CN106708070A - Aerial photographing control method and apparatus - Google Patents
Aerial photographing control method and apparatus Download PDFInfo
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- CN106708070A CN106708070A CN201510504660.8A CN201510504660A CN106708070A CN 106708070 A CN106708070 A CN 106708070A CN 201510504660 A CN201510504660 A CN 201510504660A CN 106708070 A CN106708070 A CN 106708070A
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Abstract
The invention, which relates to the technical field of aerial photographing control of an unmanned aerial vehicle, particularly discloses an aerial photographing control method and apparatus. The method comprises: a correspondence relation between unmanned aerial vehicle state data and triggering of a shooting action of a shooting device of an unmanned aerial vehicle is preset; current state data of the unmanned aerial vehicle are obtained; whether the current state data of the unmanned aerial vehicle meet the preset unmanned aerial vehicle state data is determined; if so, a corresponding shooting action of the shooting device of the unmanned aerial vehicle is triggered. Therefore, the shooting action of the shooting device of the unmanned aerial vehicle can be triggered automatically according to the preset unmanned aerial vehicle state data, so that the operation control by the user can be simplified and the shooting precision can be improved.
Description
【Technical field】
The present invention relates to unmanned plane control technology field, more particularly to one kind take photo by plane control method and
Corresponding device.
【Background technology】
With continuing to develop for unmanned plane technology, increasing consumer level unmanned plane is also being given birth to
Produce and develop.Camera is typically provided with unmanned plane, unmanned plane can be sent by control terminal and clapped
Control instruction is taken the photograph, control unmanned plane photographs the photo or video taken photo by plane.
When being shot using unmanned plane, manipulation to unmanned plane during flying and the manipulation that camera shoots is needed
Realized by two sets of control systems.But this mode is operated and more bothered, and it is often difficult to take into account to two
The precise manipulation of person.
【The content of the invention】
It is contemplated that, it is necessary to control unmanned plane respectively in overcoming the unmanned plane of prior art to operate
Flight and shooting defect, there is provided a kind of improved unmanned plane control technology.
In order to solve the above technical problems, the present invention provides following technical scheme：
On the one hand, the present invention provides one kind and takes photo by plane control method, including step：Default unmanned plane state
Corresponding relation between data and triggering unmanned plane filming apparatus shooting action；Obtain the current of unmanned plane
Status data；Judge whether the current status data of unmanned plane is consistent with default unmanned plane status data；
When the current status data of unmanned plane is consistent with default unmanned plane status data, triggering unmanned plane is clapped
Take the photograph the corresponding shooting action of device.
On the other hand, the present invention provides one kind and takes photo by plane control method, including step：Default unmanned plane shape
Corresponding relation between state data and triggering unmanned plane filming apparatus shooting action；Unmanned plane is received to send
Current status data；Judge unmanned plane current status data whether with default unmanned plane status number
According to being consistent；When the current status data of unmanned plane is consistent with default unmanned plane status data, generation
Shoot instruction；The shooting instruction is sent to unmanned plane filming apparatus, dress is shot to trigger unmanned plane
Put corresponding shooting action.
In some embodiments, the control method of taking photo by plane also includes step：The unmanned plane is received to shoot
The view data that device shoots according to the shooting action.
In some embodiments, the default unmanned plane status data includes：The predeterminated position of unmanned plane,
Predeterminated position scope, preset posture, Preset Time point, preset time range, pre-set image feature or
Their any combination；The current status data for obtaining unmanned plane includes：Obtain working as unmanned plane
Front position, current pose, current point in time, unmanned plane filming apparatus collection view data or they
Any combination；And the current status data for judging unmanned plane whether with default unmanned plane shape
State data be consistent including：Judge whether the current location of unmanned plane is consistent with predeterminated position, judges nobody
The current location of machine whether in the range of predeterminated position, judge whether the current pose of unmanned plane meets pre-
If attitude, judge whether current point in time is consistent with Preset Time point, judge current point in time whether
Whether comprising default figure in preset time range, in the view data of analysis unmanned plane filming apparatus shooting
As feature, or their any combination.
In some embodiments, the default unmanned plane status data shoots with triggering unmanned plane filming apparatus
Corresponding relation between action includes：Default unmanned plane status data shoots ginseng with unmanned plane filming apparatus
Corresponding relation between number；The corresponding shooting action of unmanned plane filming apparatus that triggers includes：In nothing
Man-machine current status data be consistent with default unmanned plane status data or receive shooting instruction when,
Triggering unmanned plane filming apparatus are taken pictures or are recorded a video using corresponding acquisition parameters.
Another aspect, the present invention provides one kind and takes photo by plane control device, including：Setup module, its use
Corresponding relation between default unmanned plane status data and triggering unmanned plane filming apparatus shooting action；
Acquisition module, its current status data for being used to obtain unmanned plane；Judge module, it is used to judge nothing
Whether man-machine current status data is consistent with default unmanned plane status data；Trigger module, its use
When the current status data in unmanned plane is consistent with default unmanned plane status data, unmanned plane is triggered
The corresponding shooting action of filming apparatus.
Yet another aspect, the present invention provides one kind and takes photo by plane control device, including：Setup module, its use
Corresponding relation between default unmanned plane status data and triggering unmanned plane filming apparatus shooting action；
Receiver module, its current status data for being used to receive unmanned plane transmission；Judge module, it is used to sentence
Whether the current status data of disconnected unmanned plane is consistent with default unmanned plane status data；Instruction generation mould
Block, it is used for when the current status data of unmanned plane is consistent with default unmanned plane status data, raw
Instructed into shooting；Sending module, it is used to for the shooting instruction to be sent to unmanned plane filming apparatus,
To trigger the corresponding shooting action of unmanned plane filming apparatus.
In some embodiments, the receiver module is additionally operable to receive the unmanned plane filming apparatus according to institute
State the view data of shooting action shooting.
In some embodiments, the default unmanned plane status data includes：The predeterminated position of unmanned plane,
Predeterminated position scope, preset posture, Preset Time point, preset time range, pre-set image feature or
Their any combination；The acquisition module is used for：Obtain the current location of unmanned plane, current pose,
Current point in time, the view data or their any combination of the collection of unmanned plane filming apparatus；And institute
Stating judge module is used for：Judge whether the current location of unmanned plane is consistent with predeterminated position, judges nobody
The current location of machine whether in the range of predeterminated position, judge whether the current pose of unmanned plane meets pre-
If attitude, judge whether current point in time is consistent with Preset Time point, judge current point in time whether
Whether comprising default figure in preset time range, in the view data of analysis unmanned plane filming apparatus shooting
As feature, or their any combination.
In some embodiments, the setup module is additionally operable to default unmanned plane status data and is clapped with unmanned plane
The corresponding relation taken the photograph between device acquisition parameters；And the trigger module is additionally operable to working as in unmanned plane
Preceding status data be consistent with default unmanned plane status data or receive shooting instruction when, trigger nobody
Machine filming apparatus are taken pictures or are recorded a video using corresponding acquisition parameters.
Compared with prior art, the beneficial effects of the present invention are：Using controlling party of taking photo by plane of the invention
Method and device, can automatically trigger unmanned plane filming apparatus and shoot according to default unmanned plane status data
Action, thus the operational control of user is simplified, and improve the accuracy of shooting.
【Brief description of the drawings】
Fig. 1 shows the flow of the control method of taking photo by plane of one embodiment of the invention.
Fig. 2 is the structured flowchart of the control device of taking photo by plane of one embodiment of the invention.
Fig. 3 shows the flow of the control method of taking photo by plane of another embodiment of the present invention.
Fig. 4 is the structured flowchart of the control device of taking photo by plane of another embodiment of the present invention.
【Specific embodiment】
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing
And embodiment, the present invention will be described in further detail.It should be appreciated that described herein specific
Embodiment is only used to explain the present invention, is not intended to limit the present invention.
Control method and the device of taking photo by plane of the invention is by default unmanned plane status data and triggering unmanned plane
Corresponding relation between filming apparatus shooting action, default unmanned plane status data is shooting triggering
Condition.So as to when the current state of unmanned plane meets default trigger condition, automatic triggering shoots dress
Put the corresponding shooting action of execution.So, during taking photo by plane, it is to avoid due to needing to control respectively
The flight and shooting of unmanned plane and cause complex operation, be difficult to reach lacking for satisfied shooting accuracy
Fall into.
For convenience, following examples will be with reference to control method and the corresponding control dress of taking photo by plane of taking photo by plane
Put and be illustrated.It will be understood by those skilled in the art that it is of the invention take photo by plane control method can with take photo by plane
Control device has common embodiment.
Additionally, the step in control method of taking photo by plane of the invention can be performed by the flight control system of unmanned plane,
Can also be performed by running application software by user's using terminal equipment (such as smart mobile phone).
Embodiment 1
With reference to Fig. 1 and Fig. 2, the realization of according to embodiments of the present invention 1 control method of taking photo by plane is shown respectively
The structured flowchart of flow and control device of taking photo by plane.Take photo by plane control method and the device typical case of the embodiment
Run in the flight control system of unmanned plane on ground.
In step S101, unmanned plane status data is preset with triggering unmanned plane filming apparatus shooting action
Between corresponding relation.The step is performed by setup module 110.
Default unmanned plane status data can include the predeterminated position of unmanned plane, predeterminated position scope,
Preset posture, Preset Time point, preset time range or pre-set image feature etc., and can also
It is these any combination.
So, can preset when unmanned plane is in ad-hoc location, in specific position range
When, at specific time point, in specific time range, or the figure photographed when unmanned plane
When there is specific characteristics of image (such as cylinder) as in, automatic triggering is performed according to corresponding relation
The specific shooting action for determining.Default corresponding relation can have one or more, corresponding to a spy
The unmanned plane status data for determining shooting action can also have one or more.For example, can preset
When unmanned plane is in ad-hoc location, and when in particular time range, automatic triggering filming apparatus are performed
Shooting action.
Additionally, the step can also include that default unmanned plane status data shoots with unmanned plane filming apparatus
Corresponding relation between parameter.Acquisition parameters are that unmanned plane filming apparatus are used when shooting action is performed
Set of parameter, it can be including for aperture, shutter, exposure, ISO, compensation, flash mode etc.
Deng setting.
In such manner, it is possible to triggering unmanned plane filming apparatus performs finer shooting action, obtain it is clear,
Appropriate shooting image.For example, it can be set to early morning and bat-flying shooting action are mended using with exposure
The acquisition parameters repaid；Or the shooting action in evening can be set use flash mode；Or can set
It is scheduled on during in certain height, using certain aperture and shutter；Etc..
Default step can be carried out by running application software, it is also possible to by default result storage in storage
In device.
In step s 102, the current status data of unmanned plane is obtained.The step is by acquisition module 120
Perform.
The current status data of unmanned plane can include the current location of unmanned plane, current pose, current
View data that time point or unmanned plane filming apparatus shoot, etc..
Acquisition module 120 can include GPS module, barometer, gyroscope on unmanned plane
Etc. monitoring device.The longitude and latitude that unmanned plane is presently in can be for example monitored using GPS and barometer
Degree, height, the current location of unmanned plane is obtained with this.Can monitor using gyroscope and obtain nothing
Man-machine current flight attitude.Acquisition module can also include timer, to obtain current point in time.
Timer may be located at terminal device, unmanned plane, or can also be gps satellite time dissemination system.Obtain
Modulus block can also include the filming apparatus (such as camera, shooting are first-class) itself carried on unmanned plane,
To obtain the view data of captured in real-time.
The unmanned plane current status data that acquisition module 120 gets is sent to judge module 130.
In step S103, judge unmanned plane current status data whether with default unmanned plane status number
According to being consistent.The step is performed by judge module 130.
Judge that step S103 is also automatic, carries out in real time.Judge that step can include judging nobody
Whether whether the current location of machine is consistent with predeterminated position, judge the current location of unmanned plane in default position
In the range of putting, judge whether the current pose of unmanned plane meets preset posture, judge that current point in time is
It is no to be consistent with Preset Time point, whether current point in time is judged in preset time range, or analysis
Whether comprising pre-set image feature, etc. in the view data that unmanned plane filming apparatus shoot, or it
Combination.
Judge module 130 can be processor, logic, circuit with analyzing and processing function etc..Its
Equally can also be in the flight control system of terminal device or unmanned plane.Judge module 130 uses setting mould
The current state number of the unmanned plane that the default unmanned plane status data of block 110 and acquisition module 120 are obtained
According to being compared analysis, and judge.When default unmanned plane status data includes characteristics of image,
Judge module 130 also has image identification function, with the image that can be shot to unmanned plane filming apparatus
Whether data are identified, and judge wherein include default characteristics of image.
When judged result is no, the control method return to step S102 that takes photo by plane of the invention is continued through
Acquisition module 120 obtains the current status data of unmanned plane, and is judged again.Work as judged result
During to be, control method of taking photo by plane proceeds to triggering step S104.
In step S104, it is consistent with default unmanned plane status data in the current status data of unmanned plane
When, the corresponding shooting action of triggering unmanned plane filming apparatus.The step is performed by trigger module 140.
In the embodiment, trigger module 140 is set up logical between flight control system and unmanned plane filming apparatus
Letter (such as by the wired communication mode of LANC interfaces, or the communication for passing through bluetooth),
And determine be consistent when, by trigger module 140 automatically send shoot instruction give unmanned plane filming apparatus,
Trigger its shooting action.
Default step also include default unmanned plane status data and unmanned plane filming apparatus acquisition parameters it
Between corresponding relation in the case of, the triggering step of step S104 is additionally included in the current state of unmanned plane
When data are consistent with default unmanned plane status data, triggering unmanned plane filming apparatus use corresponding bat
Parameter is taken the photograph to be taken pictures or recorded a video.
By take photo by plane control method and the control device of taking photo by plane of this embodiment of the invention, without operator's hand
Dynamic control unmanned plane filming apparatus, or manually to filming apparatus transmission shooting instruction, but pre-set
Shoot trigger condition.Unmanned plane obtains current status data in automatic or controlled flight, automatically, sentences
Whether the current state of disconnected unmanned plane meets default trigger condition, and when meeting pre-conditioned, from
Dynamic triggering shooting action.For operator, take photo by plane more simple, and can more accurately be clapped
Take the photograph.
Embodiment 2
With reference to Fig. 3 and Fig. 4, the realization of according to embodiments of the present invention 2 control method of taking photo by plane is shown respectively
The structured flowchart of flow and control device of taking photo by plane.Take photo by plane control method and the device typical case of the embodiment
Run on the terminal device on ground.
In step s 201, unmanned plane status data is preset with triggering unmanned plane filming apparatus shooting action
Between corresponding relation.The step is performed by setup module 210.On the default step and setting mould
The description of block is similar to Example 1, and here is omitted.In the embodiment, can be in terminal device
Preset on (the usually smart mobile phone of user), facilitated the use of operator.
In step S02, the current status data of unmanned plane is received.The step is by receiver module 220
Perform.
Obtaining step S102 and acquisition module 120 from embodiment 1 is different, the control of taking photo by plane of the present embodiment
In method and apparatus processed, receiver module 220 on terminal device from monitoring device (such as GPS,
Barometer, gyroscope, timer etc.) receive unmanned plane current status data.That is, receive
Module 220 and foundation wireless (such as wifi) or the wired communications links between monitoring device so that prison
Device is surveyed when the current status data of unmanned plane is got, the current status data can in real time be passed
It is sent to receiver module 220.The current status data of the real-time reception unmanned plane of receiver module 220.
In the case of default unmanned plane status data also includes characteristics of image, in receiving step S202
In, receiver module 220 also receives the view data that unmanned plane filming apparatus shoot according to shooting action.
In step S203, judge unmanned plane current status data whether with default unmanned plane status number
According to being consistent.The step is performed by judge module 230.
Description on the judgement step and judge module is similar to Example 1, and here is omitted.
When judged result is no, the control method return to step S202 that takes photo by plane of the invention is continued to
The current status data of unmanned plane, and judged again.When judged result is to be, control of taking photo by plane
Method proceeds to instruction generation step S204.
In step S204, it is consistent with default unmanned plane status data in the current status data of unmanned plane
When, generation shoots instruction.The step is performed by directive generation module 240.
Default step also include default unmanned plane status data and unmanned plane filming apparatus acquisition parameters it
Between corresponding relation in the case of, also wrapped in the shooting instruction of the instruction generation step of step S204 generation
Include corresponding acquisition parameters.
In step S205, the shooting instruction of generation is sent to unmanned plane filming apparatus, to trigger nobody
The corresponding shooting action of machine filming apparatus.The step is instructed by sending module 250.
Sending module 250 can will shoot instruction and be sent to nobody by radio communication (such as wifi)
Machine filming apparatus, to trigger its corresponding shooting action.Also include acquisition parameters in instruction is shot
In situation, corresponding shooting action and corresponding bat are included in the shooting instruction that sending module 250 sends
Parameter is taken the photograph, uses corresponding acquisition parameters to perform corresponding shooting action to trigger unmanned plane filming apparatus
(for example taken pictures or recorded a video).
By take photo by plane control method and the control device of taking photo by plane of this embodiment of the invention, without operator's hand
Dynamic control unmanned plane filming apparatus, or manually to filming apparatus transmission shooting instruction.But only need operation
Person sets in terminal device shoot trigger condition in advance, by unmanned plane automatic detection current status data,
Whether the current state for receiving, judging unmanned plane automatically by the software application on terminal device meets default
Condition, and when meeting pre-conditioned, shooting action is triggered automatically.For operator, take photo by plane more
For simple, and can more accurately be shot.
It should be understood that disclosed herein apparatus and method, it is also possible to realize by another way.
For example, the division in device to module, unit is only a kind of division of logic function, when actually realizing
There can be other dividing mode, such as multiple units or module can be combined or be desirably integrated into another
One system, or some features can be ignored or not perform.In addition, it is shown or discussed it is mutual it
Between coupling direct-coupling or communication connection can be by the indirect of some interfaces, device or unit
Coupling is communicated to connect, and can be electrical, mechanical or other forms.
It is described as separating component illustrate unit can be or may not be it is physically separate,
The part shown as unit can be or may not be physical location, you can with positioned at a ground
Side, or can also be distributed on multiple NEs.Can according to the actual needs select therein
Some or all of unit realizes the purpose of this embodiment scheme.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit
In, or unit be individually physically present, it is also possible to two or more units are integrated in
In one unit.Above-mentioned integrated unit can both be realized in the form of hardware, it would however also be possible to employ soft
The form of part functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent product pin
When selling or using, can store in a computer read/write memory medium.Based on such understanding,
Part or the technical side that technical scheme substantially contributes to prior art in other words
The all or part of case can be embodied in the form of software product, computer software product storage
In a storage medium, including some instructions are used to so that a computer equipment (can be personal
Computer, server, or network equipment etc.) perform the complete of each embodiment methods described of the invention
Portion or part.And foregoing storage medium includes：It is USB flash disk, mobile hard disk, read-only storage, random
Access memory, magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all
Any modification, equivalent and improvement for being made within the spirit and principles in the present invention etc., all should include
Within protection scope of the present invention.
Claims (10)
1. one kind is taken photo by plane control method, it is characterised in that including step：
Corresponding pass between default unmanned plane status data and triggering unmanned plane filming apparatus shooting action
System；
Obtain the current status data of unmanned plane；
Judge whether the current status data of unmanned plane is consistent with default unmanned plane status data；
When the current status data of unmanned plane is consistent with default unmanned plane status data, nobody is triggered
The corresponding shooting action of machine filming apparatus.
2. one kind is taken photo by plane control method, it is characterised in that including step：
Corresponding pass between default unmanned plane status data and triggering unmanned plane filming apparatus shooting action
System；
Receive the current status data that unmanned plane sends；
Judge whether the current status data of unmanned plane is consistent with default unmanned plane status data；
When the current status data of unmanned plane is consistent with default unmanned plane status data, generation shoots
Instruction；
The shooting instruction is sent to unmanned plane filming apparatus, to trigger unmanned plane filming apparatus correspondence
Shooting action.
3. as claimed in claim 2 control method of taking photo by plane, it is characterised in that also including step：
Receive the view data that the unmanned plane filming apparatus shoot according to the shooting action.
4. the control method of taking photo by plane as described in claim 1 or 3, it is characterised in that
The default unmanned plane status data includes：The predeterminated position of unmanned plane, predeterminated position scope,
Preset posture, Preset Time point, preset time range, pre-set image feature or their any combination；
The current status data for obtaining unmanned plane includes：Obtain the current location of unmanned plane, current
View data or their any combination that attitude, current point in time, unmanned plane filming apparatus shoot；
And
Whether the current status data for judging unmanned plane is consistent bag with default unmanned plane status data
Include：Whether the current location for judging unmanned plane is consistent, judges the current location of unmanned plane with predeterminated position
Whether in the range of predeterminated position, judge unmanned plane current pose whether meet preset posture, judge
Whether whether current point in time be consistent with Preset Time point, judge current point in time in preset time range
Whether pre-set image feature, or it are included in the view data that interior, analysis unmanned plane filming apparatus shoot
Any combination.
5. as claimed in claim 4 control method of taking photo by plane, it is characterised in that
It is corresponding between the default unmanned plane status data and triggering unmanned plane filming apparatus shooting action
Relation includes：Default corresponding pass between unmanned plane status data and unmanned plane filming apparatus acquisition parameters
System；
The corresponding shooting action of unmanned plane filming apparatus that triggers includes：In the current state of unmanned plane
Data be consistent with default unmanned plane status data or receive shooting instruction when, triggering unmanned plane shoot
Device is taken pictures or is recorded a video using corresponding acquisition parameters.
6. one kind is taken photo by plane control device, it is characterised in that including：
Setup module, it is used to preset unmanned plane status data and triggering unmanned plane filming apparatus shoot dynamic
Corresponding relation between work；
Acquisition module, its current status data for being used to obtain unmanned plane；
Judge module, the current status data that it is used to judging unmanned plane whether with default unmanned plane shape
State data are consistent；
Trigger module, it is used for current status data and default unmanned plane status data in unmanned plane
When being consistent, the corresponding shooting action of triggering unmanned plane filming apparatus.
7. one kind is taken photo by plane control device, it is characterised in that including：
Setup module, it is used to preset unmanned plane status data and triggering unmanned plane filming apparatus shoot dynamic
Corresponding relation between work；
Receiver module, its current status data for being used to receive unmanned plane transmission；
Judge module, the current status data that it is used to judging unmanned plane whether with default unmanned plane shape
State data are consistent；
Directive generation module, it is used for current status data and default unmanned plane state in unmanned plane
When data are consistent, generation shoots instruction；
Sending module, it is used to for the shooting instruction to be sent to unmanned plane filming apparatus, to trigger nothing
The corresponding shooting action of man-machine filming apparatus.
8. as claimed in claim 7 control device of taking photo by plane, it is characterised in that：
The receiver module is additionally operable to receive the unmanned plane filming apparatus and is shot according to the shooting action
View data.
9. the control device of taking photo by plane as described in claim 6 or 8, it is characterised in that
The default unmanned plane status data includes：The predeterminated position of unmanned plane, predeterminated position scope,
Preset posture, Preset Time point, preset time range, pre-set image feature or their any combination；
The acquisition module is used for：Obtain the current location of unmanned plane, current pose, current point in time,
The view data or their any combination of unmanned plane filming apparatus collection；And
The judge module is used for：Judge whether the current location of unmanned plane is consistent with predeterminated position, sentences
The current location of disconnected unmanned plane whether in the range of predeterminated position, judge unmanned plane current pose whether
Meet preset posture, judge whether current point in time is consistent with Preset Time point, judges current point in time
Whether whether included in preset time range, in the view data of analysis unmanned plane filming apparatus shooting
Pre-set image feature, or their any combination.
10. as claimed in claim 9 control device of taking photo by plane, it is characterised in that
The setup module is additionally operable to default unmanned plane status data and unmanned plane filming apparatus acquisition parameters
Between corresponding relation；And
The trigger module is additionally operable to current status data and default unmanned plane status number in unmanned plane
During according to being consistent or receive shooting instruction, triggering unmanned plane filming apparatus are entered using corresponding acquisition parameters
Row is taken pictures or is recorded a video.
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| CN108513710A (en) * | 2017-12-19 | 2018-09-07 | 深圳市大疆创新科技有限公司 | The correlating method of image and location information, device and moveable platform |
| 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 |
| CN110502035A (en) * | 2019-09-10 | 2019-11-26 | 深圳市道通智能航空技术有限公司 | The long-range control method and unmanned plane of aerial camera |
| CN110799922A (en) * | 2018-09-30 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Shooting control method and unmanned aerial vehicle |
| WO2020227945A1 (en) * | 2019-05-14 | 2020-11-19 | SZ DJI Technology Co., Ltd. | Photographing method and apparatus |
| CN115209029A (en) * | 2021-04-08 | 2022-10-18 | 成都睿铂科技有限责任公司 | Stability augmentation control method, device, system, equipment and storage medium |
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