CN105391939A - Unmanned aerial vehicle shooting control method, device, unmanned aerial vehicle shooting method and unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle shooting control method, device, unmanned aerial vehicle shooting method and unmanned aerial vehicle Download PDF

Info

Publication number
CN105391939A
CN105391939A CN201510741059.0A CN201510741059A CN105391939A CN 105391939 A CN105391939 A CN 105391939A CN 201510741059 A CN201510741059 A CN 201510741059A CN 105391939 A CN105391939 A CN 105391939A
Authority
CN
China
Prior art keywords
unmanned plane
manipulation instruction
acquisition parameters
automatic shooting
flight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510741059.0A
Other languages
Chinese (zh)
Other versions
CN105391939B (en
Inventor
李家伦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tencent Technology Shenzhen Co Ltd
Original Assignee
Tencent Technology Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tencent Technology Shenzhen Co Ltd filed Critical Tencent Technology Shenzhen Co Ltd
Priority to CN201510741059.0A priority Critical patent/CN105391939B/en
Publication of CN105391939A publication Critical patent/CN105391939A/en
Priority to PCT/CN2016/082610 priority patent/WO2017075964A1/en
Application granted granted Critical
Publication of CN105391939B publication Critical patent/CN105391939B/en
Priority to US15/957,749 priority patent/US10587790B2/en
Priority to US15/959,032 priority patent/US10623621B2/en
Priority to US15/959,007 priority patent/US10674062B2/en
Priority to US15/959,014 priority patent/US10863073B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/62—Control of parameters via user interfaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to an unmanned aerial vehicle shooting control method, a device, an unmanned aerial vehicle shooting method and an unmanned aerial vehicle. The unmanned aerial vehicle shooting control method comprises steps: a shooting starting instruction is acquired; according to the shooting starting instruction, a preset combined operation and control instruction associated with a preset automatic shooting mode is read; the combined operation and control instruction is sent to the unmanned aerial vehicle to enable the unmanned aerial vehicle to sequentially execute a corresponding series of actions according to the combined operation and control instruction to shoot an image; and the image shot and returned by the unmanned aerial vehicle is received and stored. According to the unmanned aerial vehicle shooting control method and the device provided by the invention, the user can not be required to directly control the unmanned aerial vehicle to fly and shoot, the operation is simplified, and operation convenience is improved.

Description

Unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane.
Background technology
Drone is called for short " unmanned plane ", and english abbreviation is " UAV " (UnmannedAerialVehicle), is a kind of not manned aircraft of remote control.Unmanned plane comprises depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship and unmanned parasol etc.Unmanned plane is applied in military domain at first, main as reconnaissance plane and target drone.
At present, along with unmanned plane cost reduces, unmanned plane progresses into civil area.Current unmanned plane can arrange filming apparatus, can realize taking photo by plane by remotely pilotless machine user, for user provides brand-new shooting angle, no matter take portrait or take landscape and can be suitable for.
But there is certain difficulty in manipulation unmanned plane during flying itself, but also will control filming apparatus and carry out photographic images, and this there are certain requirements the operant level of user, especially for new contact unmanned plane user more difficult.Therefore, utilize unmanned plane photographic images complex operation at present, need to improve.
Summary of the invention
Based on this, be necessary the problem for utilizing unmanned plane photographic images complex operation at present, a kind of unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane are provided.
A kind of unmanned plane filming control method, described method comprises:
Obtain shooting enabled instruction;
According to described shooting enabled instruction, read the combination the preset manipulation instruction associated by described default automatic shooting pattern;
Described combination manipulation instruction is sent to unmanned plane, makes described unmanned plane perform corresponding a series of actions successively with photographic images according to described combination manipulation instruction.
A kind of unmanned plane imaging control device, described device comprises:
Shooting enabled instruction acquisition module, for obtaining shooting enabled instruction;
Combination manipulation instruction fetch module, for according to described shooting enabled instruction, reads the combination the preset manipulation instruction associated by described default automatic shooting pattern;
Combination manipulation instruction sending module, for described combination manipulation instruction is sent to unmanned plane, makes described unmanned plane perform corresponding a series of actions successively with photographic images according to described combination manipulation instruction.
Above-mentioned unmanned plane filming control method and device, after shooting enabled instruction being detected, just automatically can read the combination preset manipulation instruction that default automatic shooting pattern is associated and send to unmanned plane, unmanned plane just can manipulate instruction according to combination and perform a series of action successively and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger shooting enabled instruction and just can control unmanned plane and automatically complete shooting task, simplify operation, improve operation ease.
A kind of unmanned plane image pickup method, described method comprises:
Wireless connections are set up with mobile terminal;
The combination preset corresponding with default automatic shooting pattern receiving described mobile terminal reading and sending manipulates instruction;
Corresponding a series of actions is performed successively with photographic images according to described combination manipulation instruction;
The image of shooting is back to described mobile terminal.
A kind of unmanned plane, is characterized in that, comprise communicator, processor, flight drive unit and the filming apparatus for photographic images;
Described communicator is used for setting up wireless connections with mobile terminal; The combination preset corresponding with default automatic shooting pattern receiving described mobile terminal reading and sending manipulates instruction;
Described processor is used for according to described combination manipulation instruction to perform a series of actions successively with photographic images by control flight drive unit and filming apparatus;
Described communicator is also for being back to described mobile terminal by the image of shooting.
Above-mentioned unmanned plane image pickup method and unmanned plane, by communication and communication of mobile terminal, mobile terminal is after determining default automatic shooting pattern, just automatically can read the corresponding combination preset manipulate instruction and send to unmanned plane, unmanned plane just can perform a series of action successively according to combination manipulation instruction and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger the reading combination corresponding with default automatic shooting pattern and manipulate instruction and send to unmanned plane, unmanned plane just can complete shooting task automatically, simplify operation, improve operation ease.
Accompanying drawing explanation
Fig. 1 is the applied environment figure of unmanned plane shoot control system in an embodiment;
Fig. 2 is the composition structural representation of mobile terminal in an embodiment;
Fig. 3 is the composition structural representation of unmanned plane in an embodiment;
Fig. 4 is the schematic flow sheet of unmanned plane filming control method in an embodiment;
Fig. 5 is the unmanned plane shooting page schematic diagram of mobile terminal display in an embodiment;
Fig. 6 is the schematic diagram that in an embodiment, unmanned plane flies along the both fixed tracks relative to the target locked according to the flight parameter obtained;
Fig. 7 is the schematic diagram that in another embodiment, unmanned plane flies along the both fixed tracks relative to the target locked according to the flight parameter obtained;
Fig. 8 is the schematic diagram of the target lock-on page of mobile terminal display in an embodiment;
Fig. 9 is the schematic diagram of the pre-set flight track flight of the annular that in an embodiment, unmanned plane is gone up along the horizontal plane under latch-up-free target automatic shooting pattern;
Figure 10 is the schematic flow sheet of the step obtaining combination manipulation instruction in an embodiment;
Figure 11 is the schematic flow sheet of unmanned plane image pickup method in an embodiment;
Figure 12 is in an embodiment when default automatic shooting pattern is lock onto target automatic shooting pattern, performs corresponding a series of actions successively with the schematic flow sheet of the step of photographic images according to combining manipulation instruction;
Figure 13 is in an embodiment when default automatic shooting pattern is latch-up-free target automatic shooting pattern, performs corresponding a series of actions successively with the schematic flow sheet of the step of photographic images according to combining manipulation instruction;
Figure 14 is in an embodiment when default automatic shooting pattern is latch-up-free target automatic shooting pattern, performs corresponding a series of actions successively with the schematic flow sheet of the step of photographic images according to combining manipulation instruction;
Figure 15 is the structured flowchart of unmanned plane imaging control device in an embodiment;
Figure 16 is the structured flowchart of unmanned plane imaging control device in another embodiment;
Figure 17 is the composition structural representation of unmanned plane in another embodiment.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, in one embodiment, provide a kind of unmanned plane shoot control system 100, comprise mobile terminal 102 and unmanned plane 104.Set up wireless connections between mobile terminal 102 and unmanned plane 104, between mobile terminal 102 and unmanned plane 104, transmit data by these wireless connections.Unmanned plane 104 can be any one in fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, umbrella wing unmanned plane, flapping wing unmanned plane and unmanned airship.
As shown in Figure 2, in one embodiment, provide a kind of mobile terminal 102, comprise the processor, non-volatile memory medium, built-in storage, communicator, display screen and the input unit that are connected by system bus.Wherein processor has computing function and controls the function of mobile terminal 102 work, and this processor is configured to perform a kind of unmanned plane filming control method.Non-volatile memory medium comprises at least one in magnetic storage medium, optical storage media and flash memory type storage medium.Non-volatile memory medium stores operating system and unmanned plane imaging control device, and this unmanned plane imaging control device has the functional module realizing a kind of unmanned plane filming control method.Built-in storage is used for providing high-speed cache for operating system and unmanned plane imaging control device.Communicator is used for carrying out radio communication with unmanned plane 104.Display screen comprises at least one in LCDs, flexible display screen and electric ink display screen.Input unit comprises at least one in physical button, trace ball, Trackpad and the touch control layer overlapping with display screen, and wherein touch control layer and display screen are combined to form touch screen.
As shown in Figure 3, in one embodiment, provide a kind of unmanned plane 104, comprise the processor, non-volatile memory medium, built-in storage, communicator, flight drive unit, filming apparatus and the positioner that are connected by system bus.Wherein processor has computing function and controls the function of unmanned plane 104 work, and this processor is configured to perform a kind of unmanned plane image pickup method.Non-volatile memory medium comprises at least one in magnetic storage medium, optical storage media and flash memory type storage medium.Non-volatile memory medium stores operating system and unmanned plane filming apparatus, and this unmanned plane filming apparatus has the functional module realizing a kind of unmanned plane image pickup method.Built-in storage is used for providing high-speed cache for operating system and unmanned plane filming apparatus.Communicator is used for carrying out radio communication with mobile terminal 102.Flight drive unit, for controlling the unmanned plane during flying action of unmanned plane 104, controls unmanned plane during flying action mainly through the flying speed and heading controlling unmanned plane 104.For rotor wing unmanned aerial vehicle, flight drive unit mainly comprises rotor and rotor control device.Filming apparatus is used for photographic images, and the image of shooting comprises picture and video.Positioner can be GPS (GlobalPositioningSystem, global positioning system) positioner, for locating the position of unmanned plane 104.
As shown in Figure 4, in one embodiment, provide a kind of unmanned plane filming control method, the mobile terminal 102 that the present embodiment is applied in above-mentioned Fig. 1 and Fig. 2 in this way illustrates.The method specifically comprises the steps:
Step 402, obtains shooting enabled instruction.
Mobile terminal runs and has camera application program, this camera application program can be that system carries application program or third party application, realizes each step of this unmanned plane filming control method by this camera application program.Particularly, mobile terminal can detect predefine event, gets shooting enabled instruction when predefine event being detected.In one embodiment, terminal can detect predefine event and start timing when predefine event being detected, obtains shooting enabled instruction when timing reaches preset duration.
In one embodiment, mobile terminal can show shooting and start control, and detection takes enabled instruction to the operation that this shooting starts control accordingly to obtain.Such as, mobile terminal can start control 502 in unmanned plane shooting page display shooting as shown in Figure 5, and user clicks this shooting startup control 502 can trigger shooting enabled instruction.
The operation of shooting startup control is comprised at least one in cursor clicking operation, touch clicking operation and gesture operation.Wherein take enabled instruction to automatically snap to control unmanned plane for the default automatic shooting pattern started according to determining.
In one embodiment, mobile terminal can detect rocking of mobile terminal fuselage, gets take enabled instruction accordingly when detecting and rocking.In one embodiment, mobile terminal also can detect phonetic order input with the shooting enabled instruction obtaining speech form.
In one embodiment, this unmanned plane filming control method also comprises: determine default automatic shooting pattern.Particularly, mobile terminal determines default automatic shooting pattern by camera application program.Presetting automatic shooting pattern is utilize self-defining parameter to realize the mode of predefined automation shooting action.
In one embodiment, preset automatic shooting pattern and comprise lock onto target automatic shooting pattern and latch-up-free target automatic shooting pattern.Wherein lock onto target automatic shooting pattern is the target that locks for shooting object carries out the mode that automatically snaps; Latch-up-free target automatic shooting pattern can be called landscape automatic shooting pattern, be not with specific target for reference object carries out the style of shooting that automatically snaps.
In one embodiment, mobile terminal can select the default automatic shooting pattern given tacit consent to be defined as the default automatic shooting pattern of current use.In another embodiment, the default automatic shooting pattern that mobile terminal can also select took use last time is defined as the default automatic shooting pattern of current use.
In one embodiment, mobile terminal can provide the option of multiple default automatic shooting pattern, and detect the default automatic shooting pattern that the operational order acting on an option determines to choose, thus the default automatic shooting pattern chosen is defined as the default automatic shooting pattern of current use.
Illustrate, mobile terminal is after startup camera application, the unmanned plane shooting page as shown in Figure 5 can be entered, the option 501 of display 2 default automatic shooting patterns in this unmanned plane shooting page, is respectively the option 501a of lock onto target automatic shooting pattern and the option 501b of latch-up-free target automatic shooting pattern.By click option 501, user can determine that the default automatic shooting pattern of current use automatically snaps pattern for lock onto target, relatively, user clicks on tabs 502 can determine that the default automatic shooting pattern of current use is for latch-up-free target automatic shooting pattern.
Step 404, according to shooting enabled instruction, reads the combination the preset manipulation instruction preset associated by automatic shooting pattern.
Particularly, mobile terminal, after getting shooting enabled instruction, can read from this locality and manipulate instruction with the combination preset of the default automatic shooting pattern association determined.This combination manipulation instruction for trigger unmanned plane a series of tools orderly combinative movement to complete automatic shooting.
In one embodiment, mobile terminal can be made regular check on whether server exist and manipulate instruction with the combination of default automatic shooting pattern association, if exist, the combination manipulation instruction of down loading updating is to upgrade the local combination the preset manipulation instruction preset associated by automatic shooting pattern.In another embodiment, make regular check on can be replaced and check when combination that user triggers manipulation instruction renewal rewards theory being detected.
In one embodiment, mobile terminal when receiving the combination manipulation instruction update notification of server push, can manipulate instruction from the combination manipulation instruction of server down loading updating to upgrade the local and default combination preset automatically snapping pattern association.
Step 406, is sent to unmanned plane by combination manipulation instruction, makes unmanned plane perform corresponding a series of actions successively with photographic images according to combination manipulation instruction.
Particularly, the combination of reading manipulation instruction is sent to unmanned plane by the wireless connections between unmanned plane by mobile terminal.Wireless connections can adopt Wi-Fi to connect or WAPI connects such WLAN (wireless local area network) connection, also can adopt common dedicated radio link.Unmanned plane, after the combination manipulation instruction receiving mobile terminal transmission, performs the task that this combination manipulation a series of actions set by instruction completes automatic shooting image.
In one embodiment, a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
In one embodiment, unmanned plane during flying action comprises at least one that unmanned plane during flying speed adjustment action, the adjustment action of unmanned plane direction, the action of unmanned plane Height Adjustment, unmanned plane hover action, unmanned plane rotary movement and unmanned plane are leaned to one side in action.
In one embodiment, shooting visual field adjustment action comprises the Pan and Zoom in the shooting visual field, and the shooting visual field refers to the spatial dimension captured by filming apparatus of unmanned plane.Concrete mobile terminal rotates the translation realizing taking the visual field by control unmanned plane and/or filming apparatus, can also realize the convergent-divergent taking the visual field by mobile unmanned plane or adjustment filming apparatus focal length.
In one embodiment, acquisition parameters comprises at least one in photosensitivity (being commonly called as ISO value), f-number, shutter speed, focal length, auto-focusing mode, Exposure Metering and white balance.Wherein auto-focusing mode comprises the range finding auto-focusing mode of camera lens based on filming apparatus and the range measurement between target that is taken, and based at least one in the focus detection auto-focusing mode of imaging clearly.Exposure Metering comprises at least one in an Exposure Metering, middle body Exposure Metering, central emphasis average metering mode, average metering mode and multi-region Exposure Metering.
Above-mentioned unmanned plane filming control method, after shooting enabled instruction being detected, just automatically can read the combination preset manipulation instruction that default automatic shooting pattern is associated and send to unmanned plane, unmanned plane just can manipulate instruction according to combination and perform a series of action successively and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger shooting enabled instruction and just can control unmanned plane and automatically complete shooting task, simplify operation, improve operation ease.
In one embodiment, this unmanned plane filming control method also comprises: receive the image of the shooting that unmanned plane returns and store.Particularly, unmanned plane can by the image of shooting by wireless connections real-time Transmission to mobile terminal, mobile terminal then receives image that unmanned plane returns and under being stored in predetermined directory.In one embodiment, mobile terminal can receive multiple image of unmanned plane continuous shooting and filter out a highest image storage of definition.In one embodiment, mobile terminal can receive a series of images that unmanned plane takes continuously and store according to default video format.
In one embodiment, mobile terminal can make regular check on the default automatic shooting pattern whether server existing renewal, if exist, the default automatic shooting pattern of down loading updating and the combination manipulation instruction be associated, thus the combination the preset manipulation instruction upgrading local default automatic shooting pattern and be associated.In another embodiment, make regular check on can be replaced detect combination manipulation instruction renewal rewards theory time check.
In one embodiment, mobile terminal can when receiving the default automatic shooting schema update notice of server push, from the default automatic shooting pattern of server down loading updating and the combination manipulation instruction that is associated, thus the combination the preset manipulation instruction upgrading local default automatic shooting pattern and be associated.
In one embodiment, when default automatic shooting pattern is lock onto target automatic shooting pattern, step 406 comprises: combination manipulation instruction is sent to unmanned plane, unmanned plane is made to obtain the target of locking, default flight parameter and default acquisition parameters according to combination manipulation instruction, take in the visual field so that the target of locking is remained on and fly relative to the locus of the target of locking according to flight parameter adjustment unmanned plane, and when flying according to acquisition parameters photographic images.
Particularly, the automatic shooting pattern that lock onto target automatic shooting pattern is the target that locks is reference object.The target of locking can be arbitrarily by the target that image recognition identifies from the shooting visual field, comprises at least one in people, building, vehicle and plant etc.
When default automatic shooting pattern is lock onto target automatic shooting pattern, unmanned plane obtains the target of locking, default flight parameter and default acquisition parameters according to corresponding combination manipulation instruction.And then, the target of locking remains in the shooting visual field by unmanned plane, and fly according to the flight parameter obtained, with the adjustment when flying relative to the locus of the target of locking, thus make unmanned plane along both fixed tracks flight of the target relative to locking, and carry out photographic images when flying according to the acquisition parameters obtained.
Wherein flight parameter comprises the spatial position change parameter of unmanned plane relative to the target of locking, can also comprise flying speed parameter or fuselage rotational parameters.Can determine locus and the heading of unmanned plane according to spatial position change parameter, flying speed parameter can determine speed during unmanned plane during flying, and the rotation of fuselage when fuselage rotational parameters can adjust unmanned plane during flying.
The target of locking remains in the shooting visual field by unmanned plane, specifically can realize according at least one in fuselage rotational parameters, camera lens turn around parameters and Focussing parameter.Wherein fuselage rotational parameters is included in flight parameter, and camera lens turn around parameters and Focussing parameter are included in acquisition parameters.
Unmanned plane is when adjusting the locus of target of unmanned plane relative to locking, the position of unmanned plane in 3 D stereo coordinate system can be adjusted according to unmanned plane relative to the spatial position change parameter of the target of locking, be closed relative to the position sign of target in 3 D stereo coordinate system of locking in the position of unmanned plane in 3 D stereo coordinate system and state spatial position change parameter.
Illustrate, with reference to Fig. 6, unmanned plane 104 can fly according to both fixed tracks 602 of the flight parameter obtained along the target 601 relative to locking, unmanned plane 104 is taken in the visual field the target 602 of locking to be remained at by the adjustment shooting visual field in flight course, and carrys out photographic images according to the acquisition parameters obtained.Video or the synthesising picture of the multi-angle of the target comprising locking can be shot like this.
Unmanned plane can be diversified relative to both fixed tracks of target of locking, can be the track in a plane, than the annular trace at horizontal plane or vertical plane as shown in Figure 6; Both fixed track also can be three-dimensional track, spiral trajectory as shown in Figure 7.Wherein in the figure 7, unmanned plane from ground along by locking target 601 centered by spiral trajectory spiral upwards, until reach preset height or until locking target exceed shooting the visual field.
In one embodiment, unmanned plane according to combination manipulation instruction obtain locking target time, can shooting the visual field in search for target, by the target label searched shooting the visual field preview image in and feed back to mobile terminal.The mark of target that mobile terminal can show preview image and search, and detect the selection instruction of the mark to display, thus using selection instruction target corresponding to the mark selected as locking target and notify unmanned plane, make unmanned plane obtain the target of locking.
Illustrate, mobile terminal can provide the page of target lock-on as shown in Figure 8, thus in the target lock-on page, show the preview image 801 that unmanned plane provides, and in preview image 801, show the mark 802 of the target searched, comprise the mark 802a of portrait target and the mark 802b of building target.User can choose corresponding portrait target by clicking mark 802a.The target lock-on page can also provide rocking bar control 803, and mobile terminal detects the shooting visual field operation of rocking bar control being adjusted to unmanned plane.
In one embodiment, during the target that unmanned plane locks according to combination manipulation instruction acquisition, also can search for target in the shooting visual field, and carry out according to preset strategy the target automatically determining locking from the target searched.Such as unmanned plane can determine the target of locking according to the priority of lock onto target, such as preferential using the target of portrait target as locking; Target maximum for area can also be defined as the target locked.
In above-described embodiment, under lock onto target automatic shooting pattern, mobile terminal can control unmanned plane and obtain image with the target of locking for reference object automatically flies and takes, such user does not need the unmanned plane learning complexity to operate and shooting skill just can shoot the image for specific objective with certain level, easy and simple to handle, improve operation ease.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, step 406 comprises: combination manipulation instruction is sent to unmanned plane, make unmanned plane according to combination manipulation instruction obtain preset flight parameter and preset acquisition parameters, with according to flight parameter control unmanned plane fly along pre-set flight track time according to acquisition parameters photographic images.
Particularly, under latch-up-free target automatic shooting pattern, unmanned plane not with specific target for reference object, but combination manipulation instruction control under fly along pre-set flight track, and in flight course according to preset acquisition parameters carry out photographic images.Such latch-up-free target automatic shooting pattern is particularly suitable for the shooting of landscape image.
Pre-set flight track can be predefined flight path available arbitrarily, and closing and not closed figure, the such as closed figure such as annular or polygon in such as space in arbitrary plane can also be the not closed figure such as arc, fold-line-shaped; Pre-set flight track can also be the such space multistory shape of spiral trajectory.
Illustrate, with reference to Fig. 9, under latch-up-free target automatic shooting pattern, the pre-set flight track flight of the annular that unmanned plane can be gone up along the horizontal plane, unmanned plane has tangent line as point of contact on this pre-set flight track, unmanned plane, being spinned with the direction of the direction of rotation of pre-set flight track along in pre-set flight track flight course by edge, makes the shooting visual field of unmanned plane remain at tangent line side corresponding to point of contact, current unmanned plane place with photographic images.The landscape image of horizontal full angle can be automatically snapped out like this.
In above-described embodiment, under latch-up-free target automatic shooting pattern, mobile terminal can control unmanned plane and automatically flies along pre-set flight track and take acquisition image, such user does not need the unmanned plane learning complexity to operate and shooting skill just can shoot the landscape image with certain level, easy and simple to handle, improve operation ease.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, step 406 comprises: the geographical location information obtaining setting, geographical location information and combination manipulation instruction are sent to unmanned plane, make unmanned plane obtain the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction, and control unmanned plane along the flight of pre-set flight track and according to acquisition parameters photographic images according to flight parameter after flight to geographical location information place.
Particularly, geographical location information refers to the information for indicating geographical position, can represent with longitude and latitude, also can represent with the three-dimensional coordinate in 3 D stereo coordinate system.
The geographical location information of acquisition for mobile terminal setting, specifically can obtain the geographical location information of geographical location information as setting of input.Mobile terminal also can receive the preview image of unmanned plane real-time Transmission and show, and chooses geographical position according to user to the operation in geographical position in preview image, and the geographical location information that acquisition is chosen is as the geographical location information set.Mobile terminal also can show the electronic chart of current unmanned plane region, chooses geographical position according to the operation of user to electronic chart, and the geographical location information that acquisition is chosen is as the geographical location information set.
Unmanned plane can obtain geographical location information and the current residing geographical location information of unmanned plane of setting, just can determine the flight path of unmanned plane, thus the geographical location information place of setting is arrived in flight automatically according to two kinds of geographical location information.Then unmanned plane just can fly along pre-set flight track under combination manipulation instruction controls, and carrys out photographic images according to the acquisition parameters preset in flight course.
Illustrate, mobile terminal can show the input control 503 of the geographical location information of fixed point shooting in the unmanned plane shooting page as shown in Figure 5, user inputs GPS geographical location information in this input control 503, just can set the geographical location information of fixed point shooting, thus control unmanned plane starts automatically to take along pre-set flight track when flying the geographical location information place of setting.
In above-described embodiment, under latch-up-free target automatic shooting pattern, mobile terminal can control unmanned plane to start in locality automatically to fly along pre-set flight track and take to obtain image.Such user does not need to learn complicated unmanned plane operation and shooting skill, and unmanned plane just can be utilized to shoot landscape image in specific place, and operation is convenient.And the fixed point automatic shooting of latch-up-free target can reflect the shooting demand of user more.
As shown in Figure 10, in one embodiment, this unmanned plane filming control method also comprises the step obtaining combination manipulation instruction, specifically comprises the steps:
Step 1002, obtains photographs sample.
Particularly, mobile terminal can obtain photographs captured by professional photographer as photographs sample, and the photographs sample of acquisition mates with default automatic shooting pattern.Photographs sample comprises at least one in picture sample and video sample.
Step 1004, dissolves camera site parameter and acquisition parameters from photographs sample size.
Particularly, can quantize camera site parameter according to the position of object in photographs sample and deformation, wherein camera site parameter refers to the parameter of the camera position representing shooting photographs sample, such as represents the parameter of side shooting, represents that the parameter etc. of shooting is looked up in the parameter of overlooking shooting and expression.
For the building target in photographs sample or portrait target, side shooting, the position overlooking target when taking and look up shooting and deformation have difference, utilize this species diversity just can quantize camera site parameter.For video sample, can the motion of tracking object quantize a series of tool camera site parameter orderly.Error can be there is in the camera site parameter quantizing with the real position of camera.
The photographs sample of professional photographer's shooting directly can carry acquisition parameters, then mobile terminal can directly using the acquisition parameters that the carries acquisition parameters as quantification.If photographs sample does not carry acquisition parameters, then can by analyzing the element of composition photographs sample, thus quantize acquisition parameters according to the combination of element.The photographs sample of such as landscape element generally adopts less f-number and less focal length; The photographs sample of portrait element generally adopts larger f-number and middle parfocal; The photographs sample with substantial light line element generally adopts shutter speed and lower photosensitivity faster; The photographs sample with inadequate light elements generally adopts slower shutter speed and higher photosensitivity; The photographs sample with moving object element generally adopts shutter speed, larger f-number and higher photosensitivity faster; The photographs sample with stationary object element generally adopts slower shutter speed, less f-number and less photosensitivity.The acquisition parameters photographs sample can be quantized by the combination of various element.
Step 1006, goes out the flight parameter of unmanned plane according to camera site calculation of parameter.
Particularly, position residing when camera site parameter can indicate unmanned plane photographic images, and the flight path of unmanned plane is continuous print, here according to the flight parameter that camera site calculation of parameter goes out, can be used for controlling unmanned plane and realize reaching home the complete flight path of position from original position to camera site and after completing shooting.
Step 1008, generates combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantizing.
Particularly, mobile terminal can generate combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantized, a series of tools that the combination manipulation instruction of generation can be used to trigger unmanned plane orderly combinative movement to complete the combination manipulation instruction of automatic shooting.Here the flight parameter calculated as the flight parameter preset, quantizes the acquisition parameters that when unmanned plane performs step 406 as the acquisition parameters preset when unmanned plane performs step 406.
Step 1010, by the combination of generation manipulation instruction and corresponding default automatic shooting pattern association storing.
The default automatic shooting pattern association that the combination of generation manipulation instruction is mated with photographs sample by mobile terminal also stores, and default automatic shooting pattern here comprises lock onto target automatic shooting pattern and latch-up-free target automatic shooting pattern.
In the present embodiment, by analyzing the photographs sample of specialty, can quantize flight parameter and the acquisition parameters of the photographs can shooting specialty.Such novice users first can learn Techniques for Photography and unmanned plane method of operation, unmanned plane just can be utilized to automatically snap out the photographs of specialty, improve operation ease.
As shown in figure 11, in one embodiment, provide a kind of unmanned plane image pickup method, the unmanned plane 104 that the present embodiment is applied in above-mentioned Fig. 1 and Fig. 3 in this way illustrates.The method specifically comprises the steps:
Step 1102, sets up wireless connections with mobile terminal.
Particularly, unmanned plane initiatively or can set up wireless connections with mobile terminal passively.Wireless connections can adopt Wi-Fi to connect or WAPI connects such WLAN (wireless local area network) connection, also can adopt common dedicated radio link.
Step 1104, the combination preset corresponding with default automatic shooting pattern of mobile terminal receive reading and sending manipulates instruction.
Presetting automatic shooting pattern is utilize self-defining parameter to realize the mode of predefined automation shooting action.In one embodiment, preset automatic shooting pattern and comprise lock onto target automatic shooting pattern and latch-up-free target automatic shooting pattern.Wherein lock onto target automatic shooting pattern is the target that locks for shooting object carries out the mode that automatically snaps; Latch-up-free target automatic shooting pattern can be called landscape automatic shooting pattern, be not with specific target for reference object carries out the style of shooting that automatically snaps.
Mobile terminal, after determining default automatic shooting pattern, obtains shooting enabled instruction, according to shooting enabled instruction, reads the combination the preset manipulation instruction preset associated by automatic shooting pattern.Combination manipulation instruction is sent to unmanned plane by mobile terminal, makes unmanned plane perform corresponding a series of actions successively with photographic images according to combination manipulation instruction.
Step 1106, performs corresponding a series of actions with photographic images successively according to combination manipulation instruction.
Particularly, unmanned plane, after the combination manipulation instruction receiving mobile terminal transmission, performs the task that this combination manipulation a series of actions set by instruction completes automatic shooting image.In one embodiment, a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
In one embodiment, unmanned plane during flying action comprises at least one that unmanned plane during flying speed adjustment action, the adjustment action of unmanned plane direction, the action of unmanned plane Height Adjustment, unmanned plane hover action, unmanned plane rotary movement and unmanned plane are leaned to one side in action.
In one embodiment, shooting visual field adjustment action comprises the Pan and Zoom in the shooting visual field, and the shooting visual field refers to the spatial dimension captured by filming apparatus of unmanned plane.Concrete mobile terminal rotates the translation realizing taking the visual field by control unmanned plane and/or filming apparatus, can also realize the convergent-divergent taking the visual field by mobile unmanned plane or adjustment filming apparatus focal length.
In one embodiment, acquisition parameters comprises at least one in photosensitivity, f-number, shutter speed, focal length, auto-focusing mode, Exposure Metering and white balance.Wherein auto-focusing mode comprises the range finding auto-focusing mode of camera lens based on filming apparatus and the range measurement between target that is taken, and based at least one in the focus detection auto-focusing mode of imaging clearly.Exposure Metering comprises at least one in an Exposure Metering, middle body Exposure Metering, central emphasis average metering mode, average metering mode and multi-region Exposure Metering.
Step 1108, is back to mobile terminal by the image of shooting.
Particularly, unmanned plane can by the image of shooting by wireless connections real-time Transmission to mobile terminal, mobile terminal then receives image that unmanned plane returns and under being stored in predetermined directory.In one embodiment, mobile terminal can receive multiple image of unmanned plane continuous shooting and filter out a highest image storage of definition.In one embodiment, mobile terminal can receive a series of images that unmanned plane takes continuously and store according to default video format.
Above-mentioned unmanned plane image pickup method, by communication and communication of mobile terminal, mobile terminal is after determining default automatic shooting pattern, just automatically can read the corresponding combination preset manipulate instruction and send to unmanned plane, unmanned plane just can perform a series of action successively according to combination manipulation instruction and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger the reading combination corresponding with default automatic shooting pattern and manipulate instruction and send to unmanned plane, unmanned plane just can complete shooting task automatically, simplify operation, improve operation ease.
As shown in figure 12, in one embodiment, when default automatic shooting pattern is lock onto target automatic shooting pattern, step 1106 comprises:
Step 1202, obtains the target of locking, default flight parameter and default acquisition parameters according to combination manipulation instruction.
Particularly, the automatic shooting pattern that lock onto target automatic shooting pattern is the target that locks is reference object.The target of locking can be arbitrarily by the target that image recognition identifies from the shooting visual field, comprises at least one in people, building, vehicle and plant etc.
In one embodiment, unmanned plane according to combination manipulation instruction obtain locking target time, can shooting the visual field in search for target, by the target label searched shooting the visual field preview image in and feed back to mobile terminal.The mark of target that mobile terminal can show preview image and search, and detect the selection instruction of the mark to display, thus using selection instruction target corresponding to the mark selected as locking target and notify unmanned plane, make unmanned plane obtain the target of locking.
In one embodiment, during the target that unmanned plane locks according to combination manipulation instruction acquisition, also can search for target in the shooting visual field, and carry out according to preset strategy the target automatically determining locking from the target searched.Such as unmanned plane can determine the target of locking according to the priority of lock onto target, such as preferential using the target of portrait target as locking; Target maximum for area can also be defined as the target locked.
Step 1204, remains on the target of locking and takes in the visual field and fly relative to the locus of the target of locking according to flight parameter adjustment unmanned plane.
Particularly, unmanned plane obtains the target of locking, default flight parameter and default acquisition parameters according to corresponding combination manipulation instruction.And then the target of locking remains in the shooting visual field by unmanned plane, and flies according to the flight parameter obtained, with the adjustment when flying relative to the locus of the target of locking, thus make unmanned plane along both fixed tracks flight of the target relative to locking.
Wherein flight parameter comprises the spatial position change parameter of unmanned plane relative to the target of locking, can also comprise flying speed parameter or fuselage rotational parameters.Can determine locus and the heading of unmanned plane according to spatial position change parameter, flying speed parameter can determine speed during unmanned plane during flying, and the rotation of fuselage when fuselage rotational parameters can adjust unmanned plane during flying.
The target of locking remains in the shooting visual field by unmanned plane, specifically can realize according at least one in fuselage rotational parameters, camera lens turn around parameters and Focussing parameter.Wherein fuselage rotational parameters is included in flight parameter, and camera lens turn around parameters and Focussing parameter are included in acquisition parameters.
Unmanned plane is when adjusting the locus of target of unmanned plane relative to locking, the position of unmanned plane in 3 D stereo coordinate system can be adjusted according to unmanned plane relative to the spatial position change parameter of the target of locking, be closed relative to the position sign of target in 3 D stereo coordinate system of locking in the position of unmanned plane in 3 D stereo coordinate system and state spatial position change parameter.
Step 1206, when flying according to acquisition parameters photographic images.
Particularly, unmanned plane fly time according to acquisition parameters photographic images.
In above-described embodiment, under lock onto target automatic shooting pattern, mobile terminal can control unmanned plane and obtain image with the target of locking for reference object automatically flies and takes, such user does not need the unmanned plane learning complexity to operate and shooting skill just can shoot the image for specific objective with certain level, easy and simple to handle, improve operation ease.
As shown in figure 13, in one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, step 1106 comprises:
Step 1302, obtains the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction.
Step 1304, controls unmanned plane according to flight parameter and flies along pre-set flight track.
Wherein, pre-set flight track can be predefined flight path available arbitrarily, and closing and not closed figure, the such as closed figure such as annular or polygon in such as space in arbitrary plane can also be the not closed figure such as arc, fold-line-shaped; Pre-set flight track can also be the such space multistory shape of spiral trajectory.
Step 1306, when unmanned plane during flying according to acquisition parameters photographic images.
Particularly, under latch-up-free target automatic shooting pattern, unmanned plane not with specific target for reference object, but combination manipulation instruction control under fly along pre-set flight track, and in flight course according to preset acquisition parameters carry out photographic images.Such latch-up-free target automatic shooting pattern is particularly suitable for the shooting of landscape image.
In above-described embodiment, under latch-up-free target automatic shooting pattern, mobile terminal can control unmanned plane and automatically flies along pre-set flight track and take acquisition image, such user does not need the unmanned plane learning complexity to operate and shooting skill just can shoot the landscape image with certain level, easy and simple to handle, improve operation ease.
As shown in figure 14, in one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, step 1106 comprises:
Step 1402, the geographical location information of the setting that mobile terminal receive sends.
Particularly, geographical location information refers to the information for indicating geographical position, can represent with longitude and latitude, also can represent with the three-dimensional coordinate in 3 D stereo coordinate system.
The geographical location information of acquisition for mobile terminal setting, specifically can obtain the geographical location information of geographical location information as setting of input.Mobile terminal also can receive the preview image of unmanned plane real-time Transmission and show, and chooses geographical position according to user to the operation in geographical position in preview image, and the geographical location information that acquisition is chosen is as the geographical location information set.Mobile terminal also can show the electronic chart of current unmanned plane region, chooses geographical position according to the operation of user to electronic chart, and the geographical location information that acquisition is chosen is as the geographical location information set.
Step 1404, obtains the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction.
Step 1406, flies and to fly along pre-set flight track according to flight parameter to geographical location information place.
Step 1408, when unmanned plane during flying according to acquisition parameters photographic images.
Particularly, unmanned plane can obtain geographical location information and the current residing geographical location information of unmanned plane of setting, just can determine the flight path of unmanned plane, thus the geographical location information place of setting is arrived in flight automatically according to two kinds of geographical location information.Then unmanned plane just can fly along pre-set flight track under combination manipulation instruction controls, and carrys out photographic images according to the acquisition parameters preset in flight course.
In above-described embodiment, under latch-up-free target automatic shooting pattern, mobile terminal can control unmanned plane to start in locality automatically to fly along pre-set flight track and take to obtain image.Such user does not need to learn complicated unmanned plane operation and shooting skill, and unmanned plane just can be utilized to shoot landscape image in specific place, and operation is convenient, and the fixed point automatic shooting of latch-up-free target can reflect the shooting demand of user more.
In one embodiment, combination manipulation instruction obtains according to photographs sample analysis, specifically dissolve camera site parameter and acquisition parameters from photographs sample size, the flight parameter of unmanned plane is gone out according to camera site calculation of parameter, generate combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantizing, and then the combination generated is manipulated instruction and corresponding default automatic shooting pattern association.
In the present embodiment, by analyzing the photographs sample of specialty, can quantize flight parameter and the acquisition parameters of the photographs can shooting specialty.Such novice users first can learn Techniques for Photography and unmanned plane method of operation, unmanned plane just can be utilized to automatically snap out the photographs of specialty, improve operation ease.
As shown in figure 15, in one embodiment, provide a kind of unmanned plane imaging control device 1500, there is the functional module of the unmanned plane filming control method realizing each embodiment above-mentioned.Unmanned plane imaging control device 1500 comprises shooting enabled instruction acquisition module 1502, combination manipulation instruction fetch module 1503 and combination manipulation instruction sending module 1504.
Shooting enabled instruction acquisition module 1502, for obtaining shooting enabled instruction.
Combination manipulation instruction fetch module 1503, for according to shooting enabled instruction, reads the combination the preset manipulation instruction preset associated by automatic shooting pattern.
Combination manipulation instruction sending module 1504, for combination manipulation instruction is sent to unmanned plane, makes unmanned plane perform corresponding a series of actions successively with photographic images according to combination manipulation instruction.
As shown in figure 16, in one embodiment, unmanned plane imaging control device 1500 also comprises: mode decision module 1501, for determining default automatic shooting pattern.
As shown in figure 16, in one embodiment, unmanned plane imaging control device 1500 also comprises: image receiver module 1505, for receiving the image of the shooting that unmanned plane returns and storing.
In one embodiment, a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
In one embodiment, when default automatic shooting pattern is lock onto target automatic shooting pattern, combination manipulation instruction sending module 1504 is also for being sent to unmanned plane by combination manipulation instruction, unmanned plane is made to obtain the target of locking, default flight parameter and default acquisition parameters according to combination manipulation instruction, take in the visual field so that the target of locking is remained on and fly relative to the locus of the target of locking according to flight parameter adjustment unmanned plane, and according to acquisition parameters photographic images.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, combination manipulation instruction sending module 1504 is also for being sent to unmanned plane by combination manipulation instruction, make unmanned plane according to combination manipulation instruction obtain preset flight parameter and preset acquisition parameters, with according to flight parameter control unmanned plane fly along pre-set flight track time according to acquisition parameters photographic images.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, combination manipulation instruction sending module 1504 is also for obtaining the geographical location information of setting, geographical location information and combination manipulation instruction are sent to unmanned plane, make unmanned plane obtain the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction, and control unmanned plane along the flight of pre-set flight track and according to acquisition parameters photographic images according to flight parameter after flight to geographical location information place.
As shown in figure 16, in one embodiment, unmanned plane imaging control device 1500 also comprises: sample acquisition module 1506, parameter quantification module 1507, flight parameter computing module 1508, combination manipulation directive generation module 1509 and combination manipulation instruction relating module 1510.
Sample acquisition module 1506, for obtaining photographs sample.
Parameter quantification module 1507, for dissolving camera site parameter and acquisition parameters from photographs sample size.
Flight parameter computing module 1508, for going out the flight parameter of unmanned plane according to camera site calculation of parameter.
Combination manipulation directive generation module 1509, for generating combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantizing.
Combination manipulation instruction relating module 1510, for storing the combination of generation manipulation instruction and corresponding default automatic shooting pattern association.
Above-mentioned unmanned plane imaging control device 1500, after shooting enabled instruction being detected, just automatically can read the combination preset manipulation instruction that default automatic shooting pattern is associated and send to unmanned plane, unmanned plane just can manipulate instruction according to combination and perform a series of action successively and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger shooting enabled instruction and just can control unmanned plane and automatically complete shooting task, simplify operation, improve operation ease.
As shown in figure 17, in one embodiment, a kind of unmanned plane 1700, comprises processor 1701, also comprise be connected with processor 1701 communicator 1702, fly drive unit 1703 and the filming apparatus 1704 for photographic images.
Communicator 1702 is for setting up wireless connections with mobile terminal; The combination preset corresponding with default automatic shooting pattern of mobile terminal receive reading and sending manipulates instruction.
Processor 1701 is for manipulating instruction to perform a series of actions successively with photographic images by control flight drive unit 1703 and filming apparatus 1704 according to combination.
Communicator 1702 is also for being back to mobile terminal by the image of shooting.
In one embodiment, a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
In one embodiment, when default automatic shooting pattern is lock onto target automatic shooting pattern, processor 1701 is also for obtaining the target of locking, default flight parameter and default acquisition parameters according to combination manipulation instruction; The target of locking is remained in the shooting visual field, and adjust unmanned plane fly relative to the locus of target of locking according to the flight parameter drive unit 1703 that controls to fly; And control filming apparatus 1704 when unmanned plane during flying according to acquisition parameters photographic images.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, processor 1701 is also for obtaining the flight parameter preset and the acquisition parameters of presetting according to combination manipulation instruction; Control flight drive unit 1703 according to flight parameter to control unmanned plane is flown according to desired guiding trajectory, and control filming apparatus 1704 when unmanned plane during flying according to acquisition parameters photographic images.
In one embodiment, when default automatic shooting pattern is latch-up-free target automatic shooting pattern, communicator 1702 is also for the geographical location information of the setting of mobile terminal receive transmission; Processor 1701 is also for obtaining the pre-acquisition parameters established flight parameter and preset according to combination manipulation instruction; Control flight drive unit 1703 to fly along pre-set flight track according to flight parameter again after making unmanned plane during flying to geographical location information place, and control filming apparatus 1704 when unmanned plane during flying according to acquisition parameters photographic images.
Above-mentioned unmanned plane 1700, by communication and communication of mobile terminal, mobile terminal is after determining default automatic shooting pattern, just automatically can read the corresponding combination preset manipulate instruction and send to unmanned plane, unmanned plane just can perform a series of action successively according to combination manipulation instruction and carry out photographic images.Can not require that user directly manipulates unmanned plane to fly and takes like this, only need select default automatic shooting pattern and trigger the reading combination corresponding with default automatic shooting pattern and manipulate instruction and send to unmanned plane, unmanned plane just can complete shooting task automatically, simplify operation, improve operation ease.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, described program can be stored in a computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, described storage medium can be the non-volatile memory mediums such as magnetic disc, CD, read-only store-memory body (Read-OnlyMemory, ROM), or random store-memory body (RandomAccessMemory, RAM) etc.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification is recorded.
The above embodiment only have expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.

Claims (22)

1. a unmanned plane filming control method, described method comprises:
Obtain shooting enabled instruction;
According to described shooting enabled instruction, read the combination manipulation instruction preset associated by automatic shooting pattern;
Described combination manipulation instruction is sent to unmanned plane, makes described unmanned plane perform corresponding a series of actions successively with photographic images according to described combination manipulation instruction.
2. method according to claim 1, is characterized in that, described a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
3. method according to claim 1, it is characterized in that, when described default automatic shooting pattern is lock onto target automatic shooting pattern, described described combination manipulation instruction is sent to unmanned plane, make described unmanned plane perform corresponding a series of actions successively with photographic images according to described combination manipulation instruction, comprising:
Described combination manipulation instruction is sent to unmanned plane, described unmanned plane is made to obtain the target of locking, default flight parameter and default acquisition parameters according to described combination manipulation instruction, fly relative to the locus of the target of locking the target of locking is remained on take in the visual field and adjust described unmanned plane according to described flight parameter, and when flying according to described acquisition parameters photographic images.
4. method according to claim 1, it is characterized in that, when described default automatic shooting pattern is latch-up-free target automatic shooting pattern, described described combination manipulation instruction is sent to unmanned plane, make described unmanned plane perform corresponding a series of actions successively with photographic images according to described combination manipulation instruction, comprising:
Described combination manipulation instruction is sent to unmanned plane, described unmanned plane is made to obtain the flight parameter preset and the acquisition parameters of presetting according to described combination manipulation instruction, with controlling when unmanned plane flies along pre-set flight track according to described acquisition parameters photographic images according to described flight parameter.
5. method according to claim 1, it is characterized in that, when described default automatic shooting pattern is latch-up-free target automatic shooting pattern, described described combination manipulation instruction is sent to unmanned plane, make described unmanned plane perform corresponding a series of actions successively with photographic images according to described combination manipulation instruction, comprising:
Obtain the geographical location information of setting, described geographical location information and described combination manipulation instruction are sent to unmanned plane, make described unmanned plane obtain the flight parameter preset and the acquisition parameters of presetting according to described combination manipulation instruction, and control unmanned plane along the flight of pre-set flight track and according to described acquisition parameters photographic images according to described flight parameter after flight to described geographical location information place.
6. method according to claim 1, is characterized in that, described method also comprises:
Obtain photographs sample;
Camera site parameter and acquisition parameters is dissolved from described photographs sample size;
The flight parameter of unmanned plane is gone out according to described camera site calculation of parameter;
Combination manipulation instruction is generated according to the flight parameter calculated and the acquisition parameters quantizing;
By the combination of generation manipulation instruction and corresponding default automatic shooting pattern association storing.
7. a unmanned plane image pickup method, described method comprises:
Wireless connections are set up with mobile terminal;
The combination preset corresponding with default automatic shooting pattern receiving described mobile terminal reading and sending manipulates instruction;
Corresponding a series of actions is performed successively with photographic images according to described combination manipulation instruction;
The image of shooting is back to described mobile terminal.
8. method according to claim 7, is characterized in that, described a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
9. method according to claim 7, is characterized in that, when described default automatic shooting pattern is lock onto target automatic shooting pattern, describedly manipulates instruction according to described combination and performs corresponding a series of actions successively with photographic images, comprising:
The target of locking, default flight parameter and default acquisition parameters is obtained according to described combination manipulation instruction;
The target of locking is remained on take in the visual field and adjust described unmanned plane according to described flight parameter and fly relative to the locus of the target of locking;
When flying according to described acquisition parameters photographic images.
10. method according to claim 7, is characterized in that, when described default automatic shooting pattern is latch-up-free target automatic shooting pattern, describedly manipulates instruction according to described combination and performs corresponding a series of actions successively with photographic images, comprising:
The flight parameter preset and the acquisition parameters of presetting is obtained according to described combination manipulation instruction;
Control unmanned plane according to described flight parameter to fly along pre-set flight track;
When described unmanned plane during flying according to described acquisition parameters photographic images.
11. methods according to claim 7, is characterized in that, when described default automatic shooting pattern is latch-up-free target automatic shooting pattern, describedly manipulates instruction according to described combination and perform corresponding a series of actions successively with photographic images, comprising:
Receive the geographical location information of the setting that described mobile terminal sends;
The flight parameter preset and the acquisition parameters of presetting is obtained according to described combination manipulation instruction;
Fly along pre-set flight track according to described flight parameter after flight to described geographical location information place;
When described unmanned plane during flying according to described acquisition parameters photographic images.
12. 1 kinds of unmanned plane imaging control devices, is characterized in that, described device comprises:
Shooting enabled instruction acquisition module, for obtaining shooting enabled instruction;
Combination manipulation instruction fetch module, for according to described shooting enabled instruction, reads the combination the preset manipulation instruction preset associated by automatic shooting pattern;
Combination manipulation instruction sending module, for described combination manipulation instruction is sent to unmanned plane, makes described unmanned plane perform corresponding a series of actions successively with photographic images according to described combination manipulation instruction.
13. devices according to claim 12, is characterized in that, described a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
14. devices according to claim 12, it is characterized in that, when described default automatic shooting pattern is lock onto target automatic shooting pattern, described combination manipulation instruction sending module is also for being sent to unmanned plane by described combination manipulation instruction, described unmanned plane is made to obtain the target of locking according to described combination manipulation instruction, the flight parameter preset and the acquisition parameters preset, fly relative to the locus of the target of locking the target of locking is remained on take in the visual field and adjust described unmanned plane according to described flight parameter, and according to described acquisition parameters photographic images.
15. devices according to claim 12, it is characterized in that, when described default automatic shooting pattern is latch-up-free target automatic shooting pattern, described combination manipulation instruction sending module is also for being sent to unmanned plane by described combination manipulation instruction, described unmanned plane is made to obtain the flight parameter preset and the acquisition parameters of presetting according to described combination manipulation instruction, with controlling when unmanned plane flies along pre-set flight track according to described acquisition parameters photographic images according to described flight parameter.
16. devices according to claim 12, it is characterized in that, when described default automatic shooting pattern is latch-up-free target automatic shooting pattern, described combination manipulation instruction sending module is also for obtaining the geographical location information of setting, described geographical location information and described combination manipulation instruction are sent to unmanned plane, described unmanned plane is made to obtain the flight parameter preset and the acquisition parameters of presetting according to described combination manipulation instruction, and unmanned plane is controlled along the flight of pre-set flight track and according to described acquisition parameters photographic images according to described flight parameter after flight to described geographical location information place.
17. devices according to claim 12, is characterized in that, described device also comprises:
Sample acquisition module, for obtaining photographs sample;
Parameter quantification module, for dissolving camera site parameter and acquisition parameters from described photographs sample size;
Flight parameter computing module, for going out the flight parameter of unmanned plane according to described camera site calculation of parameter;
Combination manipulation directive generation module, for generating combination manipulation instruction according to the flight parameter calculated and the acquisition parameters quantizing;
Combination manipulation instruction relating module, for storing the combination of generation manipulation instruction and corresponding default automatic shooting pattern association.
18. 1 kinds of unmanned planes, is characterized in that, comprise communicator, processor, flight drive unit and the filming apparatus for photographic images;
Described communicator is used for setting up wireless connections with mobile terminal; The combination preset corresponding with default automatic shooting pattern receiving described mobile terminal reading and sending manipulates instruction;
Described processor is used for according to described combination manipulation instruction to perform a series of actions successively with photographic images by control flight drive unit and filming apparatus;
Described communicator is also for being back to described mobile terminal by the image of shooting.
19. unmanned planes according to claim 18, is characterized in that, described a series of actions comprises at least one in unmanned plane during flying action, the adjustment action of the shooting visual field and acquisition parameters adjustment action.
20. unmanned planes according to claim 18, it is characterized in that, when described default automatic shooting pattern is lock onto target automatic shooting pattern, described processor is also for obtaining the target of locking, default flight parameter and default acquisition parameters according to described combination manipulation instruction; The target of locking is remained in the shooting visual field, and adjust described unmanned plane fly relative to the locus of target of locking according to the described flight parameter drive unit that controls to fly; And control described filming apparatus when described unmanned plane during flying according to described acquisition parameters photographic images.
21. unmanned planes according to claim 18, it is characterized in that, when described default automatic shooting pattern is latch-up-free target automatic shooting pattern, described processor is also for obtaining the flight parameter preset and the acquisition parameters of presetting according to described combination manipulation instruction; Control described flight drive unit according to described flight parameter to control to make described unmanned plane fly according to desired guiding trajectory, and control described filming apparatus when described unmanned plane during flying according to described acquisition parameters photographic images.
22. unmanned planes according to claim 18, is characterized in that, when described default automatic shooting pattern is latch-up-free target automatic shooting pattern, described communicator is also for receiving the geographical location information of the setting that described mobile terminal sends; Described processor is also for obtaining the pre-acquisition parameters established flight parameter and preset according to described combination manipulation instruction; Control flight drive unit to fly along pre-set flight track according to described flight parameter again after making unmanned plane during flying to described geographical location information place, and control described filming apparatus when described unmanned plane during flying according to described acquisition parameters photographic images.
CN201510741059.0A 2015-11-04 2015-11-04 Unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane Active CN105391939B (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201510741059.0A CN105391939B (en) 2015-11-04 2015-11-04 Unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane
PCT/CN2016/082610 WO2017075964A1 (en) 2015-11-04 2016-05-19 Unmanned aerial vehicle photographing control method, unmanned aerial vehicle photographing method, mobile terminal and unmanned aerial vehicle
US15/957,749 US10587790B2 (en) 2015-11-04 2018-04-19 Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
US15/959,032 US10623621B2 (en) 2015-11-04 2018-04-20 Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
US15/959,007 US10674062B2 (en) 2015-11-04 2018-04-20 Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
US15/959,014 US10863073B2 (en) 2015-11-04 2018-04-20 Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510741059.0A CN105391939B (en) 2015-11-04 2015-11-04 Unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane

Publications (2)

Publication Number Publication Date
CN105391939A true CN105391939A (en) 2016-03-09
CN105391939B CN105391939B (en) 2017-09-29

Family

ID=55423723

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510741059.0A Active CN105391939B (en) 2015-11-04 2015-11-04 Unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane

Country Status (2)

Country Link
CN (1) CN105391939B (en)
WO (1) WO2017075964A1 (en)

Cited By (72)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105676862A (en) * 2016-04-01 2016-06-15 成都云图秀色科技有限公司 Flight device control system and control method
CN105676866A (en) * 2016-04-20 2016-06-15 北京博瑞爱飞科技发展有限公司 Unmanned aerial vehicle flight control method and device
CN105700543A (en) * 2016-04-01 2016-06-22 成都云图秀色科技有限公司 Flight device control system, control method and aerial photographing UAV (Unmanned Aerial Vehicle)
CN105872372A (en) * 2016-03-31 2016-08-17 纳恩博（北京）科技有限公司 Image acquisition method and electronic device
CN105867362A (en) * 2016-04-20 2016-08-17 北京博瑞爱飞科技发展有限公司 Terminal equipment and control system of unmanned aerial vehicle
CN106027896A (en) * 2016-06-20 2016-10-12 零度智控（北京）智能科技有限公司 Video photographing control device and method, and unmanned aerial vehicle
CN106155309A (en) * 2016-06-27 2016-11-23 北京博瑞爱飞科技发展有限公司 Remote control thereof, Apparatus and system
CN106227224A (en) * 2016-07-28 2016-12-14 零度智控（北京）智能科技有限公司 Flight control method, device and unmanned plane
CN106295610A (en) * 2016-08-22 2017-01-04 歌尔股份有限公司 The photographic method of the smart machine being equipped on unmanned plane The Cloud Terrace and system
CN106394861A (en) * 2016-09-12 2017-02-15 成都创慧科达科技有限公司 Portable and foldable photographing unmanned aerial vehicle and control method thereof
CN106550193A (en) * 2016-12-09 2017-03-29 联想(北京)有限公司 A kind of method and device of taking photo by plane of image, electronic equipment
CN106547280A (en) * 2016-11-09 2017-03-29 红河恒翔农业科技有限公司 A kind of method that unmanned plane is sprayed insecticide
CN106598061A (en) * 2016-07-15 2017-04-26 深圳曼塔智能科技有限公司 Aircraft flight control method and apparatus
WO2017075964A1 (en) * 2015-11-04 2017-05-11 腾讯科技（深圳）有限公司 Unmanned aerial vehicle photographing control method, unmanned aerial vehicle photographing method, mobile terminal and unmanned aerial vehicle
CN106791404A (en) * 2016-12-26 2017-05-31 上海青橙实业有限公司 Unmanned plane and its photographic method
CN106851096A (en) * 2017-01-17 2017-06-13 北京品驰医疗设备有限公司 A kind of multimedia data recorder system and method based on unmanned plane auto heterodyne platform
WO2017117887A1 (en) * 2016-01-06 2017-07-13 北京臻迪机器人有限公司 Unmanned aerial vehicle control method and unmanned aerial vehicle control system
CN107079102A (en) * 2016-09-26 2017-08-18 深圳市大疆创新科技有限公司 Focusing method, camera device and unmanned plane
CN107197136A (en) * 2016-06-20 2017-09-22 普宙飞行器科技（深圳）有限公司 Realize the beautification of unmanned aerial vehicle onboard camera image, the control method of video clipping
CN107305374A (en) * 2016-04-22 2017-10-31 优利科技有限公司 Unmanned plane system
CN107463180A (en) * 2016-06-02 2017-12-12 三星电子株式会社 Electronic equipment and its operating method
CN107544481A (en) * 2016-06-27 2018-01-05 杭州海康机器人技术有限公司 A kind of unmanned plane makes an inspection tour control method, apparatus and system
CN107765709A (en) * 2016-08-22 2018-03-06 广州亿航智能技术有限公司 The method and device of self-timer is realized based on aircraft
WO2018040785A1 (en) * 2016-08-31 2018-03-08 歌尔股份有限公司 Method and device for controlling photography of unmanned aerial vehicle, and wearable device
WO2018072063A1 (en) * 2016-10-17 2018-04-26 深圳市大疆创新科技有限公司 Method and apparatus for controlling flight of aircraft, and aircraft
WO2018076147A1 (en) * 2016-10-24 2018-05-03 SZ DJI Technology Co., Ltd. Systems and methods for controlling an image captured by an imaging device
WO2018098784A1 (en) * 2016-12-01 2018-06-07 深圳市大疆创新科技有限公司 Unmanned aerial vehicle controlling method, device, equipment and unmanned aerial vehicle controlling system
CN108153317A (en) * 2018-01-22 2018-06-12 五邑大学 A kind of automatic cruising canoe with barrier avoiding function
CN108153325A (en) * 2017-11-13 2018-06-12 上海顺砾智能科技有限公司 The control method and device of Intelligent unattended machine
CN108415326A (en) * 2018-03-01 2018-08-17 四川智慧鹰航空科技有限公司 A kind of miniature drone possessing realtime graphic control system
CN108496349A (en) * 2017-04-22 2018-09-04 深圳市大疆灵眸科技有限公司 Shooting control method and device
CN108513641A (en) * 2017-05-08 2018-09-07 深圳市大疆创新科技有限公司 Unmanned plane filming control method, unmanned plane image pickup method, control terminal, unmanned aerial vehicle (UAV) control device and unmanned plane
CN108513642A (en) * 2017-07-31 2018-09-07 深圳市大疆创新科技有限公司 A kind of image processing method, unmanned plane, ground control cabinet and its image processing system
CN108521862A (en) * 2017-09-22 2018-09-11 深圳市大疆创新科技有限公司 Method and apparatus for track up
CN108521812A (en) * 2017-05-19 2018-09-11 深圳市大疆创新科技有限公司 Control method, unmanned plane and the machine readable storage medium of unmanned plane
WO2018191840A1 (en) * 2017-04-17 2018-10-25 英华达（上海）科技有限公司 Interactive photographing system and method for unmanned aerial vehicle
CN108833774A (en) * 2018-06-01 2018-11-16 深圳臻迪信息技术有限公司 Camera control method, device and UAV system
CN108933899A (en) * 2018-08-22 2018-12-04 Oppo广东移动通信有限公司 Panorama shooting method, device, terminal and computer readable storage medium
CN108965689A (en) * 2017-05-27 2018-12-07 昊翔电能运动科技(昆山)有限公司 Unmanned plane image pickup method and device, unmanned plane and ground control unit
WO2018224933A1 (en) * 2017-06-05 2018-12-13 Hangzhou Zero Zero Technology Co., Ltd. System and method for providing easy-to-use release and auto-positioning for drone applications
CN109076161A (en) * 2017-12-29 2018-12-21 深圳市大疆创新科技有限公司 A kind of image processing method, mobile platform, control equipment and system
CN109379540A (en) * 2018-12-24 2019-02-22 西安天茂数码科技有限公司 A kind of inclined camera of Parameter adjustable
CN109416535A (en) * 2016-05-25 2019-03-01 深圳市大疆创新科技有限公司 Aircraft navigation technology based on image recognition
CN109479088A (en) * 2017-06-02 2019-03-15 深圳市大疆创新科技有限公司 The system and method for carrying out multiple target tracking based on depth machine learning and laser radar and focusing automatically
CN109479090A (en) * 2017-12-22 2019-03-15 深圳市大疆创新科技有限公司 Information processing method, unmanned plane, remote control equipment and non-volatile memory medium
WO2019120082A1 (en) * 2017-12-19 2019-06-27 深圳市大疆创新科技有限公司 Control device, system, control method, and program
WO2019127111A1 (en) * 2017-12-27 2019-07-04 深圳市大疆创新科技有限公司 Photographing system, carrier device, photographing device and control method therefor
CN109995988A (en) * 2017-12-29 2019-07-09 深圳市优必选科技有限公司 Control method and device of photographing robot
CN109995991A (en) * 2017-12-29 2019-07-09 深圳市优必选科技有限公司 Shooting method, robot and mobile terminal
CN110035220A (en) * 2018-09-11 2019-07-19 真善美创新科技有限公司 Apparatus control system and method for photography
CN110035219A (en) * 2018-09-11 2019-07-19 真善美创新科技有限公司 Apparatus control method and device for photography
CN110083169A (en) * 2019-04-04 2019-08-02 上海歌尔泰克机器人有限公司 Unmanned aerial vehicle control system, method, apparatus and electronic equipment
CN110119154A (en) * 2016-11-30 2019-08-13 深圳市大疆创新科技有限公司 Control method, device and the equipment and aircraft of aircraft
CN110337621A (en) * 2018-04-09 2019-10-15 深圳市大疆创新科技有限公司 Motion profile determination, time-lapse photography method, equipment and machine readable storage medium
CN110545376A (en) * 2019-08-29 2019-12-06 上海商汤智能科技有限公司 Communication method and apparatus, electronic device, and storage medium
CN110709797A (en) * 2018-06-29 2020-01-17 深圳市大疆创新科技有限公司 Movable platform control method and device and movable platform
CN110712720A (en) * 2019-10-16 2020-01-21 南通中远海运川崎船舶工程有限公司 System for measuring draught of ship and using method thereof
US10587790B2 (en) 2015-11-04 2020-03-10 Tencent Technology (Shenzhen) Company Limited Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
CN110998693A (en) * 2017-08-11 2020-04-10 索尼公司 Apparatus and method in wireless communication system, computer readable storage medium
WO2020087346A1 (en) * 2018-10-31 2020-05-07 深圳市大疆创新科技有限公司 Photographing control method, movable platform, control device, and storage medium
WO2020108284A1 (en) * 2018-11-28 2020-06-04 深圳市大疆创新科技有限公司 Determining device, moving object, determining method, and program
WO2020147085A1 (en) * 2019-01-17 2020-07-23 深圳市大疆创新科技有限公司 Photographing control method and movable platform
WO2020211813A1 (en) * 2019-04-19 2020-10-22 深圳市道通智能航空技术有限公司 Vertical surface orbiting flight control method and device, and terminal and storage medium
CN112116762A (en) * 2020-10-27 2020-12-22 广东寻米科技有限公司 Unmanned aerial vehicle sharing system
WO2021012081A1 (en) * 2019-07-19 2021-01-28 深圳市大疆创新科技有限公司 Gimbal control method and device, and computer readable storage medium
CN112335224A (en) * 2019-08-30 2021-02-05 深圳市大疆创新科技有限公司 Image acquisition method and device for movable platform and storage medium
CN112585945A (en) * 2020-02-26 2021-03-30 深圳市大疆创新科技有限公司 Focusing method, device and equipment
CN112672133A (en) * 2017-12-22 2021-04-16 深圳市大疆创新科技有限公司 Three-dimensional imaging method and device based on unmanned aerial vehicle and computer readable storage medium
CN112771465A (en) * 2020-04-27 2021-05-07 深圳市大疆创新科技有限公司 Control method, system and device of unmanned aerial vehicle and storage medium
CN113885553A (en) * 2021-09-07 2022-01-04 四川一电航空技术有限公司 Unmanned aerial vehicle shooting method and device, unmanned aerial vehicle and storage medium
CN114598729A (en) * 2022-03-04 2022-06-07 上海节卡机器人科技有限公司 Robot remote real-time control method, system, electronic device and storage medium
US11778304B2 (en) 2019-05-31 2023-10-03 Vivo Mobile Communication Co., Ltd. Shooting method and terminal

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108780322B (en) * 2017-05-24 2021-06-15 深圳市大疆创新科技有限公司 Method and device for controlling unmanned aerial vehicle and unmanned aerial vehicle system
CN110099206B (en) * 2018-01-29 2021-06-29 深圳市优必选科技有限公司 Robot-based photographing method, robot and computer-readable storage medium
CN110262560A (en) * 2019-07-19 2019-09-20 武汉理工大学 Waste system is put in a kind of supervision towards mechanized state farm
CN110347182A (en) * 2019-07-23 2019-10-18 广汽蔚来新能源汽车科技有限公司 Auxiliary driving device, system, unmanned plane and vehicle
CN112783200A (en) * 2020-12-25 2021-05-11 中国航空工业集团公司沈阳飞机设计研究所 Unmanned aerial vehicle control method
CN115200554B (en) * 2022-07-14 2023-06-27 深圳市水务工程检测有限公司 Unmanned aerial vehicle photogrammetry supervision system and method based on picture identification technology
CN116878468B (en) * 2023-09-06 2023-12-19 山东省国土测绘院 Information acquisition system for mapping

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101592955A (en) * 2009-04-08 2009-12-02 孙卓 A kind of full-automatic unmanned aerial vehicle control system
CN104527978A (en) * 2014-12-31 2015-04-22 深圳雷柏科技股份有限公司 Followed shooting type aircraft and followed shooting method thereof
CN104796611A (en) * 2015-04-20 2015-07-22 零度智控（北京）智能科技有限公司 Method and system for remotely controlling unmanned aerial vehicle to implement intelligent flight shooting through mobile terminal
CN104828256A (en) * 2015-04-21 2015-08-12 杨珊珊 Intelligent multi-mode flying shooting equipment and flying control method thereof
CN104880177A (en) * 2015-06-23 2015-09-02 赵国梁 Multi-angle unmanned aerial survey system

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8718838B2 (en) * 2007-12-14 2014-05-06 The Boeing Company System and methods for autonomous tracking and surveillance
CN104808680A (en) * 2015-03-02 2015-07-29 杨珊珊 Multi-rotor flight shooting device
CN104917966B (en) * 2015-05-28 2018-10-26 小米科技有限责任公司 Flight image pickup method and device
CN105391939B (en) * 2015-11-04 2017-09-29 腾讯科技（深圳）有限公司 Unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101592955A (en) * 2009-04-08 2009-12-02 孙卓 A kind of full-automatic unmanned aerial vehicle control system
CN104527978A (en) * 2014-12-31 2015-04-22 深圳雷柏科技股份有限公司 Followed shooting type aircraft and followed shooting method thereof
CN104796611A (en) * 2015-04-20 2015-07-22 零度智控（北京）智能科技有限公司 Method and system for remotely controlling unmanned aerial vehicle to implement intelligent flight shooting through mobile terminal
CN104828256A (en) * 2015-04-21 2015-08-12 杨珊珊 Intelligent multi-mode flying shooting equipment and flying control method thereof
CN104880177A (en) * 2015-06-23 2015-09-02 赵国梁 Multi-angle unmanned aerial survey system

Cited By (121)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10587790B2 (en) 2015-11-04 2020-03-10 Tencent Technology (Shenzhen) Company Limited Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
US10623621B2 (en) 2015-11-04 2020-04-14 Tencent Technology (Shenzhen) Company Limited Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
WO2017075964A1 (en) * 2015-11-04 2017-05-11 腾讯科技（深圳）有限公司 Unmanned aerial vehicle photographing control method, unmanned aerial vehicle photographing method, mobile terminal and unmanned aerial vehicle
US10674062B2 (en) 2015-11-04 2020-06-02 Tencent Technology (Shenzhen) Company Limited Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
US10863073B2 (en) 2015-11-04 2020-12-08 Tencent Technology (Shenzhen) Company Limited Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
WO2017117887A1 (en) * 2016-01-06 2017-07-13 北京臻迪机器人有限公司 Unmanned aerial vehicle control method and unmanned aerial vehicle control system
CN105872372A (en) * 2016-03-31 2016-08-17 纳恩博（北京）科技有限公司 Image acquisition method and electronic device
CN105676862B (en) * 2016-04-01 2019-04-23 成都第二记忆科技有限公司 A kind of flight instruments control system and control method
CN105700543A (en) * 2016-04-01 2016-06-22 成都云图秀色科技有限公司 Flight device control system, control method and aerial photographing UAV (Unmanned Aerial Vehicle)
CN105676862A (en) * 2016-04-01 2016-06-15 成都云图秀色科技有限公司 Flight device control system and control method
CN105700543B (en) * 2016-04-01 2019-06-21 成都第二记忆科技有限公司 A kind of flight instruments control system, control method and unmanned plane of taking photo by plane
CN105867362A (en) * 2016-04-20 2016-08-17 北京博瑞爱飞科技发展有限公司 Terminal equipment and control system of unmanned aerial vehicle
CN105676866A (en) * 2016-04-20 2016-06-15 北京博瑞爱飞科技发展有限公司 Unmanned aerial vehicle flight control method and device
CN107305374A (en) * 2016-04-22 2017-10-31 优利科技有限公司 Unmanned plane system
CN109416535A (en) * 2016-05-25 2019-03-01 深圳市大疆创新科技有限公司 Aircraft navigation technology based on image recognition
US11513511B2 (en) 2016-05-25 2022-11-29 SZ DJI Technology Co., Ltd. Techniques for image recognition-based aerial vehicle navigation
US10635902B2 (en) 2016-06-02 2020-04-28 Samsung Electronics Co., Ltd. Electronic apparatus and operating method thereof
CN107463180A (en) * 2016-06-02 2017-12-12 三星电子株式会社 Electronic equipment and its operating method
CN107197136B (en) * 2016-06-20 2019-04-09 普宙飞行器科技（深圳）有限公司 Realize the control method of the beautification of unmanned aerial vehicle onboard camera image, video clipping
CN106027896A (en) * 2016-06-20 2016-10-12 零度智控（北京）智能科技有限公司 Video photographing control device and method, and unmanned aerial vehicle
CN107197136A (en) * 2016-06-20 2017-09-22 普宙飞行器科技（深圳）有限公司 Realize the beautification of unmanned aerial vehicle onboard camera image, the control method of video clipping
CN106155309A (en) * 2016-06-27 2016-11-23 北京博瑞爱飞科技发展有限公司 Remote control thereof, Apparatus and system
CN107544481A (en) * 2016-06-27 2018-01-05 杭州海康机器人技术有限公司 A kind of unmanned plane makes an inspection tour control method, apparatus and system
CN106598061A (en) * 2016-07-15 2017-04-26 深圳曼塔智能科技有限公司 Aircraft flight control method and apparatus
CN106227224A (en) * 2016-07-28 2016-12-14 零度智控（北京）智能科技有限公司 Flight control method, device and unmanned plane
WO2018036040A1 (en) * 2016-08-22 2018-03-01 歌尔股份有限公司 Photographing method and system of smart device mounted on cradle head of unmanned aerial vehicle
CN107765709A (en) * 2016-08-22 2018-03-06 广州亿航智能技术有限公司 The method and device of self-timer is realized based on aircraft
CN106295610A (en) * 2016-08-22 2017-01-04 歌尔股份有限公司 The photographic method of the smart machine being equipped on unmanned plane The Cloud Terrace and system
WO2018040785A1 (en) * 2016-08-31 2018-03-08 歌尔股份有限公司 Method and device for controlling photography of unmanned aerial vehicle, and wearable device
US10674090B2 (en) 2016-08-31 2020-06-02 Goertek Inc. Method and device for controlling photography of unmanned aerialvehicle, andwearable device
CN106394861A (en) * 2016-09-12 2017-02-15 成都创慧科达科技有限公司 Portable and foldable photographing unmanned aerial vehicle and control method thereof
US10698295B2 (en) 2016-09-26 2020-06-30 SZ DJI Technology Co., Ltd. Focusing method, imaging device, and unmanned aerial vehicle
CN107079102A (en) * 2016-09-26 2017-08-18 深圳市大疆创新科技有限公司 Focusing method, camera device and unmanned plane
CN107079102B (en) * 2016-09-26 2019-02-22 深圳市大疆创新科技有限公司 Focusing method, photographic device and unmanned plane
US11181809B2 (en) 2016-09-26 2021-11-23 SZ DJI Technology Co., Ltd. Focusing method, imaging device, and unmanned aerial vehicle
WO2018053846A1 (en) * 2016-09-26 2018-03-29 深圳市大疆创新科技有限公司 Focusing method, camera device, and unmanned aerial vehicle
CN108351650B (en) * 2016-10-17 2021-01-12 深圳市大疆创新科技有限公司 Flight control method and device for aircraft and aircraft
CN108351650A (en) * 2016-10-17 2018-07-31 深圳市大疆创新科技有限公司 A kind of flight control method, device and aircraft to aircraft
WO2018072063A1 (en) * 2016-10-17 2018-04-26 深圳市大疆创新科技有限公司 Method and apparatus for controlling flight of aircraft, and aircraft
WO2018076147A1 (en) * 2016-10-24 2018-05-03 SZ DJI Technology Co., Ltd. Systems and methods for controlling an image captured by an imaging device
US11632497B2 (en) 2016-10-24 2023-04-18 SZ DJI Technology Co., Ltd. Systems and methods for controlling an image captured by an imaging device
CN109791405A (en) * 2016-10-24 2019-05-21 深圳市大疆创新科技有限公司 System and method for controlling the image captured by imaging device
US10897567B2 (en) 2016-10-24 2021-01-19 SZ DJI Technology Co., Ltd. Systems and methods for controlling an image captured by an imaging device
CN106547280A (en) * 2016-11-09 2017-03-29 红河恒翔农业科技有限公司 A kind of method that unmanned plane is sprayed insecticide
US11188101B2 (en) 2016-11-30 2021-11-30 SZ DJI Technology Co., Ltd. Method for controlling aircraft, device, and aircraft
CN110119154A (en) * 2016-11-30 2019-08-13 深圳市大疆创新科技有限公司 Control method, device and the equipment and aircraft of aircraft
WO2018098784A1 (en) * 2016-12-01 2018-06-07 深圳市大疆创新科技有限公司 Unmanned aerial vehicle controlling method, device, equipment and unmanned aerial vehicle controlling system
CN106550193A (en) * 2016-12-09 2017-03-29 联想(北京)有限公司 A kind of method and device of taking photo by plane of image, electronic equipment
CN106791404A (en) * 2016-12-26 2017-05-31 上海青橙实业有限公司 Unmanned plane and its photographic method
CN106851096A (en) * 2017-01-17 2017-06-13 北京品驰医疗设备有限公司 A kind of multimedia data recorder system and method based on unmanned plane auto heterodyne platform
CN109121434B (en) * 2017-04-17 2021-07-27 英华达（上海）科技有限公司 Unmanned aerial vehicle interactive shooting system and method
CN109121434A (en) * 2017-04-17 2019-01-01 英华达（上海）科技有限公司 Unmanned plane interaction camera system and method
WO2018191840A1 (en) * 2017-04-17 2018-10-25 英华达（上海）科技有限公司 Interactive photographing system and method for unmanned aerial vehicle
CN108496349A (en) * 2017-04-22 2018-09-04 深圳市大疆灵眸科技有限公司 Shooting control method and device
US11722647B2 (en) 2017-05-08 2023-08-08 SZ DJI Technology Co., Ltd. Unmanned aerial vehicle imaging control method, unmanned aerial vehicle imaging method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle
US11290692B2 (en) 2017-05-08 2022-03-29 SZ DJI Technology Co., Ltd. Unmanned aerial vehicle imaging control method, unmanned aerial vehicle imaging method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle
CN108513641A (en) * 2017-05-08 2018-09-07 深圳市大疆创新科技有限公司 Unmanned plane filming control method, unmanned plane image pickup method, control terminal, unmanned aerial vehicle (UAV) control device and unmanned plane
CN108521812A (en) * 2017-05-19 2018-09-11 深圳市大疆创新科技有限公司 Control method, unmanned plane and the machine readable storage medium of unmanned plane
WO2018209702A1 (en) * 2017-05-19 2018-11-22 深圳市大疆创新科技有限公司 Method for controlling unmanned aerial vehicle, unmanned aerial vehicle and machine-readable storage medium
CN108965689A (en) * 2017-05-27 2018-12-07 昊翔电能运动科技(昆山)有限公司 Unmanned plane image pickup method and device, unmanned plane and ground control unit
US11283986B2 (en) 2017-06-02 2022-03-22 SZ DJI Technology Co., Ltd. Systems and methods for multi-target tracking and autofocusing based on deep machine learning and laser radar
CN109479088A (en) * 2017-06-02 2019-03-15 深圳市大疆创新科技有限公司 The system and method for carrying out multiple target tracking based on depth machine learning and laser radar and focusing automatically
US11006033B2 (en) 2017-06-02 2021-05-11 SZ DJI Technology Co., Ltd. Systems and methods for multi-target tracking and autofocusing based on deep machine learning and laser radar
CN110692027A (en) * 2017-06-05 2020-01-14 杭州零零科技有限公司 System and method for providing easy-to-use release and automatic positioning of drone applications
US10969784B2 (en) 2017-06-05 2021-04-06 Hangzhou Zero Zero Technology Co., Ltd. System and method for providing easy-to-use release and auto-positioning for drone applications
US10168704B2 (en) 2017-06-05 2019-01-01 Hanzhou Zero Zero Technology Co., Ltd. System and method for providing easy-to-use release and auto-positioning for drone applications
CN110692027B (en) * 2017-06-05 2022-11-22 杭州零零科技有限公司 System and method for providing easy-to-use release and automatic positioning of drone applications
WO2018224933A1 (en) * 2017-06-05 2018-12-13 Hangzhou Zero Zero Technology Co., Ltd. System and method for providing easy-to-use release and auto-positioning for drone applications
CN108513642B (en) * 2017-07-31 2021-08-27 深圳市大疆创新科技有限公司 Image processing method, unmanned aerial vehicle, ground console and image processing system thereof
CN108513642A (en) * 2017-07-31 2018-09-07 深圳市大疆创新科技有限公司 A kind of image processing method, unmanned plane, ground control cabinet and its image processing system
US11416009B2 (en) 2017-08-11 2022-08-16 Sony Corporation Apparatus and method of wireless communication system, and computer readable storage medium
CN110998693A (en) * 2017-08-11 2020-04-10 索尼公司 Apparatus and method in wireless communication system, computer readable storage medium
US11841714B2 (en) 2017-08-11 2023-12-12 Sony Group Corporation Apparatus and method of wireless communication system, and computer-readable storage medium
CN108521862A (en) * 2017-09-22 2018-09-11 深圳市大疆创新科技有限公司 Method and apparatus for track up
WO2019056312A1 (en) * 2017-09-22 2019-03-28 深圳市大疆创新科技有限公司 Method and device for tracking photographing
CN108153325A (en) * 2017-11-13 2018-06-12 上海顺砾智能科技有限公司 The control method and device of Intelligent unattended machine
CN110383812B (en) * 2017-12-19 2021-09-03 深圳市大疆创新科技有限公司 Control device, system, control method, and program
WO2019120082A1 (en) * 2017-12-19 2019-06-27 深圳市大疆创新科技有限公司 Control device, system, control method, and program
CN110383812A (en) * 2017-12-19 2019-10-25 深圳市大疆创新科技有限公司 Control device, system, control method and program
CN109479090A (en) * 2017-12-22 2019-03-15 深圳市大疆创新科技有限公司 Information processing method, unmanned plane, remote control equipment and non-volatile memory medium
CN112672133A (en) * 2017-12-22 2021-04-16 深圳市大疆创新科技有限公司 Three-dimensional imaging method and device based on unmanned aerial vehicle and computer readable storage medium
WO2019119434A1 (en) * 2017-12-22 2019-06-27 深圳市大疆创新科技有限公司 Information processing method, unmanned aerial vehicle, remote control apparatus, and non-volatile storage medium
WO2019127111A1 (en) * 2017-12-27 2019-07-04 深圳市大疆创新科技有限公司 Photographing system, carrier device, photographing device and control method therefor
CN109076161A (en) * 2017-12-29 2018-12-21 深圳市大疆创新科技有限公司 A kind of image processing method, mobile platform, control equipment and system
CN109995991A (en) * 2017-12-29 2019-07-09 深圳市优必选科技有限公司 Shooting method, robot and mobile terminal
CN109995988A (en) * 2017-12-29 2019-07-09 深圳市优必选科技有限公司 Control method and device of photographing robot
WO2019127333A1 (en) * 2017-12-29 2019-07-04 深圳市大疆创新科技有限公司 Image processing method, mobile platform, control device and system
CN113890996A (en) * 2017-12-29 2022-01-04 深圳市大疆创新科技有限公司 Image processing method, mobile platform, control equipment and system
CN108153317A (en) * 2018-01-22 2018-06-12 五邑大学 A kind of automatic cruising canoe with barrier avoiding function
CN108415326A (en) * 2018-03-01 2018-08-17 四川智慧鹰航空科技有限公司 A kind of miniature drone possessing realtime graphic control system
WO2019195991A1 (en) * 2018-04-09 2019-10-17 深圳市大疆创新科技有限公司 Trajectory determination and time-lapse photography methods, device, and machine readable storage medium
CN110337621A (en) * 2018-04-09 2019-10-15 深圳市大疆创新科技有限公司 Motion profile determination, time-lapse photography method, equipment and machine readable storage medium
CN108833774A (en) * 2018-06-01 2018-11-16 深圳臻迪信息技术有限公司 Camera control method, device and UAV system
CN110709797A (en) * 2018-06-29 2020-01-17 深圳市大疆创新科技有限公司 Movable platform control method and device and movable platform
CN108933899A (en) * 2018-08-22 2018-12-04 Oppo广东移动通信有限公司 Panorama shooting method, device, terminal and computer readable storage medium
CN108933899B (en) * 2018-08-22 2020-10-16 Oppo广东移动通信有限公司 Panorama shooting method, device, terminal and computer readable storage medium
CN110035220B (en) * 2018-09-11 2020-11-20 真善美创新科技有限公司 Device control system and method for photography
CN110035219A (en) * 2018-09-11 2019-07-19 真善美创新科技有限公司 Apparatus control method and device for photography
CN110035220A (en) * 2018-09-11 2019-07-19 真善美创新科技有限公司 Apparatus control system and method for photography
CN110035219B (en) * 2018-09-11 2021-06-11 真善美创新科技有限公司 Device control method and device for photography
WO2020087346A1 (en) * 2018-10-31 2020-05-07 深圳市大疆创新科技有限公司 Photographing control method, movable platform, control device, and storage medium
WO2020108284A1 (en) * 2018-11-28 2020-06-04 深圳市大疆创新科技有限公司 Determining device, moving object, determining method, and program
CN111602385B (en) * 2018-11-28 2021-12-10 深圳市大疆创新科技有限公司 Specifying device, moving body, specifying method, and computer-readable recording medium
CN111602385A (en) * 2018-11-28 2020-08-28 深圳市大疆创新科技有限公司 Specifying device, moving object, specifying method, and program
CN109379540A (en) * 2018-12-24 2019-02-22 西安天茂数码科技有限公司 A kind of inclined camera of Parameter adjustable
WO2020147085A1 (en) * 2019-01-17 2020-07-23 深圳市大疆创新科技有限公司 Photographing control method and movable platform
CN110083169A (en) * 2019-04-04 2019-08-02 上海歌尔泰克机器人有限公司 Unmanned aerial vehicle control system, method, apparatus and electronic equipment
WO2020211813A1 (en) * 2019-04-19 2020-10-22 深圳市道通智能航空技术有限公司 Vertical surface orbiting flight control method and device, and terminal and storage medium
US11789467B2 (en) 2019-04-19 2023-10-17 Autel Robotics Co., Ltd. Method, apparatus, terminal, and storage medium for elevation surrounding flight control
US11778304B2 (en) 2019-05-31 2023-10-03 Vivo Mobile Communication Co., Ltd. Shooting method and terminal
WO2021012081A1 (en) * 2019-07-19 2021-01-28 深圳市大疆创新科技有限公司 Gimbal control method and device, and computer readable storage medium
CN110545376A (en) * 2019-08-29 2019-12-06 上海商汤智能科技有限公司 Communication method and apparatus, electronic device, and storage medium
CN110545376B (en) * 2019-08-29 2021-06-25 上海商汤智能科技有限公司 Communication method and apparatus, electronic device, and storage medium
CN112335224A (en) * 2019-08-30 2021-02-05 深圳市大疆创新科技有限公司 Image acquisition method and device for movable platform and storage medium
CN110712720A (en) * 2019-10-16 2020-01-21 南通中远海运川崎船舶工程有限公司 System for measuring draught of ship and using method thereof
CN112585945A (en) * 2020-02-26 2021-03-30 深圳市大疆创新科技有限公司 Focusing method, device and equipment
WO2021217380A1 (en) * 2020-04-27 2021-11-04 深圳市大疆创新科技有限公司 Control method, system and apparatus for unmanned aerial vehicle, and storage medium
CN112771465A (en) * 2020-04-27 2021-05-07 深圳市大疆创新科技有限公司 Control method, system and device of unmanned aerial vehicle and storage medium
CN112116762A (en) * 2020-10-27 2020-12-22 广东寻米科技有限公司 Unmanned aerial vehicle sharing system
CN113885553A (en) * 2021-09-07 2022-01-04 四川一电航空技术有限公司 Unmanned aerial vehicle shooting method and device, unmanned aerial vehicle and storage medium
CN114598729A (en) * 2022-03-04 2022-06-07 上海节卡机器人科技有限公司 Robot remote real-time control method, system, electronic device and storage medium

Also Published As

Publication number Publication date
CN105391939B (en) 2017-09-29
WO2017075964A1 (en) 2017-05-11

Similar Documents

Publication Publication Date Title
CN105391939A (en) Unmanned aerial vehicle shooting control method, device, unmanned aerial vehicle shooting method and unmanned aerial vehicle
US10587790B2 (en) Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
CN110494360B (en) System and method for providing autonomous photography and photography
US20190246042A1 (en) Photographing composition method and apparatus, movable object and computer-readable storage medium
US11924539B2 (en) Method, control apparatus and control system for remotely controlling an image capture operation of movable device
JP2019106694A (en) Imaging apparatus and control method of the same
CN110268704B (en) Video processing method, device, unmanned aerial vehicle and system
CN109071034A (en) Switch method, controller and the image stability augmentation equipment of holder operating mode
CN108702448A (en) Unmanned plane image-pickup method and unmanned plane
WO2018205104A1 (en) Unmanned aerial vehicle capture control method, unmanned aerial vehicle capturing method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle
CN105242684A (en) Unmanned plane aerial photographing system and method of photographing accompanying aircraft
CN105242685A (en) Unmanned plane flight accompanying aerial photographing system and method
CN104410797A (en) Device and method for celestial body time-lapse photography
WO2021212501A1 (en) Trajectory generation method, remote control terminal, mobile platform, system, and computer-readable storage medium
WO2019065454A1 (en) Imaging device and control method therefor
WO2021035744A1 (en) Image collection method for mobile platform, device and storage medium
KR101884125B1 (en) System for Self-Camera and Method using the same
CN110278717B (en) Method and device for controlling the flight of an aircraft
JP7552589B2 (en) Information processing device, information processing method, program, and information processing system
WO2018227345A1 (en) Control method and unmanned aerial vehicle
WO2022188151A1 (en) Image photographing method, control apparatus, movable platform, and computer storage medium
WO2022000211A1 (en) Photography system control method, device, movable platform, and storage medium
JP6641574B1 (en) Determination device, moving object, determination method, and program
WO2020252688A1 (en) Target recognition based on image information, system for target recognition based on image information
JP2020014054A (en) Control arrangement, mobile, control method, and program

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant