WO2017075964A1

WO2017075964A1 - Unmanned aerial vehicle photographing control method, unmanned aerial vehicle photographing method, mobile terminal and unmanned aerial vehicle

Info

Publication number: WO2017075964A1
Application number: PCT/CN2016/082610
Authority: WO
Inventors: 李家伦
Original assignee: 腾讯科技（深圳）有限公司
Priority date: 2015-11-04
Filing date: 2016-05-19
Publication date: 2017-05-11
Also published as: CN105391939A; CN105391939B

Abstract

An unmanned aerial vehicle photographing control method, comprising: acquiring a photographing activation instruction; according to the photographing activation instruction, reading a preset combined control instruction associated with a preset automatic photographing mode; transmitting the combined control instruction to the unmanned aerial vehicle and enabling the unmanned aerial vehicle to sequentially perform a series of corresponding actions to photograph images according to the combined control instruction; receiving the photographed image returned by the unmanned aerial vehicle and storing the same.

Description

Drone shooting control method, drone shooting method, mobile terminal and drone

This application is required to be submitted to the China Patent Office on November 4, 2015, the application number is 201510741059.0, and the invention title is the priority of the Chinese patent application for "unmanned aerial vehicle shooting control method and device, drone shooting method and drone". The entire content of which is incorporated herein by reference.

Technical field

The invention relates to the technical field of drones, in particular to a drone shooting control method, a drone shooting method, a mobile terminal and a drone.

Background technique

The drone is referred to as the "UAV", abbreviated as "UAV" (Unmanned Aerial Vehicle), which is a remotely manned unmanned aircraft. UAVs include unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airships, and unmanned paragliders. The drone was originally used in the military field and was mainly used as a reconnaissance aircraft and a drone.

At present, with the reduction in the cost of drones, drones have gradually entered the civilian sector. At present, the camera can be set on the drone, and the user can realize the aerial photography by remotely controlling the drone, providing the user with a new shooting angle, which can be applied regardless of the portrait or the landscape.

However, it is difficult to control the flight of the drone itself, and it is also necessary to control the camera to take images, which has certain requirements on the user's operation level, especially for users who are new to the drone. Therefore, the current operation of taking images by drones is cumbersome and needs improvement.

Summary of the invention

According to various embodiments of the present application, a drone photographing control method, a drone photographing method, a mobile terminal, and a drone are provided.

A drone shooting control method includes:

Obtain a shooting start command;

Reading a preset combined manipulation instruction associated with the preset automatic shooting mode according to the shooting start command; and

Sending the combined manipulation command to the drone, causing the drone to sequentially perform a corresponding series of actions according to the combined manipulation command to capture an image.

A method for shooting a drone, comprising:

Establishing a wireless connection with the mobile terminal;

Receiving a preset combined manipulation instruction corresponding to the preset automatic shooting mode read and transmitted by the mobile terminal;

Performing a corresponding series of actions to sequentially capture an image according to the combined manipulation command; and

The captured image is returned to the mobile terminal.

A mobile terminal comprising a memory and a processor, the memory storing computer readable instructions, the computer readable instructions being executed by the processor, such that the processor performs the following steps:

Obtain a shooting start command;

Reading a combined manipulation instruction associated with the preset automatic shooting mode according to the shooting start command; and

A drone comprising a memory and a processor, the memory storing computer readable instructions, the computer readable instructions being executed by the processor such that the processor performs the following steps:

Establishing a wireless connection with the mobile terminal;

The captured image is returned to the mobile terminal.

Details of one or more embodiments of the invention are set forth in the accompanying drawings and description below. Other features, objects, and advantages of the invention will be apparent from the description and appended claims.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.

1 is an application environment diagram of an unmanned aerial vehicle shooting control system in an embodiment;

2 is a schematic structural diagram of a mobile terminal in an embodiment;

3 is a schematic view showing the structure of a drone in an embodiment;

4 is a schematic flow chart of a method for controlling shooting of a drone in an embodiment;

FIG. 5 is a schematic diagram of a drone shooting page displayed by a mobile terminal in an embodiment; FIG.

6 is a schematic diagram of an embodiment of a drone flying along a predetermined trajectory relative to a locked target based on acquired flight parameters;

7 is a schematic diagram of another embodiment of a drone flying along a predetermined trajectory relative to a locked target based on acquired flight parameters;

8 is a schematic diagram of a target locking page displayed by a mobile terminal in an embodiment;

9 is a schematic diagram of a UAV flying in a circular preset flight path along a horizontal plane in an automatic shooting mode without a locking target in an embodiment;

10 is a flow chart showing the steps of obtaining a combined manipulation command in one embodiment;

11 is a schematic flow chart of a method for photographing a drone in an embodiment;

12 is a schematic flow chart showing the steps of sequentially performing a corresponding series of actions according to a combined manipulation command to capture an image when the preset automatic shooting mode is the locked target automatic shooting mode in one embodiment;

FIG. 13 is an automatic shooting mode when the preset automatic shooting mode is a non-locking target in one embodiment. a flow diagram of the steps of sequentially performing a corresponding series of actions according to the combined manipulation command to capture an image;

FIG. 14 is a flow chart showing the steps of sequentially performing a corresponding series of actions according to a combined manipulation command to capture an image when the preset automatic shooting mode is the non-locking target automatic shooting mode in one embodiment;

15 is a structural block diagram of a mobile terminal in an embodiment;

16 is a structural block diagram of a mobile terminal in another embodiment;

Figure 17 is a schematic view showing the structure of a drone in another embodiment.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in FIG. 1, in one embodiment, a drone capture control system 100 is provided that includes a mobile terminal 102 and a drone 104. A wireless connection is established between the mobile terminal 102 and the drone 104, through which data is transferred between the mobile terminal 102 and the drone 104. The drone 104 may be any one of a fixed-wing drone, a rotor-wing drone, a wing-wing drone, a flapping drone, and an unmanned airship.

As shown in FIG. 2, in one embodiment, a mobile terminal 102 is provided that includes a processor coupled via a system bus, a non-volatile storage medium, an internal memory, a communication device, a display screen, and an input device. Wherein the processor has computing functionality and functionality to control operation of the mobile terminal 102, the processor being configured to perform a drone capture control method. The non-volatile storage medium includes at least one of a magnetic storage medium, an optical storage medium, and a flash storage medium. The non-volatile storage medium stores an operating system. The non-volatile storage medium or internal memory can store computer readable instructions that, when executed by the processor, cause the processor to perform a drone capture control method. The internal memory is used to provide a cache for the operating system and computer readable instructions. The communication device is for wireless communication with the drone 104. The display includes a liquid crystal display, flexible display and electricity At least one of the sub-ink displays. The input device includes at least one of a physical button, a trackball, a touchpad, and a touch layer overlapping the display screen, wherein the touch layer and the display screen are combined to form a touch screen.

As shown in FIG. 3, in one embodiment, a drone 104 is provided, including a processor connected by a system bus, a non-volatile storage medium, an internal memory, a communication device, a flight drive, a camera, and Positioning means. Wherein the processor has a computing function and a function to control the operation of the drone 104, the processor being configured to perform a drone shooting method. The non-volatile storage medium includes at least one of a magnetic storage medium, an optical storage medium, and a flash storage medium. The non-volatile storage medium stores an operating system. The non-volatile storage medium and internal memory can store computer readable instructions that, when executed by the processor, cause the processor to perform a drone capture method. The internal memory is used to provide a cache for the operating system and computer readable instructions. The communication device is for wirelessly communicating with the mobile terminal 102. The flight driving device is used to control the flying motion of the drone of the drone 104, and mainly controls the flying motion of the drone by controlling the flying speed and the flying direction of the drone 104. For rotorless drones, the flight drive mainly includes rotor and rotor control devices. The camera is used to capture images, including images and videos. The positioning device may be a GPS (Global Positioning System) positioning device for locating the position of the drone 104.

As shown in FIG. 4, in one embodiment, a drone shooting control method is provided. This embodiment is exemplified by the method applied to the mobile terminal 102 of FIGS. 1 and 2 described above. The method specifically includes the following steps:

Step 402: Acquire a shooting start instruction.

A shooting application is run on the mobile terminal, and the shooting application can be a system-owned application or a third-party application, and the steps of the drone shooting control method can be implemented by the shooting application. Specifically, the mobile terminal can detect a predefined event, and acquire a shooting start instruction when a predefined event is detected. In one embodiment, the terminal can detect a predefined event and start timing when a predefined event is detected, and acquire a shooting start command when the timing reaches a preset duration.

In one embodiment, the mobile terminal can display a shooting start control and detect an operation of the shooting start control to obtain a corresponding shooting start command. For example, the mobile terminal can be as shown in FIG. The drone shooting page displays a shooting start control 502 that the user can click to trigger a shooting start command.

The operation of the shooting start control includes at least one of a cursor click operation, a touch click operation, and a gesture operation. The shooting start command is used to start the automatic shooting according to the determined preset automatic shooting mode to control the drone.

In one embodiment, the mobile terminal can detect the shaking of the body of the mobile terminal, and acquire a corresponding shooting start command when the shaking is detected. In one embodiment, the mobile terminal can also detect a voice command input to obtain a shooting start command in the form of a voice.

In one embodiment, the drone shooting control method further comprises: determining a preset automatic shooting mode. Specifically, the mobile terminal can determine the preset automatic shooting mode by the shooting application. The preset auto shooting mode is a way to implement predefined automated shooting actions with custom parameters.

In one embodiment, the preset automatic shooting mode includes a locked target automatic shooting mode and a non-locking target automatic shooting mode. The lock target automatic shooting mode is a method of automatically shooting with a locked target as a camera object; the non-locking target automatic shooting mode may be referred to as a landscape automatic shooting mode, and is an automatic shooting without taking a specific target as a subject. the way.

In one embodiment, the mobile terminal may select a default preset automatic shooting mode to determine the currently used preset automatic shooting mode. In another embodiment, the mobile terminal may also select the preset automatic shooting mode used for the last shooting to be determined as the currently used preset automatic shooting mode.

In an embodiment, the mobile terminal may provide an option of a plurality of preset automatic shooting modes, and detect an operation instruction acting on an option to determine the selected preset automatic shooting mode, thereby determining the selected preset automatic shooting mode as The preset auto shooting mode currently in use.

For example, after starting the shooting application, the mobile terminal can enter the drone shooting page as shown in FIG. 5, and display two preset automatic shooting mode options 501 in the drone shooting page, which are respectively automatic locking targets. Option 501a for shooting mode and option 501b for automatic shooting mode without locking target. The user can determine that the currently used preset automatic shooting mode is the locked target automatic shooting mode by clicking the option 501. In contrast, the user clicking the option 502 can determine that the currently used preset automatic shooting mode is the unlockless target automatic shooting mode.

Step 404: Read a preset combination manipulation instruction associated with the preset automatic shooting mode according to the shooting start instruction.

Specifically, after acquiring the shooting start command, the mobile terminal can locally read the preset combined manipulation instruction associated with the determined preset automatic shooting mode. The combined steering command is used to trigger a series of sequential actions of the drone to complete the automatic shooting.

In an embodiment, the mobile terminal may periodically check whether there is a combined manipulation instruction associated with the preset automatic shooting mode on the server, and if present, download the updated combined manipulation instruction to update the preset associated with the local preset automatic shooting mode. Combine manipulation commands. In another embodiment, the periodic check may be replaced with a check when a user-triggered combined manipulation instruction update operation is detected.

In one embodiment, the mobile terminal may download the updated combined manipulation command from the server upon receiving the combined manipulation instruction update notification pushed by the server to update the preset combined manipulation instruction locally associated with the preset automatic shooting mode.

Step 406: Send the combined manipulation instruction to the drone, so that the drone sequentially performs a corresponding series of actions according to the combined manipulation instruction to capture an image.

Specifically, the mobile terminal can transmit the read combined manipulation command to the drone through a wireless connection with the drone. The wireless connection can be a wireless LAN connection such as a Wi-Fi connection or a WAPI connection, or a normal radio connection. After receiving the combined manipulation command sent by the mobile terminal, the drone performs a series of actions set by the combined manipulation command to complete the task of automatically capturing an image.

In one embodiment, the series of actions includes at least one of a drone flight action, a field of view adjustment action, and a shooting parameter adjustment action.

In one embodiment, the drone flight action includes the drone flight speed adjustment action, the drone direction adjustment action, the drone height adjustment action, the drone hover action, the drone flip action, and the drone At least one of sideways movements.

In one embodiment, the field of view adjustment motion includes panning and zooming of the field of view, and the field of view refers to the spatial range captured by the camera of the drone. The specific mobile terminal can realize the translation of the shooting field by controlling the rotation of the drone and/or the shooting device, and can also move the drone or Adjust the focal length of the camera to achieve zooming of the field of view.

In one embodiment, the shooting parameters include at least one of sensitivity (commonly known as ISO value), aperture value, shutter speed, focal length, auto focus mode, metering mode, and white balance. The autofocus mode includes at least one of a ranging autofocus method based on a distance measurement between a lens of the photographing device and a target to be photographed, and a focus detection autofocus method based on image sharpness. The metering method includes at least one of a spot metering method, a central portion metering method, a center-weighted average metering method, an average metering method, and a multi-zone metering method.

The above-mentioned drone shooting control method can automatically read the preset combined control command associated with the preset automatic shooting mode and send it to the drone after detecting the shooting start command, and the drone can be combined according to the combination. Manipulate commands to perform a series of actions in sequence to capture an image. This can not require the user to directly control the drone to fly and shoot, just select the preset automatic shooting mode and trigger the shooting start command to control the drone to automatically complete the shooting task, simplifying the operation and improving the convenience of operation.

In one embodiment, the drone shooting control method further comprises: receiving the captured image returned by the drone and storing. Specifically, the drone can transmit the captured image to the mobile terminal in real time through a wireless connection, and the mobile terminal receives the image returned by the drone and stores it in a preset directory. In one embodiment, the mobile terminal can receive a plurality of images of the drone continuous shooting and filter out one of the highest resolution image storages. In one embodiment, the mobile terminal can receive a series of images continuously taken by the drone and store in a preset video format.

In one embodiment, the mobile terminal may periodically check whether there is an updated preset automatic shooting mode on the server, and if present, download the updated preset automatic shooting mode and the associated combined manipulation command, thereby updating the local preset automatic shooting. A combination of modes and associated preset manipulation commands. In another embodiment, the periodic inspection may be replaced with a check when a combined manipulation instruction update operation is detected.

In an embodiment, the mobile terminal may download the updated preset automatic shooting mode and the associated combined manipulation instruction from the server upon receiving the preset automatic shooting mode update notification pushed by the server, thereby updating the local preset automatic shooting. A combination of modes and associated preset manipulation commands.

In one embodiment, when the preset automatic shooting mode is the locked target automatic shooting mode, the step Step 406 includes: transmitting the combined manipulation command to the drone, so that the drone acquires the locked target, the preset flight parameter, and the preset shooting parameter according to the combined manipulation command, so as to keep the locked target in the shooting field and The flight position of the drone is adjusted according to the flight parameters with respect to the locked target, and an image is taken according to the shooting parameters during flight.

Specifically, the lock target automatic shooting mode is an automatic shooting mode in which the target of the lock is the subject. The target of the lock may be any object that can be recognized from the photographing field by image recognition, including at least one of a person, a building, a vehicle, a plant, and the like.

When the preset automatic shooting mode is the locked target automatic shooting mode, the drone acquires the locked target, the preset flight parameters, and the preset shooting parameters according to the corresponding combined manipulation command. Further, the drone maintains the locked target in the field of view and flies according to the acquired flight parameters to adjust the spatial position relative to the locked target during flight, thereby causing the drone to move relative to the locked target The trajectory is flying and the image is taken according to the acquired shooting parameters during flight.

The flight parameters include spatial position change parameters of the drone relative to the locked target, and may also include flight speed parameters or body rotation parameters. According to the spatial position change parameter, the spatial position and flight direction of the drone can be determined. The flight speed parameter can determine the speed of the drone during flight, and the body rotation parameter can adjust the rotation of the fuselage during flight of the drone.

The drone maintains the locked target in the field of view, which may be implemented according to at least one of a body rotation parameter, a lens steering parameter, and a focus adjustment parameter. The fuselage rotation parameters are included in the flight parameters, and the lens steering parameters and the focus adjustment parameters are included in the shooting parameters.

When the drone adjusts the spatial position of the drone relative to the locked target, the position of the drone in the three-dimensional coordinate system can be adjusted according to the spatial position change parameter of the drone relative to the locked target, so that the unmanned person The position of the machine in the three-dimensional coordinate system relative to the locked target in the three-dimensional coordinate system conforms to the spatial position change parameter described above.

For example, referring to FIG. 6, the drone 104 can fly along a predetermined trajectory 602 with respect to the locked target 601 according to the acquired flight parameters, and the drone 104 adjusts the photographic field of view during flight to keep the locked target 602 at all times. Keep in the field of view and take images based on the acquired shooting parameters. This allows you to take a multi-angle video or composite picture that includes a locked target.

The predetermined trajectory of the drone relative to the locked target may be various, and may be a trajectory in one plane, such as a circular trajectory in a horizontal plane or a vertical plane as shown in FIG. 6; the predetermined trajectory may also be a stereoscopic The trajectory is a spiral trajectory as shown in FIG. In FIG. 7, the drone starts to spiral upward from the ground along a helical track centered on the locked target 601 until the preset height is reached or until the locked target exceeds the field of view.

In one embodiment, when the drone acquires the locked target according to the combined manipulation command, the target may be searched in the shooting field of view, and the searched target is marked in the preview image of the shooting field and fed back to the mobile terminal. The mobile terminal can display a preview image and a mark of the searched target, and detect a selection instruction for the displayed mark, thereby using the target corresponding to the mark selected by the selection instruction as the target of the lock and notifying the drone that the unmanned person The machine gets the target of the lock.

For example, the mobile terminal can provide a target lock page as shown in FIG. 8, thereby displaying the preview image 801 provided by the drone in the target lock page, and displaying the mark 802 of the searched target in the preview image 801, including the portrait. The mark 802a of the target and the mark 802b of the construction target. The user can select the corresponding portrait target by clicking on the marker 802a. The target lock page can also provide a joystick control 803 that detects the operation of the joystick control to adjust the field of view of the drone.

In one embodiment, when the drone acquires the locked target according to the combined manipulation command, the target can also be searched in the shooting field of view, and the locked target is automatically determined from the searched target according to the preset policy. For example, the drone can determine the target of the lock according to the priority of the locked target, such as preferentially targeting the portrait target as the target of locking; and determining the target with the largest area as the target of the lock.

In the above embodiment, in the automatic shooting mode of the locked target, the mobile terminal can control the drone to automatically fly and capture the image with the target locked, so that the user does not need to learn complicated drone operation and shooting skills. Shooting a certain level of image for a specific target, easy to operate, and improved ease of operation.

In one embodiment, when the preset automatic shooting mode is the unlock target automatic shooting mode, step 406 includes: transmitting the combined manipulation command to the drone, so that the drone acquires the preset flight parameter according to the combined manipulation command and Preset shooting parameters to capture images according to shooting parameters while controlling the drone to fly along a preset flight path according to flight parameters.

Specifically, in the automatic shooting mode without the locking target, the drone does not take the specific target as the shooting object, but flies along the preset flight trajectory under the control of the combined steering command, and according to the preset during the flight. Take the parameters to capture the image. This untargeted automatic shooting mode is especially suitable for landscape image shooting.

The preset flight trajectory may be any predefined flight trajectory, such as closed and unclosed graphics in any plane in space, such as a closed figure such as a circular ring or a polygon, or an unclosed graphic such as a curved line or a polygonal line. The preset flight trajectory may also be a spatial solid shape such as a spiral trajectory.

For example, referring to FIG. 9, in the automatic shooting mode without the locking target, the drone can fly along a circular preset flight path on the horizontal plane, and the drone has a tangent as a tangent point on the preset flight path. The UAV spins in the opposite direction to the rotation direction of the preset flight path during the flight along the preset flight path, so that the shooting field of the drone is always maintained at the tangent side corresponding to the cutting point of the current drone To take an image. This automatically captures a horizontal full-angle landscape image.

In the above embodiment, in the automatic shooting mode without the locking target, the mobile terminal can control the drone to automatically fly along the preset flight path and capture the image, so that the user can shoot without learning complicated drone operation and shooting skills. The scenery image with a certain level is easy to operate and improves the convenience of operation.

In an embodiment, when the preset automatic shooting mode is the non-locking target automatic shooting mode, step 406 includes: acquiring the set geographic location information, transmitting the geographic location information and the combined manipulation instruction to the drone to make the unmanned The machine acquires preset flight parameters and preset shooting parameters according to the combined control command, and after flying to the geographical location information, controls the drone to fly along the preset flight trajectory according to the flight parameters and capture images according to the shooting parameters.

Specifically, the geographical location information refers to information for indicating a geographical location, which may be represented by longitude and latitude, or may be represented by three-dimensional coordinates in a three-dimensional solid coordinate system.

The mobile terminal obtains the set geographical location information, and specifically obtains the input geographical location information as the set geographical location information. The mobile terminal can also receive the preview image of the real-time transmission of the drone and display it, select the geographical location according to the operation of the user in the preview image, and obtain the selected Geographic location information as set location information. The mobile terminal can also display an electronic map of the area where the current drone is located, select a geographical location according to the operation of the electronic map by the user, and obtain the selected geographical location information as the set geographical location information.

The drone can obtain the set geographical location information and the geographical location information of the drone, and can determine the flight route of the drone based on the two geographical location information, thereby automatically flying to the set geographical location information. . The drone can then fly along the preset flight trajectory under the control of the combined maneuver command and take the image according to the preset shooting parameters during the flight.

For example, the mobile terminal can display the input control 503 of the geographical location information of the fixed point shooting in the drone shooting page as shown in FIG. 5, and the user inputs the GPS geographical location information in the input control 503, so that the fixed point shooting can be set. Geographic location information, which controls the drone to automatically shoot along the preset flight path when flying to the set geographic location information.

In the above embodiment, in the non-locking target automatic shooting mode, the mobile terminal can control the drone to automatically start flying along a preset flight trajectory at a specific place and capture an image obtained. In this way, the user does not need to learn complicated drone operation and shooting skills, and can use the drone to take a landscape image at a specific place, and the operation is convenient. And fixed-point automatic shooting without a locked target can better reflect the user's shooting needs.

As shown in FIG. 10, in an embodiment, the UAV shooting control method further includes the step of obtaining a combined manipulation instruction, which specifically includes the following steps:

Step 1002: Acquire a photographic image sample.

Specifically, the mobile terminal may acquire a photographic image taken by a professional photographer as a photographic image sample, and the acquired photographic image sample is matched with a preset automatic shooting mode. The photographic image sample includes at least one of a picture sample and a video sample.

In step 1004, the shooting position parameter and the shooting parameter are quantized from the photographic image sample.

Specifically, the photographing position parameter may be quantified according to the position and deformation of the object in the photographic image sample, wherein the photographing position parameter refers to a parameter indicating a position of the photographing device that takes a photograph of the photographed image, such as a parameter indicating side photographing, indicating a bird's-eye view. Parameters and parameters indicating the subjective shot, etc.

For a building target or a portrait target in a photographic image sample, there is a difference in the position and deformation of the target when the side view, the overhead view, and the up view are taken, and the difference in the position position can be quantified by using the difference. For video samples, the motion of the object can be tracked to quantify a series of ordered position parameters. The quantized shooting position parameters may be inaccurate with the actual position of the photographing device.

The photographic image samples taken by professional photographers can directly carry the shooting parameters, and the mobile terminal can directly take the carried shooting parameters as quantitative shooting parameters. If the photographic image sample does not carry the shooting parameters, the shooting parameters can be quantized according to the combination of the elements by analyzing the elements constituting the photographic image samples. For example, photographic image samples of landscape elements generally use smaller aperture values and smaller focal lengths; photographic image samples of portrait elements generally use larger aperture values and medium focal lengths; photographic image samples with sufficient ray elements are generally faster. Shutter speed and low sensitivity; photographic image samples with insufficient light elements generally use slower shutter speeds and higher sensitivity; photographic image samples with moving object elements generally use faster shutter speeds, larger Aperture values and higher sensitivity; photographic image samples with stationary object elements typically use slower shutter speeds, smaller aperture values, and lower sensitivity. The shooting parameters of the photographic image samples can be quantified by a combination of various elements.

In step 1006, the flight parameters of the drone are calculated according to the shooting position parameters.

Specifically, the shooting position parameter can indicate the position of the drone when the image is taken, and the flight path of the drone is continuous, and the flight parameter calculated according to the shooting position parameter can be used to control the drone implementation. The complete flight path from the starting position to the shooting position and reaching the end position after the shooting is completed.

Step 1008: Generate a combined manipulation command according to the calculated flight parameters and the quantized shooting parameters.

Specifically, the mobile terminal may generate a combined manipulation instruction according to the calculated flight parameters and the quantized shooting parameters, and the generated combined manipulation instruction may be used to trigger a series of sequential actions of the drone to complete the combined operation of the automatic shooting. instruction. The flight parameters calculated here are used as preset flight parameters when the drone performs step 406, and the quantized shooting parameters are executed in the drone. 406 hours as a preset shooting parameter.

Step 1010: Associate the generated combined manipulation instruction with the corresponding preset automatic shooting mode and store.

The mobile terminal associates and stores the generated combined manipulation command with a preset automatic shooting mode matched by the photographic image sample, where the preset automatic shooting mode includes a locked target automatic shooting mode and an unlockless target automatic shooting mode.

In the present embodiment, by analyzing a professional photographic image sample, it is possible to quantify flight parameters and shooting parameters capable of capturing a professional photographic image. In this way, the novice user can automatically take professional photographic images by using the drone without first learning the photography skills and the drone operation method, thereby improving the convenience of operation.

As shown in FIG. 11, in one embodiment, a drone photographing method is provided. This embodiment is exemplified by the method applied to the drone 104 of FIGS. 1 and 3 described above. The method specifically includes the following steps:

Step 1102, establishing a wireless connection with the mobile terminal.

Specifically, the drone can establish a wireless connection with the mobile terminal actively or passively. The wireless connection can be a wireless LAN connection such as a Wi-Fi connection or a WAPI connection, or a normal radio connection.

Step 1104: Receive a preset combined manipulation instruction corresponding to the preset automatic shooting mode read and sent by the mobile terminal.

The preset auto shooting mode is a way to implement predefined automated shooting actions with custom parameters. In one embodiment, the preset automatic shooting mode includes a locked target automatic shooting mode and a non-locking target automatic shooting mode. The lock target automatic shooting mode is a method of automatically shooting with a locked target as a camera object; the non-locking target automatic shooting mode may be referred to as a landscape automatic shooting mode, and is an automatic shooting without taking a specific target as a subject. the way.

After determining the preset automatic shooting mode, the mobile terminal acquires a shooting start command, and reads a preset combined control command associated with the preset automatic shooting mode according to the shooting start command. The mobile terminal sends the combined control command to the drone, so that the drone performs the corresponding one according to the combined control command. Series action to take an image.

Step 1106, sequentially performing a corresponding series of actions according to the combined manipulation command to capture an image.

Specifically, after receiving the combined manipulation command sent by the mobile terminal, the drone performs a series of actions set by the combined manipulation command to complete the task of automatically capturing an image. In one embodiment, the series of actions includes at least one of a drone flight action, a field of view adjustment action, and a shooting parameter adjustment action.

In one embodiment, the field of view adjustment motion includes panning and zooming of the field of view, and the field of view refers to the spatial range captured by the camera of the drone. The specific mobile terminal can realize the translation of the shooting field by controlling the rotation of the drone and/or the shooting device, and can also realize the zooming of the shooting field by moving the drone or adjusting the focal length of the shooting device.

In one embodiment, the shooting parameters include at least one of sensitivity, aperture value, shutter speed, focal length, auto focus mode, metering mode, and white balance. The autofocus mode includes at least one of a ranging autofocus method based on a distance measurement between a lens of the photographing device and a target to be photographed, and a focus detection autofocus method based on image sharpness. The metering method includes at least one of a spot metering method, a central portion metering method, a center-weighted average metering method, an average metering method, and a multi-zone metering method.

Step 1108, returning the captured image to the mobile terminal.

Specifically, the drone can transmit the captured image to the mobile terminal in real time through a wireless connection, and the mobile terminal receives the image returned by the drone and stores it in a preset directory. In one embodiment, the mobile terminal can receive a plurality of images of the drone continuous shooting and filter out one of the highest resolution image storages. In one embodiment, the mobile terminal can receive a series of images continuously taken by the drone and store in a preset video format.

The above-mentioned drone shooting method communicates with the mobile terminal through wireless communication, and after determining the preset automatic shooting mode, the mobile terminal can automatically read the corresponding preset combined manipulation instruction and Sending to the drone, the drone can perform a series of actions in sequence to capture images based on the combined manipulation commands. This can not require the user to directly control the drone to fly and shoot, just select the preset automatic shooting mode and trigger to read the combined control command corresponding to the preset automatic shooting mode and send it to the drone, the drone will The shooting task can be completed automatically, which simplifies the operation and improves the convenience of operation.

As shown in FIG. 12, in one embodiment, when the preset automatic shooting mode is the locked target automatic shooting mode, step 1106 includes:

Step 1202: Acquire a locked target, a preset flight parameter, and a preset shooting parameter according to the combined manipulation instruction.

At step 1204, the locked target is maintained in the field of view and the flight position of the drone relative to the locked target is adjusted based on flight parameters.

Specifically, the drone acquires the locked target, the preset flight parameters, and the preset shooting parameters according to the corresponding combined manipulation command. Further, the drone maintains the locked target in the field of view and flies according to the acquired flight parameters to adjust the spatial position relative to the locked target during flight, thereby causing the drone to move relative to the locked target The established trajectory is flying.

At step 1206, an image is taken in accordance with the shooting parameters during flight.

Specifically, the drone captures an image in accordance with shooting parameters while flying.

As shown in FIG. 13, in one embodiment, when the preset automatic shooting mode is the unlock target automatic shooting mode, step 1106 includes:

Step 1302: Acquire preset flight parameters and preset shooting parameters according to the combined manipulation command.

Step 1304: Control the drone to fly along the preset flight trajectory according to the flight parameters.

The preset flight trajectory may be any predefined flight trajectory, such as closed and unclosed graphics in any plane in the space, such as a closed figure such as a circular ring or a polygon, or may be a curved shape, a polygonal shape, or the like. The closed figure; the preset flight path may also be a spatial three-dimensional shape such as a spiral track.

Step 1306: The image is taken according to the shooting parameters while the drone is flying.

Specifically, in the automatic shooting mode without the lock target, the drone does not shoot with a specific target. The object is taken, but the flight is performed along the preset flight trajectory under the control of the combined manipulation command, and the image is captured according to the preset shooting parameters during the flight. This untargeted automatic shooting mode is especially suitable for landscape image shooting.

As shown in FIG. 14, in one embodiment, when the preset automatic shooting mode is the non-locking target automatic shooting mode, step 1106 includes:

Step 1402: Receive the set geographic location information sent by the mobile terminal.

The mobile terminal obtains the set geographical location information, and specifically obtains the input geographical location information as the set geographical location information. The mobile terminal can also receive the preview image transmitted by the drone in real time and display the location, select the geographic location according to the operation of the geographic location in the preview image, and obtain the selected geographical location information as the set geographical location information. The mobile terminal can also display an electronic map of the area where the current drone is located, select a geographical location according to the operation of the electronic map by the user, and obtain the selected geographical location information as the set geographical location information.

Step 1404: Acquire preset flight parameters and preset shooting parameters according to the combined manipulation command.

Step 1406, after flying to the geographic location information, flying along the preset flight trajectory according to the flight parameters.

In step 1408, an image is taken according to the shooting parameters while the drone is flying.

Specifically, the drone can obtain the set geographic location information and the geographical location information of the drone, and can determine the flight route of the drone according to the two geographical location information, thereby automatically flying to the set geographic location. Location information. The drone can then fly along the preset flight trajectory under the control of the combined maneuver command and take the image according to the preset shooting parameters during the flight.

In the above embodiment, in the non-locking target automatic shooting mode, the mobile terminal can control the drone to automatically start flying along a preset flight trajectory at a specific place and capture an image obtained. This user does not need Learning complex UAV operations and shooting techniques, you can use the drone to capture landscape images at specific locations, and the operation is convenient, and the fixed-point automatic shooting without locked targets can better reflect the user's shooting needs.

In one embodiment, the combined manipulation command is obtained according to the photographic image sample analysis, specifically, the shooting position parameter and the shooting parameter are quantized from the photographic image sample, and the flight parameters of the drone are calculated according to the shooting position parameter, according to the calculated flight. The parameters and the quantized shooting parameters generate a combined manipulation command, which in turn associates the generated combined manipulation command with a corresponding preset automatic shooting mode.

As shown in FIG. 15, in one embodiment, a mobile terminal 1500 is provided. The internal structure of the mobile terminal 1500 may correspond to the structure of the mobile terminal as shown in FIG. 2. Each of the following modules may pass in whole or in part. Software, hardware or a combination thereof is implemented.

The mobile terminal 1500 includes a shooting start instruction acquisition module 1502, a combination manipulation instruction reading module 1503, and a combined manipulation instruction transmission module 1504.

The shooting start instruction acquisition module 1502 is configured to acquire a shooting start instruction.

The combination manipulation instruction reading module 1503 is configured to read a preset combination manipulation instruction associated with the preset automatic shooting mode according to the shooting start instruction.

The combined manipulation command sending module 1504 is configured to send the combined manipulation instruction to the drone, so that the drone sequentially performs a corresponding series of actions according to the combined manipulation instruction to capture an image.

As shown in FIG. 16, in an embodiment, the mobile terminal 1500 further includes: a mode determining module 1501, configured to determine a preset automatic shooting mode.

As shown in FIG. 16, in an embodiment, the mobile terminal 1500 further includes: an image receiving module 1505, configured to receive the captured image returned by the drone and store the image.

In one embodiment, when the preset automatic shooting mode is the locked target automatic shooting mode, the combined manipulation command sending module 1504 is further configured to send the combined manipulation instruction to the drone, so that the drone acquires the locked according to the combined manipulation instruction. The target, the preset flight parameters, and the preset shooting parameters are used to maintain the locked target in the shooting field and adjust the space position of the drone relative to the locked target according to the flight parameters, and take an image according to the shooting parameters.

In an embodiment, when the preset automatic shooting mode is the non-locking target automatic shooting mode, the combined manipulation command sending module 1504 is further configured to send the combined manipulation instruction to the drone, so that the drone obtains the pre- according to the combined manipulation instruction. The flight parameters and the preset shooting parameters are set to capture images according to the shooting parameters when the drone is controlled to fly along the preset flight path according to the flight parameters.

In an embodiment, when the preset automatic shooting mode is the unlock target automatic shooting mode, the combined manipulation command sending module 1504 is further configured to acquire the set geographic location information, and send the geographic location information and the combined manipulation instruction to the unmanned The machine enables the drone to obtain preset flight parameters and preset shooting parameters according to the combined control command, and after flying to the geographical location information, controls the drone to fly along the preset flight path according to the flight parameters and shoot according to the shooting parameters. image.

As shown in FIG. 16, in one embodiment, the mobile terminal 1500 further includes: a sample acquisition module 1506, a parameter quantization module 1507, a flight parameter calculation module 1508, a combined manipulation instruction generation module 1509, and a combined manipulation instruction association module 1510.

The sample obtaining module 1506 is configured to acquire a photographic image sample.

The parameter quantization module 1507 is configured to quantize the shooting position parameter and the shooting parameter from the photographic image sample.

The flight parameter calculation module 1508 is configured to calculate a flight parameter of the drone according to the shooting position parameter.

The combined manipulation command generation module 1509 is configured to generate a combined manipulation instruction according to the calculated flight parameters and the quantized shooting parameters.

The combined manipulation instruction association module 1510 is configured to associate and store the generated combined manipulation instruction with a corresponding preset automatic shooting mode.

The mobile terminal 1500 can automatically read the preset after detecting the shooting start command. The preset combination manipulation command associated with the automatic shooting mode is transmitted to the drone, and the drone can sequentially perform a series of actions to capture an image according to the combined manipulation command. This can not require the user to directly control the drone to fly and shoot, just select the preset automatic shooting mode and trigger the shooting start command to control the drone to automatically complete the shooting task, simplifying the operation and improving the convenience of operation.

As shown in FIG. 17, in one embodiment, a drone 1700, including a processor 1701, further includes a communication device 1702, a flight drive device 1703, and a camera device 1704 for capturing an image, coupled to the processor 1701.

The communication device 1702 is configured to establish a wireless connection with the mobile terminal, and receive a preset combined manipulation instruction corresponding to the preset automatic shooting mode read and sent by the mobile terminal.

The processor 1701 is configured to sequentially perform a series of actions to capture an image by controlling the flight driving device 1703 and the photographing device 1704 according to the combined manipulation command.

The communication device 1702 is also for returning the captured image to the mobile terminal.

In an embodiment, when the preset automatic shooting mode is the locked target automatic shooting mode, the processor 1701 is further configured to acquire the locked target, the preset flight parameter, and the preset shooting parameter according to the combined manipulation command; The target remains in the field of view, and the flight driving device 1703 is controlled to adjust the space position of the drone relative to the locked target according to flight parameters; and the photographing device 1704 is controlled to take an image according to the shooting parameters while the drone is flying.

In an embodiment, when the preset automatic shooting mode is the non-locking target automatic shooting mode, the processor 1701 is further configured to acquire preset flight parameters and preset shooting parameters according to the combined manipulation command; and control the flight driving according to the flight parameters. The device 1703 controls to cause the drone to fly according to a preset trajectory, and controls the photographing device 1704 to take an image according to the shooting parameters while the drone is flying.

In an embodiment, when the preset automatic shooting mode is the non-locking target automatic shooting mode, the communication device 1702 is further configured to receive the set geographic location information sent by the mobile terminal; the processor 1701 is further configured to acquire according to the combined manipulation instruction. Pre-set flight parameters and preset shooting parameters; control flight The driving device 1703 allows the drone to fly to the geographic location information and then flies along the preset flight trajectory according to the flight parameters, and controls the photographing device 1704 to take an image according to the shooting parameters when the drone is flying.

The drone 1700 communicates with the mobile terminal by means of wireless communication, and after determining the preset automatic shooting mode, the mobile terminal can automatically read the corresponding preset combined control command and send it to the drone, the drone It is possible to sequentially perform a series of actions to take an image according to the combined manipulation command. This can not require the user to directly control the drone to fly and shoot, just select the preset automatic shooting mode and trigger to read the combined control command corresponding to the preset automatic shooting mode and send it to the drone, the drone will The shooting task can be completed automatically, which simplifies the operation and improves the convenience of operation.

One of ordinary skill in the art can understand that all or part of the process of implementing the foregoing embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium. When executed, the flow of an embodiment of the methods as described above may be included. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A drone shooting control method includes:

Obtain a shooting start command;

Reading a combined manipulation instruction associated with the preset automatic shooting mode according to the shooting start command; and

Sending the combined manipulation command to the drone, causing the drone to sequentially perform a corresponding series of actions according to the combined manipulation command to capture an image.
The method according to claim 1, wherein the series of actions comprises at least one of a drone flight action, a field-of-view adjustment action, and a shooting parameter adjustment action.
The method according to claim 1, wherein when the preset automatic shooting mode is a locked target automatic shooting mode, the transmitting the command command to the drone to cause the drone to be The combination manipulation instruction sequentially performs a corresponding series of actions to capture an image including:

Sending the combined manipulation command to the drone, causing the drone to acquire the locked target, the preset flight parameter, and the preset shooting parameter according to the combined manipulation command to keep the locked target in the shooting field And adjusting the spatial position of the drone relative to the locked target according to the flight parameter, and capturing an image according to the shooting parameter during flight.
The method according to claim 1, wherein when the preset automatic shooting mode is a non-locking target automatic shooting mode, the transmitting the combined manipulation command to the drone to make the drone Performing a corresponding series of actions in sequence according to the combined manipulation command to capture an image includes:

Sending the combined manipulation command to the drone, causing the drone to acquire preset flight parameters and preset shooting parameters according to the combined manipulation command, to control the drone according to the flight parameter When the flight path is flying, the image is taken according to the shooting parameters.
The method according to claim 1, wherein when the preset automatic shooting mode is a non-locking target automatic shooting mode, the transmitting the combined manipulation command to the drone to make the drone Performing a corresponding series of actions in sequence according to the combined manipulation command to capture an image package include:

Obtaining the set geographic location information, sending the geographic location information and the combined manipulation instruction to the drone, so that the drone acquires preset flight parameters and preset shooting parameters according to the combined manipulation instruction And after flying to the geographical location information, the drone is controlled to fly along the preset flight trajectory according to the flight parameters and the image is captured according to the shooting parameters.
The method of claim 1 further comprising:

Obtaining a sample of photographic images;

And capturing a shooting position parameter and a shooting parameter from the photographic image sample;

Calculating flight parameters of the drone according to the shooting position parameter;

Generating a combined steering command based on the calculated flight parameters and the quantized shooting parameters; and

The generated combined manipulation command is associated with the corresponding preset automatic shooting mode and stored.
A method for shooting a drone, comprising:

Establishing a wireless connection with the mobile terminal;

Receiving a preset combined manipulation instruction corresponding to the preset automatic shooting mode read and transmitted by the mobile terminal;

Performing a corresponding series of actions to sequentially capture an image according to the combined manipulation command; and

The captured image is returned to the mobile terminal.
The method according to claim 7, wherein the series of actions comprises at least one of a drone flight action, a field-of-view adjustment action, and a shooting parameter adjustment action.
The method according to claim 7, wherein when the preset automatic shooting mode is the locked target automatic shooting mode, the sequentially performing a corresponding series of actions according to the combined manipulation command to capture an image comprises:

Obtaining a locked target, a preset flight parameter, and a preset shooting parameter according to the combined manipulation command;

Maintaining the locked target in the field of view and adjusting the spatial position of the drone relative to the locked target based on the flight parameters; and

An image is taken in accordance with the shooting parameters during flight.
The method according to claim 7, wherein when the preset automatic shooting mode is the unlock target automatic shooting mode, the sequentially performing a corresponding series of actions according to the combined manipulation command to capture an image comprises:

Obtaining preset flight parameters and preset shooting parameters according to the combined manipulation command;

Controlling the drone to fly along a preset flight trajectory according to the flight parameters; and

An image is taken in accordance with the shooting parameters while the drone is flying.
The method according to claim 7, wherein when the preset automatic shooting mode is the unlock target automatic shooting mode, the sequentially performing a corresponding series of actions according to the combined manipulation command to capture an image comprises:

Receiving the set geographical location information sent by the mobile terminal;

Obtaining preset flight parameters and preset shooting parameters according to the combined manipulation command;

Flying to the geographic location information and flying along a preset flight trajectory according to the flight parameters; and

An image is taken in accordance with the shooting parameters while the drone is flying.
A mobile terminal comprising a memory and a processor, wherein the memory stores computer readable instructions, wherein when the computer readable instructions are executed by the processor, the processor performs the following steps:

Obtain a shooting start command;

Reading a combined manipulation instruction associated with the preset automatic shooting mode according to the shooting start command; and

Sending the combined manipulation command to the drone, causing the drone to sequentially perform a corresponding series of actions according to the combined manipulation command to capture an image.
The mobile terminal according to claim 12, wherein the series of actions comprises at least one of a drone flight action, a shooting field adjustment action, and a shooting parameter adjustment action.
The mobile terminal according to claim 12, wherein when the preset automatic shooting mode is a locked target automatic shooting mode, the combining manipulation command is sent to the drone to make the drone Performing a corresponding series of actions to sequentially capture images according to the combined manipulation command include:

Sending the combined manipulation command to the drone, causing the drone to acquire the locked target, the preset flight parameter, and the preset shooting parameter according to the combined manipulation command to keep the locked target in the shooting field And adjusting the spatial position of the drone relative to the locked target according to the flight parameter, and capturing an image according to the shooting parameter during flight.
The mobile terminal according to claim 12, wherein when the preset automatic shooting mode is a non-locking target automatic shooting mode, the transmitting the combined manipulation command to the drone to make the unmanned person Performing a corresponding series of actions in sequence according to the combined manipulation command to capture an image includes:

Sending the combined manipulation command to the drone, causing the drone to acquire preset flight parameters and preset shooting parameters according to the combined manipulation command, to control the drone according to the flight parameter When the flight path is flying, the image is taken according to the shooting parameters.
The mobile terminal according to claim 12, wherein when the preset automatic shooting mode is a non-locking target automatic shooting mode, the transmitting the combined manipulation command to the drone to make the unmanned person Performing a corresponding series of actions in sequence according to the combined manipulation command to capture an image includes:

Obtaining the set geographic location information, sending the geographic location information and the combined manipulation instruction to the drone, so that the drone acquires preset flight parameters and preset shooting parameters according to the combined manipulation instruction And after flying to the geographical location information, the drone is controlled to fly along the preset flight trajectory according to the flight parameters and the image is captured according to the shooting parameters.
The mobile terminal of claim 12, wherein when said computer readable instructions are executed by said processor, said processor further causes said processor to:

Obtaining a sample of photographic images;

And capturing a shooting position parameter and a shooting parameter from the photographic image sample;

Calculating flight parameters of the drone according to the shooting position parameter;

Generating a combined steering command based on the calculated flight parameters and the quantized shooting parameters; and

The generated combined manipulation command is associated with the corresponding preset automatic shooting mode and stored.
A drone comprising a memory and a processor, the memory storing computer readable instructions, wherein the computer readable instructions are executed by the processor such that the processor performs the following steps:

Establishing a wireless connection with the mobile terminal;

Receiving a preset combined manipulation instruction corresponding to the preset automatic shooting mode read and transmitted by the mobile terminal;

Performing a corresponding series of actions to sequentially capture an image according to the combined manipulation command; and

The captured image is returned to the mobile terminal.
The drone according to claim 18, wherein said series of actions include at least one of a drone flight action, a field-of-view adjustment action, and a shooting parameter adjustment action.
The drone according to claim 18, wherein when the preset automatic shooting mode is the lock target automatic shooting mode, the sequentially performing a corresponding series of actions according to the combined manipulation command to capture an image includes :

Obtaining a locked target, a preset flight parameter, and a preset shooting parameter according to the combined manipulation command;

Maintaining the locked target in the field of view and adjusting the spatial position of the drone relative to the locked target based on the flight parameters; and

An image is taken in accordance with the shooting parameters during flight.
The drone according to claim 18, wherein when the preset automatic shooting mode is the non-locking target automatic shooting mode, the plurality of actions are sequentially performed according to the combined manipulation command to capture an image. include:

Obtaining preset flight parameters and preset shooting parameters according to the combined manipulation command;

Controlling the drone to fly along a preset flight trajectory according to the flight parameters; and

An image is taken in accordance with the shooting parameters while the drone is flying.
The drone according to claim 18, wherein when the preset automatic shooting mode is the non-locking target automatic shooting mode, the plurality of actions are sequentially performed according to the combined manipulation command to capture an image. Includes:

Receiving the set geographical location information sent by the mobile terminal;

Obtaining preset flight parameters and preset shooting parameters according to the combined manipulation command;

Flying to the geographic location information and flying along a preset flight trajectory according to the flight parameters; and

An image is taken in accordance with the shooting parameters while the drone is flying.