CN106708070B - Aerial photography control method and device - Google Patents
Aerial photography control method and device Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle aerial photography control, and particularly discloses an aerial photography control method and a corresponding aerial photography control device. The aerial photography control method comprises the following steps: presetting a corresponding relation between unmanned aerial vehicle state data and shooting actions of a shooting device of an unmanned aerial vehicle; acquiring current state data of the unmanned aerial vehicle; judging whether the current state data of the unmanned aerial vehicle is consistent with preset unmanned aerial vehicle state data or not; when the current state data of the unmanned aerial vehicle conforms to the preset state data of the unmanned aerial vehicle, the shooting action corresponding to the unmanned aerial vehicle shooting device is triggered. By adopting the aerial photography control method and the aerial photography control device, the shooting action of the unmanned aerial vehicle shooting device can be automatically triggered according to the preset unmanned aerial vehicle state data, so that the operation control of a user is simplified, and the shooting accuracy is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicle aerial photography control, in particular to an aerial photography control method and a corresponding device.
[ background of the invention ]
With the continuous development of the unmanned aerial vehicle aerial photography technology, more and more consumption-level unmanned aerial vehicles are also being produced and developed. The camera is generally arranged in the unmanned aerial vehicle, the shooting control instruction can be sent to the unmanned aerial vehicle through the control terminal, and the unmanned aerial vehicle is controlled to shoot aerial photos or videos.
When the unmanned aerial vehicle is used for shooting, the control of the flight of the unmanned aerial vehicle and the control of the shooting of the camera need to be realized by two sets of control systems. However, this is cumbersome to operate and it is often difficult to compromise the precise operation of both.
[ summary of the invention ]
The invention aims to overcome the defect that the flying and shooting of an unmanned aerial vehicle need to be controlled respectively in the aerial photographing operation of the unmanned aerial vehicle in the prior art, and provides an improved aerial photographing control technology of the unmanned aerial vehicle.
In order to solve the technical problems, the invention provides the following technical scheme:
in one aspect, the invention provides an aerial photography control method, which comprises the following steps: presetting a corresponding relation between unmanned aerial vehicle state data and shooting actions of a shooting device of an unmanned aerial vehicle; acquiring current state data of the unmanned aerial vehicle; judging whether the current state data of the unmanned aerial vehicle is consistent with preset unmanned aerial vehicle state data or not; when the current state data of the unmanned aerial vehicle conforms to the preset state data of the unmanned aerial vehicle, the shooting action corresponding to the unmanned aerial vehicle shooting device is triggered.
In another aspect, the present invention provides an aerial photography control method, including the steps of: presetting a corresponding relation between unmanned aerial vehicle state data and shooting actions of a shooting device of an unmanned aerial vehicle; receiving current state data sent by the unmanned aerial vehicle; judging whether the current state data of the unmanned aerial vehicle is consistent with preset unmanned aerial vehicle state data or not; when the current state data of the unmanned aerial vehicle is consistent with the preset unmanned aerial vehicle state data, generating a shooting instruction; and sending the shooting instruction to an unmanned aerial vehicle shooting device so as to trigger the corresponding shooting action of the unmanned aerial vehicle shooting device.
In some embodiments, the aerial photography control method further comprises the steps of: and receiving image data shot by the unmanned aerial vehicle shooting device according to the shooting action.
In some embodiments, the preset drone status data includes: a preset position, a preset position range, a preset attitude, a preset time point, a preset time range, a preset image feature of the unmanned aerial vehicle, or any combination thereof; the acquiring of the current state data of the unmanned aerial vehicle comprises: acquiring the current position, the current posture and the current time point of the unmanned aerial vehicle, image data acquired by an unmanned aerial vehicle shooting device or any combination of the current position, the current posture and the current time point; and whether the current state data of judging unmanned aerial vehicle accords with predetermined unmanned aerial vehicle state data includes: whether the current position of the unmanned aerial vehicle accords with the preset position or not, whether the current position of the unmanned aerial vehicle is within the preset position range or not, whether the current posture of the unmanned aerial vehicle accords with the preset posture or not, whether the current time point accords with the preset time point or not, whether the current time point is within the preset time range or not, whether preset image characteristics are contained in image data shot by an unmanned aerial vehicle shooting device or not is analyzed, or any combination of the preset image characteristics and the preset time point is obtained.
In some embodiments, the correspondence between the preset drone status data and the triggering of the drone shooting device to shoot the action includes: presetting a corresponding relation between unmanned aerial vehicle state data and shooting parameters of an unmanned aerial vehicle shooting device; triggering the shooting action corresponding to the unmanned aerial vehicle shooting device comprises: when the current state data of the unmanned aerial vehicle conforms to the preset state data of the unmanned aerial vehicle or receives a shooting instruction, the unmanned aerial vehicle shooting device is triggered to shoot or record a video by using the corresponding shooting parameters.
In still another aspect, the present invention provides an aerial photography control apparatus comprising: the device comprises a setting module, a shooting module and a control module, wherein the setting module is used for presetting the corresponding relation between the state data of the unmanned aerial vehicle and the shooting action of a shooting device of the unmanned aerial vehicle; the acquisition module is used for acquiring the current state data of the unmanned aerial vehicle; the judging module is used for judging whether the current state data of the unmanned aerial vehicle conforms to the preset unmanned aerial vehicle state data; and the trigger module is used for triggering the shooting action corresponding to the unmanned aerial vehicle shooting device when the current state data of the unmanned aerial vehicle conforms to the preset unmanned aerial vehicle state data.
In still another aspect, the present invention provides an aerial photography control apparatus comprising: the device comprises a setting module, a shooting module and a control module, wherein the setting module is used for presetting the corresponding relation between the state data of the unmanned aerial vehicle and the shooting action of a shooting device of the unmanned aerial vehicle; the receiving module is used for receiving current state data sent by the unmanned aerial vehicle; the judging module is used for judging whether the current state data of the unmanned aerial vehicle conforms to the preset unmanned aerial vehicle state data; the command generation module is used for generating a shooting command when the current state data of the unmanned aerial vehicle is consistent with the preset unmanned aerial vehicle state data; and the sending module is used for sending the shooting instruction to the unmanned aerial vehicle shooting device so as to trigger the shooting action corresponding to the unmanned aerial vehicle shooting device.
In some embodiments, the receiving module is further configured to receive image data captured by the drone camera according to the capturing action.
In some embodiments, the preset drone status data includes: a preset position, a preset position range, a preset attitude, a preset time point, a preset time range, a preset image feature of the unmanned aerial vehicle, or any combination thereof; the acquisition module is configured to: acquiring the current position, the current posture and the current time point of the unmanned aerial vehicle, image data acquired by an unmanned aerial vehicle shooting device or any combination of the current position, the current posture and the current time point; and the determining module is configured to: whether the current position of the unmanned aerial vehicle accords with the preset position or not, whether the current position of the unmanned aerial vehicle is within the preset position range or not, whether the current posture of the unmanned aerial vehicle accords with the preset posture or not, whether the current time point accords with the preset time point or not, whether the current time point is within the preset time range or not, whether preset image characteristics are contained in image data shot by an unmanned aerial vehicle shooting device or not is analyzed, or any combination of the preset image characteristics and the preset time point is obtained.
In some embodiments, the setting module is further configured to preset a correspondence between the unmanned aerial vehicle state data and the shooting parameters of the unmanned aerial vehicle shooting device; and the triggering module is also used for triggering the unmanned aerial vehicle shooting device to shoot or record video by using the corresponding shooting parameters when the current state data of the unmanned aerial vehicle conforms to the preset unmanned aerial vehicle state data or a shooting instruction is received.
Compared with the prior art, the invention has the beneficial effects that: by adopting the aerial photography control method and the aerial photography control device, the shooting action of the unmanned aerial vehicle shooting device can be automatically triggered according to the preset unmanned aerial vehicle state data, so that the operation control of a user is simplified, and the shooting accuracy is improved.
[ description of the drawings ]
Fig. 1 shows a flow of an aerial photography control method according to an embodiment of the present invention.
Fig. 2 is a block diagram showing the structure of an aerial photography control device according to an embodiment of the present invention.
Fig. 3 shows a flow of an aerial photography control method according to another embodiment of the present invention.
Fig. 4 is a block diagram of an aerial photography control device according to another embodiment of the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the aerial photography control method and device, the corresponding relation between the unmanned aerial vehicle state data and the shooting action of the unmanned aerial vehicle shooting device is preset, and the preset unmanned aerial vehicle state data is the shooting triggering condition. Thereby when unmanned aerial vehicle's current state satisfied predetermined trigger condition, the automatic shooting device that triggers carries out corresponding shooting action. Therefore, in the aerial photography process, the defects that the operation is complex and the satisfactory shooting accuracy is difficult to achieve due to the fact that the unmanned aerial vehicle needs to be controlled to fly and shoot respectively are overcome.
For convenience of description, the following embodiments will be explained in conjunction with an aerial photography control method and a corresponding aerial photography control device. It will be appreciated by those skilled in the art that the aerial photography control method of the present invention may have common embodiments with the aerial photography control device.
In addition, the steps in the aerial photography control method of the present invention may be executed by an aerial control system of the unmanned aerial vehicle, or may be executed by a user by running application software using a terminal device (e.g., a smartphone).
Example 1
Referring to fig. 1 and fig. 2, an implementation flow of an aerial photography control method and a structural block diagram of an aerial photography control device according to embodiment 1 of the present invention are respectively shown. The aerial photography control method and apparatus of this embodiment typically operate on an unmanned aerial vehicle's flight control system.
In step S101, a correspondence between the drone status data and the trigger drone camera shooting action is preset. This step is performed by the setup module 110.
The preset unmanned aerial vehicle state data can include a preset position, a preset position range, a preset posture, a preset time point, a preset time range or preset image characteristics of the unmanned aerial vehicle, and the like, and can also be any combination of these.
In this way, it may be preset that when the drone is at a specific position, within a specific position range, at a specific time point, at a specific time range, or when a specific image feature (for example, a cylinder) appears in an image captured by the drone, the specific capturing action determined according to the corresponding relationship is automatically triggered to be executed. The preset corresponding relation may be one or more, and the unmanned aerial vehicle state data corresponding to a specific shooting action may also be one or more. For example, it may be preset that when the drone is at a specific position and within a specific time range, the shooting device is automatically triggered to execute the shooting action.
In addition, this step can also include presetting the corresponding relation between unmanned aerial vehicle state data and the unmanned aerial vehicle shooting device shooting parameter. The shooting parameters are a set of parameters used by the drone camera in performing the shooting action, which may include settings for aperture, shutter, exposure, ISO, compensation, flash mode, etc.
Like this, can trigger unmanned aerial vehicle shooting device and carry out more meticulous shooting action, obtain clear, appropriate shooting image. For example, shooting parameters with exposure compensation can be set for shooting operations in the early morning and at the evening; or the shooting action at night can be set to adopt a flash mode; or some kind of aperture and shutter can be used when the height is set; and so on.
The presetting step may be performed by running application software, or the preset result may be stored in a memory.
In step S102, current state data of the drone is acquired. This step is performed by the acquisition module 120.
The current state data of the drone may include a current position, a current pose, a current point in time of the drone, or image data captured by the drone camera, among others.
The acquisition module 120 may include a GPS module, barometer, gyroscope, etc. monitoring device installed on the drone. For example, GPS and barometer can be used to monitor the latitude and longitude, altitude, and so obtain the current position of the drone. The gyroscope can be used to monitor and acquire the current flight attitude of the drone. The acquisition module may further include a timer to acquire the current time point. The timer can be located in a terminal device or an unmanned aerial vehicle, or can be a GPS satellite timing system. The acquisition module may further include a camera (e.g., a camera, a video camera, etc.) mounted on the drone itself to acquire image data captured in real time.
The current status data of the unmanned aerial vehicle acquired by the acquisition module 120 is transmitted to the judgment module 130.
In step S103, it is determined whether the current status data of the drone matches the preset drone status data. This step is performed by the decision block 130.
The determination step S103 is also performed automatically in real time. The determining step may include determining whether a current position of the unmanned aerial vehicle corresponds to a preset position, determining whether the current position of the unmanned aerial vehicle is within a preset position range, determining whether a current attitude of the unmanned aerial vehicle corresponds to a preset attitude, determining whether a current time point corresponds to a preset time point, determining whether the current time point is within a preset time range, or analyzing whether image data captured by the unmanned aerial vehicle capturing device includes preset image features, and so on, or a combination thereof.
The determination module 130 may be a processor, logic, circuitry, etc. having analysis processing functionality. It can also be in a terminal device or in a flight control system of an unmanned aerial vehicle. The determining module 130 performs comparison and analysis using the status data of the drone preset by the setting module 110 and the current status data of the drone acquired by the acquiring module 120, and makes a determination. When predetermined unmanned aerial vehicle state data contains the image characteristic, judge module 130 still has the image recognition function to can discern the image data that unmanned aerial vehicle shooting device shot, judge wherein whether contain predetermined image characteristic.
If the determination result is negative, the method for controlling aerial photography of the present invention returns to step S102, continues to obtain the current state data of the unmanned aerial vehicle through the obtaining module 120, and performs the determination again. When the judgment result is yes, the aerial photography control method proceeds to the triggering step S104.
In step S104, when the current state data of the unmanned aerial vehicle matches the preset state data of the unmanned aerial vehicle, a shooting action corresponding to the unmanned aerial vehicle shooting device is triggered. This step is performed by the trigger module 140.
In this embodiment, the trigger module 140 establishes communication between the flight control system and the drone camera (for example, in a wired communication manner through a LANC interface or in a wireless communication manner through bluetooth), and when it is determined that the communication is consistent, the trigger module 140 automatically sends a shooting instruction to the drone camera to trigger the drone camera to take a shooting action.
In the case that the presetting step further includes presetting a correspondence between the unmanned aerial vehicle state data and the shooting parameters of the unmanned aerial vehicle shooting device, the triggering step of step S104 further includes triggering the unmanned aerial vehicle shooting device to shoot or record a video using the corresponding shooting parameters when the current state data of the unmanned aerial vehicle matches the preset unmanned aerial vehicle state data.
By the aerial photography control method and the aerial photography control device, an operator does not need to manually control the unmanned aerial vehicle shooting device or manually send a shooting instruction to the shooting device, and shooting trigger conditions are preset. The unmanned aerial vehicle automatically acquires current state data, judges whether the current state of the unmanned aerial vehicle meets preset triggering conditions or not in automatic or controlled flight, and automatically triggers shooting actions when the current state of the unmanned aerial vehicle meets the preset conditions. The aerial photography is simpler for the operator, and the photography can be performed more accurately.
Example 2
Referring to fig. 3 and 4, an implementation flow of the aerial photography control method according to embodiment 2 of the present invention and a structural block diagram of the aerial photography control device are respectively shown. The aerial photography control method and apparatus of this embodiment typically operate on a terminal device.
In step S201, a corresponding relationship between the drone status data and the shooting action of the drone shooting device is preset. This step is performed by the setup module 210. The description of the presetting step and the setting module is similar to that of embodiment 1, and is not repeated here. In the embodiment, the presetting can be performed on the terminal equipment (usually, a smart phone of a user), so that the use of an operator is facilitated.
In step S02, current status data of the drone is received. This step is performed by the receiving module 220.
Unlike the acquisition step S102 and the acquisition module 120 of embodiment 1, in the aerial photography control method and apparatus of this embodiment, the receiving module 220 on the terminal device receives the current state data of the drone from a monitoring apparatus (e.g., GPS, barometer, gyroscope, timer, etc.). That is, a wireless (e.g. wifi) or wired communication link is established between the receiving module 220 and the monitoring device, so that the monitoring device can transmit the current status data of the drone to the receiving module 220 in real time when acquiring the current status data. The receiving module 220 receives the current status data of the drone in real time.
In the case that the preset unmanned aerial vehicle state data further includes an image feature, in the receiving step S202, the receiving module 220 further receives image data photographed by the unmanned aerial vehicle photographing device according to the photographing action.
In step S203, it is determined whether the current status data of the drone matches the preset drone status data. This step is performed by the decision block 230.
The description of the determining step and the determining module is similar to that of embodiment 1, and is not repeated here.
And when the judgment result is negative, the aerial photography control method returns to the step S202, continues to receive the current state data of the unmanned aerial vehicle, and judges again. When the judgment result is yes, the aerial photography control method proceeds to the instruction generating step S204.
In step S204, when the current state data of the drone matches the preset drone state data, a shooting instruction is generated. This step is performed by the instruction generation module 240.
In the case that the presetting step further includes presetting a corresponding relationship between the unmanned aerial vehicle state data and the shooting parameters of the unmanned aerial vehicle shooting device, the shooting instruction generated in the instruction generating step of step S204 further includes corresponding shooting parameters.
In step S205, the generated shooting instruction is sent to the drone shooting device to trigger a shooting action corresponding to the drone shooting device. This step is instructed by the sending module 250.
The sending module 250 may send the shooting instruction to the drone shooting device through wireless communication (e.g., wifi) to trigger its corresponding shooting action. In the case that the shooting instruction further includes shooting parameters, the shooting instruction sent by the sending module 250 includes corresponding shooting actions and corresponding shooting parameters, so as to trigger the drone shooting device to execute the corresponding shooting actions (for example, to take a picture or record a video) using the corresponding shooting parameters.
By the aerial photography control method and the aerial photography control device, an operator does not need to manually control the unmanned aerial vehicle shooting device or manually send a shooting instruction to the shooting device. But only an operator needs to set shooting triggering conditions in the terminal equipment in advance, the unmanned aerial vehicle automatically detects current state data, the software application on the terminal equipment automatically receives and judges whether the current state of the unmanned aerial vehicle meets preset conditions or not, and when the preset conditions are met, shooting actions are automatically triggered. The aerial photography is simpler for the operator, and the photography can be performed more accurately.
It should be understood that the disclosed apparatus and method may be implemented in other ways. For example, a division of a module or a unit in a device is only one logical division, and an actual implementation may have another division, for example, a plurality of units or modules may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. An aerial photography control method is characterized by comprising the following steps:
presetting unmanned aerial vehicle state data and triggering the unmanned aerial vehicle to shoot the corresponding relation between the action, wherein, presetting unmanned aerial vehicle state data and triggering the unmanned aerial vehicle to shoot the corresponding relation between the action and include: presetting a corresponding relation between unmanned aerial vehicle state data and shooting parameters of an unmanned aerial vehicle shooting device;
receiving current state data sent by the unmanned aerial vehicle;
judging whether the current state data of the unmanned aerial vehicle is consistent with preset unmanned aerial vehicle state data or not;
when the current state data of the unmanned aerial vehicle is consistent with the preset unmanned aerial vehicle state data, generating a shooting instruction;
will shoot the instruction and send for unmanned aerial vehicle shooting device to trigger the shooting action that unmanned aerial vehicle shooting device corresponds, wherein, will shoot the instruction and send for unmanned aerial vehicle shooting device, include in order to trigger the shooting action that unmanned aerial vehicle shooting device corresponds: and sending the shooting instruction to an unmanned aerial vehicle shooting device to trigger the unmanned aerial vehicle shooting device to use the corresponding shooting parameters to shoot or record.
2. The aerial photography control method according to claim 1, further comprising the steps of:
and receiving image data shot by the unmanned aerial vehicle shooting device according to the shooting action.
3. The aerial photography control method according to claim 1,
the preset unmanned aerial vehicle state data comprises: a preset position, a preset position range, a preset attitude, a preset time point, a preset time range, a preset image feature of the unmanned aerial vehicle, or any combination thereof;
the receiving the current state data sent by the unmanned aerial vehicle comprises: receiving the current position, the current posture, the current time point of the unmanned aerial vehicle, image data shot by an unmanned aerial vehicle shooting device or any combination of the current position, the current posture and the current time point of the unmanned aerial vehicle; and is
Whether the current state data of judging unmanned aerial vehicle accords with predetermined unmanned aerial vehicle state data includes: whether the current position of the unmanned aerial vehicle accords with the preset position or not, whether the current position of the unmanned aerial vehicle is within the preset position range or not, whether the current posture of the unmanned aerial vehicle accords with the preset posture or not, whether the current time point accords with the preset time point or not, whether the current time point is within the preset time range or not, whether preset image characteristics are contained in image data shot by an unmanned aerial vehicle shooting device or not is analyzed, or any combination of the preset image characteristics and the preset time point is obtained.
4. An aerial photography control device, comprising:
the setting module, it is used for predetermineeing unmanned aerial vehicle state data and triggering unmanned aerial vehicle and shoot the corresponding relation between the action with shooting the device, wherein, predetermine unmanned aerial vehicle state data and trigger unmanned aerial vehicle and shoot the corresponding relation between the action with shooting the device and include: presetting a corresponding relation between unmanned aerial vehicle state data and shooting parameters of an unmanned aerial vehicle shooting device;
the receiving module is used for receiving current state data sent by the unmanned aerial vehicle;
the judging module is used for judging whether the current state data of the unmanned aerial vehicle conforms to the preset unmanned aerial vehicle state data;
the command generation module is used for generating a shooting command when the current state data of the unmanned aerial vehicle is consistent with the preset unmanned aerial vehicle state data;
sending module, it is used for with shoot the instruction and send for unmanned aerial vehicle shooting device to trigger the shooting action that unmanned aerial vehicle shooting device corresponds, wherein, will shoot the instruction and send for unmanned aerial vehicle shooting device, shoot the action that the device corresponds in order to trigger unmanned aerial vehicle and include: and sending the shooting instruction to an unmanned aerial vehicle shooting device to trigger the unmanned aerial vehicle shooting device to use the corresponding shooting parameters to shoot or record.
5. The aerial photography control device of claim 4, wherein:
the receiving module is also used for receiving the image data shot by the unmanned aerial vehicle shooting device according to the shooting action.
6. The aerial photography control device of claim 4,
the preset unmanned aerial vehicle state data comprises: a preset position, a preset position range, a preset attitude, a preset time point, a preset time range, a preset image feature of the unmanned aerial vehicle, or any combination thereof;
the receiving module is used for: receiving the current position, the current posture, the current time point of the unmanned aerial vehicle, image data acquired by an unmanned aerial vehicle shooting device or any combination of the current position, the current posture and the current time point of the unmanned aerial vehicle; and is
The judging module is used for: whether the current position of the unmanned aerial vehicle accords with the preset position or not, whether the current position of the unmanned aerial vehicle is within the preset position range or not, whether the current posture of the unmanned aerial vehicle accords with the preset posture or not, whether the current time point accords with the preset time point or not, whether the current time point is within the preset time range or not, whether preset image characteristics are contained in image data shot by an unmanned aerial vehicle shooting device or not is analyzed, or any combination of the preset image characteristics and the preset time point is obtained.
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| CN109076161B (en) * | 2017-12-29 | 2021-11-02 | 深圳市大疆创新科技有限公司 | Image processing method, mobile platform, control equipment and system |
| 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 |
| 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 |
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