Aerial image generation method, device, computer readable medium and aerial photography drone

Abstract

The present invention discloses an aerial image generation method, device, equipment, readable medium and aerial photography drone. The scheme may include: when the aerial photography drone is in a shooting state for a first target to be photographed, monitoring whether a user triggers a zooming operation on the first aerial image; detecting whether the zooming operation is used to perform a zooming operation on the first aerial image, and obtaining a first detection result; if it is indicated that the zooming operation is used to perform a zooming operation, determining a second target to be photographed targeted by the zooming operation, the second target to be photographed being a sub-target of the first target to be photographed; obtaining first distance information between the second target to be photographed and the aerial photography drone, and determining a first working camera on the aerial photography drone for photographing the second target to be photographed based on the first distance information and the zoom amplitude of the zooming operation; after the first working camera starts to photograph the second target to be photographed, obtaining a photographed image and displaying the image.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial photography technology, and in particular to an aerial image generation method, device, readable medium and an aerial photography unmanned aerial vehicle. Background Art

[0002] As an emerging field, drones are increasingly widely used in both military and civilian fields, especially in aerial photography. For example, drones can be used in power line inspection, river monitoring, security and other fields. In these fields, it is sometimes necessary to capture local details of the photographed object according to the shooting needs. In response to this demand, one solution in the prior art is to configure a large zoom camera on the drone, such as a camera with an optical zoom of about 20 to 30 times. However, the size of the lens of the large zoom optical zoom is large, which makes the weight of the large zoom camera equipped with such a lens heavier. If such a large zoom camera is equipped on a drone, the drone's battery life will be greatly shortened, thereby shortening the working time of a single operation using the drone. At the same time, since the optical zoom camera is constantly focusing, it is impossible to accurately focus on the target object being photographed, which will cause focus failure and the photographed object to be virtual. Summary of the invention

[0003] The present invention provides an aerial image generation method, device, equipment, readable medium and aerial photography drone, so as to overcome at least one technical problem existing in the prior art.

[0004] According to a first aspect of an embodiment of the present invention, there is provided a method for generating an aerial image, comprising:

[0005] When the aerial photography drone is in a shooting state for a first target to be photographed, monitoring whether a user triggers a zoom operation on a first aerial image, wherein the first aerial image is an aerial image obtained when the aerial photography drone photographs the first target to be photographed;

[0006] detecting whether the zoom operation is used to perform a zoom operation on the first aerial image, and obtaining a first detection result;

[0007] If the first detection result indicates that the zoom operation is used to perform a zoom operation on the first aerial image, determining a second target to be photographed that the zoom operation is targeted at, wherein the second target to be photographed is a sub-target of the first target to be photographed;

[0008] Obtaining first distance information between the second target to be photographed and the aerial photography drone, and determining a first working camera on the aerial photography drone for photographing the second target to be photographed based on the first distance information and the zoom amplitude of the zoom magnification operation, wherein the aerial photography drone is equipped with a plurality of fixed-focus cameras, and the first working camera belongs to the plurality of fixed-focus cameras; each of the plurality of fixed-focus cameras is configured with a focal length range after digital zooming, so that after the plurality of fixed-focus cameras are digitally zoomed and sorted from small to large according to the range of focal lengths, the absolute value of the difference between the maximum digital zoom focal length of the smaller-ranked fixed-focus camera and the minimum digital zoom focal length of the larger-ranked fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value;

[0009] After the first working camera starts to shoot the second target to be photographed, the user terminal obtains the photographed image, and the touch screen display of the user terminal displays the photographed image.

[0010] Preferably, if the first detection result indicates that the zoom operation is used to perform a zoom-out operation on the first aerial image, a second working camera is selected from the plurality of fixed-focus cameras based on the first distance information and the zoom amplitude of the zoom-out operation;

[0011] The second working camera is digitally zoomed, and the first aerial image and an image of an environment in which the first aerial image is located are photographed using the second working camera after digital zoom.

[0012] Preferably, the monitoring whether the user triggers a zoom operation on the first aerial image specifically includes:

[0013] Monitor whether the user triggers the preset zoom control button; or,

[0014] In response to a touch event of a user on a touch display screen of the user terminal, it is detected whether the touch event triggers a zooming operation on the first aerial image.

[0015] Preferably, if it is monitored that the user performs a zooming operation on the first aerial image by touching the touch display screen, the second target to be photographed targeted by the touch event is determined based on the touch point on the touch display screen corresponding to the touch event.

[0016] Preferably, after determining the second target to be photographed targeted by the touch event based on the touch point on the touch display screen corresponding to the touch event, the method includes:

[0017] The zoom amplitude of the zoom-in operation is determined based on the motion amplitude of the touch event.

[0018] Preferably, after the first working camera starts to shoot the second target to be shot, the user terminal acquires the shot image, and before the touch screen display of the user terminal displays the shot image, it includes:

[0019] A first zoom amplitude for digitally zooming the first working camera is determined, and a digital zoom operation is performed on the first working camera based on the first zoom amplitude.

[0020] Preferably, before determining a first zoom amplitude for digitally zooming the first working camera, the method includes:

[0021] Based on the first distance information and the preset focal range configuration information of the first working camera for digital zoom, sending a position adjustment instruction to the aerial photography drone, wherein the position adjustment instruction is used to adjust the physical position of the aerial photography drone when performing aerial photography of the second target to be photographed;

[0022] After the aerial photography drone adjusts the physical position of the second target to be photographed based on the position adjustment instruction, a hovering instruction is sent to the aerial photography drone.

[0023] According to a second aspect of an embodiment of the present invention, there is provided an aerial image generation device, which is disposed in a user terminal corresponding to an aerial photography drone, and the device includes:

[0024] A zoom operation monitoring module, used to monitor whether a user triggers a zoom operation on a first aerial image when the aerial photography drone is in a shooting state of a first target to be photographed, wherein the first aerial image is an aerial image obtained when the aerial photography drone photographs the first target to be photographed;

[0025] a zoom operation detection module, used to detect whether the zoom operation is used to perform a zoom operation on the first aerial image, and obtain a first detection result;

[0026] a second target to be photographed determining module, configured to determine a second target to be photographed targeted by the zooming operation if the first detection result indicates that the zooming operation is used to perform a zooming operation on the first aerial image, wherein the second target to be photographed is a sub-target of the first target to be photographed;

[0027] A first working camera determination module is used to obtain first distance information between the second target to be photographed and the aerial photography drone, and determine a first working camera on the aerial photography drone for photographing the second target to be photographed based on the first distance information and the zoom amplitude of the zoom magnification operation, wherein the aerial photography drone is equipped with a plurality of fixed-focus cameras, and the first working camera belongs to the plurality of fixed-focus cameras; each of the plurality of fixed-focus cameras is configured with a focal length range after digital zooming, so that after the plurality of fixed-focus cameras are digitally zoomed and sorted from small to large according to the range of focal lengths, the absolute value of the difference between the maximum digital zoom focal length of the smaller fixed-focus camera and the minimum digital zoom focal length of the larger fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value;

[0028] The image display module is used for, after the first working camera starts to shoot the second target to be shot, the user terminal acquires the shot image, and the touch screen display of the user terminal displays the shot image.

[0029] According to a third aspect of an embodiment of the present invention, a computer-readable medium is provided, on which computer-readable instructions are stored. The computer-readable instructions can be executed by a processor to implement any of the aerial image generation methods described above.

[0030] According to a fourth aspect of an embodiment of the present invention, there is provided an aerial photography drone, the aerial photography drone comprising a camera pod;

[0031] The camera pod is rotatably connected to a plurality of fixed-focus cameras; the shooting angles of the plurality of fixed-focus cameras are the same; the focal length range of each of the plurality of fixed-focus cameras after digital zooming is configured so that after the plurality of fixed-focus cameras are digitally zoomed and sorted from small to large according to the range of focal lengths, the absolute value of the difference between the maximum digital zoom focal length of the smaller fixed-focus camera and the minimum digital zoom focal length of the larger fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value;

[0032] The aerial photography drone is also provided with a ranging radar and an information transmission device, wherein the ranging radar is used to measure the distance between the aerial photography drone and the photographed object; and the information transmission device is used to exchange information with a user terminal corresponding to the aerial photography drone.

[0033] One embodiment of the present specification can at least achieve the following beneficial effects: in the technical solution of this embodiment, a number of fixed-focus cameras are equipped on the aerial photography drone, and each focal length uses a fixed-focal-length and fixed-focus lens camera, without an automatic focusing process, and each camera works within its own depth of field, which not only ensures that the photo will not be inaccurately focused or out of focus, but also greatly reduces the weight and size of the lens. Compared with the aerial photography method of the prior art that uses an optical lens with a large optical zoom, the aerial photography time of a single aerial photography operation is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of a flow chart of an aerial image generation method provided in an embodiment of this specification;

[0036] Figure 2 The embodiments of this specification provide corresponding to Figure 1 A structural schematic diagram of an aerial image generating device. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of one or more embodiments of this specification.

[0038] It should be understood that although the terms first, second, third, etc. may be used in this application document to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.

[0039] As stated above, drones are an emerging field, and their applications are becoming more and more extensive in both military and civilian fields. In particular, the use of drones for aerial photography is in the ascendant. For example, drones can be used in power line inspection, river monitoring, security and other fields. In these fields, it is sometimes necessary to capture local details of the photographed object according to the shooting needs. In response to this demand, one solution in the prior art is to configure a large zoom camera on the drone, such as a camera with an optical zoom of about 20 to 30 times. However, the volume of the lens of the large zoom optical zoom is large, which makes the weight of the large zoom camera equipped with such a lens heavier. If such a large zoom camera is equipped on a drone, the drone's battery life will be greatly shortened, thereby shortening the working time of a single operation using the drone. At the same time, since the optical zoom camera is constantly focusing, it is impossible to accurately focus on the target object being photographed, which will cause focus failure and cause the photographed object to be virtual. At the same time, due to the use of large-magnification optical zoom, the imaging device CMOS used cannot be large, the pixel base is low, and the image quality of the photo is not high.

[0040] In view of the defects existing in the prior art described above, in the embodiments of the present specification, firstly, a method for generating aerial images is provided. The method applies a camera system provided by the embodiments of the present invention, which has good imaging quality, is light in weight and can take real-time photos of target objects, to the fields of power line inspection, river monitoring, security, etc. The camera system may include a plurality of imaging components, CMOS, large-size, high-pixel fixed-focal-length and fixed-focus lenses. Each camera works within its own depth of field. The lens of the camera system can cover the focal length range of short focus, medium focus and long focus after digital focus. Therefore, compared with the prior art that uses a single large-zoom camera for video shooting, while being able to clearly capture the local detail information of the photographed object, because the camera system is lighter than a large-zoom camera, it can perform aerial photography for a longer time, thereby effectively improving the aerial photography time of a single aerial photography operation.

[0041] Next, an aerial image generation method provided in the embodiment of the specification will be specifically described with reference to the accompanying drawings.

[0042] Figure 1 The flowchart of an aerial image generation method provided in the embodiment of this specification is as follows. From the program perspective, the execution subject of the process can be an application in the user terminal corresponding to the aerial photography drone.

[0043] like Figure 1 As shown, the process may include the following steps.

[0044] Step 102: When the aerial photography drone is in a shooting state for a first target to be photographed, monitor whether the user triggers a zoom operation on a first aerial image, wherein the first aerial image is an aerial image obtained when the aerial photography drone shoots the first target to be photographed.

[0045] In the embodiments of this specification, the first target to be photographed may refer to the target object to be photographed when the aerial photography drone is in the shooting state, such as the power line tower during the power line inspection process. The first target to be photographed may include several sub-targets. In actual application scenarios, when the user photographs the first target to be photographed, according to actual needs, he may photograph and observe a sub-target in the first target to be photographed. The aerial photography drone being in the shooting state of the first target to be photographed may refer to the state of the aerial photography drone photographing the target object to be photographed when it flies to a certain height.

[0046] In actual scenarios, a drone remote control is generally used to control the drone. For the image of the target object transmitted back by the aerial drone, different methods of zooming and scaling the image of the target object transmitted back may be used depending on the type or model of the drone remote control. Therefore, this step can monitor whether the user triggers the zooming and scaling operation on the first aerial image according to the specific type and model of the drone remote control.

[0047] Step 104: Detect whether the zoom operation is used to perform a zoom operation on the first aerial image, and obtain a first detection result.

[0048] In the embodiments of the present specification, the zoom operation may have different specific operation types, such as a zoom-in operation or a zoom-out operation, so this step needs to detect the specific type of the zoom operation in step 102. The specific detection method may be determined based on the specific type and model of the drone remote control that controls the aerial photography drone, and the technical solution of this embodiment is not specifically limited.

[0049] Step 106: If the first detection result indicates that the zoom operation is used to perform a zoom operation on the first aerial image, determine a second target to be photographed that the zoom operation targets, wherein the second target to be photographed is a sub-target of the first target to be photographed.

[0050] The foregoing article explains that the first target to be photographed may include several sub-targets. Therefore, in an optional embodiment technical solution, when the user performs a zoom operation on the first aerial image to carefully photograph and observe a sub-target in the first aerial image, i.e., the second target to be photographed, the second target to be photographed targeted by the zoom operation can be determined based on the specific operation method of implementing the zoom operation. For example, if it is detected that the user's two fingers are performing a reverse sliding operation on the touch display screen, the second target to be photographed targeted by the zoom operation can be determined based on the touch point position of the user's fingers on the touch display screen.

[0051] Step 108: Obtain first distance information between the second target to be photographed and the aerial photography drone, and determine a first working camera on the aerial photography drone for photographing the second target to be photographed based on the first distance information and the zoom amplitude of the zoom magnification operation, wherein the aerial photography drone is equipped with a plurality of fixed-focus cameras, and the first working camera belongs to the plurality of fixed-focus cameras; each of the plurality of fixed-focus cameras is configured with a focal length range after digital zooming, so that after the plurality of fixed-focus cameras are digitally zoomed and sorted from small to large according to the range of focal lengths, the absolute value of the difference between the maximum digital zoom focal length of the smaller fixed-focus camera and the minimum digital zoom focal length of the larger fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value.

[0052] Digital zoom is to increase the area of ​​each pixel in the picture through the processor in the digital camera, so as to achieve the purpose of magnification. In the embodiment of this specification, a plurality of fixed-focus cameras are equipped in the aerial photography drone, and different fixed-focus cameras have different focal lengths. Each fixed-focus camera can zoom within a certain focal length range through digital zoom, so that the plurality of fixed-focus cameras can perform hybrid zoom through digital zoom. In this hybrid zoom process, each focal length uses a fixed-focal-length fixed-focus lens camera, there is no autofocus process, and each camera works within its own depth of field. When determining which fixed-focus camera is used to shoot the second target to be photographed, the first working camera on the aerial photography drone that shoots the second target to be photographed can be determined based on the first distance information between the second target to be photographed and the aerial photography drone, and the zoom amplitude of the zoom magnification operation.

[0053] For example, an aerial photography drone is equipped with three fixed-focus cameras. The focal length of fixed-focus camera 1 is fx, and the zoom range can be achieved from fx to f3x through digital zoom. The focal length of fixed-focus camera 2 is f3x, and the zoom range can be achieved from f3x to f9x through digital zoom. The focal length of fixed-focus camera 3 is f9x, and the zoom range can be achieved from f9x to 27x through digital zoom. Therefore, the combination of these three fixed-focus cameras achieves 27x hybrid zoom.

[0054] In one possible implementation, multiple imaging components CMOS with large size can be used. In the short focal length, APS-C level or above including full-frame level high-pixel CMOS can be used, and the APS-C level pixel is above 26 million. In the medium and long focal lengths, one-inch imaging component CMOS can be used, and the pixel can be above 20 million, to ensure that the image quality obtained by the aerial photography drone when taking pictures of the target is relatively good.

[0055] Step 110: After the first working camera starts to shoot the second target to be shot, the user terminal obtains the shot image, and the touch screen display of the user terminal displays the shot image.

[0056] In an embodiment of the present specification, after the first working camera starts photographing the second target to be photographed, the user terminal obtains the photographed image. The specific image acquisition method can be determined by the specific communication method between the aerial photography drone and the user terminal. Then, the touch screen of the user terminal can display the photographed image, thereby facilitating the user to observe the image of the second target to be photographed taken by the aerial photography drone.

[0057] It should be understood that in the methods described in one or more embodiments of this specification, the order of some steps can be adjusted according to actual needs, or some steps can be omitted.

[0058] based on Figure 1 According to the method, a plurality of fixed-focus cameras are equipped on the aerial photography UAV, and each focal length adopts a fixed-focal-length and fixed-focus lens camera, without an automatic focusing process, and each camera works within its own depth of field, which not only ensures that the photography will not cause inaccurate focus or out-of-focus, but also greatly reduces the weight and size of the lens. Compared with the aerial photography method of using an optical lens with a large optical zoom in the prior art, the aerial photography time of a single aerial photography operation is effectively improved.

[0059] based on Figure 1 The method, the examples of this specification also provide some specific implementation plans of the method, which are described below.

[0060] In actual application scenarios, when a user controls an aerial photography drone for aerial photography based on a user terminal, in addition to zooming in, the user may also zoom out on the image transmitted back by the aerial photography drone. Therefore, in an optional embodiment, if the first detection result indicates that the zooming operation is used to zoom out on the first aerial image, a second working camera can be selected from the several fixed-focus cameras based on the first distance information and the zoom amplitude of the zoom-out operation; the second working camera is digitally zoomed, and the first aerial image and the image of the environment in which the first aerial image is located are photographed using the second working camera after the digital zoom.

[0061] The foregoing article explains that it is possible to monitor whether a user triggers a zoom operation on a first aerial image based on the specific type and model of the drone remote control, so that the monitoring of whether a user triggers a zoom operation on the first aerial image can specifically include: monitoring whether a user triggers a preset zoom control button, or, in response to a touch event of the user on the touch display screen of the user terminal, detecting whether the touch event triggers a zoom operation on the first aerial image.

[0062] Since it is possible to detect whether a touch event of the user on the touch display screen of the user terminal triggers a zoom operation on the first aerial image, in an optional technical solution, further, the second target to be photographed targeted by the touch event can be determined based on the location where the touch event occurs, that is, the specific location where the user touches the touch display screen. That is, if it is monitored that the user performs a zoom operation on the first aerial image by touching the touch display screen, the second target to be photographed targeted by the touch event can be determined based on the touch point on the touch display screen corresponding to the touch event.

[0063] In an optional embodiment, determining the second target to be photographed targeted by the touch event based on the touch point on the touch display screen corresponding to the touch event may include: determining the zoom amplitude of the zoom-in operation based on the action amplitude of the touch event.

[0064] In this embodiment, after detecting that the user performs a zoom operation by touching the touch screen, the zoom amplitude of the zoom operation can be determined based on the action amplitude of the user performing the touch operation, that is, the action amplitude of the touch event. For example, when it is detected that the user's two fingers perform a reverse sliding operation on the touch screen, the zoom amplitude of the zoom operation can be determined based on the action amplitude of the reverse sliding operation.

[0065] At the same time, since a fixed-focus camera is used to photograph the second target to be photographed in this embodiment, after the first working camera starts to photograph the second target to be photographed, the user terminal obtains the captured image, and before the touch screen of the user terminal displays the captured image, it may include: determining a first zoom amplitude for digitally zooming the first working camera, and performing a digital zoom operation on the first working camera based on the first zoom amplitude.

[0066] In actual application scenarios, before determining the first working camera for photographing the second target to be photographed, the flight altitude or position of the aerial photography UAV can be appropriately adjusted to facilitate aerial photography of the second target to be photographed. Therefore, before determining the first zoom amplitude for digital zooming of the first working camera, it can include: based on the first distance information and the pre-set focal range configuration information of the first working camera for digital zoom, sending a position adjustment instruction to the aerial photography UAV, the position adjustment instruction is used to adjust the physical position of the aerial photography UAV when photographing the second target to be photographed; after the aerial photography UAV adjusts the physical position of the second target to be photographed based on the position adjustment instruction, sending a hovering instruction to the aerial photography UAV.

[0067] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method. Figure 2 The embodiments of this specification provide corresponding to Figure 1 A schematic diagram of the structure of an aerial image generation device, the device is arranged in a user terminal corresponding to an aerial photography drone, such as Figure 2 As shown, the device may include:

[0068] The zoom operation monitoring module 202 is used to monitor whether the user triggers a zoom operation on the first aerial image when the aerial photography drone is in a shooting state of the first target to be photographed, wherein the first aerial image is an aerial image obtained when the aerial photography drone shoots the first target to be photographed.

[0069] The zoom operation detection module 204 is used to detect whether the zoom operation is used to perform a zoom operation on the first aerial image, and obtain a first detection result.

[0070] The second target to be photographed determining module 206 is used to determine the second target to be photographed targeted by the zooming operation if the first detection result indicates that the zooming operation is used to perform a zooming operation on the first aerial image, wherein the second target to be photographed is a sub-target of the first target to be photographed.

[0071] The first working camera determination module 208 is used to obtain first distance information between the second target to be photographed and the aerial photography drone, and determine the first working camera on the aerial photography drone for photographing the second target to be photographed based on the first distance information and the zoom amplitude of the zoom magnification operation, wherein the aerial photography drone is equipped with a plurality of fixed-focus cameras, and the first working camera belongs to the plurality of fixed-focus cameras; after the focal length range of each of the plurality of fixed-focus cameras is digitally zoomed, the plurality of fixed-focus cameras are digitally zoomed and sorted from small to large according to the focal length range, and the absolute value of the difference between the maximum digital zoom focal length of the smaller fixed-focus camera and the minimum digital zoom focal length of the larger fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value.

[0072] The image display module 210 is used for the user terminal to obtain the captured image after the first working camera starts to shoot the second target to be shot, and the touch screen display of the user terminal displays the captured image.

[0073] Based on the same idea, the embodiments of this specification also provide a computer-readable medium corresponding to the above method, on which computer-readable instructions are stored. The computer-readable instructions can be executed by a processor to implement the aerial image generation method provided in the above embodiments.

[0074] At the same time, the embodiment of the present specification also provides an aerial photography drone corresponding to the aerial photography image generation method described above, the aerial photography drone includes a camera pod, the camera pod is rotatably connected to a plurality of fixed-focus cameras; the shooting angles of the plurality of fixed-focus cameras are the same; the focal length range of each of the plurality of fixed-focus cameras is configured after digital zooming, so that after the plurality of fixed-focus cameras are digitally zoomed and sorted according to the range of focal lengths from small to large, the absolute value of the difference between the maximum digital zoom focal length of the smaller fixed-focus camera and the minimum digital zoom focal length of the larger fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value;

[0075] The aerial photography drone is also provided with a ranging radar and an information transmission device, wherein the ranging radar is used to measure the distance between the aerial photography drone and the photographed object; and the information transmission device is used to exchange information with a user terminal corresponding to the aerial photography drone.

[0076] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0077] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for generating aerial images, applied to a user terminal corresponding to an aerial photography drone, characterized in that: The method comprises: When the aerial photography drone is in a shooting state for a first target to be photographed, monitoring whether a user triggers a zoom operation on a first aerial image, wherein the first aerial image is an aerial image obtained when the aerial photography drone photographs the first target to be photographed; detecting whether the zoom operation is used to perform a zoom operation on the first aerial image, and obtaining a first detection result; If the first detection result indicates that the zoom operation is used to perform a zoom operation on the first aerial image, determining a second target to be photographed that the zoom operation is targeted at, wherein the second target to be photographed is a sub-target of the first target to be photographed; Obtaining first distance information between the second target to be photographed and the aerial photography drone, and determining a first working camera on the aerial photography drone for photographing the second target to be photographed based on the first distance information and the zoom amplitude of the zoom magnification operation, wherein the aerial photography drone is equipped with a plurality of fixed-focus cameras, and the first working camera belongs to the plurality of fixed-focus cameras; each of the plurality of fixed-focus cameras is configured with a focal length range after digital zooming, so that after the plurality of fixed-focus cameras are digitally zoomed and sorted from small to large according to the range of focal lengths, the absolute value of the difference between the maximum digital zoom focal length of the smaller-ranked fixed-focus camera and the minimum digital zoom focal length of the larger-ranked fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value; After the first working camera starts to shoot the second target to be photographed, the user terminal obtains the photographed image, and the touch screen display of the user terminal displays the photographed image.

2. The aerial image generation method according to claim 1, characterized in that: If the first detection result indicates that the zoom operation is used to perform a zoom-out operation on the first aerial image, selecting a second working camera from the plurality of fixed-focus cameras based on the first distance information and a zoom amplitude of the zoom-out operation; The second working camera is digitally zoomed, and the first aerial image and an image of an environment in which the first aerial image is located are photographed using the second working camera after digital zoom.

3. The aerial image generation method according to claim 1, characterized in that: The monitoring of whether the user triggers a zoom operation on the first aerial image specifically includes: Monitor whether the user triggers the preset zoom control button; or, In response to a touch event of a user on a touch display screen of the user terminal, it is detected whether the touch event triggers a zooming operation on the first aerial image.

4. The aerial image generation method according to claim 3, characterized in that: If it is detected that the user performs a zooming operation on the first aerial image by touching the touch display screen, the second target to be photographed targeted by the touch event is determined based on the touch point on the touch display screen corresponding to the touch event.

5. The aerial image generation method according to claim 4, characterized in that: After determining the second target to be photographed targeted by the touch event based on the touch point on the touch display screen corresponding to the touch event, the method includes: The zoom amplitude of the zoom-in operation is determined based on the motion amplitude of the touch event.

6. The aerial image generation method according to claim 1, characterized in that: After the first working camera starts to shoot the second target to be shot, the user terminal acquires the shot image, and before the touch display screen of the user terminal displays the shot image, the method includes: A first zoom amplitude for digitally zooming the first working camera is determined, and a digital zoom operation is performed on the first working camera based on the first zoom amplitude.

7. The aerial image generation method according to claim 6, characterized in that: Before determining a first zoom amplitude for digitally zooming the first working camera, the method includes: Based on the first distance information and the preset focal range configuration information of the first working camera for digital zoom, sending a position adjustment instruction to the aerial photography drone, wherein the position adjustment instruction is used to adjust the physical position of the aerial photography drone when performing aerial photography of the second target to be photographed; After the aerial photography drone adjusts the physical position of the second target to be photographed based on the position adjustment instruction, a hovering instruction is sent to the aerial photography drone.

8. An aerial image generation device, arranged in a user terminal corresponding to an aerial photography drone, characterized in that: The device comprises: A zoom operation monitoring module, used to monitor whether a user triggers a zoom operation on a first aerial image when the aerial photography drone is in a shooting state of a first target to be photographed, wherein the first aerial image is an aerial image obtained when the aerial photography drone photographs the first target to be photographed; a zoom operation detection module, used to detect whether the zoom operation is used to perform a zoom operation on the first aerial image, and obtain a first detection result; a second target to be photographed determining module, configured to determine a second target to be photographed targeted by the zooming operation if the first detection result indicates that the zooming operation is used to perform a zooming operation on the first aerial image, wherein the second target to be photographed is a sub-target of the first target to be photographed; A first working camera determination module is used to obtain first distance information between the second target to be photographed and the aerial photography drone, and determine a first working camera on the aerial photography drone for photographing the second target to be photographed based on the first distance information and the zoom amplitude of the zoom magnification operation, wherein the aerial photography drone is equipped with a plurality of fixed-focus cameras, and the first working camera belongs to the plurality of fixed-focus cameras; each of the plurality of fixed-focus cameras is configured with a focal length range after digital zooming, so that after the plurality of fixed-focus cameras are digitally zoomed and sorted from small to large according to the range of focal lengths, the absolute value of the difference between the maximum digital zoom focal length of the smaller fixed-focus camera and the minimum digital zoom focal length of the larger fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value; The image display module is used for, after the first working camera starts to shoot the second target to be shot, the user terminal acquires the shot image, and the touch screen display of the user terminal displays the shot image.

9. A computer-readable medium having computer-readable instructions stored thereon, wherein the computer-readable instructions can be executed by a processor to implement the aerial image generation method according to any one of claims 1 to 7.

10. An aerial photography drone, characterized in that: The aerial photography drone includes a camera pod; The camera pod is rotatably connected to a plurality of fixed-focus cameras; the shooting angles of the plurality of fixed-focus cameras are the same; the focal length range of each of the plurality of fixed-focus cameras after digital zooming is configured so that after the plurality of fixed-focus cameras are digitally zoomed and sorted from small to large according to the range of focal lengths, the absolute value of the difference between the maximum digital zoom focal length of the smaller fixed-focus camera and the minimum digital zoom focal length of the larger fixed-focus camera among two adjacent fixed-focus cameras is less than a predetermined value; The aerial photography drone is also provided with a ranging radar and an information transmission device, wherein the ranging radar is used to measure the distance between the aerial photography drone and the photographed object; the information transmission device is used to exchange information with a user terminal corresponding to the aerial photography drone, and the user terminal is used to implement the aerial image generation method in claim 1.

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