WO2019205070A1

WO2019205070A1 - Method and apparatus for controlling unmanned aerial vehicle, and unmanned aerial vehicle

Info

Publication number: WO2019205070A1
Application number: PCT/CN2018/084737
Authority: WO
Inventors: 张伟
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-04-27
Filing date: 2018-04-27
Publication date: 2019-10-31
Also published as: CN110637269A

Abstract

Embodiments of the present invention provide a method and apparatus for controlling an unmanned aerial vehicle, and an unmanned aerial vehicle. The method comprises: obtaining a flight path of an unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly along the flight path; and in the process that the unmanned aerial vehicle flies along the flight path, controlling the photographing attitude of a photographing device provided on the unmanned aerial vehicle, so that a target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device. In the embodiments of the present invention, in the process that the unmanned aerial vehicle flies along the flight path from the start point, the photographing attitude of the photographing device is controlled, so that the target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device. Thus, the target object is not in the initial image captured by the photographing device, and the photographing device gradually finds the target object during photographing, thereby producing a photographing effect different from that in the prior art, improving the photographing flexibility of the unmanned aerial vehicle, and enriching the photographing modes of the unmanned aerial vehicle.

Description

UAV control method, control device and drone

Technical field

The embodiment of the invention relates to the field of drones, and in particular to a control method, a control device and a drone of a drone.

Background technique

In the prior art, the photographing device can be mounted on the drone through the pan/tilt, and the drone can control the photographing device to take an image or video.

When the drone controls the photographing device to take a video, the photographing device usually always takes a target object such as a person as a center of the shooting picture, resulting in a relatively limited shooting effect of the video.

Summary of the invention

The embodiment of the invention provides a control method, a control device and a drone of the drone to improve the flexibility of the drone shooting and enrich the shooting mode of the drone.

A first aspect of the embodiments of the present invention provides a method for controlling a drone, including:

Obtain the flight path of the drone;

Controlling the drone to fly along the flight path;

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to enter the camera from outside the shooting screen of the camera In the shooting picture.

A second aspect of the embodiments of the present invention provides a method for controlling a drone, including:

Obtain the flight path of the drone;

Controlling the drone to fly along the flight path;

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to exit from the photographing screen of the photographing device;

The image data captured by the photographing device is transmitted to the control terminal during the flight of the drone along the flight path, so that the control terminal reverses the image data.

A third aspect of the embodiments of the present invention provides a control device, including: a memory and a processor;

The memory is for storing program code;

The processor calls the program code to perform the following operations when the program code is executed:

Obtain the flight path of the drone;

Controlling the drone to fly along the flight path;

A fourth aspect of the embodiments of the present invention provides a control device, including: a communication interface and a processor;

The processor is used to:

Obtain the flight path of the drone;

Controlling the drone to fly along the flight path;

The communication interface is configured to send image data captured by the camera to the control terminal during the flight of the drone along the flight path, so that the control terminal reverses the image data put.

A fifth aspect of the embodiments of the present invention provides a drone, including:

body;

a power system mounted to the fuselage for providing flight power;

And the control device of the third aspect or the fourth aspect.

A sixth aspect of the embodiments of the present invention provides a computer readable storage medium having stored thereon a computer program, the computer program being executed by the processor, the method of controlling the drone according to the first aspect or the second aspect.

The control method, the control device and the drone of the UAV provided by the embodiment obtain the flight path of the UAV and control the UAV to fly along the flight path, where the UAV is located in the flight path. At the starting point, the drone controls the shooting attitude of the camera so that the target object is outside the shooting screen of the camera, and the drone continues while the drone is flying along the flight path from the starting point. Controlling a shooting posture of the photographing device such that the target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device, so that there is no target object in the initial screen photographed by the photographing device, and the photographing device is in the photographing process. Gradually finding the target object produces a different shooting effect than the prior art, thereby improving the flexibility of the drone shooting, enriching the shooting mode of the drone, and bringing different shootings to the users of the drone. Experience.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a flowchart of a method for controlling a drone according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an application scenario according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of another application scenario according to an embodiment of the present disclosure;

4 is a schematic diagram of a flight trajectory according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another flight trajectory according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of still another flight trajectory according to an embodiment of the present invention; FIG.

FIG. 7 is a schematic diagram of still another flight trajectory according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of still another flight trajectory according to an embodiment of the present invention; FIG.

FIG. 9 is a schematic diagram of an interaction interface according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a shooting posture of a photographing apparatus according to an embodiment of the present invention; FIG.

FIG. 11 is a schematic diagram of a shooting posture of another imaging device according to an embodiment of the present invention; FIG.

FIG. 12 is a flowchart of a method for controlling a drone according to another embodiment of the present invention;

FIG. 13 is a schematic diagram of a shooting attitude of still another imaging device according to an embodiment of the present invention; FIG.

FIG. 14 is a schematic diagram of still another shooting posture of a photographing apparatus according to an embodiment of the present invention; FIG.

15 is a flowchart of a method for controlling a drone according to another embodiment of the present invention;

FIG. 16 is a schematic diagram of still another shooting posture of a photographing apparatus according to an embodiment of the present invention; FIG.

FIG. 17 is a schematic diagram of still another shooting posture of a photographing apparatus according to an embodiment of the present invention; FIG.

FIG. 18 is a structural diagram of a control device according to an embodiment of the present invention;

FIG. 19 is a structural diagram of a control device according to another embodiment of the present invention;

FIG. 20 is a structural diagram of a drone according to an embodiment of the present invention.

Reference mark:

20: drone; 21: camera; 22: support device;

23: communication system; 24: control terminal; 25: nose;

80: user; 81: front of the user; 82: optical axis direction of the photographing device;

90: interactive interface; 180: control device; 181: memory;

182: processor; 190: control device; 191: communication interface;

192: processor; 200: drone; 201: control device;

207: motor 206: propeller; 217: electronic governor;

208: sensing system; 210: communication system; 202: supporting device;

204: Shooting device.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiments of the present invention provide a method for controlling a drone. FIG. 1 is a flowchart of a method for controlling a drone according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:

Step S101: Obtain a flight path of the drone.

As shown in FIG. 2, the drone 20 is provided with a photographing device 21, and the photographing device 21 can be connected to the body of the drone 20 through the support device 22. The support device 22 can be a pan/tilt or other support. The functional unit, the drone 20 can communicate with the ground control terminal 24 via the communication system 23, and the control terminal 24 can control the drone 20 to fly. The control terminal 24 can be a remote controller, a smart phone, a tablet computer, or a ground control station. , laptops, watches, bracelets, etc. and combinations thereof. In addition, 25 denotes a nose of the drone 20.

In this embodiment, the drone 20 can acquire the flight trajectory of the drone 20 at the time of take-off or after take-off.

Specifically, the acquiring the flight trajectory of the drone includes: acquiring location information of the target object; acquiring a flight trajectory setting parameter; determining the unmanned according to the location information of the target object and the flight trajectory setting parameter Flight path of the aircraft.

Optionally, the target object is determined by the control terminal by detecting a target object selection operation of the user on the interaction interface of the control terminal, and the interaction interface displays a shooting screen of the photographing device.

As shown in FIG. 3, it is assumed that the user holds the control terminal 24 as shown in FIG. 2. The application terminal 24 is provided with an application (Application, APP), which can be used to control the drone 20, and the drone 20 takes off. After hovering in front of the user, the drone 20 is away from the user W when taking off, and the position of the user W directly in front of the user can be determined as the initial position of the drone. As shown in FIG. 3, the nose 25 of the drone 20 is opposed to the user. In the initial position, the photographing device 21 disposed by the drone 20 can capture a photographing screen including the user, and the drone 20 can pass through the communication system. The shooting screen of the photographing device 21 is sent to the control terminal 24, and the control terminal 24 can display the photographing screen on the interactive interface provided by the application, so that the user can select the target object on the photographing screen displayed on the interactive interface. Operation, the selection operation is not limited to frame selection, and may be other operations such as clicking. The control terminal 24 determines the target object selected by the user according to the target object selection operation of the user on the interaction interface, and further transmits the location information of the target object selected by the user in the shooting screen to the drone 20, so that the drone 20 Determine the target object selected by the user from the shooting screen. Optionally, the target object may be a user in the shooting picture, or may be an object other than the user in the shooting picture. In this embodiment, the user is taken as a target object as an example.

In this embodiment, the obtaining location information of the target object includes the following feasible implementation manners:

A possible implementation manner is: the control terminal 24 is provided with a positioning device, and the positioning device can determine the position information of the control terminal 24. It can be understood that the position information of the control terminal 24 is the position information of the user, that is, the position information of the target object. The control terminal 24 can transmit the position information of the control terminal 24 to the drone 20, and the drone 20 can determine the position information of the target object based on the position information of the control terminal 24.

Another possible implementation manner is: acquiring position information of the target object in a photographing screen of the photographing device; and determining position information of the target object according to position information of the target object in the photographing screen. For example, as shown in FIG. 3, the drone 20 acquires position information of a target object such as a user in a photographing screen of the photographing device 21, and determines the position of the target object based on the target object such as the position information of the user in the photographing screen of the photographing device 21. information. Further, the drone 20 can determine the position information of the target object based on the target object such as the position information of the user in the photographing screen of the photographing device 21, the photographing posture of the photographing device 21, and the distance between the target object and the drone 20.

Optionally, the acquiring location information of the target object in the shooting screen of the photographing device includes: acquiring position information of the target object sent by the control terminal in a photographing screen of the photographing device. For example, as shown in FIG. 3, the drone 20 transmits the photographing screen of the photographing device 21 to the control terminal 24, and the control terminal 24 can determine the target object selected by the user according to the target object selection operation detected by the user on the interactive interface, and then determines the target object. The position information of the target object in the shooting screen transmits the position information of the target object selected by the user in the shooting screen to the drone 20, and the drone 20 determines the position information of the target object in the shooting screen. The location information of the target object.

In this embodiment, the drone 20 may pre-store the flight trajectory setting parameter; or, the control terminal 24 pre-stores the flight trajectory setting parameter, and when the drone 20 takes off, the control terminal 24 sets the flight trajectory setting parameter. The setting icon is displayed in the interaction interface of the control terminal 24, and the setting icon can be used to set a flight path setting parameter, and the setting icon can be an input box or a scale icon, and the user can input the input Enter the specific flight path setting parameters in the box, or the user can adjust the flight path setting parameters by adjusting the scale of the scale icon. This is only a schematic description, and does not limit the setting method of the flight path setting parameters.

Specifically, the flight path setting parameter is used to indicate one or more of a length, a curvature, a radius of the flight trajectory, a distance and a position of the first feature point on the flight trajectory with respect to the target object. Optionally, the first feature point includes a starting point and/or an ending point of the flight path. In other embodiments, the first feature point may also be a point having other characteristics, such as a center point, an inflection point, and the like of the flight trajectory.

As shown in FIG. 4, the drone 20 acquires the location information of the target object at the initial position, and the flight path setting parameter pre-stored by the drone 20 or the control terminal specifically indicates the vertical point of the flight trajectory relative to the target object. The height H, the horizontal distance L and the azimuth, for example, the starting point A is obliquely forward of the target object. Specifically, the drone 20 can determine the starting point A of the flight trajectory according to the position information of the target object and the flight trajectory setting parameter. The position information, further, the drone 20 can determine the position information of a point B directly above the target object according to the position information of the target object and the vertical height H of the starting point A with respect to the target object, assuming that point B is the flight path. The center point, point C is the end point of the flight path, points A and C are symmetric with respect to point B, and the drone 20 can determine the flight based on the position information of the starting point A and the symmetry between AB and BC. The position information of the end point C of the trajectory, thereby determining the flight trajectory according to the starting point A, the center point B, and the ending point C. Alternatively, when the drone 20 determines the position information or flight trajectory of the starting point A, it may fly from the initial position to the starting point A of the flight trajectory to further fly along the flight trajectory.

As shown in FIG. 4, the flight trajectory determined by the starting point A, the center point B, and the ending point C is a straight line. In other embodiments, the flight trajectory is not limited to a straight line, and may be as shown in FIG. 5 or FIG. Curve ABC. As shown in FIG. 5, the vertical height H1 of the point B directly above the target object with respect to the target object is less than H. As shown in FIG. 6, the vertical height H2 of the point B directly above the target object with respect to the target object is less than H.

In other embodiments, the flight path setting parameter can also be used to indicate the vertical height, horizontal distance and orientation of the end point C of the flight trajectory relative to the target object, such that the drone 20 sets parameters according to the position information of the target object and the flight trajectory. Determining the position information of the end point C of the flight path, and further, determining the position information of the starting point A of the flight path according to the position information of the end point C and the position information of the point B directly above the target object, thereby according to the starting point A, the center Point B, End Point C determines the flight trajectory, which may be the flight trajectory shown in Figure 4, Figure 5 or Figure 6.

In addition, the flight path setting parameter can also be used to indicate the length, curvature, radius, and the like of the flight trajectory. For example, as shown in FIG. 5 or FIG. 6, the flight path setting parameter can be used to indicate the length, curvature, radius, and the like of the arc AC.

As shown in FIG. 4, FIG. 5, and FIG. 6, point B is just above the target object. It can be understood that point B is not limited to a point directly above the target object, and may be a point on the upper left or upper right side of the target object. In addition, the flight trajectory shown in FIG. 4, FIG. 5, and FIG. 6 is only a schematic description, and this embodiment does not limit the form of a flight trajectory.

In addition, as shown in FIG. 4, FIG. 5 and FIG. 6, the flight path of the drone is symmetrical. It can be understood that the flight path of the drone can also be asymmetric, as shown in FIG. 7, and A represents the flight path. The starting point, C, represents the end of the flight path, and the flight path determined by the starting point A and the ending point C is asymmetrical.

In some embodiments, the acquiring a flight path of the drone includes: initial position information of the drone; acquiring a flight path setting parameter; and initial position information and the flight path according to the drone Setting parameters determine the flight path of the drone.

As shown in FIG. 8, point C is the initial position of the drone, and the flight path setting parameter is used to indicate the starting point of the flight path, such as the longitudinal distance L3 and the lateral distance L4 of the point A relative to the initial position C of the drone. And the orientation of the starting point A with respect to the point C. Alternatively, the starting point A is obliquely forward of the left point of the point C. The drone can determine the position information of the starting point A of the flight path according to the position information of the initial position C of the drone and the flight path setting parameter, and use the initial position C of the drone as the flight path. In addition, the flight path setting parameter is further used to indicate the length, curvature, radius, and the like of the flight path, thereby determining the flight path AC of the drone according to the starting point A, the ending point C, and the flight path setting parameter.

In this embodiment, the plane in which the flight path is located may have the following possible situations:

One possibility is that the flight path is in a plane perpendicular to the ground. Optionally, the plane is determined according to location information of the target object and an initial location of the drone. As shown in FIG. 4, FIG. 5, FIG. 6, and FIG. 7, the flight path AC is in a plane perpendicular to the ground, and the plane is determined according to the position information of the target object and the initial position of the drone, as shown in FIG. As shown in FIG. 5, FIG. 6, and FIG. 7, the initial position of the drone is a position hovering in front of the user when the drone takes off. In other embodiments, the initial position of the drone may also be the flight path. Start point A. When the drone is hovering in front of the user, or when the drone is at the starting point A of the flight path, the plane in which the user and the drone are located is a plane perpendicular to the ground, the flight path of the drone For example, AC can be in this plane. In other embodiments, if point B is not a point directly above the user, the starting point A and the ending point C of the flight path may be in the plane, and the point of the flight path other than the starting point A and the ending point C may be in the plane Out of plane.

Another possibility is that the flight path is in a horizontal plane. As shown in FIG. 8, 80 represents the user, that is, the target object, point A represents the starting point of the flight trajectory, point C represents the end point of the flight trajectory, and FIG. 8 shows the top view of the user and the flight trajectory, and the flight path AC is in a horizontal plane. . As shown in FIG. 8, in some cases, point C may specifically be the initial position of the drone, and 81 indicates the front of the user. When the drone is in the initial position, the drone hoveres in front of the user. a flight path setting parameter pre-stored by the drone or the control terminal, or a flight path setting parameter set by the user on the interaction interface of the control terminal for indicating a longitudinal distance L1 of the starting point A of the flight path with respect to the target object The lateral distance L2, and the orientation of the starting point A relative to the target object, for example, the starting point A is obliquely forward of the left side of the target object. The drone can determine the position information of the starting point A of the flight trajectory according to the position information of the target object and the flight trajectory setting parameter, and further, the drone flies from the initial position C to the starting point A of the flight trajectory. . In addition, the flight path setting parameter can also be used to indicate the length, curvature, radius, and the like of the flight trajectory. For example, if the initial position C of the drone is used as the end point of the flight trajectory, the drone can further be based on the flight trajectory. The position information of the starting point A, the position information of the end point C, the length of the flight path, the curvature, the radius, and the like determine the flight path AC.

In other embodiments, the acquiring the flight trajectory of the drone includes: acquiring the flight trajectory sent by the control terminal, or acquiring location information of the trajectory point on the flight trajectory sent by the control terminal, according to the trajectory on the flight trajectory The position information of the point determines the flight path of the drone. As shown in FIG. 9, 90 denotes an interactive interface of the control terminal 24, on which the user can plan a flight path AC of the drone, wherein point A represents the starting point of the flight trajectory, and point C represents the end point of the flight trajectory. The control terminal 24 transmits the position information of the track point on the flight path AC to the drone, so that the drone determines the flight path of the drone according to the position information of the track point.

Step S102: Control the drone to fly along the flight path.

After the drone determines the flight trajectory according to the above method, the flight controller of the drone can control the drone to fly along the flight trajectory.

Step S103, in the process of the UAV flying along the flight path, controlling a shooting posture of the camera configured by the UAV, so that the target object enters from outside the shooting screen of the shooting device. In the shooting screen of the shooting device.

Specifically, when the drone is located at a starting point of the flight trajectory, the drone controls the shooting posture of the photographing device such that the target object is outside the photographing screen of the photographing device, that is, the target object is not in the photographing screen of the photographing device, When the drone flies from the starting point along the flight path, the drone continues to control the shooting posture of the photographing device, so that the target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device. in. Specifically, the drone can control the shooting posture of the photographing device by controlling the posture of the body and/or the pan/tilt.

Taking the flight trajectory shown in FIG. 4 as an example for illustration, as shown in FIG. 10, when the drone is located at the starting point A of the flight trajectory, the drone flies directly in front of it, and the drone passes the control gimbal. The pitch angle is such that the optical axis of the photographing device is parallel to the horizontal plane, and the target object, that is, the user, is outside the photographing screen of the photographing device. When the drone flies along the flight path from the starting point A, the drone gradually controls the pitch angle of the pan/tilt, so that the photographing device gradually faces the target object, so that the target object is taken from the photographing screen of the photographing device. When entering the photographing screen of the photographing device, for example, when the drone flies to the track point A1 as shown in FIG. 10, the drone flies directly in front of it, and the drone controls the pitch angle of the pan/tilt, so that the drone The photographing device slightly faces the target object, and the target object starts to appear in the photographing screen, for example, at the edge portion of the photographing screen; when the drone flies to the locus point A2 as shown in FIG. 10, the drone Continue to fly directly in front of it, the drone continues to control the pitch angle of the gimbal, so that the camera is more oriented toward the target object, and the target object appears in the shooting picture near the center of the screen; When the aircraft flies to the center point B of the flight path, the optical axis of the camera is perpendicular to the ground, and the camera is completely facing the target object. At this time, the target object appears on the shooting screen. Central location.

Taking the flight trajectory shown in FIG. 8 as an example for illustration, as shown in FIG. 11, 82 indicates the optical axis direction of the imaging device. When the drone is located at the starting point A of the flight trajectory, the drone controls the airframe. And/or the yaw angle of the gimbal, such that the target object, ie the user, is outside the shooting picture of the camera. Optionally, when the drone is located at the starting point A, the connection between the starting point A and the ending point C may be the edge of the viewing angle of the camera, or the connection between the starting point A and the ending point C is In addition to the angle of view of the photographing device, the target object is made outside the photographing screen of the photographing device. When the drone flies to the trajectory point A1 as shown in FIG. 11, the drone controls the yaw angle of the fuselage and/or the pan/tilt, so that the photographic device slightly faces the target object, and the target object begins to appear at this time. In the shooting picture, for example, appears in the edge portion of the shooting picture; when the drone flies to the track point A2 as shown in FIG. 11, the drone continues to control the yaw angle of the body and/or the pan/tilt, so that The shooting device is increased toward the target object, and the target object appears at a position close to the center of the screen in the shooting picture; when the drone flies to the track point A3 as shown in FIG. 11, the drone continues Controlling the yaw angle of the fuselage and/or the pan/tilt so that the camera is more toward the target object, at which time the target object is further closer to the center of the screen in the captured image; when the drone flies to the destination C The drone is hovered in front of the user, and the photographing device is completely facing the target object, and at this time, the target object appears at the center of the photographing screen.

Optionally, the method further includes: acquiring a shooting attitude mode corresponding to the flight trajectory; and controlling the shooting posture of the shooting device configured by the drone, comprising: controlling the none according to the shooting attitude mode The shooting posture of the camera of the man-machine configuration.

Specifically, after acquiring the flight trajectory, the drone may further acquire a shooting attitude mode corresponding to the flight trajectory, where the shooting attitude mode is used to indicate that the drone is flying along the flight trajectory. a shooting posture change of the photographing device, and in some cases, the shooting posture mode may include a shooting posture of the shooting device when the drone is at a track point on the flight track, and further, the shooting attitude mode The shooting attitude of the camera may be included when the drone is at each track point on the flight path.

In this embodiment, acquiring the shooting attitude mode corresponding to the flight trajectory includes: determining a shooting attitude mode corresponding to the flight trajectory according to position information of the target object and position information of the trajectory point on the flight trajectory Specifically, the following feasible implementation methods can be adopted:

A feasible implementation manner is: the drone acquires the position information of the target object and the flight path setting parameter, and determines the flight path of the drone according to the position information of the target object and the flight path setting parameter, according to the The position information of the track point on the flight track and the position information of the target object determine the shooting attitude mode. Specifically, according to the position information of each track point on the flight path and the position information of the target object, the shooting posture of the shooting device when the drone is located at each track point on the flight track may be determined, that is, according to Determining, according to position information of each track point on the flight path and position information of the target object, position information of each track point relative to the target object, and determining each track point on the flight track according to the position information The shooting posture of the shooting device. As shown in FIG. 10, after the drone determines the flight trajectory AC, the position information of each trajectory point on the flight trajectory AC is known, and the drone further according to each trajectory point on the flight trajectory AC relative to the target object. The position information determines the shooting attitude of the shooting device when the drone is located at each track point. For example, according to the position information of the starting point A relative to the target object, it is determined that the shooting device is photographed when the drone is at the starting point A. The attitude is determined according to the position information of the track point A1 relative to the target object, and the shooting attitude of the imaging device when the drone is located at the track point A1 is determined, and so on. Optionally, the drone can determine the shooting attitude of the camera when the drone is located at each track point on the flight path before flying along the flight path.

Another feasible implementation manner is: the user plans a flight path of the drone on the interaction interface, and the control terminal transmits the position information of each track point on the flight track to the drone, and at the same time, the control terminal further The position information of the target object is transmitted to the drone, and the drone can determine the shooting attitude mode according to the position information of each track point on the flight path and the position information of the target object. Specifically, according to the position information of each track point on the flight path and the position information of the target object, the shooting posture of the shooting device when the drone is located at each track point on the flight track may be determined, that is, according to Determining, according to position information of each track point on the flight path and position information of the target object, position information of each track point relative to the target object, and determining each track point on the flight track according to the position information The shooting posture of the shooting device.

Another feasible implementation manner is: after the drone acquires the flight trajectory, the shooting attitude of the shooting device is obtained when the drone is located at some reference points of the flight trajectory, and the reference point may specifically be the starting point and the center of the flight trajectory. a point having a certain characteristic, such as a point and an end point, further determining the shooting attitude mode according to a shooting posture of the shooting device when the drone is located at some reference points of the flight path, and further determining the drone in the flight path The shooting posture of the shooting device at each track point. As shown in FIG. 10, after the UAV acquires the flight path AC, it first determines the shooting attitude of the camera when the UAV is located at some reference points of the flight path, such as the starting point A, the center point B, and the ending point C, for example, no Before the man-machine flight along the flight path AC, it is determined that the optical axis of the camera is parallel to the ground when the drone is at the starting point A, and the optical axis of the camera is perpendicular to the ground when the drone is at the center point B. When the drone is at the end point C, the optical axis of the camera is again parallel to the ground. The drone can determine the shooting device when the drone is located at each track point between the starting point A and the center point B according to the shooting attitude of the camera when the drone is located at the starting point A and the center point B. The shooting attitude assumes that the tilting angle of the camera is 0 degrees when the drone is at the starting point A, and the tilting angle of the camera is 90 degrees when the drone is at the center point B, the drone can control The pitching angle of the photographing device changes from 0 degrees to 90 degrees at equal intervals. For example, the starting point A, the track point A1, the track point A2, and the center point B are equal intervals on the flight path, when no one is When the machine is located at the track point A1, the drone controls the pitching angle of the camera to be 30 degrees. When the drone is located at the track point A2, the drone controls the pitching angle of the camera to be 60 degrees. Alternatively, the drone can also control the pitching angle of the camera to vary from 0 degrees to 90 degrees at non-equal intervals, for example, when the drone is at track point A1, the drone controls the pitch of the camera The shooting angle is 20 degrees. When the drone is located at the track point A2, the drone controls the pitching angle of the camera to be 70 degrees. This is only a schematic illustration, and does not limit the variation of the shooting posture of the camera during flight of the drone along the flight path.

During the flight of the drone along the flight path, the drone can determine the shooting attitude of the shooting device when the drone is located at each track point on the flight path according to the above method, and according to each The photographing posture of the photographing device at the time of one track point controls the photographing posture of the photographing device.

Optionally, in this embodiment, acquiring a shooting attitude mode corresponding to the flight trajectory includes: acquiring a shooting attitude mode corresponding to the flight trajectory sent by the control terminal. Specifically, the control terminal may acquire a shooting posture of the shooting device when the drone is located at some reference points of the flight trajectory, and the reference point may specifically be a point having a certain characteristic such as a starting point, a center point, an end point of the flight trajectory, and further The shooting attitude mode is determined according to a shooting attitude of the shooting device when the drone is located at some reference points of the flight path, and the shooting attitude mode is further transmitted to the drone.

In this embodiment, the flight path of the drone is acquired, and the drone is controlled to fly along the flight trajectory. When the drone is located at the starting point of the flight trajectory, the drone controls the shooting posture of the shooting device, so that The target object is outside the shooting screen of the photographing device, and during the flight of the drone from the starting point along the flight path, the drone continues to control the shooting posture of the photographing device to make the target object from the photographing device The shooting picture outside the shooting picture enters the shooting picture of the shooting device, so that there is no target object in the initial picture captured by the shooting device, and the shooting device gradually finds the target object during shooting, which produces a shooting different from the prior art. The effect is to increase the flexibility of the drone shooting, enrich the shooting mode of the drone, and bring different shooting experience to the users of the drone.

Embodiments of the present invention provide a method for controlling a drone. FIG. 12 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 12, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:

Step S1201: Acquire a flight trajectory of the drone.

The implementation manner and the specific principle of the step S1201 are the same as those of the implementation of the step S101 and the specific principles in the foregoing embodiment, and details are not described herein again.

Step S1202: Control the drone to fly along the flight path.

The implementation manners and specific principles of the step S1202 are the same as the implementation manners and specific principles of the step S102 described in the foregoing embodiments, and details are not described herein again.

Step S1203: During the flight of the drone along the flight path, control a shooting attitude of the camera configured by the drone so that the target object is outside the shooting screen of the camera When entering the photographing screen of the photographing device, the image is taken out from the photographing screen of the photographing device.

As shown in FIG. 10, when the drone is located at the starting point A of the flight path, the target object, that is, the user is outside the shooting picture of the shooting device, while the drone is flying along the flight path from the starting point A, The drone gradually controls the pitch angle of the pan/tilt so that the photographing device gradually faces the target object, thereby causing the target object to enter the photographing screen of the photographing device from outside the photographing screen of the photographing device. In this embodiment, after the target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device, the drone can continue to control while the drone continues to fly along the flight locus. The pitch angle of the pan/tilt causes the target object to exit from the photographing screen of the photographing device.

Optionally, the flight trajectory includes a second feature point; optionally, the second feature point is a center point of the flight trajectory, a point of the imaging device whose optical axis is perpendicular to the ground, or the The man machine is located at a point directly above the target object. It can be understood that the second feature point may be a track point having other features in the flight trajectory.

As shown in FIG. 10, the flight trajectory includes a second feature point, which may specifically be the center point B of the flight trajectory. In addition, the second feature point may also be a point where the optical axis of the imaging device is perpendicular to the ground. Or the drone is located at a point directly above the target object. In this embodiment, the center point B of the flight path is also a point at which the optical axis of the imaging device is perpendicular to the ground, and the drone is located directly above the target object. In other embodiments, the center point of the flight path, the point where the optical axis of the camera is perpendicular to the ground, and the point at which the drone is directly above the target object may be different points.

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to enter from outside the shooting screen of the capturing device Exiting from the photographing screen of the photographing device in the photographing screen of the photographing device, comprising: the starting point from the flying track to the second feature point along the flight path of the drone During the flight, controlling the shooting attitude of the camera configured by the drone to cause the target object to enter the shooting screen of the camera from outside the shooting screen of the camera; Controlling a shooting attitude of the camera configured by the drone during the flight from the second feature point to the end of the flight trajectory along the flight path to cause the target object to be photographed from the Exit from the shooting screen of the unit.

As shown in FIG. 10, when the drone moves along the flight path AC from the starting point A of the flight path to the center point B, the drone flies directly in front of it, and the drone controls the photographing device. a pitch angle so that the target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device; as shown in FIG. 13, on the basis of FIG. 10, when the drone passes the center point B to continue the end point During the flight of C, the drone continues to fly directly in front of it, and the drone continues to control the pitch angle of the camera to cause the target object to exit from the photographing screen of the photographing device. For example, when the drone is at the center point B of the flight trajectory, the target object is at the center of the shooting picture. When the drone flies to the trajectory point B1 as shown in FIG. 13, the drone continues to fly directly in front of it, and the drone controls the pitch angle of the gimbal, so that the camera slightly deviates from the target object. The target object slightly deviates from the center position in the shooting picture; when the drone flies to the track point B2 as shown in FIG. 13, the drone continues to fly directly in front of it, and the drone continues to control the pitch angle of the gimbal. Causing the camera to deviate from the target object to a greater extent. At this time, the target object is more deviated from the center position in the shooting picture, for example, the part of the target object is at the edge of the shooting picture; when the drone flies like At the end point C shown in Fig. 13, the optical axis of the photographing device is again parallel to the ground so that the target object is outside the photographing screen of the photographing device. As shown in FIG. 13, when the drone is located at the start point A and the end point C of the flight path, the target object is outside the photographing screen of the photographing device, and the farther the drone is away from the center point B, the photographing device The greater the degree of deviation from the target object, the closer the drone is to the target point when the drone is closer to the center point B, the smaller the symmetry of the photographing posture of the photographing device on the flight path.

In addition, the method further includes: adjusting, at the second feature point, a yaw shooting posture of the photographing device according to a preset yaw attitude angle. Optionally, the preset yaw attitude angle is 180 degrees.

As shown in FIG. 13, when the drone flies to the center point B of the flight path, the optical axis of the photographing device is perpendicular to the ground, and on the basis of FIG. 13, the center point B can also follow the preset yaw attitude angle. Adjusting the yaw shooting attitude of the camera, as shown in FIG. 14, when the drone flies to the center point B of the flight trajectory, the drone adjusts the bias of the camera by adjusting the yaw attitude angle of the body. The aerial shooting attitude, optionally, the drone controls the body at the center point B to rotate the optical axis of the imaging device by 180 degrees, and the yaw shooting posture of the camera also yaws with the body When the attitude angle is changed by 180 degrees, the orientation of the target object in the shooting screen is also rotated by 180 degrees.

As shown in FIG. 14, when the drone moves along the flight path AC from the starting point A of the flight path to the center point B, the nose direction of the drone is from the starting point A to the center point B. Direction, the drone flies in front of it; when the drone controls the fuselage at the center point B, the optical axis of the photographing device is rotated by 180 degrees to adjust the yaw shooting posture of the photographing device, and the drone is rotated The direction of the nose is also rotated by 180 degrees; when the drone moves along the flight path AC from the center point B of the flight path to the destination point C, the drone becomes a backward flight, that is, the drone is directed to it. Fly directly behind.

In this embodiment, during the flight of the drone along the flight path, the shooting posture of the camera configured by the drone is controlled, so that the target object enters the photographing device from outside the shooting screen of the photographing device. In the shooting screen, the image is taken out from the shooting screen of the shooting device, so that there is no target object in the initial image captured by the shooting device, the shooting device gradually finds the target object during the shooting process, and the target object is found again after the target object is found. The disappearance of the picture gradually further enhances the flexibility of drone shooting. In addition, at the center point of the flight path, the yaw attitude angle of the body is adjusted, so that the yaw shooting posture of the camera changes with the change of the yaw attitude angle of the body, and the position of the target object in the shooting screen is also It will rotate accordingly, and the effect of shooting the target object from a plurality of different angles is achieved.

Embodiments of the present invention provide a method for controlling a drone. FIG. 15 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 15, the method in this embodiment may include:

Step S1501: Acquire a flight trajectory of the drone.

Optionally, the acquiring the flight path of the UAV includes: acquiring location information of the target object or initial location information of the UAV; acquiring flight path setting parameters; and according to location information of the target object or The initial position information of the drone and the flight path setting parameter determine a flight path of the drone.

Optionally, the acquiring location information of the target object includes: acquiring location information of the target object in a shooting image of the capturing device; determining, according to location information of the target object in the shooting image Location information of the target object. And acquiring the position information of the target object in the photographing screen of the photographing device includes: acquiring position information of the target object sent by the control terminal in the photographing screen of the photographing device.

The implementation manner in which the UAV obtains the location information of the target object is described in the foregoing embodiment, and details are not described herein again.

As shown in Fig. 16, point A is the initial position of the drone, 80 indicates the target object, for example, the user, the direction indicated by arrow 81 is the front of the user, and when the drone is in the initial position, the drone hoveres over the user. before.

Specifically, the target object is determined by the control terminal by detecting a target object selection operation of the user on the interaction interface of the control terminal, and the interaction interface displays a shooting screen of the photographing device. For example, when the drone is hovering in front of the user, the photographing device sends the photographed image to the control terminal held by the user, and the control terminal displays the photographing screen of the photographing device on the interactive interface of the control terminal, The user selects a target object on the shooting screen displayed on the interaction interface, and the target object may be a user in the shooting screen. The control terminal further transmits location information of the target object selected by the user in the shooting screen to the drone, so that the drone determines the target object selected by the user from the shooting screen.

Optionally, the starting point of the flight path is an initial position of the drone. As shown in FIG. 16, in the embodiment, the initial position A of the drone is used as the starting point of the flight trajectory, and the flight of the drone is determined according to the initial position A of the drone and the flight trajectory setting parameter. Track. As previously mentioned, in some cases, the initial position may not be the starting point of the flight trajectory.

In this embodiment, the flight path setting parameter may be a parameter pre-stored by the drone or the control terminal, or may be a parameter set by the user on the interaction interface.

Optionally, the flight path setting parameter is used to indicate one of a length, a curvature, a radius of the flight trajectory, a distance of a feature point on the flight trajectory relative to an initial position of the drone, an orientation, or Multiple. Optionally, the feature point includes a starting point and/or an ending point of the flight trajectory.

For example, the flight path setting parameter is used to indicate the distance and orientation of the end point of the flight trajectory relative to the initial position of the drone, as shown in FIG. 16, the flight trajectory setting parameter is used to indicate the end point of the flight trajectory such as C point. The initial position relative to the drone such as the longitudinal distance L3 of the point A, the lateral distance L4, and the orientation of the end point C with respect to the point A, for example, the end point C is obliquely forward of the left side of point A. The drone can determine the position information of the end point C of the flight path according to the position information of the initial position A of the drone and the flight path setting parameter, and the initial position A of the drone is used as the flight path. The starting point, so that the flight path of the drone can be determined according to the starting point A and the ending point C.

In other embodiments, the drone can also determine the flight path of the drone according to the position information of the target object and the flight path setting parameters. For example, as shown in FIG. 16, 80 represents the target object, and the drone acquires the position of the target object. The way of information is not described here. The flight path setting parameter may be used to indicate an end point of the flight trajectory such as a longitudinal distance L1 of the C point relative to the target object, a lateral distance L2, and an orientation of the end point C with respect to the target object, for example, the end point C is obliquely forward of the target object. . The drone can determine the position information of the end point C of the flight trajectory according to the position information of the target object and the flight trajectory setting parameter, and use the initial position of the drone as the starting point of the flight trajectory, and The flight path setting parameter is further used to indicate the length, curvature, radius, and the like of the flight path, thereby determining the flight path AC of the drone according to the starting point A, the ending point C, and the flight path setting parameter.

One possibility is that the flight path is in a horizontal plane. Figure 16 shows a top view of the user and the flight path, the flight path AC being in a horizontal plane.

Another possibility is that the flight path is in a plane perpendicular to the ground. Optionally, the plane is determined according to location information of the target object and an initial location of the drone. As shown in Figure 17, point A is the initial position of the drone, and when the drone is in the initial position, the drone hoveres in front of the user. In this embodiment, the initial position A of the drone is taken as the starting point of the flight trajectory, and the flight trajectory of the drone is determined according to the initial position A of the drone and the flight trajectory setting parameter. The flight path setting parameter is used to indicate the end point of the flight trajectory such as the initial position of point C relative to the drone, such as the horizontal distance L of point A, the vertical height H, and the orientation of the end point C with respect to point A. The drone can determine the position information of the end point C of the flight path according to the position information of the initial position A of the drone and the flight path setting parameter, and the initial position A of the drone is used as the flight path. The starting point, so that the flight path of the drone can be determined according to the starting point A and the ending point C. As shown in FIG. 17, when the drone is in the initial position A, the plane in which the user and the drone are located is a plane perpendicular to the ground. Alternatively, the flight path AC of the drone may be perpendicular to In the plane of the ground.

Step S1502: Control the drone to fly along the flight path.

As shown in Fig. 16 or 17, the drone is controlled to fly along the flight path AC.

Step S1503: During the flight of the drone along the flight path, control a shooting attitude of the imaging device configured by the UAV to cause the target object to exit from the shooting screen of the imaging device.

As shown in FIG. 16, 82 denotes the optical axis direction of the photographing device. When the drone is located at the starting point A of the flight path, the photographing device is completely facing the target object, and the target object is in the photographing screen of the photographing device; When the aircraft flies to the track point A1 as shown in FIG. 16, the drone controls the yaw angle of the fuselage and/or the pan/tilt, so that the camera slightly deviates from the target object; when the drone flies to as shown in FIG. When the track point A2 is shown, the drone further controls the yaw angle of the fuselage and/or the pan/tilt so that the degree of deviation of the camera from the target object is increased compared to the degree of deviation of the drone at the track point A1. When the drone flies to the track point A3 as shown in FIG. 16, the camera is more deviated from the target object; when the drone flies to the end point C of the flight path, the drone continues to control the machine The yaw angle of the body and/or the pan/tilt so that the target object is outside the shooting picture of the camera. Optionally, as shown in FIG. 16, when the drone is located at the end point C, the connection between the starting point A and the ending point C may be the edge of the viewing angle of the camera, or between the starting point A and the ending point C. The connection is outside the field of view of the camera such that the target object is outside the capture picture of the camera.

In addition, as shown in FIG. 17, when the drone is located at the starting point A of the flight trajectory, the photographing device is completely facing the target object, the target object is in the photographing screen of the photographing device; when the drone flies to as shown in FIG. When the track point A1 is shown, the drone controls the pitch angle of the pan/tilt, so that the camera slightly deviates from the target object; when the drone flies to the track point A2 as shown in FIG. 17, the drone further controls the cloud. The pitch angle of the table causes the camera to deviate more from the target object; when the drone flies to the end point C as shown in FIG. 17, the drone continues to control the pitch angle of the pan/tilt to make the target object Outside the shooting screen of the camera. Optionally, as shown in FIG. 17, when the drone is located at the end point C, the connection between the start point A and the end point C may be the edge of the field of view of the camera, or between the start point A and the end point C. The connection is outside the field of view of the camera such that the target object is outside the capture picture of the camera.

Step S1504: During the flight of the drone along the flight path, the image data captured by the photographing device is sent to the control terminal, so that the control terminal reverses the image data.

As shown in FIG. 16 or FIG. 17, when the drone is at the starting point A of the flight trajectory, the target object is gradually in the shooting picture of the photographing device while the drone is flying along the flight path AC. Exited from the shooting screen of the camera.

If the image data captured by the imaging device is reversed, the target object does not start in the inverted image data, and the target object appears later. Optionally, the drone can send the image data captured by the camera during the flight of the drone to the control terminal, and the control terminal reverses the image data after receiving the image data. There will be no target object in the initial screen, and the visual effect of the target object will appear later.

In this embodiment, after the drone acquires the flight trajectory of the drone, position information of each track point on the flight trajectory may be determined, and each track point on the flight trajectory is relative to the target The position information of the object determines the shooting posture of the shooting device when the drone is located at each track point on the flight path, and the drone can follow the flight path during the flight of the drone along the flight path The shooting posture of the photographing device at each track point controls the shooting posture of the photographing device.

For example, as shown in FIG. 17, the starting point A, the trajectory point A1, the trajectory point A2, and the ending point C are equally spaced points on the flight trajectory, and the drone starts from the starting point A through the trajectory point A1, the trajectory point A2, and the ending point C. During the flight, it is assumed that the elevation angle of the camera is 0 degrees when the drone is at the starting point A, and the tilting angle of the camera is 90 degrees when the drone is at the end point C, and the drone can be controlled. The tilting angle of the photographing device changes from 0 degrees to 90 degrees at equal intervals. For example, when the drone is located at the track point A1, the drone controls the tilting angle of the photographing device to be 30 degrees, when no one is When the machine is located at the track point A2, the drone controls the pitching angle of the camera to be 60 degrees. Alternatively, the drone can also control the pitching angle of the camera to vary from 0 degrees to 90 degrees at non-equal intervals, for example, when the drone is at track point A1, the drone controls the pitch of the camera The shooting angle is 20 degrees. When the drone is located at the track point A2, the drone controls the pitching angle of the camera to be 70 degrees. This is only a schematic illustration, and does not limit the variation of the shooting posture of the camera during flight of the drone along the flight path.

In this embodiment, the flight path of the drone is acquired, and the drone is controlled to fly along the flight trajectory. When the drone is located at the starting point of the flight trajectory, the drone controls the shooting posture of the shooting device, so that The target object is in the shooting screen of the photographing device, and during the flight of the drone from the starting point along the flight path, the drone continues to control the shooting posture of the photographing device to make the target object from the photographing device Exiting from the shooting screen, by transmitting the image data captured by the camera during the flight of the drone along the flight path to the control terminal, the control terminal reversing the image data, and the initial screen does not have the The target object, followed by the visual effect of the target object, produces a visual effect different from the prior art.

Embodiments of the present invention provide a control device. The control device may be a component of the drone, such as a flight controller; or a portion of the control device is disposed in the control terminal described in the above embodiments, and another portion of the control device is disposed in the drone. FIG. 18 is a structural diagram of a control device according to an embodiment of the present invention. As shown in FIG. 18, the control device 180 includes a memory 181 and a processor 182. The memory 181 is configured to store program code; the processor 182, the program code is called, when the program code is executed, to perform the following operations: acquiring a flight path of the drone; controlling the drone along the flight a trajectory flight; controlling a shooting posture of the camera configured by the drone during the flight of the drone along the flight trajectory to cause the target object to enter from outside the shooting screen of the capturing device In the shooting screen of the shooting device.

Optionally, the processor 182 is further configured to: acquire a shooting attitude mode corresponding to the flight trajectory; and when the processor 182 controls the shooting posture of the camera configured by the UAV, specifically, according to the shooting posture The mode controls the shooting attitude of the camera configured by the drone.

Optionally, when acquiring the flight path of the drone, the processor 182 is specifically configured to: acquire location information of the target object or initial location information of the UAV; acquire a flight path setting parameter; and according to the location of the target object The information or the initial position information of the drone and the flight path setting parameter determine the flight trajectory of the drone.

Optionally, when acquiring the location information of the target object, the processor 182 is specifically configured to: acquire location information of the target object in a shooting image of the capturing device; and according to the target object, in the shooting image The location information determines location information of the target object.

Optionally, when acquiring the location information of the target object in the photographing screen of the photographing device, the processor 182 is specifically configured to: acquire a position of the target object sent by the control terminal in a photographing screen of the photographing device information.

Optionally, the flight path setting parameter is used to indicate one or more of a length, a curvature, a radius, a distance of the first feature point on the flight trajectory relative to the target object, and an orientation. .

Optionally, the first feature point includes a starting point and/or an ending point of the flight path.

Optionally, the flight path is in a horizontal plane.

Optionally, the flight trajectory is in a plane perpendicular to the ground. Optionally, the plane is determined according to location information of the target object and an initial position of the drone.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 and are not described herein again.

Embodiments of the present invention provide a control device. On the basis of the technical solution provided by the embodiment shown in FIG. 18, the processor 182 controls the shooting attitude of the camera configured by the drone during the flight of the drone along the flight path. When the target object is entered from the shooting screen of the photographing device into the photographing screen of the photographing device, specifically, the unmanned person is controlled during the flight of the drone along the flight path The photographing posture of the photographing device arranged in the machine is such that the target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device, and then exits from the photographing screen of the photographing device.

Optionally, the flight path includes a second feature point; the processor 182 controls a shooting attitude of the camera configured by the drone during the flight of the drone along the flight path, so that When the target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device, and then exits from the photographing screen of the photographing device, specifically, the target object is used along the drone Controlling a shooting posture of the camera configured by the drone during a flight trajectory from a starting point of the flight trajectory to the second feature point, so that the target object is photographed from the photographing device Entering the photographing screen of the photographing device outside the screen; controlling the drone during the flight of the drone along the flight locus from the second feature point to the end point of the flight locus The photographing posture of the configured photographing device is such that the target object is withdrawn from the photographing screen of the photographing device.

Optionally, the second feature point is a center point of the flight trajectory, a point where the optical axis of the photographing device is perpendicular to the ground, or a point where the drone is directly above the target object.

Optionally, the processor 182 is further configured to: at the second feature point, adjust a yaw shooting posture of the photographing device according to a preset yaw attitude angle.

Optionally, the preset yaw attitude angle is 180 degrees.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 12, and details are not described herein again.

In this embodiment, during the flight of the drone along the flight path, the shooting posture of the camera configured by the drone is controlled, so that the target object enters the photographing device from outside the shooting screen of the photographing device. In the photographing screen, the image is taken out from the photographing screen of the photographing device, so that there is no target object in the initial screen photographed by the photographing device, and the photographing device gradually finds the target object during the photographing process, and the target object is found again after the target object is found. The disappearance of the picture gradually further enhances the flexibility of drone shooting. In addition, at the center point of the flight path, the yaw attitude angle of the body is adjusted, so that the yaw shooting posture of the camera changes with the change of the yaw attitude angle of the body, and the position of the target object in the shooting screen is also It will rotate accordingly, and the effect of shooting the target object from a plurality of different angles is achieved.

Embodiments of the present invention provide a control device. FIG. 19 is a structural diagram of a control device according to another embodiment of the present invention. As shown in FIG. 19, the control device 190 includes a communication interface 191 and a processor 192. The processor 192 is configured to: acquire a flight trajectory of the drone; control the drone to fly along the flight trajectory; and control the unmanned person during the flight of the drone along the flight trajectory a photographing posture of the camera configured to cause the target object to exit from the photographing screen of the photographing device; the communication interface 191 is used to fly the drone along the flight locus, the photographing device The captured image data is sent to the control terminal to cause the control terminal to reverse the image data.

Optionally, the processor 192 is further configured to: acquire a shooting attitude mode corresponding to the flight path; and when the processor 192 controls the shooting posture of the camera configured by the UAV, specifically, according to the shooting posture The mode controls the shooting attitude of the camera configured by the drone.

Optionally, when acquiring the flight path of the drone, the processor 192 is specifically configured to: acquire location information of the target object or initial location information of the UAV; acquire a flight path setting parameter; and according to the target object The position information or the initial position information of the drone and the flight path setting parameter determine a flight path of the drone.

Optionally, the flight path setting parameter is used to indicate one of a length, a curvature, a radius of the flight trajectory, a distance of a feature point on the flight trajectory relative to an initial position of the drone, an orientation, or Multiple.

Optionally, the feature point includes a starting point and/or an ending point of the flight trajectory.

Optionally, the starting point of the flight path is an initial position of the drone.

Optionally, the flight path is in a horizontal plane.

Optionally, the flight trajectory is in a plane perpendicular to the ground. Optionally, the plane is determined according to location information of the target object and an initial location of the drone.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 15 and will not be further described herein.

Embodiments of the present invention provide a drone. 20 is a structural diagram of a drone according to an embodiment of the present invention. As shown in FIG. 20, the drone 200 includes: a fuselage, a power system, and a control device 201. The power system includes at least one of the following: a motor 207. a propeller 206 and an electronic governor 217, wherein the power system is installed in the airframe for providing flight power; the implementation and specific principles of the control device 201 are the same as those of the control device described in the foregoing embodiment, and are not described herein again. .

In some embodiments, control device 201 may specifically be a flight controller that is in communication with the power system for controlling the flight of the drone.

In addition, as shown in FIG. 20, the drone 200 further includes: a sensing system 208, a communication system 210, a supporting device 202, and a photographing device 204. The supporting device 202 may specifically be a pan/tilt, and the communication system 210 is specifically configured to Ground control terminal communication.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A control method for a drone, characterized in that it comprises:

Obtain the flight path of the drone;

Controlling the drone to fly along the flight path;

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to enter the camera from outside the shooting screen of the camera In the shooting picture.
The method of claim 1 further comprising:

Obtaining a shooting attitude mode corresponding to the flight trajectory;

The controlling the shooting posture of the shooting device configured by the drone includes:

The photographing posture of the photographing device configured by the drone is controlled according to the photographing posture mode.
The method according to claim 1 or 2, wherein the acquiring the flight path of the drone comprises:

Obtaining location information of the target object or initial location information of the drone;

Obtain flight path setting parameters;

Determining a flight trajectory of the drone according to position information of the target object or initial position information of the drone and the flight trajectory setting parameter.
The method according to claim 3, wherein the obtaining the location information of the target object comprises:

Obtaining position information of the target object in a photographing screen of the photographing device;

Determining location information of the target object according to location information of the target object in the captured image.
The method according to claim 4, wherein the acquiring the location information of the target object in the photographing screen of the photographing device comprises:

Obtaining position information of the target object sent by the control terminal in the photographing screen of the photographing device.
The method according to any one of claims 1-5, wherein the target object is determined by the control terminal by detecting a target object selection operation of the user on the interaction interface of the control terminal, the interaction interface display A photographing screen of the photographing device.
The method according to any one of claims 3-5, wherein the flight path setting parameter is used to indicate a length, a curvature, a radius of the flight trajectory, and a first feature point on the flight trajectory relative to One or more of the distance and orientation of the target object.
The method of claim 7 wherein said first feature point comprises a starting point and/or an ending point of said flight trajectory.
The method according to any one of claims 1-8, wherein the shooting attitude of the camera configured by the drone is controlled during the flight of the drone along the flight path In order to cause the target object to enter the photographing screen of the photographing device from outside the photographing screen of the photographing device, including:

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to enter the photo from outside the shooting screen of the camera In the shooting screen of the imaging device, the image is taken out from the shooting screen of the imaging device.
The method of claim 9 wherein said flight trajectory comprises a second feature point;

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to enter from outside the shooting screen of the capturing device The photographing screen of the photographing device is further withdrawn from the photographing screen of the photographing device, and includes:

Controlling a shooting attitude of the camera configured by the drone during the flight of the drone from the starting point of the flight trajectory to the second feature point along the flight trajectory to cause the The target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device;

Controlling a shooting attitude of the camera configured by the drone to cause the target during flight of the drone along the flight path from the second feature point to an end point of the flight trajectory The object is withdrawn from the photographing screen of the photographing device.
The method according to claim 10, wherein said second feature point is a center point of said flight trajectory, a point at which said optical axis of said photographing device is perpendicular to the ground, or said drone is located at said The point directly above the target object.
The method according to claim 10 or 11, wherein the method further comprises:

At the second feature point, the yaw shooting attitude of the photographing device is adjusted in accordance with a preset yaw attitude angle.
The method of claim 12 wherein said predetermined yaw attitude angle is 180 degrees.
A method according to any one of claims 1 to 13, wherein the flight path is in a horizontal plane.
A method according to any one of claims 1 to 13, wherein the flight trajectory is in a plane perpendicular to the ground.
The method according to claim 15, wherein said plane is determined based on position information of said target object and an initial position of said drone.
A control method for a drone, characterized in that it comprises:

Obtain the flight path of the drone;

Controlling the drone to fly along the flight path;

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to exit from the photographing screen of the photographing device;

The image data captured by the photographing device is transmitted to the control terminal during the flight of the drone along the flight path, so that the control terminal reverses the image data.
The method of claim 17, wherein the method further comprises:

Obtaining a shooting attitude mode corresponding to the flight trajectory;

The controlling the shooting posture of the shooting device configured by the drone includes:

The photographing posture of the photographing device configured by the drone is controlled according to the photographing posture mode.
The method according to claim 17 or 18, wherein the acquiring the flight trajectory of the drone comprises:

Obtaining location information of the target object or initial location information of the drone;

Obtain flight path setting parameters;

Determining a flight trajectory of the drone according to position information of the target object or initial position information of the drone and the flight trajectory setting parameter.
The method according to any one of claims 17 to 19, wherein the target object is determined by the control terminal by detecting a target object selection operation of the user on the interaction interface of the control terminal, the interaction interface display A photographing screen of the photographing device.
The method according to claim 19, wherein said flight path setting parameter is for indicating a length, a curvature, a radius of said flight trajectory, and a feature point on said flight trajectory relative to said initial of said drone One or more of the distance and orientation of the location.
The method of claim 21 wherein said feature points comprise a starting point and/or an ending point of said flight trajectory.
A method according to any one of claims 17-22, wherein the starting point of the flight path is the initial position of the drone.
A method according to any one of claims 17 to 23, wherein the flight path is in a horizontal plane.
A method according to any one of claims 17 to 23, wherein the flight trajectory is in a plane perpendicular to the ground.
The method according to claim 25, wherein said plane is determined based on position information of said target object and an initial position of said drone.
A control device, comprising: a memory and a processor;

The memory is for storing program code;

The processor calls the program code to perform the following operations when the program code is executed:

Obtain the flight path of the drone;

Controlling the drone to fly along the flight path;

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to enter the camera from outside the shooting screen of the camera In the shooting picture.
The control device according to claim 27, wherein the processor is further configured to:

Obtaining a shooting attitude mode corresponding to the flight trajectory;

When the processor controls the shooting attitude of the camera configured by the drone, the processor is specifically configured to:

The photographing posture of the photographing device configured by the drone is controlled according to the photographing posture mode.
The control device according to claim 27 or 28, wherein when the processor acquires a flight path of the drone, it is specifically used to:

Obtaining location information of the target object or initial location information of the drone;

Obtain flight path setting parameters;

Determining a flight trajectory of the drone according to position information of the target object or initial position information of the drone and the flight trajectory setting parameter.
The control device according to claim 29, wherein when the processor acquires location information of the target object, the method is specifically configured to:

Obtaining position information of the target object in a photographing screen of the photographing device;

Determining location information of the target object according to location information of the target object in the captured image.
The control device according to claim 30, wherein the processor is configured to: when acquiring the location information of the target object in the photographing screen of the photographing device, specifically:

Obtaining position information of the target object sent by the control terminal in the photographing screen of the photographing device.
The control device according to any one of claims 27 to 31, wherein the target object is determined by the control terminal by detecting a target object selection operation of the user on the interaction interface of the control terminal, the interaction interface A shooting screen of the photographing device is displayed.
The control apparatus according to any one of claims 29 to 31, wherein the flight path setting parameter is for indicating a length, a curvature, a radius of the flight trajectory, and a first feature point on the flight trajectory One or more of the distance and orientation of the target object.
The control device according to claim 33, wherein said first feature point comprises a starting point and/or an ending point of said flight trajectory.
The control device according to any one of claims 27 to 34, wherein the processor controls the camera of the configuration of the drone during the flight of the drone along the flight path When the target object is entered from the shooting screen of the photographing device into the photographing screen of the photographing device, the photographing posture is specifically used for:

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to enter the photo from outside the shooting screen of the camera In the shooting screen of the imaging device, the image is taken out from the shooting screen of the imaging device.
The control apparatus according to claim 35, wherein said flight trajectory comprises a second feature point;

The processor controls a shooting posture of the camera configured by the drone during the flight of the drone along the flight path, so that the target object is taken from a photographing screen of the photographing device When entering the photographing screen of the photographing device and exiting from the photographing screen of the photographing device, it is specifically used to:

Controlling a shooting attitude of the camera configured by the drone during the flight of the drone from the starting point of the flight trajectory to the second feature point along the flight trajectory to cause the The target object enters the photographing screen of the photographing device from outside the photographing screen of the photographing device;

Controlling a shooting attitude of the camera configured by the drone to cause the target during flight of the drone along the flight path from the second feature point to an end point of the flight trajectory The object is withdrawn from the photographing screen of the photographing device.
The control apparatus according to claim 36, wherein said second feature point is a center point of said flight trajectory, a point at which said optical axis of said photographing device is perpendicular to the ground, or said drone is located at said The point directly above the target object.
The control device according to claim 36 or 37, wherein the processor is further configured to:

At the second feature point, the yaw shooting posture of the photographing device is adjusted according to a preset yaw attitude angle.
The control device according to claim 38, wherein said preset yaw attitude angle is 180 degrees.
A control apparatus according to any one of claims 27 to 39, wherein the flight path is in a horizontal plane.
A control apparatus according to any one of claims 27 to 39, wherein the flight trajectory is in a plane perpendicular to the ground.
The control apparatus according to claim 41, wherein said plane is determined based on position information of said target object and an initial position of said drone.
A control device, comprising: a communication interface and a processor;

The processor is used to:

Obtain the flight path of the drone;

Controlling the drone to fly along the flight path;

Controlling, in the process of flying the drone along the flight path, a shooting attitude of the camera configured by the drone to cause the target object to exit from the photographing screen of the photographing device;

The communication interface is configured to send image data captured by the camera to the control terminal during the flight of the drone along the flight path, so that the control terminal reverses the image data put.
The control device according to claim 43, wherein the processor is further configured to:

Obtaining a shooting attitude mode corresponding to the flight trajectory;

When the processor controls the shooting attitude of the camera configured by the drone, the processor is specifically configured to:

The photographing posture of the photographing device configured by the drone is controlled according to the photographing posture mode.
The control device according to claim 43 or 44, wherein when the processor acquires a flight path of the drone, the method is specifically configured to:

Obtaining location information of the target object or initial location information of the drone;

Obtain flight path setting parameters;

Determining a flight trajectory of the drone according to position information of the target object or initial position information of the drone and the flight trajectory setting parameter.
The control device according to any one of claims 43 to 45, wherein the target object is determined by the control terminal by detecting a target object selection operation of the user on the interaction interface of the control terminal, the interaction interface A shooting screen of the photographing device is displayed.
The control apparatus according to claim 45, wherein said flight path setting parameter is for indicating a length, a curvature, a radius of said flight trajectory, and a feature point on said flight trajectory relative to said drone One or more of the distance, orientation of the initial position.
The control device according to claim 47, wherein said feature point comprises a starting point and/or an ending point of said flight trajectory.
A control apparatus according to any one of claims 43 to 48, characterized in that the starting point of the flight path is the initial position of the drone.
A control device according to any of claims 43-49, wherein the flight path is in a horizontal plane.
A control apparatus according to any one of claims 43 to 49, wherein the flight path is in a plane perpendicular to the ground.
The control apparatus according to claim 51, wherein said plane is determined based on position information of said target object and an initial position of said drone.
A drone, characterized in that it comprises:

body;

a power system mounted to the fuselage for providing flight power;

And the control device according to any one of claims 27-52.
A computer readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the method of any of claims 1-26.