WO2023019445A1

WO2023019445A1 - Image processing method, unmanned aerial vehicle, and storage medium

Info

Publication number: WO2023019445A1
Application number: PCT/CN2021/113096
Authority: WO
Inventors: 潘国秀
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2023-02-23

Abstract

An image processing method, comprising: controlling an attitude adjustment device to adjust the attitude of a light intensity sensor, such that a detection direction of the light intensity sensor faces the above of the fuselage of an unmanned aerial vehicle (S110); controlling the light intensity sensor to acquire brightness information (S120); and performing light compensation processing on an image according to the brightness information, the image being photographed by a photographing device mounted on the unmanned aerial vehicle (S130). In this way, the image can be processed according to more accurate brightness information. The present application further provides an unmanned aerial vehicle and a storage medium.

Description

图像处理方法、无人飞行器和存储介质Image processing method, unmanned aerial vehicle and storage medium

技术领域technical field

本申请涉及无人飞行器作业技术领域，尤其涉及一种图像处理方法、无人飞行器和存储介质。The present application relates to the technical field of unmanned aerial vehicle operations, and in particular to an image processing method, an unmanned aerial vehicle and a storage medium.

背景技术Background technique

无人飞行器在进行作业时，有时需要通过光强传感器检测环境光照，根据环境光照进行作业。例如，在进行多光谱影像采集时，可以根据光强传感器输出的数据补偿环境光照变化对多光谱各窄带的影响，使得其获取更为准确的采集结果。When an unmanned aerial vehicle is performing operations, it sometimes needs to detect the ambient light through the light intensity sensor, and perform operations according to the ambient light. For example, when collecting multi-spectral images, the influence of ambient light changes on each narrow band of the multi-spectrum can be compensated according to the data output by the light intensity sensor, so that more accurate acquisition results can be obtained.

目前光强传感器与无人飞行器的机身都是刚性连接，无人飞行器在一些姿态时，光强传感器不能准确的检测环境光照，例如若在采集数据时太阳高度角低且航线方向有正对太阳直射方向，检测的环境光照就会出现最大和最小的情况，影响作业效果，例如进行多光谱影像采集时导致补偿出错，建图的结果出现条纹状。At present, the light intensity sensor and the fuselage of the unmanned aerial vehicle are rigidly connected. When the unmanned aerial vehicle is in some attitudes, the light intensity sensor cannot accurately detect the ambient light. In the direction of direct sunlight, the detected ambient light will appear in the maximum and minimum situations, which will affect the operation effect. For example, when collecting multi-spectral images, compensation errors will occur, and the results of mapping will appear streaked.

发明内容Contents of the invention

本申请提供了一种图像处理方法、无人飞行器和存储介质，旨在解决现有的无人飞行器上的光强传感器检测的环境光照不够准确等技术问题。The present application provides an image processing method, an unmanned aerial vehicle and a storage medium, aiming at solving the technical problems such as inaccurate ambient light detected by the light intensity sensor on the existing unmanned aerial vehicle.

第一方面，本申请实施例提供了一种图像处理方法，用于无人飞行器，所述无人飞行器搭载用于采集亮度信息的光强传感器，以及用于调整所述光强传感器的姿态的姿态调整装置，所述方法包括：In the first aspect, the embodiment of the present application provides an image processing method for an unmanned aerial vehicle, the unmanned aerial vehicle is equipped with a light intensity sensor for collecting brightness information, and an image processing method for adjusting the attitude of the light intensity sensor An attitude adjustment device, the method comprising:

控制所述姿态调整装置调整所述光强传感器的姿态，以使所述光强传感器的检测方向朝向所述无人飞行器的机体的上方；Controlling the attitude adjustment device to adjust the attitude of the light intensity sensor so that the detection direction of the light intensity sensor faces above the body of the UAV;

控制所述光强传感器采集亮度信息；controlling the light intensity sensor to collect brightness information;

根据所述亮度信息对所述图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。Perform illumination compensation processing on the image according to the brightness information, and the image is captured by a photographing device mounted on the unmanned aerial vehicle.

第二方面，本申请实施例提供了一种图像处理方法，用于无人飞行器，所述无人飞行器搭载用于采集亮度信息的光强传感器，所述方法包括：In a second aspect, an embodiment of the present application provides an image processing method for an unmanned aerial vehicle, the unmanned aerial vehicle is equipped with a light intensity sensor for collecting brightness information, and the method includes:

获取作业区域的第二太阳高度角信息，所述第二太阳高度角信息用于表示在所述作业区域不同时刻的太阳高度角的变化；Acquiring second solar altitude angle information of the operation area, the second solar altitude angle information being used to represent changes in the sun altitude angle at different times in the operation area;

根据所述第二太阳高度角信息确定作业时间；determining the working time according to the second solar altitude angle information;

控制所述无人飞行器在所述作业时间前往所述作业区域采集亮度信息；controlling the unmanned aerial vehicle to go to the operation area to collect brightness information during the operation time;

根据采集的亮度信息，对所述图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。According to the collected luminance information, light compensation processing is performed on the image, and the image is captured by a photographing device carried by the unmanned aerial vehicle.

第三方面，本申请实施例提供了一种无人飞行器，所述无人飞行器搭载用于采集亮度信息的光强传感器，以及用于调整所述光强传感器的姿态的姿态调整装置，所述无人飞行器还包括：In a third aspect, the embodiment of the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle is equipped with a light intensity sensor for collecting brightness information, and an attitude adjustment device for adjusting the attitude of the light intensity sensor, the UAVs also include:

一个或多个处理器，单独地或共同地工作，用于执行如下步骤：One or more processors, working individually or collectively, to perform the following steps:

根据所述亮度信息对图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。Perform illumination compensation processing on the image according to the brightness information, and the image is captured by a photographing device mounted on the unmanned aerial vehicle.

第四方面，本申请实施例提供了一种无人飞行器，所述无人飞行器搭载用于采集亮度信息的光强传感器，所述无人飞行器还包括：In a fourth aspect, the embodiment of the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle is equipped with a light intensity sensor for collecting brightness information, and the unmanned aerial vehicle further includes:

根据采集的亮度信息，对图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。According to the collected luminance information, light compensation processing is performed on the image, and the image is captured by the photographing device carried by the unmanned aerial vehicle.

第五方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现上述的方法。In a fifth aspect, the embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above method.

本申请实施例提供了一种图像处理方法、无人飞行器和存储介质，通过控制姿态调整装置调整光强传感器的检测方向，以使光强传感器的检测方向无人飞行器的机体的上方；或者通过获取作业区域的第二太阳高度角信息，第二太阳高度角信息用于表示在作业区域不同时刻的太阳高度角的变化，以及根据第二太阳高度角信息确定作业时间；可以降低无人飞行器飞行方向和/或姿态对光强传感器采集亮度信息的影响，得到更准确的亮度信息，以及更准确的对图像进行光照补偿处理。The embodiment of the present application provides an image processing method, an unmanned aerial vehicle, and a storage medium. The detection direction of the light intensity sensor is adjusted by controlling the attitude adjustment device, so that the detection direction of the light intensity sensor is above the body of the unmanned aerial vehicle; or by Obtain the second sun altitude angle information of the operation area, the second sun altitude angle information is used to represent the change of the sun altitude angle at different times in the operation area, and determine the operation time according to the second sun altitude angle information; it can reduce the flight time of unmanned aerial vehicle The influence of direction and/or attitude on the brightness information collected by the light intensity sensor, to obtain more accurate brightness information, and to perform more accurate light compensation processing on the image.

应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请实施例的公开内容。It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure content of the embodiments of the present application.

附图说明Description of drawings

为了更清楚地说明本申请实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，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。In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

图1是本申请实施例提供的一种图像处理方法的流程示意图；FIG. 1 is a schematic flow diagram of an image processing method provided in an embodiment of the present application;

图2是目前图像处理方法得到的图像的示意图；Fig. 2 is the schematic diagram of the image that current image processing method obtains;

图3是一实施方式中无人飞行器的航线的示意图；Fig. 3 is a schematic diagram of the route of an unmanned aerial vehicle in an embodiment;

图4是目前光强传感器采集亮度信息的示意图；Fig. 4 is a schematic diagram of collecting luminance information by the current light intensity sensor;

图5是本申请实施例中无人飞行器搭载光强传感器的示意图；5 is a schematic diagram of an unmanned aerial vehicle carrying a light intensity sensor in an embodiment of the present application;

图6是本申请实施例中光强传感器采集亮度信息的示意图；6 is a schematic diagram of light intensity sensor collecting brightness information in an embodiment of the present application;

图7是本申请另一实施例提供的一种图像处理方法的流程示意图；FIG. 7 is a schematic flowchart of an image processing method provided by another embodiment of the present application;

图8是本申请实施例提供的一种无人飞行器的示意性框图；Fig. 8 is a schematic block diagram of an unmanned aerial vehicle provided by an embodiment of the present application;

图9是另一实施方式中无人飞行器的示意性框图。Figure 9 is a schematic block diagram of an unmanned aerial vehicle in another embodiment.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请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申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

请参阅图1，图1是本申请实施例提供的一种图像处理方法的流程示意图。所述图像处理方法可以应用在无人飞行器中，用于根据无人飞行器搭载的光强传感器采集的亮度信息对无人飞行器搭载的拍摄装置拍摄的图像进行光照补偿处理。Please refer to FIG. 1 . FIG. 1 is a schematic flowchart of an image processing method provided in an embodiment of the present application. The image processing method can be applied in an unmanned aerial vehicle, and is used for performing illumination compensation processing on an image captured by a photographing device carried by an unmanned aerial vehicle according to brightness information collected by a light intensity sensor carried by the unmanned aerial vehicle.

进一步而言，无人飞行器可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。Furthermore, the unmanned aerial vehicle may be a rotor-type drone, such as a quad-rotor drone, a hexacopter drone, an octo-rotor drone, or a fixed-wing drone.

随着无人飞行器行业的快速发展，无人飞行器在各领域的应用也越来越广。举例而言，无人飞行器遥感***凭借其运载便利、灵活性高、作业周期短等优势，已被广泛应用于农田药物喷洒、农田信息监测、农业保险勘察等专业领域。多光谱相机遥感成像技术使用绿色，红色，红边和近红外波段捕获作物和植被的可见和不可见的图像，多光谱图像是评估土壤生产力和分析植物健康的非常有效的工具。示例性的，根据多光谱图像中红色和近红外波段的比例可以确定归一化差异植被指数(Normalized Difference Vegetation Index，NDVI)，NDVI是以每像素为基础计算出为来自图像的红色和近红外波段之间的归一化差异，NDVI的生物物理解释是吸收的光合有效辐射的分数。示例性的，根据多光谱图像中近红外和红色边缘的比例可以确定归一化差异红色边缘指数(Normalized Difference Red Edge Index，NDRE)，红色边缘是植被反射光谱红光到近红外NIR过渡带中的一个区域，标志着红色可见区域叶绿素吸收与NIR区叶片内部结构散射的界限，可以用于监测光合作用活动，根据光合作用活动的改变优化收割的时间。With the rapid development of the unmanned aerial vehicle industry, the application of unmanned aerial vehicles in various fields is also becoming wider and wider. For example, unmanned aerial vehicle remote sensing system has been widely used in professional fields such as farmland drug spraying, farmland information monitoring, and agricultural insurance survey due to its advantages of convenient transportation, high flexibility, and short operation cycle. Multispectral camera remote sensing imaging technology uses green, red, red edge and near-infrared bands to capture visible and invisible images of crops and vegetation. Multispectral images are very effective tools for assessing soil productivity and analyzing plant health. Exemplarily, the normalized difference vegetation index (Normalized Difference Vegetation Index, NDVI) can be determined according to the ratio of the red and near-infrared bands in the multispectral image, and the NDVI is calculated as the red and near-infrared from the image on a per-pixel basis. The normalized difference between bands, the biophysical interpretation of NDVI is the fraction of absorbed photosynthetically active radiation. Exemplarily, the normalized difference red edge index (Normalized Difference Red Edge Index, NDRE) can be determined according to the ratio of the near-infrared and red edges in the multispectral image, and the red edge is in the transition zone of the vegetation reflection spectrum red light to the near-infrared NIR A region of , marking the boundary between chlorophyll absorption in the red visible region and scattering by leaf internal structures in the NIR region, can be used to monitor photosynthetic activity and optimize harvest time based on changes in photosynthetic activity.

目前的无人机多光谱影像采集方案通常都有使用光强传感器补偿环境光照变化对多光谱各窄带的影响，使得多光谱影像更准确，以及获取更为准确的采集结果。The current UAV multi-spectral image acquisition solutions usually use light intensity sensors to compensate for the impact of ambient light changes on the multi-spectral narrow bands, making multi-spectral images more accurate and obtaining more accurate acquisition results.

但是目前的多光谱影像采集方案得到的NDVI和NDRE植被指数图会出现明显的条纹状，如图2中的(a)和(b)所示，并不能很好的知道用户去了解实际的作物长势。However, the NDVI and NDRE vegetation index maps obtained by the current multi-spectral image acquisition scheme will appear in obvious stripes, as shown in (a) and (b) in Figure 2, and it is not very good for users to understand the actual crops. growth.

本申请的发明人发现，目前光强传感器与无人飞行器的机身都是刚性连接，当无人飞行器的航线如图3所示，如果采集数据的时间点太阳高度角低且航线方向有正对太阳直射方向的，请参阅图4，箭头方向表示飞行方向，就会出现采集到光强传感器数据间隔出现最大和最小的情况，导致补偿出错，建图的结果出现条纹状，虽然可以进行平滑处理，但是得到的光谱数据还是不够准确。The inventors of the present application have found that the current light intensity sensor is rigidly connected to the fuselage of the unmanned aerial vehicle. For the direction of direct sunlight, please refer to Figure 4. The direction of the arrow indicates the direction of flight, and there will be a situation where the data interval of the light intensity sensor is collected to the maximum and minimum, resulting in compensation errors, and the result of the mapping appears striped, although it can be smoothed processing, but the obtained spectral data is still not accurate enough.

针对该发现，本申请的发明人对光强传感器在无人飞行器上的搭载方式，以及图像处理方法进行了改进，以实现降低无人飞行器飞行方向和/或姿态对光强传感器采集亮度信息的影响，得到更准确的亮度信息，以及更准确的对图像进行光照补偿处理。In response to this discovery, the inventors of the present application improved the way the light intensity sensor is mounted on the unmanned aerial vehicle and the image processing method, so as to reduce the impact of the flight direction and/or attitude of the unmanned aerial vehicle on the brightness information collected by the light intensity sensor. Influence, get more accurate brightness information, and perform light compensation processing on the image more accurately.

具体的，如图5所示，无人飞行器100搭载光强传感器10和姿态调整装置20，其中光强传感器10用于采集亮度信息，姿态调整装置20能够调整光强传感器10的检测方向。无人飞行器100还能够搭载拍摄装置200，拍摄装置200可以包括一个或多个摄像头，示例性的，拍摄装置200用于对目标地块进行拍摄，得到绿光波段的光谱图像、红光波段的光谱图像、红边光波段的光谱图像和近红外波段的光谱图像中的至少一种。Specifically, as shown in FIG. 5 , the UAV 100 is equipped with a light intensity sensor 10 and an attitude adjustment device 20 , wherein the light intensity sensor 10 is used to collect brightness information, and the attitude adjustment device 20 can adjust the detection direction of the light intensity sensor 10 . The unmanned aerial vehicle 100 can also be equipped with a photographing device 200. The photographing device 200 can include one or more cameras. Exemplarily, the photographing device 200 is used to photograph the target plot to obtain spectral images in the green band and red band. At least one of a spectral image, a spectral image in a red-edge light band, and a spectral image in a near-infrared band.

在一些实施方式中，光强传感器10设置于无人飞行器100的顶部，可以防止无人飞行器上一些部件的遮挡，而且结构比较简单。当然也不限于此，例如光强传感器10也可以设置于无人飞行器100的侧面。In some embodiments, the light intensity sensor 10 is arranged on the top of the unmanned aerial vehicle 100, which can prevent some parts on the unmanned aerial vehicle from being blocked, and has a relatively simple structure. Of course, it is not limited thereto, for example, the light intensity sensor 10 may also be disposed on the side of the UAV 100 .

如图1所示，本申请实施例的图像处理方法包括步骤S110至步骤S130。As shown in FIG. 1 , the image processing method of the embodiment of the present application includes step S110 to step S130.

S110、控制所述姿态调整装置调整所述光强传感器的姿态，以使所述光强传感器的检测方向朝向所述无人飞行器的机体的上方。S110. Control the attitude adjustment device to adjust the attitude of the light intensity sensor, so that the detection direction of the light intensity sensor faces above the body of the UAV.

应当理解，所述光强传感器朝向所述无人飞行器的机体的上方可以是朝向无人飞行器的机体的正上方，也可以倾斜地朝向无人飞行器的机体的上方，从而使得所述光强传感器能够向天空方向采集亮度信息。当所述光强传感器倾斜地朝向无人飞行器的机体的上方时，所述光强传感器的检测方向与水平面的夹角(锐角)的大小基本为预设值。It should be understood that the light intensity sensor may face directly above the body of the UAV, or may be obliquely directed above the body of the UAV, so that the light intensity sensor Capable of collecting brightness information toward the sky. When the light intensity sensor obliquely faces above the body of the UAV, the included angle (acute angle) between the detection direction of the light intensity sensor and the horizontal plane is basically a preset value.

在一些实施例中，所述预设值大于或等于60度，举例而言，所述预设范围为90度，当然也不限于此，例如预设值等于80度或70度。In some embodiments, the preset value is greater than or equal to 60 degrees, for example, the preset range is 90 degrees, of course it is not limited thereto, for example, the preset value is equal to 80 degrees or 70 degrees.

举例而言，光强传感器的检测方向可以包括光强传感器检测视野的中轴线方向，当然也不限于此，例如可以包括光强传感器的光学组件，如透镜、滤镜的中轴线。For example, the detection direction of the light sensor may include the direction of the central axis of the light sensor's detection field of view, and of course it is not limited thereto. For example, it may include the central axis of optical components of the light sensor, such as lenses and filters.

请参阅图6，在无人飞行器飞行时，通过调整光强传感器的检测方向与水平面的夹角大于或等于预设值，可以使得在相同太阳高度角下，即使无人飞行器具有不同的航向和姿态，入射光强传感器的太阳光的角度也可以保持基本相同，因此可以降低无人飞行器飞行方向和/或姿态对光强传感器采集亮度信息的影响，得到更准确的亮度信息。Please refer to Figure 6. When the unmanned aerial vehicle is flying, by adjusting the angle between the detection direction of the light intensity sensor and the horizontal plane to be greater than or equal to the preset value, it is possible to make the unmanned aerial vehicle have different headings and Attitude, the angle of sunlight incident on the light intensity sensor can also be kept basically the same, so the influence of the flight direction and/or attitude of the UAV on the brightness information collected by the light intensity sensor can be reduced, and more accurate brightness information can be obtained.

在一些实施方式中，所述姿态调整装置包括至少一个轴，用于调整所述光强传感器的姿态。示例性的，姿态调整装置的轴上设有电机，电机的转子、定子中的一个连接无人飞行器，另一个连接光强传感器，电机的转子、定子相对转动时，可以调整光强传感器相对于无人飞行器的姿态。In some embodiments, the attitude adjustment device includes at least one axis for adjusting the attitude of the light intensity sensor. Exemplarily, the shaft of the attitude adjustment device is provided with a motor, and one of the rotor and the stator of the motor is connected to the unmanned aerial vehicle, and the other is connected to the light intensity sensor. Attitude of the UAV.

示例性的，姿态调整装置包括云台，云台可以是单轴云台、双轴云台或三轴云台。Exemplarily, the attitude adjustment device includes a pan-tilt, and the pan-tilt may be a single-axis pan-tilt, a two-axis pan-tilt or a three-axis pan-tilt.

在一些实施方式中，所述姿态调整装置能够调整所述光强传感器的以下至少一种姿态角度：俯仰(pitch)角度、横滚(roll)角度或偏航(yaw)角度。其中俯仰角度为无人飞行器的机体轴与地平面(水平面)之间的夹角，横滚角度为无人飞行器对称平面与通过无人飞行器机体纵轴的铅垂平面间的夹角，偏航角度为机体轴在水平面上的投影与地轴之间的夹角。In some embodiments, the attitude adjusting device can adjust at least one of the following attitude angles of the light intensity sensor: a pitch angle, a roll angle or a yaw angle. The pitch angle is the angle between the body axis of the UAV and the ground plane (horizontal plane), the roll angle is the angle between the symmetry plane of the UAV and the vertical plane passing through the longitudinal axis of the UAV body, and the yaw The angle is the angle between the projection of the body axis on the horizontal plane and the earth's axis.

示例性的，所述姿态调整装置能够调整所述光强传感器的俯仰角度，以更好的补偿无人飞行器以俯仰姿态飞行时耦合给光强传感器的俯仰角度，使所述光强传感器的检测方向与水平面的夹角基本等于预设值。Exemplarily, the attitude adjustment device can adjust the pitch angle of the light intensity sensor to better compensate the pitch angle coupled to the light intensity sensor when the unmanned aerial vehicle flies in a pitch attitude, so that the detection of the light intensity sensor The included angle between the direction and the horizontal plane is basically equal to the preset value.

S120、控制所述光强传感器采集亮度信息。S120. Control the light intensity sensor to collect brightness information.

示例性的，光强传感器在光照条件下输出模拟电信号，可以根据光强传感器输出的模拟电信号确定亮度信息。Exemplarily, the light intensity sensor outputs an analog electrical signal under lighting conditions, and brightness information can be determined according to the analog electrical signal output by the light intensity sensor.

示例性的，光强传感器在光照条件下输出数字电信号，可以根据光强传感器输出的数字电信号确定亮度信息。Exemplarily, the light intensity sensor outputs a digital electrical signal under illumination conditions, and brightness information can be determined according to the digital electrical signal output by the light intensity sensor.

S130、根据所述亮度信息对所述图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。S130. Perform illumination compensation processing on the image according to the brightness information, and the image is captured by a photographing device mounted on the UAV.

在一些实施方式中，所述拍摄装置包括多目摄像头。多目摄像头对目标地块进行拍摄可以得到多个光谱图像，其中，每个所述光谱图像分别对应一个不同的预设波段；可选地，多个所述预设波段包括以下至少一种：绿光波段、红光波段、红边光波段和近红外波段，当然也不限于此。示例性的，当无人飞行器飞行到设定拍照点(如图3中的黑色圆点)时，可以控制所述拍摄装置对目标地块进行拍摄得到多个光谱图像。In some embodiments, the photographing device includes a multi-eye camera. A plurality of spectral images can be obtained by shooting the target plot with a multi-eye camera, wherein each of the spectral images corresponds to a different preset band; optionally, the plurality of preset bands include at least one of the following: The green light band, the red light band, the red edge light band and the near-infrared band are certainly not limited thereto. Exemplarily, when the unmanned aerial vehicle flies to the set photographing point (such as the black dot in FIG. 3 ), the photographing device can be controlled to photograph the target plot to obtain multiple spectral images.

示例性的，可以获取所述多目摄像头中每个镜头的相对位置关系，并根据每个镜头的相对位置关系对每个所述光谱图像均进行图像对齐。Exemplarily, the relative positional relationship of each lens in the multi-eye camera may be obtained, and image alignment is performed on each of the spectral images according to the relative positional relationship of each lens.

在一些实施方式中，所述光强传感器能够测量多个所述预设波段的光照强度值，可以理解的，采集的亮度信息包括多个所述预设波段的光照强度值；根据每个所述预设波段的光照强度值对每个所述光谱图像均进行光照补偿处理，例如得到多个预设波段对应的反射率图像；从而可以从多个反射率图像中获取预设的植被指数对应的目标反射率图像并进行指数计算，得到植被指数图。In some embodiments, the light intensity sensor is capable of measuring light intensity values of multiple preset bands. It can be understood that the collected brightness information includes light intensity values of multiple preset bands; Light intensity values of the preset bands are used to perform light compensation processing on each of the spectral images, for example, reflectance images corresponding to multiple preset bands are obtained; thus, preset vegetation index correspondences can be obtained from multiple reflectance images. The target albedo image and calculate the index to get the vegetation index map.

示例性的，所述拍摄装置还包括彩色摄像头，在控制所述多目摄像头进行拍摄时，还可以控制所述彩色摄像头对所述目标地块进行拍摄，得到彩色图像；以及根据所述彩色图像对每个所述反射率图像均进行图像增强。Exemplarily, the photographing device further includes a color camera. When controlling the multi-eye camera to photograph, the color camera can also be controlled to photograph the target plot to obtain a color image; and according to the color image Image enhancement is performed on each reflectance image.

由于步骤S120采集的亮度信息受无人飞行器飞行方向和/或姿态的影响较低，亮度信息更准确，请参阅图3和图6，可以避免或降低在无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生较大变化，从而可以降低或消除进行光照补偿处理后的图像上的条纹状现象。Since the brightness information collected in step S120 is less affected by the flight direction and/or attitude of the UAV, the brightness information is more accurate, please refer to Figure 3 and Figure 6, which can avoid or reduce the light intensity when the UAV adjusts the flight direction or attitude. The brightness information collected by the sensor changes greatly, so that the streak phenomenon on the image after the light compensation processing can be reduced or eliminated.

在一些实施方式中，所述控制所述姿态调整装置调整所述光强传感器的姿态，包括：获取所述光强传感器的当前姿态；根据所述光强传感器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。In some embodiments, the controlling the attitude adjustment device to adjust the attitude of the light intensity sensor includes: acquiring the current attitude of the light intensity sensor; controlling the attitude adjustment device according to the current attitude of the light intensity sensor Adjust the attitude of the light intensity sensor.

示例性的，基于预设的光强传感器的姿态和姿态调整装置的目标状态之间的对应关系，根据与所述光强传感器的当前姿态对应的姿态调整装置的目标状态，控制所述姿态调整装置，以使所述光强传感器的检测方向与水平面的夹角基本等于预设值。举例而言，所述姿态调整装置的状态可以包括一下至少一种：所述姿态调整装置中电机的转动方向、转动幅度、转动位置。Exemplarily, based on the preset correspondence between the attitude of the light intensity sensor and the target state of the attitude adjustment device, the attitude adjustment is controlled according to the target state of the attitude adjustment device corresponding to the current attitude of the light intensity sensor device, so that the angle between the detection direction of the light intensity sensor and the horizontal plane is basically equal to the preset value. For example, the status of the attitude adjustment device may include at least one of the following: the rotation direction, rotation range, and rotation position of the motor in the attitude adjustment device.

示例性的，所述控制所述姿态调整装置调整所述光强传感器的姿态，包括：控制所述姿态调整装置调整所述光强传感器的姿态，以使调整后的姿态趋向预设姿态，所述光强传感器的姿态为所述预设姿态时所述光强传感器的检测方向与水平面的夹角等于所述预设值。举例而言，可以根据所述光强传感器的当前姿态与所述预设姿态的差值，确定所述姿态调整装置的目标状态，以及根据所述姿态调整装置的目标状态，控制所述姿态调整装置，以使所述光强传感器的检测方向与水平面的夹角基本等于预设值。Exemplarily, the controlling the posture adjustment device to adjust the posture of the light intensity sensor includes: controlling the posture adjustment device to adjust the posture of the light intensity sensor, so that the adjusted posture tends to a preset posture, so When the attitude of the light intensity sensor is the preset attitude, the angle between the detection direction of the light intensity sensor and the horizontal plane is equal to the preset value. For example, the target state of the posture adjustment device can be determined according to the difference between the current posture of the light intensity sensor and the preset posture, and the posture adjustment can be controlled according to the target state of the posture adjustment device. device, so that the angle between the detection direction of the light intensity sensor and the horizontal plane is basically equal to the preset value.

示例性的，所述光强传感器的当前姿态由设置于所述光强传感器的第一姿态传感组件获取。示例性的，第一姿态传感组件包括以下至少一种：惯性测量单元(Inertial Measurement Unit，IMU)、陀螺仪、加速度计、重力传感器。Exemplarily, the current attitude of the light intensity sensor is acquired by a first attitude sensing component disposed on the light intensity sensor. Exemplarily, the first attitude sensing component includes at least one of the following: an inertial measurement unit (Inertial Measurement Unit, IMU), a gyroscope, an accelerometer, and a gravity sensor.

示例性的，所述无人飞行器包括第二姿态传感组件，用于获取所述无人飞行器的当前姿态。示例性的，第二姿态传感组件包括以下至少一种：惯性测量单元(Inertial Measurement Unit，IMU)、陀螺仪、加速度计、重力传感器。Exemplarily, the UAV includes a second attitude sensing component, configured to acquire the current attitude of the UAV. Exemplarily, the second attitude sensing component includes at least one of the following: an inertial measurement unit (Inertial Measurement Unit, IMU), a gyroscope, an accelerometer, and a gravity sensor.

示例性的，根据所述无人飞行器与所述光强传感器的安装关系，以及根据所述无人飞行器的当前姿态可以确定所述光强传感器的当前姿态。Exemplarily, the current attitude of the light intensity sensor can be determined according to the installation relationship between the UAV and the light intensity sensor, and according to the current attitude of the UAV.

在一些实施方式中，所述控制所述姿态调整装置调整所述光强传感器的姿态，包括：获取所述无人飞行器的当前姿态；根据所述无人飞行器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。可以理解的，无人飞行器的姿态变化时，会引起光强传感器的姿态变化，根据所述无人飞行器的当前姿态可以确定所述姿态调整装置的目标状态，根据所述目标状态控制所述姿态调整装置时，可以补偿无人飞行器的姿态变化耦合给光强传感器的姿态变化，使得所述光强传感器的当前姿态趋向所述预设姿态，即所述光强传感器的检测方向与水平面的夹角基本等于预设值。In some implementations, the controlling the attitude adjustment device to adjust the attitude of the light intensity sensor includes: obtaining the current attitude of the UAV; controlling the attitude adjustment device according to the current attitude of the UAV Adjust the attitude of the light intensity sensor. It can be understood that when the attitude of the unmanned aerial vehicle changes, it will cause the attitude of the light intensity sensor to change. According to the current attitude of the unmanned aerial vehicle, the target state of the attitude adjustment device can be determined, and the attitude can be controlled according to the target state. When adjusting the device, it is possible to compensate the attitude change of the unmanned aerial vehicle coupled to the attitude change of the light intensity sensor, so that the current attitude of the light intensity sensor tends to the preset attitude, that is, the gap between the detection direction of the light intensity sensor and the horizontal plane. The angle is basically equal to the default value.

示例性的，所述无人飞行器还包括第二姿态传感组件，用于获取所述无人飞行器的当前姿态；所述根据所述无人飞行器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态，包括：获取所述无人飞行器与所述光强传感器的安装关系；根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系控制所述姿态调整装置调整所述光强传感器的姿态。Exemplarily, the UAV further includes a second attitude sensing component, configured to obtain the current attitude of the UAV; the attitude adjustment device is controlled to adjust the attitude according to the current attitude of the UAV. The attitude of the light intensity sensor includes: obtaining the installation relationship between the unmanned aerial vehicle and the light intensity sensor; The attitude adjustment device adjusts the attitude of the light intensity sensor.

示例性的，所述根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系控制所述姿态调整装置调整所述光强传感器的姿态，包括：根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系确定所述光强传感器的当前姿态；根据所述光强传感器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。Exemplarily, the controlling the attitude adjustment device to adjust the attitude of the light sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light sensor includes: according to the The current attitude of the unmanned aerial vehicle and the installation relationship between the unmanned aerial vehicle and the light intensity sensor determine the current attitude of the light intensity sensor; control the attitude adjustment device to adjust the light according to the current attitude of the light intensity sensor Strong sensor pose.

示例性的，根据所述无人飞行器的当前姿态和所述姿态调整装置的当前状态，确定所述光强传感器的当前姿态，根据所述光强传感器的当前姿态与所述预设姿态的差值，确定所述姿态调整装置的目标状态，以及根据所述姿态调整装置的目标状态，控制所述姿态调整装置，以使所述光强传感器的检测方向与水平面的夹角基本等于预设值。Exemplarily, according to the current attitude of the UAV and the current state of the attitude adjustment device, the current attitude of the light intensity sensor is determined, and according to the difference between the current attitude of the light intensity sensor and the preset attitude value, determine the target state of the attitude adjustment device, and control the attitude adjustment device according to the target state of the attitude adjustment device, so that the angle between the detection direction of the light intensity sensor and the horizontal plane is basically equal to a preset value .

示例性的，根据所述无人飞行器的当前姿态和所述姿态调整装置的当前状态，确定所述光强传感器的当前姿态。示例性的，根据所述无人飞行器的当前姿态和前一时刻的姿态确定所述无人飞行器的姿态变化量，根据所述无人飞行器的姿态变化量和所述无人飞行器与所述光强传感器的安装关系，确定所述姿态调整装置的目标状态，以及根据所述姿态调整装置的目标状态，控制所述姿态调整装置，以使所述光强传感器的检测方向与水平面的夹角基本等于预设值。Exemplarily, the current attitude of the light intensity sensor is determined according to the current attitude of the UAV and the current state of the attitude adjustment device. Exemplarily, the attitude change amount of the UAV is determined according to the current attitude of the UAV and the attitude at the previous moment, and according to the attitude change amount of the UAV and the relationship between the UAV and the light The installation relationship of the intensity sensor, determine the target state of the attitude adjustment device, and control the attitude adjustment device according to the target state of the attitude adjustment device, so that the angle between the detection direction of the light intensity sensor and the horizontal plane is basically equal to the default value.

在一些实施方式中，所述控制所述姿态调整装置调整所述光强传感器的姿态，包括：获取所述无人飞行器的当前位置的当前太阳高度角；当所述当前太阳高度角小于第一高度角阈值时，控制所述姿态调整装置调整所述光强传感器的姿态。In some implementations, the controlling the attitude adjustment device to adjust the attitude of the light intensity sensor includes: obtaining the current sun altitude angle of the current position of the UAV; when the current sun altitude angle is less than the first When the altitude angle threshold is reached, the attitude adjustment device is controlled to adjust the attitude of the light intensity sensor.

示例性的，所述第一高度角阈值根据所述光强传感器的性能确定，使得当当前太阳高度角大于所述第一高度角阈值时，无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生的变化较小，入射光强传感器的太阳光的角度也可以保持基本相同；当当前太阳高度角小于第一高度角阈值时，可以通过控制所述姿态调整装置调整所述光强传感器的姿态，降低无人飞行器飞行方向和/或姿态对光强传感器采集亮度信息的影响。无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生的变化较小，入射光强传感器的太阳光的角度也可以保持基本相同，光强传感器采集的数据较准确。Exemplarily, the first altitude threshold is determined according to the performance of the light intensity sensor, so that when the current sun altitude is greater than the first altitude threshold, the unmanned aerial vehicle adjusts the flight direction or attitude of the light intensity sensor collected The change of the brightness information is small, and the angle of the sunlight incident on the light intensity sensor can also remain basically the same; when the current sun altitude angle is less than the first altitude angle threshold, the light intensity sensor can be adjusted by controlling the attitude adjustment device The attitude of the UAV can reduce the influence of the flight direction and/or attitude of the UAV on the brightness information collected by the light intensity sensor. When the unmanned aerial vehicle adjusts the flight direction or attitude, the brightness information collected by the light intensity sensor changes little, and the angle of the sunlight incident on the light intensity sensor can also remain basically the same, and the data collected by the light intensity sensor is more accurate.

示例性的，所述光强传感器的性能包括所述光强传感器的视场角和/或检测范围。可选的，所述第一高度角阈值与所述光强传感器的视场角和/或检测范围成正比。如果光强传感器的视场角较宽，光强传感器较易因无人飞行器姿态或飞行方向的调整正对太阳，当前太阳高度角需要在较高时才能降低无人飞行器飞行方向和/或姿态对光强传感器采集亮度信息的影响；如果光强传感器的视场角较窄，即使当前太阳高度角较低，光强传感器较难因无人飞行器姿态或飞行方向的调整正对太阳。Exemplarily, the performance of the light intensity sensor includes the field angle and/or detection range of the light intensity sensor. Optionally, the first elevation angle threshold is proportional to the field of view and/or detection range of the light intensity sensor. If the field of view of the light sensor is wide, the light sensor is more likely to face the sun due to the adjustment of the attitude or flight direction of the UAV. The current altitude angle of the sun needs to be higher to reduce the flight direction and/or attitude of the UAV. The impact on the brightness information collected by the light intensity sensor; if the field of view of the light intensity sensor is narrow, even if the current sun altitude angle is low, it is difficult for the light intensity sensor to face the sun due to the adjustment of the attitude or flight direction of the UAV.

示例性的，所述第一高度角阈值根据所述光强传感器的检测方向的调整范围确定，可以理解的，所述光强传感器的检测方向的调整范围是根据所述姿态调整装置的结构确定的。可选的，所述第一高度角阈值与所述光强传感器的检测方向的调整范围成反比。如果光强传感器的检测方向的调整范围较大，在当前太阳高度角较低时，仍可以通过调整光强传感器的检测方向与水平面的夹角大于或等于预设值，使得在一天中可以有更长的时间可以使光强传感器准确的采集亮度信息。Exemplarily, the first elevation angle threshold is determined according to the adjustment range of the detection direction of the light intensity sensor. It can be understood that the adjustment range of the detection direction of the light intensity sensor is determined according to the structure of the attitude adjustment device of. Optionally, the first elevation angle threshold is inversely proportional to the adjustment range of the detection direction of the light intensity sensor. If the adjustment range of the detection direction of the light intensity sensor is large, when the current solar altitude angle is low, the angle between the detection direction of the light intensity sensor and the horizontal plane can still be greater than or equal to the preset value, so that there can be A longer time allows the light intensity sensor to accurately collect brightness information.

示例性的，所述方法还包括：当所述当前太阳高度角大于或等于第一高度角阈值时，控制所述姿态调整装置对所述光强传感器进行固定。Exemplarily, the method further includes: when the current sun altitude angle is greater than or equal to a first altitude angle threshold, controlling the attitude adjustment device to fix the light intensity sensor.

示例性的，无人飞行器飞行时的俯仰角度、横滚角度或偏航角度在对应的角度范围内，例如俯仰角度在负30度至正30度之间，以提高飞行的安全性；因此当所述太阳高度角大于第一高度角阈值时，无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生的变化较小，入射光强传感器的太阳光的角度也可以保持基本相同，因此可以降低无人飞行器飞行方向和/或姿态对光强传感器采集亮度信息的影响，得到更准确的亮度信息。通过在所述当前太阳高度角小于所述第一高度角阈值时，控制所述姿态调整装置调整所述光强传感器的姿态，可以降低能耗，减少姿态调整装置的磨损。Exemplarily, the pitch angle, roll angle or yaw angle of the unmanned aerial vehicle is within a corresponding angle range, for example, the pitch angle is between minus 30 degrees and plus 30 degrees, so as to improve flight safety; therefore, when When the sun altitude angle is greater than the first altitude angle threshold value, the unmanned aerial vehicle adjusts the flight direction or attitude, and the brightness information collected by the light intensity sensor changes less, and the angle of the sunlight incident on the light intensity sensor can also remain basically the same, so The influence of the flight direction and/or attitude of the unmanned aerial vehicle on the brightness information collected by the light intensity sensor can be reduced, and more accurate brightness information can be obtained. By controlling the attitude adjustment device to adjust the attitude of the light intensity sensor when the current sun altitude angle is less than the first altitude angle threshold, energy consumption can be reduced and wear of the attitude adjustment device can be reduced.

示例性的，所述无人飞行器还包括位置传感器，用于获取所述无人飞行器的当前位置。当然也不限于此，例如可以根据与所述无人飞行器通信连接的终端设备的当前位置确定所述无人飞行器的当前位置。位置传感器例如包括GPS 传感器、RTK传感器，当然也不限于此。Exemplarily, the UAV further includes a position sensor, configured to obtain the current location of the UAV. Of course, it is not limited thereto, for example, the current location of the UAV may be determined according to the current location of a terminal device communicatively connected with the UAV. The position sensor includes, for example, a GPS sensor and an RTK sensor, but of course it is not limited thereto.

在一些实施方式中，所述获取所述无人飞行器的当前位置的当前太阳高度角，包括：根据当前时刻以及所述当前位置，确定所述当前太阳高度角。示例性的，根据所述当前时刻以及所述当前位置在无人飞行器或终端设备本地查询所述当前太阳高度角，或者通过服务器的数据库查询所述当前太阳高度角。In some implementations, the acquiring the current solar altitude of the current location of the UAV includes: determining the current solar altitude according to the current moment and the current location. Exemplarily, according to the current time and the current position, the current solar altitude angle is queried locally on the UAV or the terminal device, or the current solar altitude angle is queried through a server database.

示例性的，所述获取所述无人飞行器的当前位置的当前太阳高度角，包括：根据所述当前位置，从远程设备获取所述当前位置的第一太阳高度角信息，所述第一太阳高度角信息用于表示在所述当前位置不同时刻的太阳高度角的变化；根据所述第一太阳高度角信息确定所述当前太阳高度角。远程设备例如包括服务器。Exemplarily, the acquiring the current sun altitude of the current position of the UAV includes: acquiring the first sun altitude information of the current position from a remote device according to the current position, the first sun The altitude angle information is used to represent the change of the sun altitude angle at different times at the current location; the current sun altitude angle is determined according to the first sun altitude angle information. Remote devices include servers, for example.

可以理解的，所述当前位置可以是当前的经纬度，也可以是当前所在的行政区划，或者地理区域。示例性的，所述第一太阳高度角信息用于表示当前日期、月份或季节，在所述当前位置不同时刻，如小时、分钟的太阳高度角的变化。It can be understood that the current location may be the current latitude and longitude, and may also be the current administrative division or geographical area. Exemplarily, the first solar altitude information is used to represent the current date, month or season, and the change of the solar altitude angle at different times, such as hours and minutes, at the current location.

本申请实施例提供的图像处理方法，通过控制姿态调整装置调整无人飞行器搭载的光强传感器的检测方向，以使所述光强传感器的检测方向朝向无人飞行器的机体的上方，使得通过光强传感器采集的亮度信息受无人飞行器飞行方向和/或姿态的影响较低，避免或降低在无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生较大变化，亮度信息更准确，保证对环境光照变化的补偿效果；根据所述亮度信息对拍摄的图像进行光照补偿处理，可以降低或消除光照补偿处理后的图像上的条纹状现象。而且在当前太阳高度角较低时，仍可以通过调整光强传感器的检测方向与水平面的夹角大于或等于预设值，使得在一天中可以有更长的时间可以使光强传感器准确的采集亮度信息。In the image processing method provided in the embodiment of the present application, the detection direction of the light intensity sensor carried by the unmanned aerial vehicle is adjusted by controlling the attitude adjustment device, so that the detection direction of the light intensity sensor is directed above the body of the unmanned aerial vehicle, so that the light passing through The brightness information collected by the strong sensor is less affected by the flight direction and/or attitude of the UAV, avoiding or reducing the large changes in the brightness information collected by the light intensity sensor when the UAV adjusts the flight direction or attitude, and the brightness information is more accurate. The compensation effect for the change of ambient light is ensured; the light compensation processing is performed on the captured image according to the brightness information, which can reduce or eliminate the streak phenomenon on the image after the light compensation processing. Moreover, when the current solar altitude angle is low, it is still possible to adjust the angle between the detection direction of the light intensity sensor and the horizontal plane to be greater than or equal to the preset value, so that the light intensity sensor can be accurately collected for a longer period of time in a day. Brightness information.

请结合前述实施例参阅图7，图7是本申请另一实施例提供的一种图像处理方法的流程示意图。所述图像处理方法可以应用在无人飞行器和/或终端设备中，用于控制无人飞行器采集亮度信息，以根据采集的亮度信息对无人飞行器搭载的拍摄装置拍摄的图像进行光照补偿处理。Please refer to FIG. 7 in conjunction with the foregoing embodiments. FIG. 7 is a schematic flowchart of an image processing method provided by another embodiment of the present application. The image processing method can be applied in the unmanned aerial vehicle and/or terminal equipment, and is used to control the unmanned aerial vehicle to collect brightness information, so as to perform illumination compensation processing on the image captured by the shooting device carried by the unmanned aerial vehicle according to the collected brightness information.

进一步而言，无人飞行器可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。终端设备可以包括手机、平板电脑、笔记本电脑、台式电脑、个人数字助理、穿戴式设备、遥控器等中的至少一项。Furthermore, the unmanned aerial vehicle may be a rotor-type drone, such as a quad-rotor drone, a hexacopter drone, an octo-rotor drone, or a fixed-wing drone. The terminal device may include at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, a wearable device, a remote controller, and the like.

请参阅图4，光强传感器内部的光学结构仅能保证太阳高度角大于某一特定数值才能保证各窄带波段的光强数值变化量较小，例如小于5％，进而保证对环境光照变化的补偿效果。如果遇到采集数据的时间点太阳高度角低，会导致光强传感器各窄带波段的数据变化趋势出现明显差异，进而导致补偿后的多光谱相机各窄带的数据不正确；使用植被指数了解作物长势的时候会出现30～40％的误差，影响农艺师的判断。为了保证对环境光照变化的补偿效果，目前的无人飞行器进行作业时通常固定要求在正午12点到下午2点之间完成数据采集，此时的太阳高度角基本上为一天最高的时候，但是这样也大大缩短了作业时间，不利于开展大面积的数据采集作业。Please refer to Figure 4. The optical structure inside the light intensity sensor can only ensure that the sun’s altitude angle is greater than a certain value to ensure that the light intensity value of each narrowband band changes small, such as less than 5%, thereby ensuring compensation for ambient light changes. Effect. If the sun altitude angle is low at the time of data collection, it will lead to obvious differences in the data trend of each narrow-band band of the light intensity sensor, which will lead to incorrect data of each narrow-band of the multi-spectral camera after compensation; use the vegetation index to understand the growth of crops There will be 30-40% error in the time, which will affect the judgment of the agronomist. In order to ensure the compensation effect for the change of ambient light, the current unmanned aerial vehicle usually requires the completion of data collection between 12:00 noon and 2:00 p.m. when the sun altitude angle is basically the highest in the day, but This also greatly shortens the operation time, which is not conducive to carrying out large-scale data collection operations.

针对该发现，本申请的发明人对图像处理方法进行了改进，以实现根据作业区域的太阳高度角信息确定作业时间，以在所述作业时间控制所述无人飞行器在所述作业时间前往所述作业区域采集亮度信息，以及根据采集的亮度信息，对所述图像进行光照补偿处理。防止采集到不准确的亮度信息以及根据不准确的亮度信息对图像进行处理，而且可以更合理的安排作业时间。In view of this discovery, the inventors of the present application improved the image processing method to realize the determination of the operation time according to the sun altitude angle information of the operation area, so as to control the UAV to go to the place at the operation time during the operation time. collecting brightness information in the operation area, and performing illumination compensation processing on the image according to the collected brightness information. Prevent the acquisition of inaccurate brightness information and process the image according to the inaccurate brightness information, and can arrange the work time more reasonably.

具体的，请参阅图5，无人飞行器100搭载光强传感器10，光强传感器10用于采集亮度信息。在一些实施方式中，光强传感器10直接与无人飞行器100连接，在另一些实施方式中，如图5所示，无人飞行器100还搭载姿态调整装置20，姿态调整装置20能够调整光强传感器10的检测方向。示例性的，无人飞行器100还能够搭载拍摄装置200，拍摄装置200可以包括一个或多个摄像头、红光波段的光谱图像、红边光波段的光谱图像和近红外波段的光谱图像中的至少一种。Specifically, please refer to FIG. 5 , the unmanned aerial vehicle 100 is equipped with a light intensity sensor 10 , and the light intensity sensor 10 is used to collect brightness information. In some embodiments, the light intensity sensor 10 is directly connected with the UAV 100. In other embodiments, as shown in FIG. 5 , the UAV 100 is also equipped with an attitude adjustment device 20, which can adjust the light intensity. The detection direction of the sensor 10. Exemplarily, the unmanned aerial vehicle 100 can also be equipped with a photographing device 200, and the photographing device 200 can include at least one of one or more cameras, spectral images in the red band, spectral images in the red-edge band, and spectral images in the near-infrared band. A sort of.

如图7所示，本实施例的图像处理方法包括步骤S210至步骤S240。As shown in FIG. 7 , the image processing method of this embodiment includes steps S210 to S240.

S210、获取作业区域的第二太阳高度角信息，所述第二太阳高度角信息用于表示在所述作业区域不同时刻的太阳高度角的变化。S210. Acquire second sun altitude angle information of the work area, where the second sun altitude angle information is used to represent changes in the sun altitude angle at different times in the work area.

在一些实施方式中，作业区域可以是终端设备根据用户的区域设置操作获取的，或者是无人飞行器或终端设备搭载的位置传感器获取的，位置传感器例如包括GPS传感器、RTK传感器，当然也不限于此。示例性的，所述作业区域也可以是经纬度，也可以是行政区划，或者地理区域。In some implementations, the operating area can be obtained by the terminal device according to the user's area setting operation, or obtained by the position sensor mounted on the unmanned aerial vehicle or the terminal device. The position sensor includes, for example, a GPS sensor, an RTK sensor, and is certainly not limited to this. Exemplarily, the operation area may also be a latitude and longitude, or an administrative division, or a geographical area.

示例性的，所述第二太阳高度角信息用于表示当前日期、月份或季节，在所述作业区域不同时刻，如小时、分钟的太阳高度角的变化。Exemplarily, the second solar altitude information is used to represent the change of the solar altitude angle at different times, such as hours and minutes, in the operation area in the current date, month or season.

在一些实施方式中，所述获取作业区域的第二太阳高度角信息，包括：获取所述作业区域和作业日期；根据所述作业区域和所述作业日期，确定作业区域在所述作业日期的第二太阳高度角信息。示例性的，根据所述作业区域和所述作业日期在无人飞行器或终端设备本地查询所述第二太阳高度角信息，或者通过服务器的数据库查询所述第二太阳高度角信息。In some implementations, the obtaining the second sun altitude information of the operation area includes: obtaining the operation area and the operation date; according to the operation area and the operation date, determining that the operation area is within Second sun altitude angle information. Exemplarily, according to the operation area and the operation date, the second solar altitude information is queried locally on the unmanned aerial vehicle or the terminal device, or the second solar altitude information is queried through the database of the server.

示例性的，所述获取作业区域的第二太阳高度角信息，包括：根据所述作业区域，从远程设备获取所述作业区域的第二太阳高度角信息。远程设备例如包括服务器。可选的，服务器存储有当前日期、月份或季节，若干区域不同时刻，如小时、分钟的太阳高度角的变化，根据所述作业区域即可获取所述作业区域的第二太阳高度角信息。Exemplarily, the acquiring the second sun altitude information of the operation area includes: acquiring the second sun altitude information of the operation area from a remote device according to the operation area. Remote devices include servers, for example. Optionally, the server stores the current date, month or season, and the change of the sun altitude angle in several areas at different times, such as hours and minutes, and the second sun altitude angle information of the operation area can be obtained according to the operation area.

S220、根据所述第二太阳高度角信息确定作业时间。S220. Determine the working time according to the second solar altitude angle information.

具体的，根据所述第二太阳高度角信息的确定作业时间，可以使得在所述作业时间内，光强传感器采集的亮度信息受无人飞行器飞行方向和/或姿态的影响较低，亮度信息更准确。示例性的，所述作业时间内的太阳高度角较高，光强传感器较难因无人飞行器姿态或飞行方向的调整正对太阳，可以避免或降低在无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生较大变化，从而可以降低或消除进行光照补偿处理后的图像上的条纹状现象。Specifically, according to the determination of the operation time of the second sun altitude angle information, it can be made that during the operation time, the brightness information collected by the light intensity sensor is less affected by the flight direction and/or attitude of the unmanned aerial vehicle, and the brightness information more acurrate. Exemplarily, the sun altitude angle during the operation time is relatively high, and it is difficult for the light intensity sensor to face the sun due to the adjustment of the attitude or flight direction of the unmanned aerial vehicle, which can avoid or reduce the light intensity when the unmanned aerial vehicle adjusts the flight direction or attitude. The brightness information collected by the sensor changes greatly, so that the streak phenomenon on the image after the light compensation processing can be reduced or eliminated.

在一些实施方式中，所述根据所述第二太阳高度角信息确定作业时间，包括：根据所述太阳高度角的变化确定在所述作业区域的太阳高度角大于或等于第二高度角阈值的时间，根据所确定的时间确定所述作业时间。太阳高度角大于或等于第二高度角阈值时，无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生的变化较小，入射光强传感器的太阳光的角度也可以保持基本相同，光强传感器采集的数据较准确。In some implementations, the determining the working time according to the second solar altitude information includes: determining, according to the change of the solar altitude angle, that the solar altitude angle in the operation area is greater than or equal to the second altitude angle threshold time, the operation time is determined according to the determined time. When the sun altitude angle is greater than or equal to the second altitude angle threshold value, the unmanned aerial vehicle adjusts the flight direction or attitude, and the brightness information collected by the light intensity sensor has little change, and the angle of the sunlight incident on the light intensity sensor can also remain basically the same. The data collected by strong sensors is more accurate.

在一些实施方式中，所述第二高度角阈值根据所述光强传感器的性能确定。使得当太阳高度角大于所述第二高度角阈值时，无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生的变化较小，入射光强传感器的太阳光的角度也可以保持基本相同，光强传感器采集的数据较准确。从而可以提供匹配光照传感器光学特性的能够保证光学传感器有效采集数据的作业时间，有助于光学传感器采集到有效的数据。In some implementations, the second elevation angle threshold is determined according to the performance of the light intensity sensor. So that when the sun altitude angle is greater than the second altitude angle threshold value, the unmanned aerial vehicle adjusts the flight direction or attitude, and the brightness information collected by the light intensity sensor changes little, and the angle of the sunlight incident on the light intensity sensor can also remain basically the same , the data collected by the light intensity sensor is more accurate. Therefore, it is possible to provide an operation time that matches the optical characteristics of the illumination sensor and can ensure that the optical sensor effectively collects data, and helps the optical sensor to collect effective data.

示例性的，所述光强传感器的性能包括所述光强传感器的视场角和/或检测范围。Exemplarily, the performance of the light intensity sensor includes the field angle and/or detection range of the light intensity sensor.

可选的，所述第二高度角阈值与所述光强传感器的视场角和/或检测范围成正比。如果光强传感器的视场角较宽，光强传感器较易因无人飞行器姿态或飞行方向的调整正对太阳，当前太阳高度角需要在较高时才能降低无人飞行器飞行方向和/或姿态对光强传感器采集亮度信息的影响；如果光强传感器的视场角较窄，即使当前太阳高度角较低，光强传感器较难因无人飞行器姿态或飞行方向的调整正对太阳。Optionally, the second height angle threshold is proportional to the field angle and/or detection range of the light intensity sensor. If the field of view of the light sensor is wide, the light sensor is more likely to face the sun due to the adjustment of the attitude or flight direction of the UAV. The current altitude angle of the sun needs to be higher to reduce the flight direction and/or attitude of the UAV. The impact on the brightness information collected by the light intensity sensor; if the field of view of the light intensity sensor is narrow, even if the current sun altitude angle is low, it is difficult for the light intensity sensor to face the sun due to the adjustment of the attitude or flight direction of the UAV.

在一些实施方式中，所述无人飞行器搭载姿态调整装置，所述姿态调整装置能够调整所述光强传感器的姿态，请参阅图5。In some implementations, the UAV is equipped with an attitude adjustment device, and the attitude adjustment device can adjust the attitude of the light intensity sensor, please refer to FIG. 5 .

在一些实施方式中，可以控制所述姿态调整装置调整所述光强传感器的姿态，以使所述光强传感器的检测方向朝向所述无人飞行器的机体的上方，并且所述检测方向与水平面的夹角基本等于预设值。In some implementations, the attitude adjustment device can be controlled to adjust the attitude of the light intensity sensor so that the detection direction of the light intensity sensor faces above the body of the UAV, and the detection direction is in line with the horizontal plane. The included angle is basically equal to the preset value.

示例性的，所述第二高度角阈值根据所述光强传感器的检测方向的调整范围确定。可以理解的，所述光强传感器的检测方向的调整范围是根据所述姿态调整装置的结构确定的。可选的，所述第二高度角阈值与所述光强传感器的检测方向的调整范围成反比。如果光强传感器的检测方向的调整范围较大，在当前太阳高度角较低时，仍可以通过调整光强传感器的检测方向与水平面的夹角大于或等于预设值，使得在一天中可以有更长的时间可以使光强传感器准确的采集亮度信息。Exemplarily, the second elevation angle threshold is determined according to the adjustment range of the detection direction of the light intensity sensor. It can be understood that the adjustment range of the detection direction of the light intensity sensor is determined according to the structure of the attitude adjustment device. Optionally, the second elevation angle threshold is inversely proportional to the adjustment range of the detection direction of the light intensity sensor. If the adjustment range of the detection direction of the light intensity sensor is large, when the current sun altitude angle is low, the angle between the detection direction of the light intensity sensor and the horizontal plane can still be greater than or equal to the preset value, so that there can be A longer time allows the light intensity sensor to accurately collect brightness information.

S230、控制所述无人飞行器在所述作业时间前往所述作业区域采集亮度信息。S230. Control the unmanned aerial vehicle to go to the operation area to collect brightness information during the operation time.

无人飞行器在所述作业区域和所述作业时间，光强传感器采集的亮度信息受无人飞行器飞行方向和/或姿态的影响较低，亮度信息更准确。When the UAV is in the operation area and the operation time, the brightness information collected by the light intensity sensor is less affected by the flight direction and/or attitude of the UAV, and the brightness information is more accurate.

示例性的，光强传感器在光照条件下输出模拟电信号，可以根据光强传感器输出的模拟电信号确定亮度信息。Exemplarily, the light intensity sensor outputs an analog electrical signal under illumination conditions, and brightness information may be determined according to the analog electrical signal output by the light intensity sensor.

S240、根据采集的亮度信息，对所述图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。S240. Perform illumination compensation processing on the image according to the collected luminance information, and the image is captured by a photographing device mounted on the UAV.

由于步骤S230采集的亮度信息受无人飞行器飞行方向和/或姿态的影响较低，亮度信息更准确，请参阅图6，可以避免或降低在无人飞行器调整飞行方向或姿态时光强传感器采集的亮度信息产生较大变化，从而可以降低或消除进行光照补偿处理后的图像上的条纹状现象。Since the luminance information collected in step S230 is less affected by the flight direction and/or attitude of the UAV, the luminance information is more accurate. Please refer to FIG. The luminance information changes greatly, thereby reducing or eliminating the streak phenomenon on the image after the light compensation processing.

本申请实施例提供的图像处理方法，通过获取作业区域的第二太阳高度角信息，第二太阳高度角信息用于表示在作业区域不同时刻的太阳高度角的变化；根据第二太阳高度角信息确定作业时间，以及控制无人飞行器在作业时间前往作业区域采集亮度信息；根据采集的亮度信息，对无人飞行器搭载的拍摄装置拍摄得到的图像进行光照补偿处理，可以降低无人飞行器飞行方向和/或姿态对光强传感器采集亮度信息的影响，得到更准确的亮度信息，以及更准确的对图像进行光照补偿处理。The image processing method provided in the embodiment of the present application acquires the second sun altitude angle information of the work area, and the second sun altitude angle information is used to represent the change of the sun altitude angle at different times in the work area; according to the second sun altitude angle information Determine the operating time, and control the unmanned aerial vehicle to go to the operating area to collect brightness information during the operating time; according to the collected brightness information, perform light compensation processing on the image captured by the camera device mounted on the unmanned aerial vehicle, which can reduce the flight direction and brightness of the unmanned aerial vehicle. /or the impact of attitude on the brightness information collected by the light intensity sensor, to obtain more accurate brightness information, and to perform light compensation processing on the image more accurately.

在一些实施方式中，可以获取用户在作业任务规划界面设置的作业区域，如经纬度信息以及计划作业的日期，获取所述作业区域在所述日期中不同时刻的太阳高度角的变化，即第二太阳高度角信息；根据所述第二太阳高度角信息确定作业时间，以及输出所述作业时间，便于用户根据所述作业时间合理安排无人飞行器执行作业任务，控制所述无人飞行器在所述作业时间前往所述作业区域采集亮度信息，以及根据采集的亮度信息，对所述图像进行光照补偿处理。在所述作业时间内，光强传感器采集的亮度信息受无人飞行器飞行方向和/或姿态的影响较低，亮度信息更准确，光照补偿处理后的图像能更准确的体现相关信息，例如保证作物的长势分析结果可靠。In some embodiments, the operation area set by the user on the operation task planning interface can be obtained, such as longitude and latitude information and the date of the planned operation, and the change of the solar altitude angle of the operation area at different times in the date can be obtained, that is, the second Sun altitude angle information; determine the operation time according to the second sun altitude angle information, and output the operation time, so that the user can reasonably arrange the unmanned aerial vehicle to perform the operation task according to the operation time, and control the unmanned aerial vehicle in the described During working time, go to the working area to collect brightness information, and perform light compensation processing on the image according to the collected brightness information. During the operation time, the brightness information collected by the light intensity sensor is less affected by the flight direction and/or attitude of the unmanned aerial vehicle, the brightness information is more accurate, and the image after illumination compensation processing can more accurately reflect relevant information, such as ensuring The results of crop growth analysis are reliable.

示例性的，可以兼容第三方的光谱设备，仅需用户输入光照传感器可采集正确数据的太阳高度角，如第二高度角阈值，即可告知用户什么样的采集环境可以采集到有效的数据，便于用户合理安排无人飞行器执行作业任务。Exemplarily, it is compatible with third-party spectral devices, and only needs the user to input the sun altitude angle at which the light sensor can collect correct data, such as the second altitude angle threshold, to inform the user what kind of collection environment can collect valid data, It is convenient for users to reasonably arrange unmanned aerial vehicles to perform tasks.

请结合上述实施例参阅图8和图9，图8和图9是本申请实施例提供的无人飞行器600的示意性框图。Please refer to FIG. 8 and FIG. 9 in conjunction with the above embodiments. FIG. 8 and FIG. 9 are schematic block diagrams of an unmanned aerial vehicle 600 provided by an embodiment of the present application.

进一步而言，无人飞行器600可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。Further, the unmanned aerial vehicle 600 may be a rotor type drone, such as a quadrotor drone, a hexacopter drone, an octorotor drone, or a fixed-wing drone.

该无人飞行器600包括一个或多个处理器601，一个或多个处理器601单独地或共同地工作，用于执行前述的图像处理方法的步骤。The unmanned aerial vehicle 600 includes one or more processors 601, and the one or more processors 601 work individually or jointly to execute the steps of the aforementioned image processing method.

示例性的，无人飞行器600还包括存储器602。Exemplarily, the UAV 600 also includes a memory 602 .

示例性的，处理器601和存储器602通过总线603连接，该总线603比如为I2C(Inter-integrated Circuit)总线。Exemplarily, the processor 601 and the memory 602 are connected through a bus 603, such as an I2C (Inter-integrated Circuit) bus.

具体地，处理器601可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。Specifically, the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

具体地，存储器602可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

其中，所述处理器601用于运行存储在存储器602中的计算机程序，并在执行所述计算机程序时实现前述的图像处理方法的步骤。Wherein, the processor 601 is configured to run a computer program stored in the memory 602, and realize the steps of the aforementioned image processing method when executing the computer program.

在一些实施方式中，如图8所示，无人飞行器600搭载光强传感器10，用于采集亮度信息，姿态调整装置20，姿态调整装置20能够调整光强传感器10的检测方向。In some implementations, as shown in FIG. 8 , the unmanned aerial vehicle 600 is equipped with a light intensity sensor 10 for collecting brightness information, an attitude adjustment device 20 , and the attitude adjustment device 20 can adjust the detection direction of the light intensity sensor 10 .

示例性的，无人飞行器600还能够搭载拍摄装置200，拍摄装置200可以包括一个或多个摄像头、红光波段的光谱图像、红边光波段的光谱图像和近红外波段的光谱图像中的至少一种。Exemplarily, the unmanned aerial vehicle 600 can also carry the photographing device 200, and the photographing device 200 can include one or more cameras, spectral images in the red band, spectral images in the red edge band, and spectral images in the near-infrared band. A sort of.

处理器601用于运行存储在存储器602中的计算机程序，并在执行计算机程序时实现如下步骤：The processor 601 is used to run the computer program stored in the memory 602, and implement the following steps when executing the computer program:

控制所述姿态调整装置调整所述光强传感器的姿态，以使所述光强传感器的检测方向朝向所述无人飞行器的机体的上方，并且所述检测方向与水平面的夹角基本等于预设值；Controlling the attitude adjustment device to adjust the attitude of the light intensity sensor so that the detection direction of the light intensity sensor faces above the body of the unmanned aerial vehicle, and the angle between the detection direction and the horizontal plane is basically equal to the preset value;

示例性的，所述处理器执行所述控制所述姿态调整装置调整所述光强传感器的姿态时，用于：Exemplarily, when the processor executes the controlling the attitude adjusting device to adjust the attitude of the light intensity sensor, it is used for:

获取所述无人飞行器的当前位置的当前太阳高度角；Obtain the current solar altitude angle of the current location of the UAV;

当所述当前太阳高度角小于第一高度角阈值时，控制所述姿态调整装置调整所述光强传感器的姿态。When the current sun altitude angle is less than the first altitude angle threshold, the attitude adjustment device is controlled to adjust the attitude of the light intensity sensor.

示例性的，所述处理器还用于执行如下步骤：Exemplarily, the processor is further configured to perform the following steps:

当所述当前太阳高度角大于或等于第一高度角阈值时，控制所述姿态调整装置对所述光强传感器进行固定。When the current sun altitude is greater than or equal to a first altitude threshold, the attitude adjustment device is controlled to fix the light intensity sensor.

示例性的，所述第一高度角阈值根据所述光强传感器的性能确定。Exemplarily, the first elevation angle threshold is determined according to the performance of the light intensity sensor.

示例性的，所述第一高度角阈值根据所述光强传感器的检测方向的调整范围确定。Exemplarily, the first elevation angle threshold is determined according to the adjustment range of the detection direction of the light intensity sensor.

示例性的，所述无人飞行器还包括位置传感器，用于获取所述无人飞行器的当前位置；所述处理器执行所述获取所述无人飞行器的当前位置的当前太阳高度角时，用于：Exemplarily, the unmanned aerial vehicle further includes a position sensor, configured to acquire the current position of the unmanned aerial vehicle; At:

根据当前时刻以及所述当前位置，确定所述当前太阳高度角。According to the current moment and the current position, the current solar altitude angle is determined.

根据所述当前位置，从远程设备获取所述当前位置的第一太阳高度角信息，所述第一太阳高度角信息用于表示在所述当前位置不同时刻的太阳高度角的变化；According to the current location, acquiring first solar altitude information at the current location from the remote device, the first solar altitude information being used to represent changes in the solar altitude angle at different times at the current location;

根据所述第一太阳高度角信息确定所述当前太阳高度角。The current sun altitude is determined according to the first sun altitude information.

获取所述光强传感器的当前姿态；Obtain the current attitude of the light intensity sensor;

根据所述光强传感器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the light intensity sensor.

示例性的，所述光强传感器的当前姿态由设置于所述光强传感器的第一姿态传感组件获取。Exemplarily, the current attitude of the light intensity sensor is acquired by a first attitude sensing component disposed on the light intensity sensor.

获取所述无人飞行器的当前姿态；Obtain the current attitude of the UAV;

根据所述无人飞行器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the UAV.

示例性的，所述无人飞行器还包括第二姿态传感组件，用于获取所述无人飞行器的当前姿态；Exemplarily, the UAV further includes a second attitude sensing component, configured to acquire the current attitude of the UAV;

所述处理器执行所述根据所述无人飞行器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态时，用于：When the processor executes the controlling the attitude adjustment device to adjust the attitude of the light intensity sensor according to the current attitude of the UAV, it is used for:

获取所述无人飞行器与所述光强传感器的安装关系；Obtain the installation relationship between the unmanned aerial vehicle and the light intensity sensor;

根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light intensity sensor.

示例性的，所述处理器执行所述根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系控制所述姿态调整装置调整所述光强传感器的姿态时，用于：Exemplarily, when the processor executes the step of controlling the attitude adjustment device to adjust the attitude of the light intensity sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light intensity sensor, , for:

根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系确定所述光强传感器的当前姿态；determining the current attitude of the light intensity sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light intensity sensor;

控制所述姿态调整装置调整所述光强传感器的姿态，以使调整后的姿态趋向预设姿态，所述光强传感器的姿态为所述预设姿态时所述光强传感器的检测方向与水平面的夹角等于所述预设值。controlling the attitude adjustment device to adjust the attitude of the light intensity sensor so that the adjusted attitude tends to a preset attitude, and the attitude of the light intensity sensor is the detection direction and the horizontal plane of the light intensity sensor when the preset attitude is The included angle is equal to the preset value.

示例性的，所述姿态调整装置包括至少一个轴，用于调整所述光强传感器的姿态。Exemplarily, the attitude adjustment device includes at least one axis for adjusting the attitude of the light intensity sensor.

示例性的，所述姿态调整装置能够调整所述光强传感器的以下至少一种姿态角度：Exemplarily, the attitude adjustment device can adjust at least one of the following attitude angles of the light intensity sensor:

俯仰角度、横滚角度或偏航角度。Pitch angle, roll angle or yaw angle.

示例性的，所述预设值大于或等于60度。Exemplarily, the preset value is greater than or equal to 60 degrees.

示例性的，所述预设值为90度。Exemplarily, the preset value is 90 degrees.

示例性的，所述光强传感器设置于所述无人飞行器的顶部。Exemplarily, the light intensity sensor is arranged on the top of the UAV.

在另一些实施方式中，请参阅图8和图9，所述无人飞行器搭载光强传感器10，用于采集亮度信息。示例性的，请参阅图8，无人飞行器600搭载光强传感器10，用于采集亮度信息，姿态调整装置20，姿态调整装置20能够调整光强传感器10的检测方向。示例性的，请参阅图9，光强传感器10直接与无人飞行器600连接。In other embodiments, please refer to FIG. 8 and FIG. 9 , the unmanned aerial vehicle is equipped with a light intensity sensor 10 for collecting brightness information. For example, please refer to FIG. 8 , the unmanned aerial vehicle 600 is equipped with a light intensity sensor 10 for collecting brightness information, and an attitude adjustment device 20 , which can adjust the detection direction of the light intensity sensor 10 . Exemplarily, please refer to FIG. 9 , the light intensity sensor 10 is directly connected with the UAV 600 .

所述处理器601用于运行存储在存储器602中的计算机程序，并在执行所述计算机程序时实现如下步骤：The processor 601 is used to run a computer program stored in the memory 602, and implement the following steps when executing the computer program:

示例性的，所述处理器执行所述根据所述第二太阳高度角信息确定作业时间时，用于：Exemplarily, when the processor executes the determination of the working time according to the second sun altitude angle information, it is used to:

根据所述太阳高度角的变化确定在所述作业区域的太阳高度角大于或等于第二高度角阈值的时间，根据所确定的时间确定所述作业时间。The time when the sun altitude in the operation area is greater than or equal to a second altitude threshold is determined according to the change of the sun altitude, and the operation time is determined according to the determined time.

示例性的，所述第二高度角阈值根据所述光强传感器的性能确定。Exemplarily, the second elevation angle threshold is determined according to the performance of the light intensity sensor.

示例性的，所述无人飞行器搭载姿态调整装置，所述姿态调整装置能够调整所述光强传感器的姿态，所述第二高度角阈值根据所述光强传感器的检测方向的调整范围确定。Exemplarily, the UAV is equipped with an attitude adjustment device, the attitude adjustment device can adjust the attitude of the light intensity sensor, and the second elevation angle threshold is determined according to the adjustment range of the detection direction of the light intensity sensor.

示例性的，所述处理器执行所述获取作业区域的第二太阳高度角信息时，用于：Exemplarily, when the processor executes the acquisition of the second sun altitude information of the operation area, it is used to:

获取所述作业区域和作业日期；Obtain the operation area and operation date;

根据所述作业区域和所述作业日期，确定作业区域在所述作业日期的第二太阳高度角信息。According to the operation area and the operation date, the second solar altitude angle information of the operation area on the operation date is determined.

根据所述作业区域，从远程设备获取所述作业区域的第二太阳高度角信息。According to the operation area, the second sun altitude angle information of the operation area is acquired from a remote device.

本申请实施例提供的无人飞行器的具体原理和实现方式均与前述实施例的图像处理方法类似，此处不再赘述。The specific principles and implementation methods of the unmanned aerial vehicle provided in the embodiment of the present application are similar to the image processing method in the foregoing embodiment, and will not be repeated here.

本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现上述实施例提供的图像处理方法的步骤。An embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the image processing method provided in the above-mentioned embodiment step.

其中，所述计算机可读存储介质可以是前述任一实施例所述的无人飞行器的内部存储单元，例如所述无人飞行器的硬盘或内存。所述计算机可读存储介质也可以是所述无人飞行器的外部存储设备，例如所述无人飞行器上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。Wherein, the computer-readable storage medium may be an internal storage unit of the UAV described in any of the foregoing embodiments, such as a hard disk or a memory of the UAV. The computer-readable storage medium can also be an external storage device of the unmanned aerial vehicle, such as a plug-in hard disk equipped on the unmanned aerial vehicle, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital , SD) card, flash memory card (Flash Card), etc.

应当理解，在此本申请中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。It should be understood that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application.

还应当理解，在本申请和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。It should also be understood that the term "and/or" used in this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

一种图像处理方法，用于无人飞行器，其特征在于，所述无人飞行器搭载用于采集亮度信息的光强传感器，以及用于调整所述光强传感器的姿态的姿态调整装置，所述方法包括：An image processing method for an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a light intensity sensor for collecting brightness information, and an attitude adjustment device for adjusting the attitude of the light intensity sensor, the Methods include:

控制所述姿态调整装置调整所述光强传感器的姿态，以使所述光强传感器的检测方向朝向所述无人飞行器的机体的上方；Controlling the attitude adjustment device to adjust the attitude of the light intensity sensor so that the detection direction of the light intensity sensor faces above the body of the UAV;

控制所述光强传感器采集亮度信息；controlling the light intensity sensor to collect brightness information;

根据所述亮度信息对所述图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。Perform illumination compensation processing on the image according to the brightness information, and the image is captured by a photographing device mounted on the unmanned aerial vehicle.
根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, further comprising:

获取所述无人飞行器的当前位置的当前太阳高度角；Obtain the current solar altitude angle of the current location of the UAV;

当所述当前太阳高度角小于第一高度角阈值时，控制所述姿态调整装置调整所述光强传感器的姿态。When the current sun altitude angle is less than the first altitude angle threshold, the attitude adjustment device is controlled to adjust the attitude of the light intensity sensor.
根据权利要求2所述的方法，其特征在于，所述方法还包括：The method according to claim 2, further comprising:

当所述当前太阳高度角大于或等于第一高度角阈值时，控制所述姿态调整装置对所述光强传感器进行固定。When the current sun altitude is greater than or equal to a first altitude threshold, the attitude adjustment device is controlled to fix the light intensity sensor.
根据权利要求2或3所述的方法，其特征在于，所述第一高度角阈值根据所述光强传感器的性能确定。The method according to claim 2 or 3, wherein the first elevation angle threshold is determined according to the performance of the light intensity sensor.
根据权利要求4所述的方法，其特征在于，所述光强传感器的性能包括所述光强传感器的视场角和/或检测范围。The method according to claim 4, characterized in that the performance of the light intensity sensor includes the field angle and/or detection range of the light intensity sensor.
根据权利要求4所述的方法，其特征在于，所述第一高度角阈值根据所述光强传感器的检测方向的调整范围确定。The method according to claim 4, wherein the first elevation angle threshold is determined according to an adjustment range of the detection direction of the light intensity sensor.
根据权利要求2或3所述的方法，其特征在于，所述无人飞行器还包括位置传感器，用于获取所述无人飞行器的当前位置；The method according to claim 2 or 3, wherein the unmanned aerial vehicle further comprises a position sensor for obtaining the current position of the unmanned aerial vehicle;

所述获取所述无人飞行器的当前位置的当前太阳高度角，包括：The obtaining the current solar altitude angle of the current position of the unmanned aerial vehicle includes:

根据当前时刻以及所述当前位置，确定所述当前太阳高度角。According to the current moment and the current position, the current solar altitude angle is determined.
根据权利要求2或3所述的方法，其特征在于，所述无人飞行器还包括位置传感器，用于获取所述无人飞行器的当前位置；The method according to claim 2 or 3, wherein the unmanned aerial vehicle further comprises a position sensor for obtaining the current position of the unmanned aerial vehicle;

所述获取所述无人飞行器的当前位置的当前太阳高度角，包括：The obtaining the current solar altitude angle of the current position of the unmanned aerial vehicle includes:

根据所述当前位置，从远程设备获取所述当前位置的第一太阳高度角信息，所述第一太阳高度角信息用于表示在所述当前位置不同时刻的太阳高度角的变化；According to the current location, acquiring first solar altitude information at the current location from the remote device, the first solar altitude information being used to represent changes in the solar altitude angle at different times at the current location;

根据所述第一太阳高度角信息确定所述当前太阳高度角。The current sun altitude is determined according to the first sun altitude information.
根据权利要求1所述的方法，其特征在于，所述控制所述姿态调整装置调整所述光强传感器的姿态，包括：The method according to claim 1, wherein the controlling the posture adjustment device to adjust the posture of the light intensity sensor comprises:

获取所述光强传感器的当前姿态；Obtain the current attitude of the light intensity sensor;

根据所述光强传感器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the light intensity sensor.
根据权利要求9所述的方法，其特征在于，所述光强传感器的当前姿态由设置于所述光强传感器的第一姿态传感组件获取。The method according to claim 9, wherein the current attitude of the light intensity sensor is acquired by a first attitude sensing component provided on the light intensity sensor.
根据权利要求1所述的方法，其特征在于，所述控制所述姿态调整装置调整所述光强传感器的姿态，包括：The method according to claim 1, wherein the controlling the posture adjustment device to adjust the posture of the light intensity sensor comprises:

获取所述无人飞行器的当前姿态；Obtain the current attitude of the UAV;

根据所述无人飞行器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the UAV.
根据权利要求11所述的方法，其特征在于，所述无人飞行器还包括第二姿态传感组件，用于获取所述无人飞行器的当前姿态；The method according to claim 11, wherein the UAV further comprises a second attitude sensing component for obtaining the current attitude of the UAV;

所述根据所述无人飞行器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态，包括：The controlling the attitude adjustment device to adjust the attitude of the light intensity sensor according to the current attitude of the UAV includes:

获取所述无人飞行器与所述光强传感器的安装关系；Obtain the installation relationship between the unmanned aerial vehicle and the light intensity sensor;

根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light intensity sensor.
根据权利要求12所述的方法，其特征在于，所述根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系控制所述姿态调整装置调整所述光强传感器的姿态，包括：The method according to claim 12, wherein the attitude adjustment device is controlled to adjust the light intensity according to the current attitude of the UAV and the installation relationship between the UAV and the light intensity sensor The attitude of the sensor, including:

根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系确定所述光强传感器的当前姿态；determining the current attitude of the light intensity sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light intensity sensor;

根据所述光强传感器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the light intensity sensor.
根据权利要求1-13中任一项所述的方法，其特征在于，所述控制所述姿态调整装置调整所述光强传感器的姿态，包括：The method according to any one of claims 1-13, wherein the controlling the posture adjustment device to adjust the posture of the light intensity sensor comprises:

控制所述姿态调整装置调整所述光强传感器的姿态，以使调整后的姿态趋向预设姿态，所述光强传感器的姿态为所述预设姿态时所述光强传感器的检测方向与水平面的夹角基本等于所述预设值。controlling the attitude adjustment device to adjust the attitude of the light intensity sensor so that the adjusted attitude tends to a preset attitude, and the attitude of the light intensity sensor is the detection direction and the horizontal plane of the light intensity sensor when the preset attitude is The included angle is basically equal to the preset value.
根据权利要求1-13中任一项所述的方法，其特征在于，所述姿态调整装置包括至少一个轴，用于调整所述光强传感器的姿态。The method according to any one of claims 1-13, characterized in that the attitude adjustment device comprises at least one axis for adjusting the attitude of the light intensity sensor.
根据权利要求15中任一项所述的方法，其特征在于，所述至少一个轴包括以下至少一种：The method of any one of claims 15, wherein the at least one shaft comprises at least one of the following:

俯仰轴、横滚轴或偏航轴。Pitch axis, roll axis or yaw axis.
根据权利要求1-13中任一项所述的方法，其特征在于，所述光强传感器设置于所述无人飞行器的顶部。The method according to any one of claims 1-13, wherein the light intensity sensor is arranged on the top of the UAV.
一种图像处理方法，用于无人飞行器，其特征在于，所述无人飞行器搭载用于采集亮度信息的光强传感器，所述方法包括：An image processing method for an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a light intensity sensor for collecting brightness information, and the method comprises:

获取作业区域的第二太阳高度角信息，所述第二太阳高度角信息用于表示在所述作业区域不同时刻的太阳高度角的变化；Acquiring second solar altitude angle information of the operation area, the second solar altitude angle information being used to represent changes in the sun altitude angle at different times in the operation area;

根据所述第二太阳高度角信息确定作业时间；determining the working time according to the second solar altitude angle information;

控制所述无人飞行器在所述作业时间前往所述作业区域采集亮度信息；controlling the unmanned aerial vehicle to go to the operation area to collect brightness information during the operation time;

根据采集的亮度信息，对所述图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。According to the collected luminance information, light compensation processing is performed on the image, and the image is captured by a photographing device carried by the unmanned aerial vehicle.
根据权利要求18所述的方法，其特征在于，所述根据所述第二太阳高度角信息确定作业时间，包括：The method according to claim 18, wherein the determining the working time according to the second sun altitude angle information comprises:

根据所述太阳高度角的变化确定在所述作业区域的太阳高度角大于或等于第二高度角阈值的时间，根据所确定的时间确定所述作业时间。The time when the sun altitude in the operation area is greater than or equal to a second altitude threshold is determined according to the change of the sun altitude, and the operation time is determined according to the determined time.
根据权利要求19所述的方法，其特征在于，所述第二高度角阈值根据所述光强传感器的性能确定。The method according to claim 19, wherein the second elevation angle threshold is determined according to the performance of the light intensity sensor.
根据权利要求20所述的方法，其特征在于，所述光强传感器的性能包括所述光强传感器的视场角和/或检测范围。The method according to claim 20, characterized in that the performance of the light intensity sensor includes the field angle and/or detection range of the light intensity sensor.
根据权利要求20所述的方法，其特征在于，所述无人飞行器搭载姿态调整装置，所述姿态调整装置能够调整所述光强传感器的姿态，所述第二高度角阈值根据所述光强传感器的检测方向的调整范围确定。The method according to claim 20, wherein the unmanned aerial vehicle is equipped with an attitude adjustment device, the attitude adjustment device can adjust the attitude of the light intensity sensor, and the second elevation angle threshold is based on the light intensity The adjustment range of the detection direction of the sensor is determined.
根据权利要求18-22中任一项所述的方法，其特征在于，所述获取作业区域的第二太阳高度角信息，包括：The method according to any one of claims 18-22, wherein said obtaining the second sun altitude angle information of the operation area comprises:

获取所述作业区域和作业日期；Obtain the operation area and operation date;

根据所述作业区域和所述作业日期，确定作业区域在所述作业日期的第二太阳高度角信息。According to the operation area and the operation date, the second solar altitude angle information of the operation area on the operation date is determined.
根据权利要求18-22中任一项所述的方法，其特征在于，所述获取作业区域的第二太阳高度角信息，包括：The method according to any one of claims 18-22, wherein said obtaining the second sun altitude angle information of the operation area comprises:

根据所述作业区域，从远程设备获取所述作业区域的第二太阳高度角信息。According to the operation area, the second sun altitude angle information of the operation area is acquired from a remote device.
一种无人飞行器，其特征在于，所述无人飞行器搭载用于采集亮度信息的光强传感器，以及用于调整所述光强传感器的姿态的姿态调整装置，所述无人飞行器还包括：An unmanned aerial vehicle, characterized in that, the unmanned aerial vehicle is equipped with a light intensity sensor for collecting brightness information, and an attitude adjustment device for adjusting the attitude of the light intensity sensor, and the unmanned aerial vehicle also includes:

一个或多个处理器，单独地或共同地工作，用于执行如下步骤：One or more processors, working individually or collectively, to perform the following steps:

控制所述姿态调整装置调整所述光强传感器的姿态，以使所述光强传感器的检测方向朝向所述无人飞行器的机体的上方；Controlling the attitude adjustment device to adjust the attitude of the light intensity sensor so that the detection direction of the light intensity sensor faces above the body of the UAV;

控制所述光强传感器采集亮度信息；controlling the light intensity sensor to collect brightness information;

根据所述亮度信息对图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。Perform illumination compensation processing on the image according to the brightness information, and the image is captured by a photographing device mounted on the unmanned aerial vehicle.
根据权利要求25所述的无人飞行器，其特征在于，所述处理器执行所述控制所述姿态调整装置调整所述光强传感器的姿态时，用于：The unmanned aerial vehicle according to claim 25, wherein, when the processor executes the control of the attitude adjustment device to adjust the attitude of the light intensity sensor, it is used for:

获取所述无人飞行器的当前位置的当前太阳高度角；Obtain the current solar altitude angle of the current location of the UAV;

当所述当前太阳高度角小于第一高度角阈值时，控制所述姿态调整装置调整所述光强传感器的姿态。When the current sun altitude angle is less than the first altitude angle threshold, the attitude adjustment device is controlled to adjust the attitude of the light intensity sensor.
根据权利要求26所述的无人飞行器，其特征在于，所述处理器还用于执行如下步骤：The unmanned aerial vehicle according to claim 26, wherein the processor is also used to perform the following steps:

当所述当前太阳高度角大于或等于第一高度角阈值时，控制所述姿态调整装置对所述光强传感器进行固定。When the current sun altitude angle is greater than or equal to the first altitude angle threshold, the attitude adjustment device is controlled to fix the light intensity sensor.
根据权利要求26或27所述的无人飞行器，其特征在于，所述第一高度角阈值根据所述光强传感器的性能确定。The unmanned aerial vehicle according to claim 26 or 27, wherein the first elevation angle threshold is determined according to the performance of the light intensity sensor.
根据权利要求28所述的无人飞行器，其特征在于，所述光强传感器的性能包括所述光强传感器的视场角和/或检测范围。The unmanned aerial vehicle according to claim 28, wherein the performance of the light intensity sensor includes the field angle and/or detection range of the light intensity sensor.
根据权利要求28所述的无人飞行器，其特征在于，所述第一高度角阈值根据所述光强传感器的检测方向的调整范围确定。The unmanned aerial vehicle according to claim 28, wherein the first elevation angle threshold is determined according to the adjustment range of the detection direction of the light intensity sensor.
根据权利要求26或27所述的无人飞行器，其特征在于，所述无人飞行器还包括位置传感器，用于获取所述无人飞行器的当前位置；The unmanned aerial vehicle according to claim 26 or 27, wherein the unmanned aerial vehicle further comprises a position sensor for obtaining the current position of the unmanned aerial vehicle;

所述处理器执行所述获取所述无人飞行器的当前位置的当前太阳高度角时，用于：When the processor executes the acquisition of the current solar altitude angle of the current position of the UAV, it is used for:

根据当前时刻以及所述当前位置，确定所述当前太阳高度角。According to the current moment and the current position, the current solar altitude angle is determined.
根据权利要求26或27所述的无人飞行器，其特征在于，所述无人飞行器还包括位置传感器，用于获取所述无人飞行器的当前位置；The unmanned aerial vehicle according to claim 26 or 27, wherein the unmanned aerial vehicle further comprises a position sensor for obtaining the current position of the unmanned aerial vehicle;

所述处理器执行所述获取所述无人飞行器的当前位置的当前太阳高度角时，用于：When the processor executes the acquisition of the current solar altitude angle of the current position of the UAV, it is used for:

根据所述当前位置，从远程设备获取所述当前位置的第一太阳高度角信息，所述第一太阳高度角信息用于表示在所述当前位置不同时刻的太阳高度角的变化；According to the current location, acquiring first solar altitude information at the current location from the remote device, the first solar altitude information being used to represent changes in the solar altitude angle at different times at the current location;

根据所述第一太阳高度角信息确定所述当前太阳高度角。The current sun altitude is determined according to the first sun altitude information.
根据权利要求25所述的无人飞行器，其特征在于，所述处理器执行所述控制所述姿态调整装置调整所述光强传感器的姿态时，用于：The unmanned aerial vehicle according to claim 25, wherein, when the processor executes the control of the attitude adjustment device to adjust the attitude of the light intensity sensor, it is used for:

获取所述光强传感器的当前姿态；Obtain the current attitude of the light intensity sensor;

根据所述光强传感器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the light intensity sensor.
根据权利要求33所述的无人飞行器，其特征在于，所述光强传感器的当前姿态由设置于所述光强传感器的第一姿态传感组件获取。The unmanned aerial vehicle according to claim 33, wherein the current attitude of the light intensity sensor is acquired by a first attitude sensing component disposed on the light intensity sensor.
根据权利要求25所述的无人飞行器，其特征在于，所述处理器执行所述控制所述姿态调整装置调整所述光强传感器的姿态时，用于：The unmanned aerial vehicle according to claim 25, wherein, when the processor executes the control of the attitude adjustment device to adjust the attitude of the light intensity sensor, it is used for:

获取所述无人飞行器的当前姿态；Obtain the current attitude of the UAV;

根据所述无人飞行器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the UAV.
根据权利要求35所述的无人飞行器，其特征在于，所述无人飞行器还包括第二姿态传感组件，用于获取所述无人飞行器的当前姿态；The unmanned aerial vehicle according to claim 35, wherein the unmanned aerial vehicle further comprises a second attitude sensing component for acquiring the current attitude of the unmanned aerial vehicle;

所述处理器执行所述根据所述无人飞行器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态时，用于：When the processor executes the controlling the attitude adjustment device to adjust the attitude of the light intensity sensor according to the current attitude of the UAV, it is used for:

获取所述无人飞行器与所述光强传感器的安装关系；Obtain the installation relationship between the unmanned aerial vehicle and the light intensity sensor;

根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light intensity sensor.
根据权利要求36所述的无人飞行器，其特征在于，所述处理器执行所述根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系控制所述姿态调整装置调整所述光强传感器的姿态时，用于：According to the unmanned aerial vehicle according to claim 36, it is characterized in that, the processor executes the control of the attitude according to the current attitude of the unmanned aerial vehicle and the installation relationship between the unmanned aerial vehicle and the light intensity sensor. When the adjustment device adjusts the attitude of the light intensity sensor, it is used for:

根据所述无人飞行器的当前姿态及所述无人飞行器与所述光强传感器的安装关系确定所述光强传感器的当前姿态；determining the current attitude of the light intensity sensor according to the current attitude of the UAV and the installation relationship between the UAV and the light intensity sensor;

根据所述光强传感器的当前姿态控制所述姿态调整装置调整所述光强传感器的姿态。The attitude adjustment device is controlled to adjust the attitude of the light intensity sensor according to the current attitude of the light intensity sensor.
根据权利要求25-37中任一项所述的无人飞行器，其特征在于，所述处理器执行所述控制所述姿态调整装置调整所述光强传感器的姿态时，用于：According to the unmanned aerial vehicle according to any one of claims 25-37, it is characterized in that, when the processor executes the control of the attitude adjustment device to adjust the attitude of the light intensity sensor, it is used for:

控制所述姿态调整装置调整所述光强传感器的姿态，以使调整后的姿态趋向预设姿态，所述光强传感器的姿态为所述预设姿态时所述光强传感器的检测方向与水平面的夹角基本等于所述预设值。controlling the attitude adjustment device to adjust the attitude of the light intensity sensor so that the adjusted attitude tends to a preset attitude, and the attitude of the light intensity sensor is the detection direction and the horizontal plane of the light intensity sensor when the preset attitude is The included angle is basically equal to the preset value.
根据权利要求25-37中任一项所述的无人飞行器，其特征在于，所述姿态调整装置包括至少一个轴，用于调整所述光强传感器的姿态。The unmanned aerial vehicle according to any one of claims 25-37, wherein the attitude adjustment device includes at least one axis for adjusting the attitude of the light intensity sensor.
根据权利要求39所述的无人飞行器，其特征在于，所述至少一个轴包括以下至少一种：The unmanned aerial vehicle of claim 39, wherein said at least one axis comprises at least one of the following:

俯仰轴、横滚轴或偏航轴。Pitch axis, roll axis or yaw axis.
根据权利要求25-37中任一项所述的无人飞行器，其特征在于，所述光强传感器设置于所述无人飞行器的顶部。The unmanned aerial vehicle according to any one of claims 25-37, wherein the light intensity sensor is arranged on the top of the unmanned aerial vehicle.
一种无人飞行器，其特征在于，所述无人飞行器搭载光强传感器，用于采集亮度信息，所述无人飞行器还包括：An unmanned aerial vehicle, characterized in that, the unmanned aerial vehicle is equipped with a light intensity sensor for collecting brightness information, and the unmanned aerial vehicle also includes:

一个或多个处理器，单独地或共同地工作，用于执行如下步骤：One or more processors, working individually or collectively, to perform the following steps:

获取作业区域的第二太阳高度角信息，所述第二太阳高度角信息用于表示在所述作业区域不同时刻的太阳高度角的变化；Acquiring second solar altitude angle information of the operation area, the second solar altitude angle information being used to represent changes in the sun altitude angle at different times in the operation area;

根据所述第二太阳高度角信息确定作业时间；determining the working time according to the second solar altitude angle information;

控制所述无人飞行器在所述作业时间前往所述作业区域采集亮度信息；controlling the unmanned aerial vehicle to go to the operation area to collect brightness information during the operation time;

根据采集的亮度信息，对图像进行光照补偿处理，所述图像由所述无人飞行器搭载的拍摄装置拍摄得到。According to the collected luminance information, light compensation processing is performed on the image, and the image is captured by the photographing device carried by the unmanned aerial vehicle.
根据权利要求42所述的无人飞行器，其特征在于，所述处理器执行所述根据所述第二太阳高度角信息确定作业时间时，用于：The unmanned aerial vehicle according to claim 42, wherein, when the processor executes the determination of the operation time according to the second sun altitude angle information, it is used for:

根据所述太阳高度角的变化确定在所述作业区域的太阳高度角大于或等于第二高度角阈值的时间，根据所确定的时间确定所述作业时间。The time when the sun altitude in the operation area is greater than or equal to a second altitude threshold is determined according to the change of the sun altitude, and the operation time is determined according to the determined time.
根据权利要求43所述的无人飞行器，其特征在于，所述第二高度角阈值根据所述光强传感器的性能确定。The unmanned aerial vehicle according to claim 43, wherein the second altitude angle threshold is determined according to the performance of the light intensity sensor.
根据权利要求44所述的无人飞行器，其特征在于，所述光强传感器的性能包括所述光强传感器的视场角和/或检测范围。The unmanned aerial vehicle according to claim 44, wherein the performance of the light intensity sensor includes the field angle and/or detection range of the light intensity sensor.
根据权利要求44所述的无人飞行器，其特征在于，所述无人飞行器搭载姿态调整装置，所述姿态调整装置能够调整所述光强传感器的姿态，所述第二高度角阈值根据所述光强传感器的检测方向的调整范围确定。The unmanned aerial vehicle according to claim 44, wherein the unmanned aerial vehicle is equipped with an attitude adjustment device, the attitude adjustment device can adjust the attitude of the light intensity sensor, and the second elevation angle threshold is based on the The adjustment range of the detection direction of the light intensity sensor is determined.
根据权利要求42-46中任一项所述的无人飞行器，其特征在于，所述处理器执行所述获取作业区域的第二太阳高度角信息时，用于：According to the unmanned aerial vehicle described in any one of claims 42-46, it is characterized in that, when the processor executes the acquisition of the second solar altitude information of the operation area, it is used for:

获取所述作业区域和作业日期；Obtain the operation area and operation date;

根据所述作业区域和所述作业日期，确定作业区域在所述作业日期的第二太阳高度角信息。According to the operation area and the operation date, the second solar altitude angle information of the operation area on the operation date is determined.
根据权利要求42-46中任一项所述的无人飞行器，其特征在于，所述处理器执行所述获取作业区域的第二太阳高度角信息时，用于：According to the unmanned aerial vehicle described in any one of claims 42-46, it is characterized in that, when the processor executes the acquisition of the second solar altitude information of the operation area, it is used for:

根据所述作业区域，从远程设备获取所述作业区域的第二太阳高度角信息。According to the operation area, the second sun altitude angle information of the operation area is acquired from a remote device.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现：A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes:

如权利要求1-17中任一项所述的方法；和/或The method of any one of claims 1-17; and/or

如权利要求18-24中任一项所述的方法。A method according to any one of claims 18-24.