the fixed focus frame of the camera, so that tracking of the shooting target in the second horizontal direction is achieved.
- the pitch range of the drone changes along the second horizontal direction, so that the target moving along the second horizontal direction can be located at the camera Within the fixed focus frame, the UAV can track and shoot the target in the second horizontal direction.
- the target has motion components in the first horizontal direction and the second horizontal direction
- the drone can automatically according to the proportional relationship between the first horizontal direction motion component and the second horizontal direction motion component, To decide the direction of movement of the drone.
- the moving speed of the drone along the first horizontal direction or the second horizontal direction can be determined according to the moving speed of the target and the flying speed of the drone. For example, when the target is moving slowly, the drone can be controlled to reduce the flying speed, and when the target is moving fast, the drone can be controlled to increase the flying speed so that the target is located in the fixed focus frame of the camera to achieve timely tracking of the target.
- the drone in order to capture the event in real time, may not be limited to the first horizontal direction and the second horizontal direction, and its movement in the horizontal direction is the same as the movement of the target in the horizontal direction. Keep the direction the same.
- the target object is positioned in the fixed focus frame of the camera. It realizes real-time tracking and shooting of the target in the competition area.
- the tracking and shooting of the target has low cost, high flexibility and convenience, and it can capture the target in time, which improves the efficiency of tracking and shooting the target in the competition area. .
- the UAV is limited to move within a preset flight range.
- the method of the embodiment of the present application further includes:
- S201 Acquire the flying range of the drone according to the location information of the competition area and the attribute information of the drone.
- the attributes of the drone involved in the embodiment of the present application include at least one of the following: an offset angle of the drone, a rotation range of each axis of the pan/tilt, and a zoom range of the camera.
- the drone first obtains the location information of the competition area before acquiring the flying range of the drone according to the location information of the competition area and the attribute information of the drone.
- the drone can obtain the position information of the competition area through two methods: automatic generation and user input.
- the automatic generation method includes the following method 1 and method 2
- the user input method includes the following method 3.
- Method one includes the following steps D1 to D3:
- Step D1 Control the drone to collect image information of the area to be divided.
- the area to be divided includes the aforementioned competition area, for example, the area to be divided is a competition venue (such as a stadium), and the competition area is a competition area (such as a stadium) in the competition venue.
- adjust the parameters of the drone for example, adjust the flying height of the drone to increase the field of view of the drone, so that the drone can collect image information of the entire area to be divided.
- Step D2 Obtain location information of the area to be divided according to the image information of the area to be divided; wherein the location information of the area to be divided includes the boundary position information of the area to be divided.
- the position information of the area to be divided includes the position information of the boundary of the area to be divided, wherein the boundary of the area to be divided includes corner points and/or edges of the area to be divided.
- Step D3 Divide the to-be-divided area to generate the competition area, and obtain the position information of the competition area according to the position information of the to-be-divided area.
- the competition area is a part of the area to be divided, so that a part of the content can be divided from the area to be divided as the competition area.
- the competition area is set to include the arena area and the area that is expanded by 10 meters, the drone According to the above setting, the competition area is divided from the area to be divided and the area expanded by 10 meters outward as the competition area.
- it can be divided automatically by the system, such as directly identifying the boundary line of the stadium for division; optionally, the above settings can be the setting parameters input by the user, or the user can frame the image information of the area to be divided. The result of the election.
- the position information of the competition area can be obtained according to the position information of the area to be divided. For example, according to the position information of the area to be divided and the position of the competition area in the area to be divided, the position information of the competition area is obtained.
- Method two includes the following steps E1 to E3:
- Step E1 Control the drone to collect image information of multiple partitions in the area to be divided.
- the UAV can only collect image information of one subarea of the area to be divided at a time, so that the UAV can be controlled to perform multiple collections.
- the UAV can be controlled to fly around the area to be divided for one week, so that no one The machine collects image information of multiple partitions in the area to be divided.
- Step E2 Acquire location information of the multiple partitions according to the image information of the multiple partitions.
- the location information of each partition in the area to be divided can be obtained.
- Step E3 Obtain the location information of the area to be divided according to the location information of the multiple partitions.
- the multiple partitions are pieced together to obtain the pieced together location information of the area to be divided.
- Step E4 Divide the to-be-divided area to generate the competition area, and obtain the position information of the competition area according to the position information of the to-be-divided area.
- the above two methods are both the drone automatically generating the position information of the competition area based on image processing.
- the following describes the method of obtaining the position information of the competition area by user input.
- Method three including step F1 and step F2:
- Step F1 Receive boundary information input by the user.
- the aforementioned boundary information includes: corner point information of the game area and/or sideline information of the game area.
- the boundary information input by the user includes two corner points on the diagonal of the game area and any one sideline, or includes 4 corner points of the game area, or includes two adjacent sidelines of the game area.
- Step F2 Determine the location information of the competition area according to the boundary information.
- the position information of the competition area can be determined.
- the user inputs the coordinates of 4 corner points of the competition area, so that the position information of the competition area can be determined according to the coordinates of the 4 corner points.
- the position information of the competition area is obtained through the above three methods, among which the first and second methods are highly intelligent, reduce the user's participation degree, and can automatically generate the position information of the competition area.
- the location information of the competition area can be determined according to the needs of the user, and the whole process is simple.
- the drone after obtaining the location information of the competition area, can obtain the flying range of the drone according to the location information of the competition area and the attribute information of the drone.
- the flying range of the drone includes the flying range of the drone in the horizontal direction and the flying range in the vertical direction.
- the flying range of the drone in the horizontal direction includes the moving range of the drone in the x-axis direction as shown in Figure 6a and the moving range of the drone in the y-axis direction as shown in Figure 6b.
- the movement range of the drone in the x-axis direction can be determined according to the drone's horizontal viewing angle and the length of the long side of the competition area.
- the movement range of the drone in the y-axis direction can be determined by the drone's pitch angle and the short side length of the competition area. determine.
- the flying range of the UAV in the vertical direction should be greater than or equal to the minimum safe flying height of the UAV as shown in Figure 6b, and less than or equal to the maximum safe flying height of the UAV.
- the flying range of the drone when obtaining the flying range of the drone based on the location information of the competition area and the attribute information of the drone, it is also necessary to consider the limitation of the flying range of the drone on the area to be divided. For example, when there is a wall on one side of the area to be divided, the flying range of the drone should avoid the wall.
- S202 Control the drone to move within the flying range of the drone according to the flying range of the drone, so that the target is located in the fixed focus frame of the camera.
- the drone after obtaining the flying range of the drone according to the above steps, the drone is controlled to move within the flying range, which can realize the accurate grasp of the flying range of the drone and improve the flight of the drone.
- Safety in order to realize that when the drone moves within the flight range, the target is located in the fixed focus frame of the camera to track and shoot the target in the competition area.
- the flight range of the drone is obtained according to the location information of the competition area and the attribute information of the drone; The drone moves within the flying range of the drone so that the target is located in the fixed focus frame of the camera. That is, in the embodiment of this application, the flying range of the drone is accurately obtained, and the drone is controlled to move within the flying range, so as to achieve precise control of the drone and ensure that the target is located in the fixed focus frame of the camera. The drone accurately tracks the target in the competition area.
- adjusting the parameters of at least one of the drone, camera, and pan/tilt in S103 may include:
- the drone tracks and photographs the target in the competition area at the first preset height, so that when the parameters of at least one of the drone, camera and pan/tilt are adjusted, the drone is first controlled to fly At the first preset height, then adjust the movement parameters of the drone in the horizontal direction. After the flight parameters of the drone are adjusted, the movement parameters of the gimbal and/or the shooting parameters of the camera are adjusted so that the target is located in the fixed focus frame of the camera.
- the aforementioned first preset height is specifically set according to actual needs.
- the first preset height corresponding to a basketball game is smaller than the first preset height corresponding to a football game.
- the method of the embodiment of the present application further includes:
- the drone is controlled to fly at the first preset height, and the movement parameters of the drone in the horizontal direction, the movement parameters of the pan/tilt and/or the shooting parameters of the camera are still adjusted.
- the flying height of the drone can be increased from the first preset height to the second preset height to increase the field of view of the fixed focus frame of the camera. Realize that the target in the competition area is located in the fixed focus frame of the camera.
- the above-mentioned second preset altitude is specifically set according to actual needs.
- the second preset altitude is less than or equal to the highest safe flying altitude of the drone, greater than the first preset altitude, and the second preset altitude The second preset altitude and the first preset altitude are both within the flight range of the drone.
- the drone when adjusting the parameters of at least one of the drone, the camera, and the gimbal, the drone is first controlled to fly at a first preset height, and when the drone is flying at the first preset height, Adjust the movement parameters of the drone in the horizontal direction, the movement parameters of the PTZ and/or the shooting parameters of the camera, and then realize the rapid and accurate adjustment of each parameter to realize the rapid and accurate tracking of the target.
- adjusting the parameters of the drone in the foregoing S103 may include:
- obtaining the position information of the target in the competition area includes at least the following two methods:
- the first method is to identify the preset target in the competition area, and obtain the position information of the target in the competition area.
- the drone recognizes the target in the competition area. For example, the drone takes a photo of the competition area to obtain image information of the competition area. Based on the image recognition method, the target is identified from the image information of the competition area. And judge whether the recognized target matches the preset target, and then obtain the recognition result of the target.
- the position information of the target object in the competition area can be obtained.
- the drone can use image processing to obtain the location information of the target.
- the current image information is acquired through the camera of the drone; when the current image information includes the image of the target, the current image information of the competition area is used to obtain the current image information of the target. Location information in the competition area.
- the first method mentioned above uses image recognition to identify the preset target in the competition area and generate the recognition result; if the recognition result is a match, the position of the target in the competition area is obtained based on the image processing method information.
- the sensing signal sent by the sensing device on the target is obtained; the position information of the target is obtained according to the sensing signal.
- a sensing device such as an RFID (Radio Frequency IDentification) sensor, an infrared sensor, etc.
- RFID Radio Frequency IDentification
- an infrared sensor etc.
- the position information of the target is obtained according to the sensing signal, and the method of obtaining the position information of the target is simple.
- S402 Adjust the parameters of the drone according to the position information of the target.
- the parameters of the drone after obtaining the position information of the target, adjust the parameters of the drone according to the position information of the target, for example, adjust the flight parameters and pan/tilt of the drone according to the position information of the target in the competition area. At least one of the movement parameters of the camera and the shooting parameters of the camera, so that the target is located in the fixed focus frame of the camera, so that the drone can track and shoot the target in the competition area.
- the parameters of the drone are accurately adjusted, so that the target is located at the fixed focus of the camera. Within the frame, the drone can accurately track and shoot the target in the competition area.
- FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the application.
- the electronic device 200 of an embodiment of the application is applied to a drone equipped with a camera and a pan/tilt, and includes: a memory 220 and a processor 230 .
- the memory 220 is used to store computer programs
- the processor 230 is configured to execute the computer program, specifically,
- controlling the camera to generate a fixed focus frame suitable for the number of the target objects According to the number of the target objects, controlling the camera to generate a fixed focus frame suitable for the number of the target objects;
- the parameters of at least one of the drone, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.
- the electronic device in the embodiment of the present invention may be used to execute the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
- the processor 230 is specifically configured to:
- the shooting range of the second fixed focus frame is larger than the shooting range of the first fixed focus frame.
- the processor 230 is specifically configured to:
- the focal length of the camera is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of target objects and the focal length value.
- the competition area includes one or more of a ball competition area, a shooting competition area, a track and field competition area, a water competition area, and an ice and snow competition area.
- the target object is basketball, football or football.
- the target is one or more players.
- the processor 230 is specifically configured to:
- the parameters of the drone are adjusted so that the drone and the target are in a preset angle range.
- the processor 230 is further configured to:
- the composition is made according to the distribution of the target.
- the processor 230 is further configured to
- the parameters of at least one of the drone, camera and pan/tilt are adjusted so that the largest number of targets are located in the fixed focus frame.
- the processor 230 is further configured to
- the processor 230 is specifically configured to:
- the focal length of the camera is adjusted to generate a fixed focus compatible with the number of targets after switching frame.
- the processor 230 is specifically configured to:
- At least one of the flight parameters of the drone, the movement parameters of the pan-tilt and the shooting parameters of the camera is adjusted.
- the flight parameters of the UAV include: the movement direction of the UAV and/or the attitude of the UAV.
- the processor 230 is specifically configured to:
- the directions correspond to the two adjacent sides of the competition area respectively.
- the moving direction of the drone in the horizontal direction is consistent with the moving direction of the target in the horizontal direction.
- the processor 230 is further configured to:
- the drone is controlled to move within the flying range of the drone so that the target is located within the fixed focus frame of the camera.
- the processor 230 is also used to obtain the competition area before acquiring the flying range of the drone according to the location information of the competition area and the attribute information of the drone. Location information of the area.
- the processor 230 is specifically configured to:
- the position information of the area to be divided includes the boundary position information of the area to be divided;
- the area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
- the processor 230 is specifically configured to:
- the area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
- the processor 230 is specifically configured to:
- the location information of the competition area is determined according to the boundary information.
- the boundary information includes: corner point information of the game area and/or sideline information of the game area.
- the attribute of the drone includes at least one of the following: an offset angle of the drone, a rotation range of each axis of the pan/tilt, and a zoom range of the camera.
- the processor 230 is specifically configured to:
- the processor 230 is further configured to:
- the flying height of the drone is controlled to rise from the first preset height to the second preset height, so that the target is located in the fixed focus frame of the camera, and the second preset height Be within the flight range of the UAV.
- the processor 230 is specifically configured to:
- the processor 230 is specifically configured to:
- the processor 230 is specifically configured to:
- the current image information includes the image of the target object
- the processor 230 is specifically configured to:
- the position information of the target object in the competition area is obtained.
- the competition area includes a competition area and a peripheral expansion area of the competition area.
- the electronic device in the embodiment of the present invention may be used to execute the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
- FIG. 11 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application.
- the processor 350 is configured to obtain a preset competition area and a target; according to the number of the target, control the camera 340 to generate a fixed focus frame suitable for the number of the target; and When detecting that the target is located in the competition area, adjust the parameters of at least one of the power system 330, the camera 340, and the pan/tilt 360, so that the target is located in the fixed focus frame of the camera 340 .
- the drone of the embodiment of the present invention may be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and details are not described herein again.
- the processor 350 is specifically configured to:
- the shooting range of the second fixed focus frame is larger than the shooting range of the first fixed focus frame.
- the processor 350 is specifically configured to:
- the focal length of the camera 340 is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of targets and the focal length value.
- the competition area includes one or more of a ball competition area, a shooting competition area, a track and field competition area, a water competition area, and an ice and snow competition area.
- the target object is basketball, football or football.
- the target is one or more players.
- the processor 350 is specifically configured to adjust the parameters of the power system 330 so that the drone and the target are in a preset angle range.
- the processor 350 is further configured to:
- the composition is made according to the distribution of the target.
- the processor 350 is further configured to
- the parameters of at least one of the power system 330, the pan/tilt 360 and the camera 340 are adjusted so that the target is located in the fixed focus frame of the camera 340.
- the processor 350 is further configured to broadcast the shooting picture through a communication interface.
- the processor 350 is specifically configured to:
- the focal length of the camera 340 is adjusted to generate a fixed position that is compatible with the number of targets after switching. Focus frame.
- FIG. 12 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application.
- the power system 330 includes a fuselage power device 331 and a pan/tilt power device 332;
- the processor 350 is specifically configured to control the fuselage power device 331 to adjust the flight parameters of the fuselage 310, and/or control the pan-tilt power device 332 to adjust the movement parameters of the pan-tilt 360 and /Or control the camera 340 to adjust shooting parameters.
- the flight parameters of the fuselage 310 include: the movement direction of the fuselage 310 and/or the attitude of the fuselage 310.
- the processor 350 is specifically configured to control the fuselage power device 331 to adjust the movement parameters of the fuselage 310 in the first horizontal direction, or control the fuselage power device 331 Adjust the movement parameters of the fuselage 310 in the second horizontal direction.
- the competition area is square
- the first horizontal direction and the second horizontal direction are respectively adjacent to the competition area. Correspondence on both sides.
- the moving direction of the body 310 in the horizontal direction is consistent with the moving direction of the target in the horizontal direction.
- the processor 350 is further configured to obtain the flying range of the drone according to the location information of the competition area and the attribute information of the drone;
- the drone is controlled to move within the flying range of the drone so that the field of view of the drone is within the competition area.
- the processor 350 is configured to obtain the flying range of the UAV according to the location information of the competition area and the attribute information of the UAV, and is also used to obtain all the UAVs. State the location information of the competition area.
- the processor 350 has image information for controlling the drone to collect the area to be divided;
- the position information of the area to be divided includes the boundary position information of the area to be divided;
- the area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
- the processor 350 is specifically configured to control the drone to collect image information of multiple partitions in the area to be divided;
- the area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
- the processor 350 is specifically configured to receive boundary information input by a user
- the location information of the competition area is determined according to the boundary information.
- the boundary information includes: corner point information of the game area and/or sideline information of the game area.
- the attributes of the drone include at least one of the following: an offset angle of the drone, a rotation range of each axis of the pan/tilt 360, and a zoom range of the camera 340.
- the processor 350 is specifically configured to control the fuselage 310 to fly at a first preset height by controlling the fuselage power device 331, and the first preset height belongs to Within the flight range of the UAV;
- the fuselage power device 331 When the fuselage 310 is flying at the first preset height, by controlling the fuselage power device 331 to adjust the parameters of the fuselage 310 in the horizontal direction, and/or by controlling the pan/tilt power device 332 adjusts the movement parameters of the pan/tilt 360 and/or adjusts the shooting parameters by controlling the camera 340.
- the processor 350 is further configured to control the flying height of the fuselage 310 to rise from the first preset height to the first by controlling the fuselage power device 331 Two preset heights, so that the target is located in the fixed focus frame of the camera 340, and the second preset height belongs to the flying range of the drone.
- the processor 350 is specifically configured to:
- the flight parameters of the power system 330 are adjusted.
- the processor 350 is specifically configured to:
- the processor 350 is specifically configured to:
- the current image information includes the image of the target object
- the processor 350 is further configured to obtain a sensing signal sent by a sensing device on the target;
- the position information of the target object in the competition area is obtained.
- the competition area includes a competition area and a peripheral expansion area of the competition area.
- the drone of the embodiment of the present invention may be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and details are not described herein again.
- the embodiment of the present invention also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include part or all of the steps of the game shooting method in the foregoing embodiments.
- the foregoing program can be stored in a computer readable storage medium. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.
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Abstract
一种比赛拍摄方法、电子设备和无人机,该方法通过获取预设的比赛区域和目标物;根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框;当检测到所述目标物位于所述比赛区域内时,调整所述无人机(110)、摄像头和云台(120)中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。即本申请的方法,对比赛区域内的目标物进行跟踪拍摄时,无需在比赛区域内或周边架设摄影机,而是通过调整无人机、摄像头和云台中至少一种的参数,以使得目标物位于摄像头的定焦框内,其目标物的跟踪拍摄成本低、灵活性高,且可以及时捕捉到赛事焦点,提高了对比赛区域内目标物进行跟踪拍摄的效率。
Description
本发明实施例涉及无人机拍摄技术领域,尤其涉及一种比赛拍摄方法、电子设备、无人机与存储介质。
随着体育运动的普及,越来越多的社区,单位,公司开始组织足球、篮球等多人参与的体育赛事。小团体小规模的比赛,并没有条件去配置专门的摄影机和摄影师,通过场边架设小型摄影机的方式去拍摄。
但是,由于架设在场边的摄影机,机位低,存在着视野不全面,无法捕捉到赛事焦点的问题。
发明内容
本发明实施例提供一种比赛拍摄方法、电子设备、无人机与存储介质。
第一方面,本申请实施例提供一种比赛拍摄方法,应用于搭载摄像头和云台的无人机,包括:
获取预设的比赛区域和目标物;
根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框;
当检测到所述目标物位于所述比赛区域内时,调整所述无人机、摄像头和云台中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。
第二方面,本申请实施例提供一种电子设备,应用于搭载摄像头和云台的无人机,包括:
存储器,用于存储计算机程序;
处理器,用于执行所述计算机程序,具体用于:
获取预设的比赛区域和目标物;
根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框;
当检测到所述目标物位于所述比赛区域内时,调整所述无人机、摄像头和云台中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。
第三方面,本申请实施例提供一种无人机,包括机身、设于所述机身的供电电池、动力***、摄像头、云台和处理器;所述供电电池能够为所述动力***供电,所述动力***为所述无人机提供动力;
所述处理器,用于获取预设的比赛区域和目标物;根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框;并当检测到所述目标物位于所述比赛区域内时,调整所述动力***、摄像头和云台中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。
第四方面,本申请实施例提供一种计算机存储介质,所述存储介质中存储计算机程序,所述计算机程序在执行时实现如第一方面所述的比赛拍摄方法。
本申请实施例提供的比赛拍摄方法、电子设备、无人机与存储介质,通过获取预设的比赛区域和目标物,根据目标物的个数,控制摄像头生成与目标物的个数相适应的定焦框,并当检测到目标物位于比赛区域内时,调整无人机、摄像头和云台中至少一种的参数,以使得目标物位于摄像头的定焦框内。即本申请实施例,对比赛区域内的目标物进行跟踪拍摄时,无需在比赛区域内或周边架设摄影机,而是根据目标物的个数先生成与目标物的个数相适应的定焦框,接着调整无人机、摄像头和云台中至少一种的参数,以使目标物位于定焦框内,进而实现对比赛区域内目标物的实时跟踪拍摄,其目标物的跟踪拍摄成本低、灵活性高,且可以及时捕捉到目标物,提高了对比赛区域内目标物进行跟踪拍摄的效率。
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本申请实施例涉及的可移动平台的一种示意性架构图;
图2是本申请实施例涉及的无人机***的示意性架构图;
图3为本申请实施例提供的比赛拍摄方法的流程图;
图4a为本申请实施例涉及的目标物的一种示意图;
图4b为本申请实施例涉及的目标物的另一种示意图;
图5为本申请实施例提供的比赛拍摄方法的流程图;
图6a为本申请实施例涉及的一种比赛区域的俯视图;
图6b为图6a所示的比赛区域的侧视图;
图7为本申请实施例提供的比赛拍摄方法的流程图;
图8为本申请实施例提供的比赛拍摄方法的流程图;
图9为本申请实施例提供的比赛拍摄方法的流程图;
图10为本申请实施例提供的电子设备的结构示意图;
图11为本申请实施例提供的无人机的结构示意图;
图12为本申请实施例提供的无人机的结构示意图。
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
图1是本申请实施例涉及的可移动平台的一种示意性架构图,该可移动平台100包括:移动本体101、设置在移动本体上的云台120和设置在云台120上的摄像头123。
移动本体101可以在空间进行任意姿态的移动,例如在水平方向和移动、在竖直方向的移动以及旋转运动。云台可以在水平方向(即XY平面内)旋转,以及在竖直方向的俯仰旋转。
在一种示例中,如图2所示,上述所述的可移动平台100可以为无人飞行***,对应的上述所述的移动本体101可以为无人机110。可选的,该无人机可以是多旋翼、固定翼等各种型号的无人机,其中多旋翼无人机可包括四旋翼、六旋翼、八旋翼等包括其他数目旋翼的无人机。本实施例以旋翼无人机为例进行说明。
无人飞行***100可以包括无人机110、显示设备130和控制终端140。其中,无人机110可以包括动力***150、飞行控制***160、机架和承载在机架上的云台120。无人机110可以与控制终端140和显示设备130进行无线通信。
无人机110包括机架,机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂,一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接,用于在无人机110着陆时起支撑作用。
动力***150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152,其中电机152连接在电子调速器151与螺旋桨153之间,电机152和螺旋桨153设置在无人机110的机臂上;电子调速器151用于接收飞行控制***160产生的驱动信号,并根据驱动信号提供驱动电流给电机152,以控制电机152的转速。电机152用于驱动螺旋桨旋转,从而为无人机110的飞行提供动力,该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中,无人机110可以围绕一个或多个旋转轴旋转。例如,上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解,电机152可以是直流电机,也可以交流电机。另外,电机152可以是无刷电机,也可以是有刷电机。
飞行控制***160可以包括飞行控制器161和传感***162。传感***162用于测量无人机的姿态信息,即无人机110在空间的位置信息和状态信息,例如,三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit,IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如,全球导航卫星***可以是全球定位***(Global Positioning System,GPS)。飞行控制器161用于控制无人机110的飞行,例如,可以根据传感***162测量的姿态信息控制无人机110的飞行。应理解,飞行控制器161可以按照预先编好的程序指令对无人机110进行控制,也可以通过响应来自控制终端140的一个或多个控制指令对无人机110进行控制。
云台120可以包括电机122。云台用于携带摄像头123。飞行控制器161可以通过电机122控制云台120的运动。可选地,作为另一实施例,云台120还可以包括控制器,用于通过控制电机122来控制云台120的运动。应理解,云台120可以独立于无人机110,也可以为无人机110的一部分。应理解,电机122可以是直流电机,也可以是交流电机。另外,电机122可以是无刷电机,也可以是有刷电机。还应理解,云台可以位于无人机的顶部,也可以位于无人机的底部。
摄像头123例如可以是照相机或摄像机等用于捕获图像的设备,摄像头123可以与飞行控制器161通信,并在飞行控制器161的控制下进行拍摄。本实施例的摄像头123至少包括感光元件,该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor,CMOS)传感器或电荷耦合元件(Charge-coupled Device,CCD)传感器。可以理解,摄像头123也可直接固定于无人机110上,从而云台120可以省略。
显示设备130位于无人飞行***100的地面端,可以通过无线方式与无人机110进行通信,并且可以用于显示无人机110的姿态信息。另外,还可以在显示设备130上显示成像装置拍摄的图像。应理解,显示设备130可以是独立的设备,也可以集成在控制终端140中。
控制终端140位于无人飞行***100的地面端,可以通过无线方式与无人机110进行通信,用于对无人机110进行远程操纵。
下面以具体地实施例对本发明的技术方案进行详细说明。下面这几个具体的实施例可以相互结合,对于相同或相似的概念或过程可能在某些实施例不再赘述。
图3为本申请实施例提供的比赛拍摄方法的流程图,如图3所示,本申请实施例的控制方法可以包括:
S101、获取预设的比赛区域和目标物。
本申请方法的执行主体为无人机,示例性的可以为上述图2所示的无人机中的飞行控制器,该飞行控制器可以对无人机、云台和摄像头进行控制。
该比赛区域为无人机进行跟踪的范围,即无人机对该比赛区域内的目标物进行跟踪拍摄,目标物位于摄像头的定焦框内。
示例性的,该比赛区域可以为比赛场所内的特定区域,例如包括赛场区 域和所述赛场区域的周边扩展区域。其中周期扩展区域的大小根据实际需要设定,例如,周边扩展区域为向赛场区域的周期扩展10米,这样赛场区域和赛场区域向外扩展10米的区域构成比赛区域。
本申请实施例对无人机获得比赛区域的方式不做限制。
在一种示例中,无人机可以通过图像处理的方式获得比赛区域,例如无人机控制摄像头对比赛场所进行拍照,接着,用户在拍摄的比赛场所图片上指定比赛区域的大小,例如,用户在拍摄的比赛场所图片上进行框选,将选择框中的区域设定为比赛区域。
在另一种示例中,无人机可以通过用户输入的信息获得比赛区域,例如,用户向无人机输入比赛区域的大小、边界等信息,无人机根据用户输入的比赛区域的大小、边界等信息获得比赛区域。
所述比赛区域包括球类比赛区域、射击类比赛区域、田径类比赛区域、水上比赛区域、冰雪比赛区域中的一种或多种。
本实施涉及的目标物为无人机追踪的对象。
可选的,本申请实施例的目标物包括一个或者为多个目标物。例如,图4a所示将球作为一个目标物,或者,如图4b所示,将6个运动员和一个球均作为目标物。
可选的,目标物为篮球、足球、橄榄球等。
可选的,目标物为一个或多个运动员。
可选的,目标物为一个或多个裁判员。
本申请实施例中,目标物个数和种类的设定根据实际需要确定,本申请实施例对此不做限制。
S102、根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框。
其中,所述定焦框为焦距不变的视野框,其视野范围相应保持不变。
继续参照图4a和图4b所示,根据目标物的个数,控制摄像头生成定焦框,该定焦框的大小与目标物个数相适应,即使目标物位于该定焦框内,这样摄像头可以对定焦框内的目标物进行跟踪拍摄。
在上述S102的第一种示例中,如图4a所示,当所述目标物的个数为一个时,调整所述摄像头的焦距生成第一定焦框,以使该一个目标物位于该第 一定焦框内。
在上述S102的第二种示例中,如图4b所示,当所述目标物的个数为多个时,调整所述摄像头的焦距生成第二定焦框。该第二定焦框的大小与目标物的大小和个数相适应。
需要说明的是,所述第二定焦框拍摄的范围大于所述第一定焦框拍摄的范围。
在上述S102的第二种示例的一种实现方式中,上述目标物的个数为多个时,调整所述摄像头的焦距生成第二定焦框,具体可以包括步骤A:
步骤A、当所述目标物的个数为多个时,根据预设的目标物个数和焦距值之间的映射关系,调整所述摄像头的焦距生成所述第二定焦框。
本申请实施例预先设定有不同的目标物个数所对应的焦距值,例如,表1所示:
表1
目标物个数 | 焦距值 |
2 | A1 |
3 | A2 |
…… | …… |
n | An |
如表1所示,当目标物个数为2时对应的焦距值为A1,目标物个数为3时对应的焦距值为A2,当目标物个数为n时对应的焦距值为An。这样可以根据表1所示的目标物个数和焦距值之间的映射关系,获取目标物个数所对应的目标焦距值,再将摄像头的焦距值调整为目标焦距值,进而形成第二定焦框。
在一些实施例中,如图5所示,上述S102中的根据目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框,可以包括:
S1021、若接收到目标物切换指令,确定切换后的目标物个数。
S1022、根据切换后的目标物个数与切换前的目标物个数之间的差大于预设的阈值时,调整所述摄像头的焦距,以生成与切换后的目标物的个数相适应的定焦框。
举例说明,假设前一时刻(即切换前)拍摄的目标物的个数为3,当前时刻(即切换后)需要拍摄的目标物为5,这样当判断当时时刻需要拍摄的目标物的个数与前一时刻拍摄的目标物的个数不同时,用户向无人机输入目标物切换指令。无人机接收到目标物切换指令后,确定切换后的目标物的个数,例如目标物切换指令为目标物增加2个,这样,无人机可以根据切换前目标物的个数和目标物切换指令,确定切换后目标物为5个。接着,确定切换后的目标物个数(例如5)与切换前的目标物个数(例如3)之间的差2,判断该差值2大于预设的阈值(例如0)时,则控制摄像头调整焦距,以生成与切换后的目标物的个数(例如5)相适应的定焦框。
S103、当检测到所述目标物位于所述比赛区域内时,调整所述无人机、摄像头和云台中至少一个的参数,以使得所述目标物位于所述摄像头的定焦框内。
如图4a和图4b所示,当检测到目标物均位于比赛区域内时,无人机调整无人机、摄像头和云台中至少一个的参数,使得目标物位于摄像头的定焦框内,以实现对比赛区域内的目标物的跟踪拍摄。
需要说明的是,在无人机对比赛区域内的目标物进行跟踪拍摄时,摄像头的定焦框也始终位于比赛区域内,这样可以避免无人机对比赛区域外的非目标物进行跟踪拍摄,造成资源浪费的问题。
在一些示例中,当所述目标物为多个时,调整所述无人机、摄像头和云台中至少一个的参数,以使最多个数的目标物位于所述定焦框内。例如,图4b所示,当目标物包括6个运动员和一个球时,若所有目标物无法位于定焦框内时,则调整无人机、摄像头和云台中至少一个的参数,使尽可能多的目标物位于定焦框内,以实现对尽可能多的目标物进行跟踪拍摄。
在一种可能的实现方式中,上述S103中调整所述无人机的参数,以使得目标物位于所述摄像头的定焦框内,具体可以包括步骤B:
步骤B、调整无人机的参数,使得所述无人机和所述目标物呈预设的角度范围。
具体的,参照图6b所示,调整无人机的参数,以使无人机与目标物之间的角度α位于预设的角度范围内,进而保证目标物位于摄像头的定焦框内。
可选的,上述预设的角度范围可以为无人机的俯仰角范围,即无人机与 目标物之间的角度位于无人机的俯仰角范围内,这样可以保证目标物位于摄像头的定焦框内,使得无人机对目标物进行跟踪拍摄。
可选的,本申请实施例当目标物为多个时,可以根据目标物的分布进行构图。
可选的,本申请实施例无人机还可以将拍摄画面通过通信接口进行直播。
本申请实施例提供的比赛拍摄方法,通过获取预设的比赛区域和目标物,根据目标物的个数,控制摄像头生成与目标物的个数相适应的定焦框,并当检测到目标物位于比赛区域内时,调整无人机、摄像头和云台中至少一个的参数,以使得目标物位于摄像头的定焦框内。即本申请实施例,对比赛区域内的目标物进行跟踪拍摄时,无需在比赛区域内或周边架设摄影机,而是根据目标物的个数先生成与目标物的个数相适应的定焦框,接着调整无人机、摄像头和云台中至少一个的参数,以使目标物位于定焦框内,进而实现对比赛区域内目标物的实时跟踪拍摄,其目标物的跟踪拍摄成本低、灵活性高,且可以及时捕捉到目标物,提高了对比赛区域内目标物进行跟踪拍摄的效率。
在上述实施例的基础上,下面结合具体的示例,对上述实施例所述的调整所述无人机、摄像头和云台中至少一个的参数的具体过程进行详细阐述。
如图2所示,无人机上搭载有云台,云台上搭载有摄像头。此时,上述S103中调整所述无人机、摄像头和云台中至少一个的参数,包括:
步骤C、调整所述无人机的飞行参数、所述云台的移动参数和所述摄像头的拍摄参数中的至少一种。
其中,无人机的飞行参数包括如下至少一种:无人机的运动方向和/或无人机的姿态。其中,无人机的运动方向包括水平方向和竖直方向。
如图2所示,飞行控制器161通过控制动力***150实现对无人机的飞行参数的调整,具体的,动力***150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152,电子调速器151用于接收飞行控制器161产生的驱动信号,并根据驱动信号提供驱动电流给电机152,以控制电机152的转速。电机152用于驱动螺旋桨旋转,从而为无人机的飞行提供动力,该动力使得无人机能够实现一个或多个自由度的运动。
云台的移动参数包括如下至少一种:云台的水平方向移动参数、竖直方向的俯仰参数和云台的转动角速度。如图2所示,云台120可以包括电机122。飞行控制器161可以通过电机122控制云台120的运动。例如,云台120可以围绕一个或多个旋转轴旋转,上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。
摄像头的拍摄参数包括如下至少一种:摄像头的视野范围、光圈、曝光时间、感光度和照度等。其中,视野范围(即视场角),在工程实际中,常用水平视场角来反映画面的拍摄范围,视场角越小,在感光元件上形成的画面范围越小。光圈开得越大,通过镜头的光通量就越大,图像的清晰度越高,光圈开得越小,通过镜头的光通量就越小,图像的清晰度越低。曝光时间是为了将光投射到感光材料的感光面上,快门所要打开的时间。曝光时间长的进的光多,适合光线条件比较差的情况。曝光时间短则适合光线比较好的情况。感光度,是衡量底片对于光的灵敏程度,由敏感度测量学及测量数个数值来决定,对于较不敏感的底片,需要曝光更长的时间以达到与较敏感底片相同的成像,因此通常被称为慢速底片。高度敏感的底片因而称为快速底片。照度是测量摄像头感光度的单位,用勒克斯表示,也是摄像头能在较暗的光照条件下拍摄到图像。勒克斯的值越低,表示摄像头能够在光照条件更低的情况下拍摄到清晰的图像。
本申请实施例,可以通过调整无人机的飞行参数、云台的移动参数和摄像头的拍摄参数中的至少一种,以使得目标物位于摄像头的定焦框中,进而使得无人机能够对比赛区域内预设的目标物进行跟踪拍摄。
可选的,本申请实施例的一种调整方式中,可以优先调整云台的移动参数,若调整云台的移动参数后,无法使目标物位于摄像头的定焦框内时,再调整摄像头的摄像参数,若调整摄像头的摄像参数后,仍无法使目标物位于摄像头的定焦框内时,调整无人机的飞行参数。
可选的,本申请实施例的另一种调整方式中,可以同时调整无人机的飞行参数、云台的移动参数和摄像头的拍摄参数中的两个或三个,以使得目标物位于摄像头的定焦框内。
在一种示例中,上述步骤C中调整所述无人机的飞行参数,可以包括:
步骤C1、调整所述无人机在第一水平方向上的移动参数,或在第二水 平方向上的移动参数。
图6a为本申请实施例涉及的一种比赛区域的俯视图,图6b为图6a所示的比赛区域的侧视图。如图6a和图6b所示,当比赛区域为方形时,假设比赛区域为长方形,第一水平方向为比赛区域的长边所在的方向,即图6a中x轴方向,第二水平方向为比赛区域的短边所在的方向,即图6a和图6b中y轴方向。此时,第一水平方向和第二水平方向分别与比赛区域的相邻两边对应。
如图6a所示,可以通过调整无人机在第一水平方向的移动参数,以使无人机沿着第一水平方向左右移动,进而使得沿着第一水平方向运动或其运动分量沿着第一水平方向运动的目标物位于摄像头的定焦框内,实现在第一水平方向上跟踪拍摄目标物。如图6a所示,无人机沿着第一水平方向移动时,无人机的水平视角范围沿着第一水平方向发生变化,这样可以使得沿着第一水平方向运动的目标物位于摄像头的定焦框内,实现无人机在第一水平方向上对目标物进行跟踪拍摄。
如图6b所示,还可以通过调整无人机在第二水平方向的移动参数,以使无人机沿着第二水平方向移动,进而使得沿着第二水平方向运动或其运动分量沿着第二水平方向运动的目标物位于摄像头的定焦框内,实现在第二水平方向上跟踪拍摄目标物。如图6b所示,无人机沿着第二水平方向移动时,无人机的俯仰角度范围沿着第二水平方向发生变化,这样可以使得沿着第二水平方向运动的目标物位于摄像头的定焦框内,实现无人机在第二水平方向上可以对目标物进行跟踪拍摄。
在一优选实施例中,目标物存在第一水平方向和第二水平方向的运动分量,无人机可自动根据第一水平方向的运动分量和第二水平方向的运动分量之间的比例关系,来决策无人机对应的运动方向。
需要说明的是,无人机沿着第一水平方向或第二水平方向的移动速度可以根据目标物的移动速度以及无人机的飞行速度确定。例如,目标物移动缓慢时,可以控制无人机降低飞行速度,目标物快速移动时,控制无人机增加飞行速度,使得目标物位于摄像头的定焦框内,实现对目标物的及时跟踪。
在另一优选实施例中,在体育赛事中,为了实时捕捉赛事,无人机也 可不限定于第一水平方向和第二水平方向,其在水平方向的移动方向与目标物在水平方向的移动方向保持一致。
本申请实施例提供的比赛拍摄方法,通过调整所述无人机的飞行参数、所述云台的移动参数和所述摄像头的拍摄参数中的至少一种,使得目标物位于摄像头的定焦框内,实现对比赛区域内目标物的实时跟踪拍摄,其目标物的跟踪拍摄成本低、灵活性高且方便,且可以及时捕捉到目标物,提高了对比赛区域内目标物进行跟踪拍摄的效率。
在上述实施例的基础上,在一些实施例中,所述无人机限定在预设的飞行范围内移动,如图7所示,本申请实施例的方法还包括:
S201、根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围。
可选的,本申请实施例涉及的无人机的属性包括如下至少一种:所述无人机的偏移角度、所述云台各个轴的转动范围和所述摄像头的变焦范围。
本申请实施例中,无人机在根据比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围之前,首先获得比赛区域的位置信息。
无人机可以通过自动生成和用户输入两种方式来获得比赛区域的位置信息,其中自动生成方式包括如下方式一和方式二,用户输入方式包括如下方式三。
方式一,包括如下步骤D1至步骤D3:
步骤D1、控制所述无人机采集待划分区域的图像信息。
该待划分区域包括上述所述的比赛区域,例如待划分区域为比赛场所(例如体育场),比赛区域为比赛场所中的赛场区域(例如球场)。
可选的,调整无人机的参数,例如调整无人机的飞行高度,增大无人机的视野范围,以使无人机采集整个待划分区域的图像信息。
步骤D2、根据所述待划分区域的图像信息,获取待划分区域的位置信息;其中,所述待划分区域的位置信息包括所述待划分区域的边界位置信息。
上述待划分区域的位置信息包括待划分区域的边界位置信息,其中待划分区域的边界包括待划分区域的角点和/或边线。
步骤D3、对所述待划分区域进行划分生成所述比赛区域,并根据待划分 区域的位置信息获取所述比赛区域的位置信息。
比赛区域为待划分区域的一部分,这样可以从待划分区域中划分出一部分内容作为比赛区域,例如,若设定比赛区域包括赛场区域以及赛场区域向外扩张10米的区域,这样,无人机可以根据上述设定,从待划分区域中划分出赛场区域以及赛场区域向外扩张10米的区域作为比赛区域。可选的,可通过***自动划分,例如直接识别球场的边界线进行划分;可选的,上述设定可以是用户输入的设定参数,也可以是用户在待划分区域的图像信息中进行框选的结果。
这样,从待划分区域中划分出比赛区域后,可以根据待划分区域的位置信息,获得比赛区域的位置信息。例如,根据待划分区域的位置信息以及比赛区域在待划分区域中的位置,进而获得比赛区域的位置信息。
方式二,包括如下步骤E1至步骤E3:
步骤E1、控制所述无人机采集待划分区域内多个分区的图像信息。
在该方式中,无人机一次只能采集待划分区域的一个分区的图像信息,这样可以控制无人机进行多次采集,例如,控制无人机绕待划分区域飞行一周,以使无人机采集待划分区域内多个分区的图像信息。
步骤E2、根据所述多个分区的图像信息分别获取所述多个分区的位置信息。
参照上述方式,可以获得待划分区域中每个分区的位置信息。
步骤E3、根据所述多个分区的位置信息获取所述待划分区域的位置信息。
具体的,根据上述多个分区的位置信息,将多个分区进行拼凑,进而获得拼凑后的待划分区域的位置信息。
步骤E4、对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
该步骤的具体过程可以参照上述步骤D3,在此不再赘述。
上述两种方式均是无人机基于图像处理的方式自动生成比赛区域的位置信息,下面对用户输入获得比赛区域的位置信息的方式进行介绍。
方式三,包括步骤F1和步骤F2:
步骤F1、接收用户输入的边界信息。
示例性的,上述边界信息包括:所述比赛区域的角点信息和/或所述比赛 区域的边线信息。例如,用户输入的边界信息包括比赛区域的对角线上的两个角点以及任意一条边线,或者包括比赛区域的4个角点,或者包括比赛区域的两个相邻边线。
步骤F2、根据所述边界信息确定所述比赛区域的位置信息。
根据上述用户输的边界信息,可以确定出比赛区域的位置信息,例如,用户输入比赛区域的4个角点的坐标,这样根据这4个角点的坐标,可以确定出比赛区域的位置信息。
本申请实施例,通过上述3种方式获得比赛区域的位置信息,其中方式一和方式二,智能化程度高,降低了用户的参与度,可以自动生成比赛区域的位置信息。而方式三,可以根据用户的需求来确定比赛区域的位置信息,且整个过程简单。
根据上述步骤,获得比赛区域的位置信息后,无人机可以根据比赛区域的位置信息和无人机的属性信息,获取无人机的飞行范围。优选地,该无人机的飞行范围包括无人机在水平方向的飞行范围和竖直方向的飞行范围。
假设比赛区域为长方形,无人机在水平方向的飞行范围包括如图6a中无人机在x轴方向的移动范围和图6b所示的无人机在y轴方向的移动范围,其中无人机在x轴方向的移动范围可以根据无人机的水平视角和比赛区域的长边长度确定,无人机在y轴方向的移动范围可以根据无人机的俯仰角度和比赛区域的短边长度确定。
无人机在竖直方向的飞行范围如图6b所示应该大于或等于无人机的最小安全飞行高度,且小于或等于无人机的最高安全飞行高度。
可选的,在根据比赛区域的位置信息和无人机的属性信息来获得无人机的飞行范围时,还需要考虑待划分区域对无人机的飞行范围的限制。例如,待划分区域的一侧具有围墙时,无人机的飞行范围应该避开该围墙。
S202、根据所述无人机的飞行范围,控制所述无人机在所述无人机的飞行范围内移动,以使得所述目标物位于所述摄像头的定焦框内。
本申请实施例,根据上述步骤获得无人机的飞行范围后,则控制无人机在该飞行范围内移动,这样可以实现对无人机的飞行范围的准确把握,提高了无人机的飞行安全性,以实现无人机在该飞行范围内移动时,目标物位于摄像头的定焦框内,以对比赛区域内的目标物进行跟踪拍摄。
本申请实施例提供的比赛拍摄方法,通过根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围;根据所述无人机的飞行范围,控制所述无人机在所述无人机的飞行范围内移动,以使得目标物位于摄像头的定焦框内。即本申请实施例,准确获得了无人机的飞行范围,并控制无人机在该飞行范围内移动,实现对无人机的精准控制,且保证目标物位于摄像头的定焦框内,实现无人机对比赛区域内目标物的准确跟踪。
在上述图7所示实施例的基础上,在一些实施例中,如图8所示,上述S103中调整所述无人机、摄像头和云台中至少一种的参数,可以包括:
S301、控制所述无人机飞行在第一预设高度,所述第一预设高度属于所述无人机的飞行范围内。
S302、在所述无人机飞行在所述第一预设高度时,调整所述无人机在水平方向的移动参数、以及所述云台的移动参数和/或所述摄像头的拍摄参数。
本申请实施例,无人机在第一预设高度下对比赛区域内的目标物进行跟踪拍摄,这样在调整无人机、摄像头和云台中至少一种的参数时,首先控制无人机飞行在第一预设高度下,接着,调整无人机在水平方向的移动参数。在无人机的飞行参数调整完之后,对云台的移动参数和/或摄像头的拍摄参数进行调整,以使得目标物位于摄像头的定焦框内。
上述第一预设高度具体根据实际需要进行设定,例如篮球比赛对应的第一预设高度小于足球比赛对应的第一预设高度。
在本申请实施例的一种情况下,本申请实施例的方法还包括:
S303、控制所述无人机的飞行高度从所述第一预设高度上升至所述第二预设高度,以使所述目标物位于所述摄像头的定焦框内,所述第二预设高度属于所述无人机的飞行范围内。
具体的,在上述S301和S302,控制无人机飞行在第一预设高度,且调整无人机在水平方向的移动参数、以及云台的移动参数和/或摄像头的拍摄参数后,仍然使得目标为无法位于摄像头的定焦框内时,此时,可以将无人机的飞行高度从第一预设高度升高至第二预设高度,以增大摄像头定焦框的视野范围,以实现比赛区域内的目标物位于摄像头的定焦框内。
可选的,上述第二预设高度具体根据实际需要进行设定,可选的,该第 二预设高度小于或等于无人机的最高安全飞行高度,大于第一预设高度,且该第二预设高度和第一预设高度均位于无人机的飞行范围内。
本申请实施例的方法,在调整无人机、摄像头和云台中至少一种的参数时,首先控制无人机飞行在第一预设高度,在无人机飞行在第一预设高度时,调整无人机在水平方向的移动参数、以及云台的移动参数和/或摄像头的拍摄参数,进而实现对各参数的快速、准确调整,以实现对目标物的快速、准确跟踪。
在上述实施例的基础上,在一些实施例中,如图9所示,上述S103中调整无人机的参数可以包括:
S401、获取所述比赛区域内所述目标物的位置信息。
其中,获取所述比赛区域内所述目标物的位置信息至少包括如下两种方式:
第一种方式,对所述比赛区域内预设的目标物进行识别,获得所述目标物在所述比赛区域内的位置信息。
具体的,无人机对比赛区域内的目标物进行识别,例如无人机对比赛区域进行拍照,获得比赛区域的图像信息,基于图像识别方法,从比赛区域的图像信息中识别出目标物,并判断识别出的目标物是否与预设的目标物匹配,进而获得目标物的识别结果。
可选的,目标物的识别结果为匹配时,可以获得目标物在比赛区域内的位置信息。
在本申请的一种可能的实现方式中,无人机可以采用图像处理的方式,获得目标物的位置信息。具体是:通过无人机的摄像头获取当前图像信息;当所述当前图像信息包括所述目标物的图像时,根据所述比赛区域的图像信息和所述当前图像信息,获取所述目标物在所述比赛区域内的位置信息。
上述第一种方式,通过图像识别的方式,对比赛区域内预设的目标物进行识别,生成识别结果;若识别结果为匹配时,基于图像处理的方法,获得目标物在比赛区域内的位置信息。
第二种方式,获得所述目标物上的传感设备发送的传感信号;根据所述 传感信号,获得所述目标物的位置信息。
该实现方式,在目标物上设置传感设备,例如RFID(Radio Frequency IDentification)传感器、红外传感器等。这些传感设备可以实时向周围发送传感信号。这样,无人机接收到传感设备发送的传感信息后,可以根据该传感信号,获得目标物的位置信息。
该方式,通过获得所述目标物上的传感设备发送的传感信号,根据传感信号,获得目标物的位置信息,其获取目标物位置信息的方式简单。
S402、根据所述目标物的位置信息,调整所述无人机的参数。
具体的,根据上述步骤,获得目标物的位置信息后,根据目标物的位置信息调整无人机的参数,例如根据目标物在比赛区域内的位置信息,调整无人机的飞行参数、云台的移动参数和摄像头的拍摄参数中的至少一种,以使得目标物位于摄像头的定焦框内,实现无人机对比赛区域内的目标物进行跟踪拍摄。
本申请实施例,通过获得获取所述比赛区域内所述目标物的位置信息,并基于获得的目标物的位置信息,实现对无人机的参数的准确调整,使得目标物位于摄像头的定焦框内,实现无人机对比赛区域内的目标物的准确跟踪拍摄。
图10为本申请实施例提供的电子设备的结构示意图,如图10所示,本申请实施例的电子设备200,应用于搭载摄像头和云台的无人机上,包括:存储器220和处理器230。
存储器220,用于存储计算机程序;
处理器230,用于执行所述计算机程序,具体用于,
获取预设的比赛区域和目标物;
根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框;
当检测到所述目标物位于所述比赛区域内时,调整所述无人机、摄像头和云台中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。
本发明实施例的电子设备,可以用于执行上述方法实施例中的技术方案,其实现原理和技术效果类似,此处不再赘述。
在一种可能的实现方式中,所述处理器230具体用于:
当所述目标物的个数为一个时,调整所述摄像头的焦距生成第一定焦框;
当所述目标物的个数为多个时,调整所述摄像头的焦距生成第二定焦框;
所述第二定焦框拍摄的范围大于所述第一定焦框拍摄的范围。
在一种可能的实现方式中,所述处理器230具体用于:
当所述目标物的个数为多个时,根据预设的目标物个数和焦距值之间的映射关系,调整所述摄像头的焦距生成所述第二定焦框。
可选的,所述比赛区域包括球类比赛区域、射击类比赛区域、田径类比赛区域、水上比赛区域、冰雪比赛区域中的一种或多种。
可选的,所述目标物为篮球、橄榄球或足球。
可选的,所述目标物为一个或多个球员。
在一种可能的实现方式中,所述处理器230具体用于:
调整所述无人机的参数,使得所述无人机和所述目标物呈预设的角度范围。
在一种可能的实现方式中,所述处理器230还用于:
当所述目标物为多个时,根据所述目标物的分布进行构图。
在一种可能的实现方式中,所述处理器230还用于
当所述目标物为多个时,调整所述无人机、摄像头和云台中至少一种的参数,以使最多个数的目标物位于所述定焦框内。
在一种可能的实现方式中,所述处理器230还用于
将拍摄画面通过通信接口进行直播。
在一种可能的实现方式中,所述处理器230具体用于:
若接收到目标物切换指令,确定切换后的目标物个数;
根据切换后的目标物个数与切换前的目标物个数之间的差大于预设的阈值时,调整所述摄像头的焦距,以生成与切换后的目标物的个数相适应的定焦框。
在一种可能的实现方式中,所述处理器230具体用于:
调整所述无人机的飞行参数、所述云台的移动参数和所述摄像头的拍摄参数中的至少一种。
可选的,所述无人机的飞行参数包括:所述无人机的运动方向和/或所述 无人机的姿态。
在一种可能的实现方式中,所述处理器230具体用于:
调整所述无人机在第一水平方向上的移动参数,或在第二水平方向上的移动参数,其中,当所述比赛区域为方形时,所述第一水平方向和所述第二水平方向分别与所述比赛区域的相邻两边对应。
可选的,所述无人机在水平方向的移动方向与所述目标物在水平方向的移动方向一致。
在一种可能的实现方式中,所述处理器230还用于:
根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围;
根据所述无人机的飞行范围,控制所述无人机在所述无人机的飞行范围内移动,以使得所述目标物位于所述摄像头的定焦框内。
在一种可能的实现方式中,所述处理器230根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围前还用于,获取所述比赛区域的位置信息。
在一种可能的实现方式中,所述处理器230具体用于:
控制所述无人机采集待划分区域的图像信息;
根据所述待划分区域的图像信息,获取待划分区域的位置信息;所述待划分区域的位置信息包括所述待划分区域的边界位置信息;
对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
在一种可能的实现方式中,所述处理器230具体用于:
控制所述无人机采集待划分区域内多个分区的图像信息;
根据所述多个分区的图像信息分别获取所述多个分区的位置信息;
根据所述多个分区的位置信息获取所述待划分区域的位置信息;
对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
在一种可能的实现方式中,所述处理器230具体用于:
接收用户输入的边界信息;
根据所述边界信息确定所述比赛区域的位置信息。
可选的,所述边界信息包括:所述比赛区域的角点信息和/或所述比赛区域的边线信息。
可选的,所述无人机的属性包括如下至少一种:所述无人机的偏移角度、所述云台各个轴的转动范围和所述摄像头的变焦范围。
在一种可能的实现方式中,所述处理器230具体用于:
控制所述无人机飞行在第一预设高度,所述第一预设高度属于所述无人机的飞行范围内;
在所述无人机飞行在所述第一预设高度时,调整所述无人机在水平方向的移动参数、以及所述云台的移动参数和/或所述摄像头的拍摄参数。
在一种可能的实现方式中,所述处理器230还用于:
控制所述无人机的飞行高度从所述第一预设高度上升至所述第二预设高度,以使所述目标物位于所述摄像头的定焦框内,所述第二预设高度属于所述无人机的飞行范围内。
在一种可能的实现方式中,所述处理器230具体用于:
获取所述比赛区域内所述目标物的位置信息;
根据所述目标物的位置信息,调整所述无人机的飞行参数。
在一种可能的实现方式中,所述处理器230具体用于:
对所述比赛区域内的目标物进行识别,获得所述目标物在所述比赛区域内的位置信息。
在一种可能的实现方式中,所述处理器230具体用于:
通过所述无人机的摄像头获取当前图像信息;
当所述当前图像信息包括所述目标物的图像时,根据所述比赛区域的图像信息和所述当前图像信息,获取所述目标物在所述比赛区域内的位置信息。
在一种可能的实现方式中,所述处理器230具体用于:
获得所述目标物上的传感设备发送的传感信号;
根据所述传感信号,获得所述目标物在所述比赛区域内的位置信息。
可选的,所述比赛区域包括赛场区域和所述赛场区域的周边扩展区域。
本发明实施例的电子设备,可以用于执行上述方法实施例中的技术方案,其实现原理和技术效果类似,此处不再赘述。
图11为本申请实施例提供的无人机的结构示意图,在上述实施例的基础上,如图11所示,该无人机300包括:机身310、设于所述机身310的供电电池320、动力***330、摄像头340、云台360和处理器350;所述供电电池320能够为所述动力***330供电,所述动力***330为所述无人机提供动力;
所述处理器350,用于获取预设的比赛区域和目标物;根据所述目标物的个数,控制所述摄像头340生成与所述目标物的个数相适应的定焦框;并当检测到所述目标物位于所述比赛区域内时,调整所述动力***330、摄像头340和云台360中至少一种的参数,以使得所述目标物位于所述摄像头340的定焦框内。
本发明实施例的无人机,可以用于执行上述方法实施例中的技术方案,其实现原理和技术效果类似,此处不再赘述。
在一种可能的实现方式中,所述处理器350具体用于:
当所述目标物的个数为一个时,调整所述摄像头340的焦距生成第一定焦框;
当所述目标物的个数为多个时,调整所述摄像头340的焦距生成第二定焦框;
所述第二定焦框拍摄的范围大于所述第一定焦框拍摄的范围。
在一种可能的实现方式中,所述处理器350具体用于:
当所述目标物的个数为多个时,根据预设的目标物个数和焦距值之间的映射关系,调整所述摄像头340的焦距生成所述第二定焦框。
可选的,所述比赛区域包括球类比赛区域、射击类比赛区域、田径类比赛区域、水上比赛区域、冰雪比赛区域中的一种或多种。
可选的,所述目标物为篮球、橄榄球或足球。
可选的,所述目标物为一个或多个球员。
在一种可能的实现方式中,
所述处理器350,具体用于调整所述动力***330的参数,使得所述无人机和所述目标物呈预设的角度范围。
在一种可能的实现方式中,所述处理器350还用于:
当所述目标物为多个时,根据所述目标物的分布进行构图。
在一种可能的实现方式中,所述处理器350还用于
当所述目标物为多个时,调整所述动力***330、云台360和摄像头340中至少一种的参数,以使得所述目标物位于所述摄像头340的定焦框内。
在一种可能的实现方式中,所述处理器350,还用于将拍摄画面通过通信接口进行直播。
在一种可能的实现方式中,所述处理器350具体用于:
若接收到目标物切换指令,确定切换后的目标物个数;
根据切换后的目标物个数与切换前的目标物个数之间的差大于预设的阈值时,调整所述摄像头340的焦距,以生成与切换后的目标物的个数相适应的定焦框。
图12为本申请实施例提供的无人机的结构示意图,在上述实施例的基础上,如图12所示,所述动力***330包括机身动力装置331和云台动力装置332;
所述处理器350,具体用于控制所述机身动力装置331来调整所述机身310的飞行参数、和/或控制所述云台动力装置332来调整所述云台360的移动参数和/或控制所述摄像头340来调整拍摄参数。
可选的,所述机身310的飞行参数包括:所述机身310的运动方向和/或所述机身310的姿态。
在一种可能的实现方式中,所述处理器350,具体用于控制所述机身动力装置331调整所述机身310在第一水平方向上的移动参数,或控制所述机身动力装置331调整所述机身310在第二水平方向上的移动参数,其中,当所述比赛区域为方形时,所述第一水平方向和所述第二水平方向分别与所述比赛区域的相邻两边对应。
可选的,所述机身310在水平方向的移动方向与所述目标物在水平方向的移动方向一致。
在一种可能的实现方式中,所述处理器350,还用于根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围;
根据所述无人机的飞行范围,控制所述无人机在所述无人机的飞行范围内移动,以使得所述无人机的视野范围在所述比赛区域内。
在一种可能的实现方式中,所述处理器350用于根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围前还用于,获取所述比赛区域的位置信息。
在一种可能的实现方式中,所述处理器350,具有用于控制所述无人机采集待划分区域的图像信息;
根据所述待划分区域的图像信息,获取待划分区域的位置信息;所述待划分区域的位置信息包括所述待划分区域的边界位置信息;
对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
在一种可能的实现方式中,所述处理器350,具体用于控制所述无人机采集待划分区域内多个分区的图像信息;
根据所述多个分区的图像信息分别获取所述多个分区的位置信息;
根据所述多个分区的位置信息获取所述待划分区域的位置信息;
对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
在一种可能的实现方式中,所述处理器350,具体用于接收用户输入的边界信息;
根据所述边界信息确定所述比赛区域的位置信息。
可选的,所述边界信息包括:所述比赛区域的角点信息和/或所述比赛区域的边线信息。
可选的,所述无人机的属性包括如下至少一种:所述无人机的偏移角度、所述云台360各个轴的转动范围和所述摄像头340的变焦范围。
在一种可能的实现方式中,所述处理器350,具体用于通过控制所述机身动力装置331来控制所述机身310飞行在第一预设高度,所述第一预设高度属于所述无人机的飞行范围内;
在所述机身310飞行在所述第一预设高度时,通过控制所述机身动力装置331来调整所述机身310在水平方向的参数、和/或通过控制所述云台动力装置332来调整所述云台360的移动参数和/或通过控制所述摄像头340来调整所述拍摄参数。
在一种可能的实现方式中,所述处理器350,还用于通过控制所述机身 动力装置331来控制所述机身310的飞行高度从所述第一预设高度上升至所述第二预设高度,以使所述目标物位于所述摄像头340的定焦框内,所述第二预设高度属于所述无人机的飞行范围内。
在一种可能的实现方式中,所述处理器350具体用于:
获取所述比赛区域内所述目标物的位置信息;
根据所述目标物的位置信息,调整所述动力***330的飞行参数。
在一种可能的实现方式中,所述处理器350具体用于:
对所述比赛区域内的目标物进行识别,获得所述目标物在所述比赛区域内的位置信息。
在一种可能的实现方式中,所述处理器350具体用于:
控制所述无人机的摄像头340采集当前图像信息;
当所述当前图像信息包括所述目标物的图像时,根据所述比赛区域的图像信息和所述当前图像信息,获取所述目标物在所述比赛区域内的位置信息。
在一种可能的实现方式中,所述处理器350,还用于获得所述目标物上的传感设备发送的传感信号;
根据所述传感信号,获得所述目标物在所述比赛区域内的位置信息。
可选的,所述比赛区域包括赛场区域和所述赛场区域的周边扩展区域。
本发明实施例的无人机,可以用于执行上述方法实施例中的技术方案,其实现原理和技术效果类似,此处不再赘述。
本发明实施例中还提供了一种计算机存储介质,该计算机存储介质中存储有程序指令,所述程序执行时可包括上述各实施例中的比赛拍摄方法的部分或全部步骤。
本领域普通技术人员可以理解:实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成,前述的程序可以存储于一计算机可读取存储介质中,该程序在执行时,执行包括上述方法实施例的步骤;而前述的存储介质包括:只读内存(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对 其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (88)
- 一种比赛拍摄方法,其特征在于,应用于搭载摄像头和云台的无人机,包括:获取预设的比赛区域和目标物;根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框;当检测到所述目标物位于所述比赛区域内时,调整所述无人机、摄像头和云台中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。
- 根据权利要求1所述的方法,其特征在于,所述根据所述目标物的个数,生成与所述目标物的个数相适应的定焦框,包括:当所述目标物的个数为一个时,调整所述摄像头的焦距生成第一定焦框;当所述目标物的个数为多个时,调整所述摄像头的焦距生成第二定焦框;所述第二定焦框拍摄的范围大于所述第一定焦框拍摄的范围。
- 根据权利要求2所述的方法,其特征在于,当所述目标物的个数为多个时,调整所述摄像头的焦距生成第二定焦框,包括:当所述目标物的个数为多个时,根据预设的目标物个数和焦距值之间的映射关系,调整所述摄像头的焦距生成所述第二定焦框。
- 根据权利要求1-3任一项所述的方法,其特征在于,所述比赛区域包括球类比赛区域、射击类比赛区域、田径类比赛区域、水上比赛区域、冰雪比赛区域中的一种或多种。
- 根据权利要求1-3任一项所述的方法,其特征在于,所述目标物为篮球、橄榄球或足球。
- 根据权利要求1-3任一项所述的方法,其特征在于,所述目标物为一个或多个球员。
- 根据权利要求1-3任一项所述的方法,其特征在于,所述调整所述无人机的参数,以使得所述目标物位于所述摄像头的定焦框内具体为:调整所述无人机的参数,使得所述无人机和所述目标物呈预设的角度范围。
- 根据权利要求7所述的方法,其特征在于,所述方法包括:当所述目标物为多个时,根据所述目标物的分布进行构图。
- 根据权利要求7所述的方法,其特征在于,所述方法包括:当所述目标物为多个时,调整所述无人机、摄像头和云台中至少一个的参数,以使最多个数的目标物位于所述定焦框内。
- 根据权利要求1-3任一项所述的方法,其特征在于,所述方法还包括:将拍摄画面通过通信接口进行直播。
- 根据权利要求1所述的方法,其特征在于,所述根据目标物的个数,生成与所述目标物的个数相适应的定焦框,包括:若接收到目标物切换指令,确定切换后的目标物个数;根据切换后的目标物个数与切换前的目标物个数之间的差大于预设的阈值时,调整所述摄像头的焦距,以生成与切换后的目标物的个数相适应的定焦框。
- 根据权利要求1所述的方法,其特征在于,所述调整所述无人机、摄像头和云台中至少一种的参数,包括:调整所述无人机的飞行参数、所述云台的移动参数和所述摄像头的拍摄参数中的至少一种。
- 根据权利要求12所述的方法,其特征在于,所述无人机的飞行参数包括:所述无人机的运动方向和/或所述无人机的姿态。
- 根据权利要求13所述的方法,其特征在于,所述调整所述无人机的飞行参数,包括:调整所述无人机在第一水平方向上的移动参数,或在第二水平方向上的移动参数,其中,当所述比赛区域为方形时,所述第一水平方向和所述第二水平方向分别与所述比赛区域的相邻两边对应。
- 根据权利要求14所述的方法,其特征在于,所述无人机在水平方向的移动方向与所述目标物在水平方向的移动方向一致。
- 根据权利要求12-15任一项所述的方法,其特征在于,所述方法还包括:根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围;根据所述无人机的飞行范围,控制所述无人机在所述无人机的飞行范围 内移动,以使得所述目标物位于所述摄像头的定焦框内。
- 根据权利要求16所述的方法,其特征在于,根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围前还包括,获取所述比赛区域的位置信息。
- 根据权利要求17所述的方法,其特征在于,所述获取所述比赛区域的位置信息,包括:控制所述无人机采集待划分区域的图像信息;根据所述待划分区域的图像信息,获取待划分区域的位置信息;所述待划分区域的位置信息包括所述待划分区域的边界位置信息;对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
- 根据权利要求17所述的方法,其特征在于,所述获取所述比赛区域的位置信息,包括:控制所述无人机采集待划分区域内多个分区的图像信息;根据所述多个分区的图像信息分别获取所述多个分区的位置信息;根据所述多个分区的位置信息获取所述待划分区域的位置信息;对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
- 根据权利要求17所述的方法,其特征在于,所述获取所述比赛区域的位置信息,包括:接收用户输入的边界信息;根据所述边界信息确定所述比赛区域的位置信息。
- 根据权利要求20所述的方法,其特征在于,所述边界信息包括:所述比赛区域的角点信息和/或所述比赛区域的边线信息。
- 根据权利要求17所述的方法,其特征在于,所述无人机的属性包括如下至少一种:所述无人机的偏移角度、所述云台各个轴的转动范围和所述摄像头的变焦范围。
- 根据权利要求16所述的方法,其特征在于,所述调整所述无人机、摄像头和云台中至少一种的参数,包括:控制所述无人机飞行在第一预设高度,所述第一预设高度属于所述无人 机的飞行范围内;在所述无人机飞行在所述第一预设高度时,调整所述无人机在水平方向的移动参数、以及所述云台的移动参数和/或所述摄像头的拍摄参数。
- 根据权利要求23所述的方法,其特征在于,所述方法还包括:控制所述无人机的飞行高度从所述第一预设高度上升至所述第二预设高度,以使所述目标物位于所述摄像头的定焦框内,所述第二预设高度属于所述无人机的飞行范围内。
- 根据权利要求1所述的方法,其特征在于,所述调整所述无人机的飞行参数,包括:获取所述比赛区域内所述目标物的位置信息;根据所述目标物的位置信息,调整所述无人机的飞行参数。
- 根据权利要求25所述的方法,其特征在于,所述获取所述比赛区域内所述目标物的位置信息,包括:对所述比赛区域内的目标物进行识别,获得所述目标物在所述比赛区域内的位置信息。
- 根据权利要求26所述的方法,其特征在于,所述获取所述比赛区域内所述目标物的位置信息,包括:通过所述无人机的摄像头获取当前图像信息;当所述当前图像信息包括所述目标物的图像时,根据所述比赛区域的图像信息和所述当前图像信息,获取所述目标物在所述比赛区域内的位置信息。
- 根据权利要求25所述的方法,其特征在于,所述获取所述比赛区域内所述目标物的位置信息,包括:获得所述目标物上的传感设备发送的传感信号;根据所述传感信号,获得所述目标物在所述比赛区域内的位置信息。
- 根据权利要求1所述的方法,其特征在于,所述比赛区域包括赛场区域和所述赛场区域的周边扩展区域。
- 一种电子设备,其特征在于,应用于搭载摄像头和云台的无人机,包括:存储器,用于存储计算机程序;处理器,用于执行所述计算机程序,具体用于:获取预设的比赛区域和目标物;根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框;当检测到所述目标物位于所述比赛区域内时,调整所述无人机、摄像头和云台中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。
- 根据权利要求30所述的电子设备,其特征在于,所述处理器具体用于:当所述目标物的个数为一个时,调整所述摄像头的焦距生成第一定焦框;当所述目标物的个数为多个时,调整所述摄像头的焦距生成第二定焦框;所述第二定焦框拍摄的范围大于所述第一定焦框拍摄的范围。
- 根据权利要求31所述的电子设备,其特征在于,所述处理器具体用于:当所述目标物的个数为多个时,根据预设的目标物个数和焦距值之间的映射关系,调整所述摄像头的焦距生成所述第二定焦框。
- 根据权利要求30-32任一项所述的电子设备,其特征在于,所述比赛区域包括球类比赛区域、射击类比赛区域、田径类比赛区域、水上比赛区域、冰雪比赛区域中的一种或多种。
- 根据权利要求30-32任一项所述的电子设备,其特征在于,所述目标物为篮球、橄榄球或足球。
- 根据权利要求30-32任一项所述的电子设备,其特征在于,所述目标物为一个或多个球员。
- 根据权利要求30-32任一项所述的电子设备,其特征在于,所述处理器具体用于:调整所述无人机的参数,使得所述无人机和所述目标物呈预设的角度范围。
- 根据权利要求36所述的电子设备,其特征在于,所述处理器还用于:当所述目标物为多个时,根据所述目标物的分布进行构图。
- 根据权利要求36所述的电子设备,其特征在于,所述处理器还用于当所述目标物为多个时,调整所述无人机、摄像头和云台中至少一种的参数,以使最多个数的目标物位于所述定焦框内。
- 根据权利要求30-32任一项所述的电子设备,其特征在于,所述处理器还用于将拍摄画面通过通信接口进行直播。
- 根据权利要求30所述的电子设备,其特征在于,所述处理器具体用于:若接收到目标物切换指令,确定切换后的目标物个数;根据切换后的目标物个数与切换前的目标物个数之间的差大于预设的阈值时,调整所述摄像头的焦距,以生成与切换后的目标物的个数相适应的定焦框。
- 根据权利要求30所述的电子设备,其特征在于,所述处理器具体用于:调整所述无人机的飞行参数、所述云台的移动参数和所述摄像头的拍摄参数中的至少一种。
- 根据权利要求41所述的电子设备,其特征在于,所述无人机的飞行参数包括:所述无人机的运动方向和/或所述无人机的姿态。
- 根据权利要求42所述的电子设备,其特征在于,所述处理器具体用于:调整所述无人机在第一水平方向上的移动参数,或在第二水平方向上的移动参数,其中,当所述比赛区域为方形时,所述第一水平方向和所述第二水平方向分别与所述比赛区域的相邻两边对应。
- 根据权利要求43所述的电子设备,其特征在于,所述无人机在水平方向的移动方向与所述目标物在水平方向的移动方向一致。
- 根据权利要求41-44任一项所述的电子设备,其特征在于,所述处理器还用于:根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围;根据所述无人机的飞行范围,控制所述无人机在所述无人机的飞行范围内移动,以使得所述目标物位于所述摄像头的定焦框内。
- 根据权利要求45所述的电子设备,其特征在于,所述处理器根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围前还用于,获取所述比赛区域的位置信息。
- 根据权利要求46所述的电子设备,其特征在于,所述处理器具体用于:控制所述无人机采集待划分区域的图像信息;根据所述待划分区域的图像信息,获取待划分区域的位置信息;所述待划分区域的位置信息包括所述待划分区域的边界位置信息;对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
- 根据权利要求46所述的电子设备,其特征在于,所述处理器具体用于:控制所述无人机采集待划分区域内多个分区的图像信息;根据所述多个分区的图像信息分别获取所述多个分区的位置信息;根据所述多个分区的位置信息获取所述待划分区域的位置信息;对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
- 根据权利要求46所述的电子设备,其特征在于,所述处理器具体用于:接收用户输入的边界信息;根据所述边界信息确定所述比赛区域的位置信息。
- 根据权利要求49所述的电子设备,其特征在于,所述边界信息包括:所述比赛区域的角点信息和/或所述比赛区域的边线信息。
- 根据权利要求46所述的电子设备,其特征在于,所述无人机的属性包括如下至少一种:所述无人机的偏移角度、所述云台各个轴的转动范围和所述摄像头的变焦范围。
- 根据权利要求45所述的电子设备,其特征在于,所述处理器具体用于:控制所述无人机飞行在第一预设高度,所述第一预设高度属于所述无人机的飞行范围内;在所述无人机飞行在所述第一预设高度时,调整所述无人机在水平方向的移动参数、以及所述云台的移动参数和/或所述摄像头的拍摄参数。
- 根据权利要求52所述的电子设备,其特征在于,所述处理器还用于:控制所述无人机的飞行高度从所述第一预设高度上升至所述第二预设高度,以使所述目标物位于所述摄像头的定焦框内,所述第二预设高度属于所述无人机的飞行范围内。
- 根据权利要求30所述的电子设备,其特征在于,所述处理器具体用于:获取所述比赛区域内所述目标物的位置信息;根据所述目标物的位置信息,调整所述无人机的飞行参数。
- 根据权利要求54所述的电子设备,其特征在于,所述处理器具体用于:对所述比赛区域内的目标物进行识别,获得所述目标物在所述比赛区域内的位置信息。
- 根据权利要求55所述的电子设备,其特征在于,所述处理器具体用于:通过所述无人机的摄像头获取当前图像信息;当所述当前图像信息包括所述目标物的图像时,根据所述比赛区域的图像信息和所述当前图像信息,获取所述目标物在所述比赛区域内的位置信息。
- 根据权利要求54所述的电子设备,其特征在于,所述处理器具体用于:获得所述目标物上的传感设备发送的传感信号;根据所述传感信号,获得所述目标物在所述比赛区域内的位置信息。
- 根据权利要求30所述的电子设备,其特征在于,所述比赛区域包括赛场区域和所述赛场区域的周边扩展区域。
- 一种无人机,其特征在于,包括机身、设于所述机身的供电电池、动力***、摄像头、云台和处理器;所述供电电池能够为所述动力***供电,所述动力***为所述无人机提供动力;所述处理器,用于获取预设的比赛区域和目标物;根据所述目标物的个数,控制所述摄像头生成与所述目标物的个数相适应的定焦框;并当检测到所述目标物位于所述比赛区域内时,调整所述动力***、摄像头和云台中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。
- 根据权利要求59所述的无人机,其特征在于,所述处理器具体用于:当所述目标物的个数为一个时,调整所述摄像头的焦距生成第一定焦框;当所述目标物的个数为多个时,调整所述摄像头的焦距生成第二定焦框;所述第二定焦框拍摄的范围大于所述第一定焦框拍摄的范围。
- 根据权利要求60所述的无人机,其特征在于,所述处理器具体用于:当所述目标物的个数为多个时,根据预设的目标物个数和焦距值之间的映射关系,调整所述摄像头的焦距生成所述第二定焦框。
- 根据权利要求59-61任一项所述的无人机,其特征在于,所述比赛区域包括球类比赛区域、射击类比赛区域、田径类比赛区域、水上比赛区域、冰雪比赛区域中的一种或多种。
- 根据权利要求59-61任一项所述的无人机,其特征在于,所述目标物为篮球、橄榄球或足球。
- 根据权利要求59-61任一项所述的无人机,其特征在于,所述目标物为一个或多个球员。
- 根据权利要求59-61任一项所述的无人机,其特征在于,所述处理器,具体用于调整所述动力***的参数,使得所述无人机和所述目标物呈预设的角度范围。
- 根据权利要求65所述的无人机,其特征在于,所述处理器还用于:当所述目标物为多个时,根据所述目标物的分布进行构图。
- 根据权利要求65所述的无人机,其特征在于,所述处理器还用于当所述目标物为多个时,调整所述动力***、摄像头和云台中至少一种的参数,以使得所述目标物位于所述摄像头的定焦框内。
- 根据权利要求59-61任一项所述的无人机,其特征在于,所述处理器,还用于将拍摄画面通过通信接口进行直播。
- 根据权利要求59所述的无人机,其特征在于,所述处理器具体用于:若接收到目标物切换指令,确定切换后的目标物个数;根据切换后的目标物个数与切换前的目标物个数之间的差大于预设的阈值时,调整所述摄像头的焦距,以生成与切换后的目标物的个数相适应的定焦框。
- 根据权利要求59所述的无人机,其特征在于,所述动力***包括机身动力装置和云台动力装置;所述处理器,具体用于控制所述机身动力装置来调整所述机身的飞行参数、和/或控制所述云台动力装置来调整所述云台的移动参数和/或控制所述摄像头来调整拍摄参数。
- 根据权利要求70所述的无人机,其特征在于,所述机身的飞行参数包括:所述机身的运动方向和/或所述机身的姿态。
- 根据权利要求71所述的无人机,其特征在于,所述处理器,具体用于控制所述机身动力装置调整所述机身在第一水平方向上的移动参数,或控制所述机身动力装置调整所述机身在第二水平方向上的移动参数,其中,当所述比赛区域为方形时,所述第一水平方向和所述第二水平方向分别与所述比赛区域的相邻两边对应。
- 根据权利要求72所述的无人机,其特征在于,所述机身在水平方向的移动方向与所述目标物在水平方向的移动方向一致。
- 根据权利要求70-73任一项所述的无人机,其特征在于,所述处理器,还用于根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围;根据所述无人机的飞行范围,控制所述无人机在所述无人机的飞行范围内移动,以使得所述无人机的视野范围在所述比赛区域内。
- 根据权利要求74所述的无人机,其特征在于,所述处理器用于根据所述比赛区域的位置信息和所述无人机的属性信息,获取所述无人机的飞行范围前还用于,获取所述比赛区域的位置信息。
- 根据权利要求75所述的无人机,其特征在于,所述处理器,具有用于控制所述无人机采集待划分区域的图像信息;根据所述待划分区域的图像信息,获取待划分区域的位置信息;所述待划分区域的位置信息包括所述待划分区域的边界位置信息;对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位 置信息获取所述比赛区域的位置信息。
- 根据权利要求75所述的无人机,其特征在于,所述处理器,具体用于控制所述无人机采集待划分区域内多个分区的图像信息;根据所述多个分区的图像信息分别获取所述多个分区的位置信息;根据所述多个分区的位置信息获取所述待划分区域的位置信息;对所述待划分区域进行划分生成所述比赛区域,并根据待划分区域的位置信息获取所述比赛区域的位置信息。
- 根据权利要求75所述的无人机,其特征在于,所述处理器,具体用于接收用户输入的边界信息;根据所述边界信息确定所述比赛区域的位置信息。
- 根据权利要求78所述的无人机,其特征在于,所述边界信息包括:所述比赛区域的角点信息和/或所述比赛区域的边线信息。
- 根据权利要求75所述的无人机,其特征在于,所述无人机的属性包括如下至少一种:所述无人机的偏移角度、所述云台各个轴的转动范围和所述摄像头的变焦范围。
- 根据权利要求74所述的无人机,其特征在于,所述处理器,具体用于通过控制所述机身动力装置来控制所述机身飞行在第一预设高度,所述第一预设高度属于所述无人机的飞行范围内;在所述机身飞行在所述第一预设高度时,通过控制所述机身动力装置来调整所述机身在水平方向的参数、和/或通过控制所述云台动力装置来调整所述云台的移动参数、和/或通过控制所述摄像头来调整所述拍摄参数。
- 根据权利要求81所述的无人机,其特征在于,所述处理器,还用于通过控制所述机身动力装置来控制所述机身的飞行高度从所述第一预设高度上升至所述第二预设高度,以使所述目标物位于所述摄像头的定焦框内,所述第二预设高度属于所述无人机的飞行范围内。
- 根据权利要求59所述的无人机,其特征在于,所述处理器具体用于:获取所述比赛区域内所述目标物的位置信息;根据所述目标物的位置信息,调整所述动力***的飞行参数。
- 根据权利要求83所述的无人机,其特征在于,所述处理器具体用于:对所述比赛区域内的目标物进行识别,获得所述目标物在所述比赛区域内的位置信息。
- 根据权利要求84所述的无人机,其特征在于,所述处理器具体用于:控制所述无人机的摄像头采集当前图像信息;当所述当前图像信息包括所述目标物的图像时,根据所述比赛区域的图像信息和所述当前图像信息,获取所述目标物在所述比赛区域内的位置信息。
- 根据权利要求83所述的无人机,其特征在于,所述处理器,还用于获得所述目标物上的传感设备发送的传感信号;根据所述传感信号,获得所述目标物在所述比赛区域内的位置信息。
- 根据权利要求59所述的无人机,其特征在于,所述比赛区域包括赛场区域和所述赛场区域的周边扩展区域。
- 一种计算机存储介质,其特征在于,所述存储介质中存储计算机程序,所述计算机程序在执行时实现如权利要求1-29中任一项所述的比赛拍摄方法。
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