Image shooting method and unmanned aerial vehicle

文档序号：1814977 发布日期：2021-11-09 浏览：24次中文

阅读说明：本技术 一种图像拍摄方法及无人机 (Image shooting method and unmanned aerial vehicle ) 是由李阳于 2018-07-18 设计创作，主要内容包括：本申请公开了一种图像拍摄方法及无人机,该方法包括：接收控制终端发送的拍摄指令；获取预先设置的起始焦距和结束焦距；从所述起始焦距变化为结束焦距,并在焦距变化的过程中拍摄图像。可见,通过实施本申请所描述的方法,可以简化图像拍摄难度,并且也可提高拍摄的精度。(The application discloses an image shooting method and an unmanned aerial vehicle, wherein the method comprises the following steps: receiving a shooting instruction sent by a control terminal; acquiring a preset initial focal length and a preset end focal length; and changing the initial focal length to the final focal length, and shooting an image in the process of changing the focal length. Therefore, by implementing the method described in the application, the image shooting difficulty can be simplified, and the shooting precision can also be improved.)

1. An image shooting method is applied to an unmanned aerial vehicle, and comprises the following steps:

receiving a shooting instruction sent by a control terminal;

acquiring a preset initial focal length and a preset end focal length;

and changing the starting focal length into an ending focal length, and shooting an image in the process of changing the focal length, wherein the unmanned aerial vehicle is in a hovering state in the process of changing the focal length.

2. The method according to claim 1, wherein before receiving the shooting instruction sent by the control terminal, the method further comprises:

receiving the starting focal length and the ending focal length sent by the control terminal;

setting the starting focal length and the ending focal length.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

acquiring a preset focal length change speed;

the changing from the starting focal length to an ending focal length comprises:

and changing from the initial focal length to the end focal length according to the focal length change speed.

4. The method according to claim 3, wherein before receiving the shooting instruction sent by the control terminal, the method further comprises:

receiving the focal length change speed sent by the control terminal;

setting the focal length change speed.

5. The method according to claim 3, wherein the changing from the starting focal length to the ending focal length according to the focal length change speed and capturing an image during the focal length change comprises:

and changing from the initial focal length to the end focal length according to the focal length change speed in the primary exposure time, and shooting an explosion image in the process of focal length change.

6. The method according to claim 5, wherein the exposure time is preset or determined according to the start focal length, the end focal length and the focal length change speed.

7. The method of claim 1 or 2, wherein before changing from the starting focal length to an ending focal length within an exposure time, the method further comprises:

acquiring preset exposure time;

determining the focal length change speed according to the initial focal length, the end focal length and the exposure time;

the changing from the starting focal length to the ending focal length and shooting the image in the process of the focal length changing comprise:

and changing from the initial focal length to the end focal length according to the focal length change speed within the exposure time for one time, and shooting an explosion image in the process of focal length change.

8. The method according to claim 7, wherein before receiving the shooting instruction sent by the control terminal, the method further comprises:

receiving the exposure time sent by the control terminal;

and setting the exposure time.

9. The method of claim 1 or 2, wherein said capturing images during a focus change comprises:

multiple images are taken through multiple exposures during the course of focal length change, the multiple images being used to generate an explosion image.

10. The method according to claim 1 or 2, wherein before the obtaining of the preset start focal length and end focal length, the method comprises:

and rotating a holder bearing the camera so as to enable the framed shot object to be positioned in the middle of the display picture of the control terminal.

11. The method according to claim 1 or 2, characterized in that the method further comprises:

in the process of focal length change, if a remote control flight operation instruction for the unmanned aerial vehicle is received, the shooting task is ended, and prompt information for prompting the shooting task to be stopped is sent to the control terminal.

12. An information setting method is applied to a control terminal, and the method comprises the following steps:

acquiring a starting focal length and an ending focal length to be set;

sending the starting focal length and the ending focal length to an unmanned aerial vehicle so that the unmanned aerial vehicle can set the starting focal length and the ending focal length;

sending a shooting instruction to an unmanned aerial vehicle, wherein the shooting instruction is used for indicating that the unmanned aerial vehicle changes from a starting focal length to an ending focal length and shooting an image in the process of focal length change, and the unmanned aerial vehicle is in a hovering state in the process of focal length change.

13. A drone, characterized in that it comprises: memory, processor, communication device and camera, wherein:

the memory to store program instructions;

the processor invoking the program instructions for:

receiving a shooting instruction sent by a control terminal through the communication device;

acquiring a preset initial focal length and a preset end focal length;

the starting focal length is changed into the ending focal length, and an image is shot through the shooting device in the process of focal length change, wherein the unmanned aerial vehicle is in a hovering state in the process of focal length change.

14. A control terminal, characterized in that the control terminal comprises: a memory, a processor, and a communication device, wherein:

the memory to store program instructions;

the processor invoking the program instructions for:

acquiring a starting focal length and an ending focal length to be set;

sending the starting focal length and the ending focal length to an unmanned aerial vehicle through the communication device so that the unmanned aerial vehicle can set the starting focal length and the ending focal length;

Technical Field

The invention relates to the field of control, in particular to an image shooting method and an unmanned aerial vehicle.

Background

The explosion photography utilizes the variable focal length characteristic of the zoom lens, and the focal length is rapidly changed at the moment of pressing the shutter, so that the picture generates strong 'explosion' radiation lines which spread from the center to the periphery. However, in practical applications, it is found that, when performing explosive photography using a camera, a user needs to manually change the focal length in a very short time, which results in a great difficulty in image capturing.

Disclosure of Invention

The application discloses an image shooting method and an unmanned aerial vehicle, which can simplify the image shooting difficulty.

In a first aspect, the present application provides an image capturing method applied to an unmanned aerial vehicle, the method including: receiving a shooting instruction sent by a control terminal; acquiring a preset initial focal length and a preset end focal length; and changing the initial focal length to the final focal length, and shooting an image in the process of changing the focal length.

It can be seen that by implementing the method described in the first aspect, the drone may zoom automatically and take an image of an explosion or an image used to generate an image of an explosion during zooming. Therefore, by implementing the method described in the first aspect, the difficulty of image capturing can be simplified, and the accuracy of capturing can also be improved. And shoot the explosion image through unmanned aerial vehicle, can enrich and shoot the visual angle, for example, unmanned aerial vehicle can shoot the explosion image of overlooking the visual angle, and this is that traditional camera can't realize.

In a second aspect, the present application provides an information setting method applied to a control terminal, including: acquiring a starting focal length and an ending focal length to be set; and sending the starting focal length and the ending focal length to an unmanned aerial vehicle so that the unmanned aerial vehicle can set the starting focal length and the ending focal length.

It can be seen that, by implementing the method described in the second aspect, the start focal length and the end focal length can be flexibly set according to the requirements of the user, and the start focal length and the end focal length are preset for the unmanned aerial vehicle through the control terminal, so that the unmanned aerial vehicle can automatically zoom according to the preset start focal length and end focal length when shooting images, and the image shooting difficulty is simplified.

In a third aspect, the present application provides a drone, the drone comprising:

the communication unit is used for receiving a shooting instruction sent by the control terminal;

the processing unit is used for acquiring a preset starting focal length and a preset ending focal length;

and the processing unit is also used for changing from the starting focal length to the ending focal length and shooting images in the process of changing the focal length.

In a fourth aspect, the present application provides a control terminal, comprising:

the processing unit is used for acquiring a starting focal length and an ending focal length to be set;

and the communication unit is used for sending the initial focal length and the end focal length to the unmanned aerial vehicle so that the unmanned aerial vehicle can set the initial focal length and the end focal length.

In a fifth aspect, the present application provides an unmanned aerial vehicle, comprising: memory, processor, communication device and camera, wherein:

a memory for storing program instructions;

a processor calling program instructions for:

receiving a shooting instruction sent by a control terminal through a communication device;

acquiring a preset initial focal length and a preset end focal length;

and changing from the initial focal length to the end focal length, and shooting an image by the shooting device in the process of changing the focal length.

In a sixth aspect, the present application provides a control terminal, comprising: a memory, a processor, and a communication device, wherein:

the memory to store program instructions;

the processor invoking the program instructions for:

acquiring a starting focal length and an ending focal length to be set;

through communication device will the starting focal length with end focus sends to unmanned aerial vehicle, so that unmanned aerial vehicle is right the starting focal length with end focus sets up.

The beneficial effects of the third aspect and the fifth aspect are the same as those of the first aspect, and the beneficial effects of the third aspect and the fifth aspect can be referred to the beneficial effects of the first aspect, which is not described herein again. The beneficial effects of the fourth aspect and the sixth aspect are the same as the beneficial effects of the second aspect, and specific reference may be made to the beneficial effects of the second aspect, which is not described herein again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a diagram of a system architecture according to an embodiment of the present invention;

fig. 2 to 7 are schematic flowcharts of an image capturing method according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a control terminal according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of another unmanned aerial vehicle provided in the embodiment of the present invention;

fig. 11 is a schematic structural diagram of another control terminal according to an embodiment of the present invention;

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings.

In order to clearly describe the scheme of the embodiment of the present invention, a service scenario and a system architecture that may be applied to the embodiment of the present invention are described below with reference to fig. 1.

Fig. 1 is a schematic diagram of a possible system architecture according to an embodiment of the present invention. The unmanned aerial vehicle system comprises an unmanned aerial vehicle and a control terminal. Wherein, this control terminal is used for controlling unmanned aerial vehicle. The control terminal can be a mobile phone, a tablet computer, a remote controller or other wearable devices (a watch or a bracelet) and the like. It is worth mentioning that the control terminal has a display screen. Fig. 1 takes the control end as an example of a mobile phone. Optionally, the unmanned aerial vehicle may include a flight body, a pan-tilt, and a camera device. The flight body can include a plurality of rotors and drive rotor pivoted rotor motor, provides the required power of unmanned aerial vehicle 1 flight from this. The camera device is carried on the flying body through the tripod head. The camera device is used for shooting images or videos in the flying process of the unmanned aerial vehicle, and can include but is not limited to a multispectral imager, a hyperspectral imager, a visible light camera, an infrared camera and the like. The holder can be multi-axis transmission and stability augmentation system, and can include a plurality of axis of rotation and holder motor. The pan-tilt motor can compensate the shooting angle of the camera device by adjusting the rotation angle of the rotation shaft, and can prevent or reduce the shake of the camera device by arranging a proper buffer mechanism. Of course, the imaging device may be mounted on the flying body directly or by another method, and the embodiment of the present invention is not limited thereto.

It is to be understood that the system architecture and the service scenario described in the embodiment of the present invention are for more clearly illustrating the technical solution of the embodiment of the present invention, and do not form a limitation on the technical solution provided in the embodiment of the present invention, and it is known by a person of ordinary skill in the art that the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems along with the evolution of the system architecture and the appearance of a new service scenario.

The following further describes a specific flow of the image capturing method provided by the embodiment of the present invention.

Referring to fig. 2, fig. 2 is a schematic flow chart of an image capturing method according to an embodiment of the present invention. As shown in FIG. 2, the image capturing method can include steps 201 to 203. Wherein:

201. and the control terminal sends a shooting instruction to the unmanned aerial vehicle.

202. The unmanned aerial vehicle obtains the preset initial focal length and the preset end focal length.

Specifically, after receiving a shooting instruction sent by the control terminal, the unmanned aerial vehicle acquires a preset starting focal length and a preset ending focal length.

Specifically, the unmanned aerial vehicle carries a zoom lens. The zoom lens is a camera lens which can change focal length in a certain range so as to obtain different field angles, images with different sizes and different scene ranges. For example, the zoom lens may have a zoom range of 4 mm to 1100 mm, 10 mm to 1000 mm, or other zoom ranges.

The starting focal length may be smaller than the ending focal length, or the ending focal length may be smaller than the starting focal length, which is not limited in the embodiments of the present application.

As an alternative embodiment, the focal length variation range of the start focal length and the end focal length is smaller than the maximum focal length variation range. For example, the maximum zoom range of the zoom lens is 4 mm to 1100 mm, and the variation range of the initial focal length and the end focal length can be 4 mm to 500 mm. If the focal length variation range is too large in the process of shooting the picture, the shot picture is caused, and the explosion effect is too exaggerated.

As an optional implementation, the starting focal length and the ending focal length may be preset by a manufacturer when the drone leaves a factory. A set of start and end focal lengths or a plurality of sets of start and end focal lengths may be set at the time of factory shipment. By implementing the embodiment, reasonable initial focal length and end focal length can be set when leaving a factory, so that manual setting by a user is not needed.

Optionally, when leaving the factory and having set up multiunit initial focal length and end focal length in advance, when unmanned aerial vehicle received the shooting instruction that control terminal sent, can be according to presetting the rule and select a set of initial focal length and end focal length in the multiunit initial focal length that sets up in advance and the end focal length automatically. And changing from the selected starting focal length to the selected ending focal length and taking an image during the change of focal length. By implementing this embodiment, appropriate start and end focal lengths may be automatically selected.

As an alternative embodiment, the start focal length and the end focal length may be preset by the control terminal. As shown in fig. 3, the control terminal may acquire a start focal length and an end focal length to be set; and the control terminal sends the starting focal length and the ending focal length to the unmanned aerial vehicle. Before the unmanned aerial vehicle receives the shooting instruction sent by the control terminal, the unmanned aerial vehicle receives the initial focal length and the end focal length sent by the control terminal, and sets the initial focal length and the end focal length. By implementing this embodiment, the start focal length and the end focal length can be flexibly set according to the user's needs.

For example, the control terminal may have multiple sets of starting and ending focal lengths for selection by the user, which may be selected at the control terminal by the user. And after the control terminal acquires the initial focal length and the end focal length selected by the user, the initial focal length and the end focal length selected by the user are sent to the unmanned aerial vehicle. The unmanned aerial vehicle sets up the starting focal length and the end focal length of receiving. Alternatively, the user may directly input the start focal length and the end focal length at the control terminal. After the control terminal obtains the initial focal length and the end focal length input by the user, the initial focal length and the end focal length input by the user are sent to the unmanned aerial vehicle. The unmanned aerial vehicle sets up the starting focal length and the end focal length of receiving. After the unmanned aerial vehicle receives the shooting instruction, the set initial focal length and the set end focal length can be directly obtained, the initial focal length is changed into the end focal length, and the image is shot in the process of focal length change.

203. The unmanned aerial vehicle changes from the initial focal length to the end focal length, and shoots images in the process of focal length change.

Specifically, after the unmanned aerial vehicle acquires the preset initial focal length and the preset end focal length, the initial focal length is changed into the end focal length, and an image is shot in the process of focal length change.

Wherein, the image that unmanned aerial vehicle shot at the in-process of focus change can be explosion image or ordinary image. For example, the drone may change from a starting focal length to an ending focal length within one exposure time and take an explosion image during the change in focal length. The shot subject is relatively clear, and the surrounding of the subject is scattered in a ray state, so that the viewer feels that the subject is close to or far away from the viewer.

For another example, the drone may take multiple images of the explosion image by multiple exposures during the course of the focal length change. That is, multiple exposures are taken during the course of focal length change, with one picture taken per exposure. Unmanned aerial vehicle can send this many images and can send to control terminal, and control terminal generates the explosion image through post processing, and perhaps unmanned aerial vehicle can send this many images to other terminals, by other terminals through post processing generation explosion image.

As an optional implementation manner, the unmanned aerial vehicle may obtain a preset focal length change speed in advance; correspondingly, the unmanned aerial vehicle changes from the initial focal length to the end focal length according to the acquired focal length change speed. By implementing the embodiment, the focal length can be changed at a constant speed, so that the explosion lines of the obtained explosion image are smoother.

Optionally, after receiving the shooting instruction, the unmanned aerial vehicle may obtain the preset initial focal length and the preset end focal length, and then obtain the preset focal length change speed. Alternatively, the preset focal length change speed may be acquired first, and then the preset start focal length and end focal length may be acquired. Or the preset start focal length, end focal length and focal length change speed can be acquired simultaneously.

Optionally, the focal length change speed may be preset by a manufacturer when the unmanned aerial vehicle leaves a factory. One focal length change speed or a plurality of focal length change speeds may be set at the time of factory shipment. By implementing the embodiment, a reasonable focal length change speed can be set when the camera leaves a factory, so that manual setting by a user is not needed.

Optionally, when leaving the factory and having set up a plurality of focus variation speeds in advance, when unmanned aerial vehicle received the shooting instruction that control terminal sent, can be according to presetting rule automatic a focus variation speed of selecting from a plurality of focus variation speeds that set up in advance. And changing from the initial focal length to the end focal length according to the selected focal length change speed, and shooting an image in the process of the focal length change. For example, one focal length change speed may be selected from a plurality of preset focal length change speeds according to the intensity of the ambient light. When the intensity of the ambient light is weak, selecting a slow focal length change speed; when the intensity of the ambient light is stronger, a faster focal length change speed is selected. By implementing this embodiment, a suitable focal length change speed can be automatically selected.

Optionally, the focal length change speed is preset by the control terminal. For example, as shown in fig. 4, the control terminal may acquire a start focal length and an end focal length to be set; and the control terminal sends the starting focal length and the ending focal length to the unmanned aerial vehicle. The unmanned aerial vehicle receives the initial focal length and the end focal length sent by the control terminal, and sets the initial focal length and the end focal length. The control terminal can also obtain the focal length change speed to be set; and the control terminal sends the focal length change speed to the unmanned aerial vehicle. The unmanned aerial vehicle receives the focal length change speed sent by the control terminal and sets the focal length change speed. The method and the device have the advantages that the sequence of the control terminal for acquiring and sending the initial focal length, the end focal length and the focal length change speed is not limited. For example, the start focal length, the end focal length, and the focal length change speed may be acquired and transmitted at the same time, and fig. 4 exemplifies the acquisition and transmission of the start focal length, the end focal length, and the focal length change speed at the same time; or, the initial focal length and the end focal length can be acquired and sent first, and then the focal length change speed can be acquired and sent; alternatively, the focal length change speed may be acquired and transmitted first, and then the start focal length and the end focal length may be acquired and transmitted. By implementing this embodiment, the focal length change speed can be flexibly set according to the user's demand.

For example, the control terminal may have a plurality of focal length change speeds and a plurality of sets of start and end focal lengths for selection by the user, and the user may select one focal length change speed and one set of start and end focal lengths at the control terminal. After the control terminal obtains the focal length change speed, the initial focal length and the end focal length selected by the user, the focal length change speed, the initial focal length and the end focal length selected by the user are sent to the unmanned aerial vehicle. The unmanned aerial vehicle sets up the focus change rate, the initial focus and the end focus of receipt. Alternatively, the user may directly input the focal length change speed, the start focal length, and the end focal length at the control terminal. After the control terminal acquires the focal length change speed, the initial focal length and the end focal length, the focal length change speed, the initial focal length and the end focal length input by a user are sent to the unmanned aerial vehicle. The unmanned aerial vehicle sets up the starting focal length and the end focal length of receiving. After the unmanned aerial vehicle receives the shooting instruction, the set focal length change speed, the set initial focal length and the set end focal length can be directly obtained, the initial focal length is changed into the end focal length according to the focal length change speed, and the image is shot in the process of focal length change.

As an optional implementation manner, before the preset starting focal length and the preset ending focal length are obtained, the unmanned aerial vehicle rotates the holder carrying the camera, so that the framed shot object is located in the middle of the display frame of the control terminal. For example, the user may frame a photographic subject on a display screen of the control terminal and click a photographing button. After the unmanned aerial vehicle receives the shooting instruction, the cradle head bearing the camera is rotated, so that the framed shooting object is located in the middle of the display picture. The shot object is positioned in the middle of the picture, so that the shot object can keep partial identification, and the picture quality is improved.

As an optional implementation, during the process of changing the focal length, the drone is in a hovering state. If the unmanned aerial vehicle moves in the process of focal length change, the image quality of shot explosion images is fuzzy, or the image quality of explosion images generated in the later period is fuzzy. Therefore, by implementing this embodiment, it is advantageous to improve the picture quality of the explosion image.

As an optional implementation manner, in the process of changing the focal length of the unmanned aerial vehicle, after the control terminal sends a remote control flight operation instruction to the unmanned aerial vehicle, prompt information sent by the unmanned aerial vehicle for prompting the termination of the shooting task is received. After the control terminal receives the prompt message, the control terminal can output the prompt message so as to prompt the user to stop the shooting task. Correspondingly, in the process of focal length change, if the unmanned aerial vehicle receives a remote control flight operation instruction for the unmanned aerial vehicle, the shooting task is ended, and prompt information for prompting the shooting task to be stopped is sent to the control terminal. If the unmanned aerial vehicle moves in the process of focal length change, the image quality of shot explosion images is fuzzy, or the image quality of explosion images generated in the later period is fuzzy. Therefore, by implementing this embodiment, it is advantageous to improve the picture quality of the explosion image.

As an optional implementation manner, in the process of changing the focal length, if the unmanned aerial vehicle receives a remote control flight operation instruction to the unmanned aerial vehicle, the picture may also be continuously taken, and after the picture is taken, the remote control flight operation instruction is executed. By implementing the embodiment, the image quality of the explosion image is improved.

It can be seen that by implementing the method described in fig. 2, the drone can automatically zoom and take an image of an explosion or an image used to generate an explosion image during zooming. Therefore, by implementing the method described in fig. 2, the difficulty of image capturing can be simplified, and the accuracy of capturing can also be improved. And shoot the explosion image through unmanned aerial vehicle, can enrich and shoot the visual angle, for example, unmanned aerial vehicle can shoot the explosion image of overlooking the visual angle, and this is that traditional camera can't realize.

Referring to fig. 5, fig. 5 is a schematic flow chart of another image capturing method according to an embodiment of the present invention. As shown in FIG. 5, the image capturing method can include steps 501-504. Wherein:

501. and the control terminal sends a shooting instruction to the unmanned aerial vehicle.

502. The unmanned aerial vehicle obtains the preset initial focal length and the preset end focal length.

Specifically, after receiving a shooting instruction sent by the control terminal, the unmanned aerial vehicle acquires a preset starting focal length and a preset ending focal length.

503. The unmanned aerial vehicle obtains the focal length change speed that sets up in advance.

Specifically, after receiving a shooting instruction sent by the control terminal, the unmanned aerial vehicle acquires a preset focal length change speed. The execution sequence of steps 502 and 503 is not sequential, and after the unmanned aerial vehicle receives the shooting instruction sent by the control terminal, 502 is executed first, and then 503 is executed. Or 503 is executed first and then 502 is executed. Or 502 and 503 are performed simultaneously.

How to preset the starting focal length, the ending focal length and the focal length change speed of the unmanned aerial vehicle can refer to the corresponding description of the above method embodiment, which is not repeated herein.

504. The unmanned aerial vehicle changes from the initial focal length to the end focal length according to the focal length change speed in the primary exposure time, and shoots an explosion image in the process of focal length change.

Alternatively, the exposure time may be a safe shutter time or less than the safe shutter time. The safety shutter time is typically 1/30s or 1/60 s. If the exposure time is longer than the safe shutter time, the picture is easily blurred due to the shaking of the unmanned aerial vehicle.

As an alternative embodiment, the exposure time is preset. That is to say, after the unmanned aerial vehicle receives the shooting instruction that control terminal sent, can acquire exposure time, the initial focus, finish focus and the focus variation speed that set up in advance.

Wherein, this application does not restrict the time sequence that unmanned aerial vehicle obtained these four kinds of parameters. After the unmanned aerial vehicle acquires preset exposure time, initial focal length, end focal length and focal length change speed, the initial focal length is changed into the end focal length according to the focal length change speed in one-time exposure time, and an explosion image is shot in the process of focal length change.

Optionally, the exposure time may be preset by the manufacturer for the unmanned aerial vehicle when leaving the factory. One or more exposure times may be set at the time of factory shipment. By implementing this embodiment, a reasonable exposure time can be set at the time of factory shipment, thereby eliminating the need for manual setting by the user. Optionally, when leaving the factory and having set up a plurality of exposure times in advance, when unmanned aerial vehicle received the shooting instruction that control terminal sent, can be according to presetting rule and automatically selecting an exposure time from a plurality of exposure times that set up in advance. For example, one exposure time may be selected from a plurality of exposure times set in advance according to the intensity of the ambient light. When the intensity of the ambient light is weaker, selecting longer exposure time; when the intensity of the ambient light is strong, a shorter exposure time is selected. By implementing this embodiment, a suitable exposure time can be automatically selected.

Alternatively, the exposure time may be preset by the control terminal. For example, as shown in fig. 6, the control terminal may acquire a start focal length and an end focal length to be set; and the control terminal sends the starting focal length and the ending focal length to the unmanned aerial vehicle. The unmanned aerial vehicle receives the initial focal length and the end focal length sent by the control terminal, and sets the initial focal length and the end focal length. The control terminal can also obtain the exposure time to be set; and the control terminal sends the exposure time to the unmanned aerial vehicle. And the unmanned aerial vehicle receives the exposure time sent by the control terminal and sets the exposure time. The sequence of the control terminal for acquiring and sending the starting focal length, the ending focal length and the exposure time is not limited by the application. By implementing this embodiment, the exposure time can be flexibly set according to the user's needs.

For example, the control terminal may have multiple exposure times and multiple sets of start and end focal lengths for selection by the user, and the user may select one exposure time and one set of start and end focal lengths at the control terminal. After the control terminal obtains the exposure time, the initial focal length and the end focal length selected by the user, the exposure time, the initial focal length and the end focal length selected by the user are sent to the unmanned aerial vehicle. The unmanned aerial vehicle sets up exposure time, the initial focus and the end focus of receiving. Alternatively, the user may directly input the exposure time, the start focal length, and the end focal length at the control terminal. And after the control terminal acquires the exposure time, the initial focal length and the end focal length, the exposure time, the initial focal length and the end focal length input by the user are sent to the unmanned aerial vehicle. The unmanned aerial vehicle sets up the starting focal length and the end focal length of receiving. After the unmanned aerial vehicle receives the shooting instruction, the set exposure time, the initial focal length and the end focal length can be directly obtained, the initial focal length is changed into the end focal length according to the exposure time, and the image is shot in the process of focal length change.

As an alternative embodiment, the exposure time is determined based on the start focal length, the end focal length, and the focal length change speed. For example, the exposure time may be the absolute value of the difference between the start focal length and the end focal length divided by the focal length change speed. By implementing this embodiment, an appropriate exposure time can be calculated.

Therefore, by implementing the method described in fig. 5, the unmanned aerial vehicle can automatically zoom and shoot the explosion image in the zooming process, thereby simplifying the image shooting difficulty and improving the shooting precision. And shoot the explosion image through unmanned aerial vehicle, can enrich and shoot the visual angle, for example, unmanned aerial vehicle can shoot the explosion image of overlooking the visual angle, and this is that traditional camera can't realize.

Referring to fig. 7, fig. 7 is a schematic flowchart illustrating another image capturing method according to an embodiment of the present invention. As shown in FIG. 7, the image capturing method may include steps 701 to 705. Wherein:

701. and the control terminal sends a shooting instruction to the unmanned aerial vehicle.

702. The unmanned aerial vehicle obtains the preset initial focal length and the preset end focal length.

Specifically, after receiving a shooting instruction sent by the control terminal, the unmanned aerial vehicle acquires a preset starting focal length and a preset ending focal length.

703. The unmanned aerial vehicle obtains the preset exposure time.

Specifically, after receiving a shooting instruction sent by the control terminal, the unmanned aerial vehicle acquires preset exposure time. The execution sequence of steps 702 and 703 is not sequential, and after the unmanned aerial vehicle receives the shooting instruction sent by the control terminal, the unmanned aerial vehicle may execute 702 first and then execute 703. Or first 703 and then 702. Or 702 and 703 are performed simultaneously.

How to preset the starting focal length, the ending focal length and the exposure time for the unmanned aerial vehicle can refer to the corresponding description of the above method embodiment, which is not repeated herein.

704. And determining the focal length change speed according to the starting focal length, the ending focal length and the exposure time.

For example, the focal length change speed may be an absolute value of a difference between the start focal length and the end focal length divided by the exposure time.

705. The unmanned aerial vehicle changes from the initial focal length to the end focal length according to the focal length change speed in the primary exposure time, and shoots an explosion image in the process of focal length change.

Therefore, by implementing the method described in fig. 7, the unmanned aerial vehicle can automatically zoom and shoot the explosion image in the zooming process, thereby simplifying the image shooting difficulty and improving the shooting precision. And shoot the explosion image through unmanned aerial vehicle, can enrich and shoot the visual angle, for example, unmanned aerial vehicle can shoot the explosion image of overlooking the visual angle, and this is that traditional camera can't realize.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a drone provided in an embodiment of the present application, where the drone may include at least a communication unit 801 and a processing unit 802, where:

a communication unit 801 for receiving a shooting instruction sent by a control terminal; a processing unit 802, configured to obtain a preset starting focal length and an ending focal length; the processing unit 802 is further configured to change from the starting focal length to the ending focal length, and capture an image during the change of the focal length.

Optionally, the communication unit 801 is configured to receive a starting focal length and an ending focal length sent by the control terminal before receiving the shooting instruction sent by the control terminal; the processing unit 802 is further configured to set a start focal length and an end focal length.

Optionally, the processing unit 802 is further configured to obtain a preset focal length change speed; the way the processing unit 802 changes from the starting focal length to the ending focal length is: changing from the starting focal length to the ending focal length according to the focal length change speed.

Optionally, the communication unit 801 is further configured to receive a focal length change speed sent by the control terminal before receiving the shooting instruction sent by the control terminal; the processing unit 802 is further configured to set a focal length change speed.

Optionally, the processing unit 802 changes from the initial focal length to the end focal length according to the focal length change speed, and a specific manner of capturing an image in the process of focal length change is as follows: and changing from the initial focal length to the end focal length according to the focal length change speed in the exposure time for one time, and shooting an explosion image in the process of the focal length change.

Optionally, the exposure time is preset, or the exposure time is determined according to the starting focal length, the ending focal length and the focal length change speed.

Optionally, the processing unit 802 is further configured to obtain a preset exposure time before the initial focal length is changed to the end focal length within the exposure time; determining the focal length change speed according to the initial focal length, the end focal length and the exposure time; the specific way that the processing unit 802 changes from the starting focal length to the ending focal length and captures an image in the process of the focal length change is as follows: and changing from the initial focal length to the end focal length according to the focal length change speed in the exposure time for one time, and shooting an explosion image in the process of the focal length change.

Optionally, the communication unit 801 is further configured to receive an exposure time sent by the control terminal before receiving the shooting instruction sent by the control terminal; the processing unit 802 is further configured to set an exposure time.

Optionally, the specific way of capturing the image by the processing unit 802 in the process of changing the focal length is as follows: and shooting a plurality of images through multiple exposures in the process of focal length change, wherein the plurality of images are used for generating an explosion image.

Optionally, the processing unit 802 is further configured to rotate a pan-tilt head carrying the camera before acquiring the preset starting focal length and ending focal length, so that the framed shot object is located at the middle position of the display frame of the control terminal.

Optionally, a focal length variation range from the starting focal length to the ending focal length is smaller than a maximum focal length variation range.

Optionally, in the process of focal length change, the unmanned aerial vehicle is in a hovering state.

Optionally, the communication unit 801 is further configured to, in the process of changing the focal length, end the shooting task if a remote control flight operation instruction for the unmanned aerial vehicle is received, and send a prompt message for prompting the shooting task to be terminated to the control terminal.

Based on the same inventive concept, the principle of solving the problem of the unmanned aerial vehicle provided in the embodiment of the present application is similar to that of the embodiment of the method of the present application, so that the implementation of the unmanned aerial vehicle can refer to the implementation of the method, and the beneficial effects of the unmanned aerial vehicle can refer to the beneficial effects of the method, which are not described herein again for brevity.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a control terminal provided in an embodiment of the present application, where the control terminal at least may include a communication unit 901 and a processing unit 902, where:

a processing unit 902, configured to obtain a start focal length and an end focal length to be set; a communication unit 901, configured to send the start focal length and the end focal length to the unmanned aerial vehicle, so that the unmanned aerial vehicle sets the start focal length and the end focal length.

Optionally, the processing unit 902 is further configured to obtain a focal length change speed to be set; the communication unit 901 is further configured to send the focal length change speed to the unmanned aerial vehicle, so that the unmanned aerial vehicle sets the focal length change speed.

Optionally, the processing unit 902 is further configured to obtain an exposure time to be set; the communication unit 901 is further configured to send the exposure time to the drone, so that the drone sets the exposure time.

Optionally, the focal length variation range from the starting focal length to the ending focal length is smaller than the maximum focal length variation range.

Optionally, the communication unit 901 is further configured to send a remote control flight operation instruction to the unmanned aerial vehicle in the process of changing the focal length of the unmanned aerial vehicle; the communication unit 901 is further configured to receive prompt information sent by the unmanned aerial vehicle for prompting that the shooting task is terminated.

Optionally, the communication unit 901 is further configured to receive multiple images sent by the unmanned aerial vehicle, where the multiple images are multiple images shot by the unmanned aerial vehicle through multiple exposures in the process of changing the focal length; the processing unit 902 is further configured to process the multiple images to obtain an explosion image.

Based on the same inventive concept, the principle of solving the problem of the control terminal provided in the embodiment of the present application is similar to that of the embodiment of the method of the present application, so the implementation of the control terminal can refer to the implementation of the method, and the beneficial effects of the control terminal can refer to the beneficial effects of the method, which are not described herein again for brevity.

Referring to fig. 10, fig. 10 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 10, the drone includes a memory 1001, a processor 1002, a communication device 1003, and a camera 1004. Alternatively, the memory 1001, the processor 1002, the communication device 1003, and the photographing device 1004 may be connected through a bus system 1005.

Memory 1001 for storing program instructions. Memory 1001 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 1001 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a solid-state drive (SSD), etc.; the memory 1001 may also comprise a combination of memories of the kind described above.

The processor 1002 may include a Central Processing Unit (CPU). The processor 1002 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or the like. The PLD may be a field-programmable gate array (FPGA), a General Array Logic (GAL), or the like. The processor 1002 calls the program instructions in the memory 1001 to execute the following steps:

receiving a shooting instruction transmitted by the control terminal through the communication device 1003;

acquiring a preset initial focal length and a preset end focal length;

changes from the starting focal length to the ending focal length, and captures an image by the capturing device 1004 in the course of the change in focal length.