CN113885553A - Unmanned aerial vehicle shooting method and device, unmanned aerial vehicle and storage medium - Google Patents
Unmanned aerial vehicle shooting method and device, unmanned aerial vehicle and storage medium Download PDFInfo
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- CN113885553A CN113885553A CN202111046899.7A CN202111046899A CN113885553A CN 113885553 A CN113885553 A CN 113885553A CN 202111046899 A CN202111046899 A CN 202111046899A CN 113885553 A CN113885553 A CN 113885553A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- 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
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
Abstract
The invention discloses a shooting method and a shooting device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, wherein the method is used for the unmanned aerial vehicle, the unmanned aerial vehicle is provided with the shooting device, and the shooting method for the unmanned aerial vehicle comprises the steps of obtaining the current running state of the unmanned aerial vehicle after receiving a target shooting instruction; adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle; when the unmanned aerial vehicle is adjusted from the first mode to the second mode, the flying action of the target route corresponding to the target shooting instruction is executed, so that the shooting device shoots the target object on the target route. According to the invention, after the target shooting instruction is received, the operation mode of the unmanned aerial vehicle is adjusted according to the state information of the unmanned aerial vehicle, so that the unmanned aerial vehicle executes corresponding flight action and shooting action according to the target shooting instruction, automatic flight and automatic shooting under different shooting modes are realized, the hands of a photographer are liberated, and the intellectualization of the unmanned aerial vehicle executing an automatic shooting function under different shooting modes is improved.
Description
Technical Field
The invention relates to the technical field of elevators, in particular to an unmanned aerial vehicle shooting method and device, an unmanned aerial vehicle and a storage medium.
Background
A drone is an unmanned aircraft that is operated by a radio remote control device or self-contained program control device. The unmanned aerial vehicle has the characteristics of simple structure, light weight, small size, low cost, high maneuverability, good concealment and the like. With the development of unmanned aerial vehicles and the updating of technology, utilize unmanned aerial vehicles to shoot and shoot, become unmanned aerial vehicle's a use scene, obtained more people's application.
However, along with the demand of shooting mode constantly increases, unmanned aerial vehicle also need possess the function of different shooting modes, when present unmanned aerial vehicle shoots, can only realize fixed shooting or follow the shooting, if need realize the automatic shooting of multi-mode selection, still need adopt the remote controller to carry out artificial flight control and shooting control, and intelligent degree is not high, and the shooter still can not liberate the automatic shooting of the multi-mode selection of self both hands realization without intervention. Therefore, how to implement the function of automatic shooting performed by the unmanned aerial vehicle in different shooting modes is a technical problem which needs to be solved urgently.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a shooting method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and aims to solve the technical problem that the intelligent degree of the automatic shooting function of the existing unmanned aerial vehicle in different shooting modes is not high.
In order to achieve the above object, the present invention provides a shooting method for an unmanned aerial vehicle, the unmanned aerial vehicle being provided with a shooting device, the shooting method for the unmanned aerial vehicle comprising the steps of:
after receiving a target shooting instruction, acquiring the current running state of the unmanned aerial vehicle;
adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle; wherein the operating modes include a first mode and a second mode;
when the unmanned aerial vehicle is adjusted from the first mode to the second mode, executing the flight action of a target route corresponding to the target shooting instruction, so that the shooting device shoots a target object on the target route.
Optionally, after receiving the target shooting instruction, the step of obtaining the current operating state of the unmanned aerial vehicle specifically includes:
after receiving a target shooting instruction, acquiring state information of the unmanned aerial vehicle;
determining a current operating state of the drone based on the state information.
Optionally, the step of adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle specifically includes:
when the current operation state is changed from a first state to a second state, adjusting the operation mode of the unmanned aerial vehicle from a first mode to a second mode; wherein:
the first state is a static state, and the state information of the static state is that the moving speed of the unmanned aerial vehicle is less than a preset moving speed and/or the moving acceleration is less than a preset moving acceleration;
the second state is a starting state, and the state information of the starting state is that the moving speed of the unmanned aerial vehicle is not less than the preset moving speed and/or the moving acceleration is not less than the preset moving acceleration;
the first mode is an idle mode, when the unmanned aerial vehicle is in the idle mode, the rotating speed of a propeller of the unmanned aerial vehicle is a first preset value, and the first preset value is the lowest rotating speed of the unmanned aerial vehicle;
the second mode is a flight mode, when the unmanned aerial vehicle is in the flight mode, the rotating speed of a propeller of the unmanned aerial vehicle is a second preset value, and the second preset value is the rotating speed of the unmanned aerial vehicle for keeping static flight.
Optionally, the executing the flying action of the target route corresponding to the target shooting instruction to enable the shooting device to shoot the target object on the target route specifically includes:
acquiring a flight instruction and a shooting instruction of the unmanned aerial vehicle based on the target shooting instruction; the flight instruction is a driving instruction of a power system of the unmanned aerial vehicle, and the shooting instruction is a driving instruction of the shooting device;
and driving an unmanned aerial vehicle to execute the flying action of a target route based on the flying instruction, and driving the shooting device to execute the shooting action of the target object on the target route based on the shooting instruction.
Optionally, after the step of driving the unmanned aerial vehicle to execute the flying action of the target route based on the flying instruction and driving the shooting device to execute the shooting action on the target route based on the shooting instruction, the method further includes:
acquiring an image shot by the shooting device on the target route;
and judging whether the target object is at the preset position of the shot image, if not, adjusting the flight instruction so as to enable the unmanned aerial vehicle to keep the target object at the preset position of the shot image when executing flight action according to the flight instruction.
Optionally, after the step of driving the unmanned aerial vehicle to execute the flying action of the target route based on the flying instruction and driving the shooting device to execute the shooting action on the target route based on the shooting instruction, the method further includes:
acquiring the distance between the target object and the unmanned aerial vehicle;
and judging whether the distance meets the requirement of safe distance, if not, adjusting the flight instruction so as to keep the distance between the unmanned aerial vehicle and the target object to meet the requirement of safe distance when the unmanned aerial vehicle executes flight action according to the flight instruction.
Optionally, after the step of driving the unmanned aerial vehicle to execute the flying action of the target route based on the flying instruction and driving the shooting device to execute the shooting action on the target route based on the shooting instruction, the method further includes:
acquiring the current position of the unmanned aerial vehicle;
based on current position and preset descending position, the drive unmanned aerial vehicle carries out the descending action, so that unmanned aerial vehicle follows current position flies to preset descending position.
In addition, in order to achieve the above object, the present invention also provides an unmanned aerial vehicle photographing apparatus, including:
the acquisition module is used for acquiring the current running state of the unmanned aerial vehicle after receiving a target shooting instruction;
the adjusting module is used for adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle; wherein the operating modes include a first mode and a second mode;
and the shooting module is used for executing the flight action of a target route corresponding to the target shooting instruction when the unmanned aerial vehicle is adjusted from the first mode to the second mode, so that the shooting device shoots a target object on the target route.
Optionally, the obtaining module is further configured to obtain state information of the unmanned aerial vehicle after receiving a target shooting instruction; determining a current operating state of the drone based on the state information.
Optionally, the adjusting module is further configured to adjust the operation mode of the drone from the first mode to the second mode when the current operation state changes from the first state to the second state; wherein:
the first state is a static state, and the state information of the static state is that the moving speed of the unmanned aerial vehicle is less than a preset moving speed and/or the moving acceleration is less than a preset moving acceleration;
the second state is a starting state, and the state information of the starting state is that the moving speed of the unmanned aerial vehicle is not less than the preset moving speed and/or the moving acceleration is not less than the preset moving acceleration;
the first mode is an idle mode, when the unmanned aerial vehicle is in the idle mode, the rotating speed of a propeller of the unmanned aerial vehicle is a first preset value, and the first preset value is the lowest rotating speed of the unmanned aerial vehicle;
the second mode is a flight mode, when the unmanned aerial vehicle is in the flight mode, the rotating speed of a propeller of the unmanned aerial vehicle is a second preset value, and the second preset value is the rotating speed of the unmanned aerial vehicle for keeping static flight.
Optionally, the shooting module is further configured to obtain a flight instruction and a shooting instruction of the unmanned aerial vehicle based on the target shooting instruction; the flight instruction is a driving instruction of a power system of the unmanned aerial vehicle, and the shooting instruction is a driving instruction of the shooting device; and driving an unmanned aerial vehicle to execute the flying action of a target route based on the flying instruction, and driving the shooting device to execute the shooting action of the target object on the target route based on the shooting instruction.
Optionally, the unmanned aerial vehicle shooting device further includes:
a first holding module for acquiring an image taken by the camera on the target route; and judging whether the target object is at the preset position of the shot image, if not, adjusting the flight instruction so as to enable the unmanned aerial vehicle to keep the target object at the preset position of the shot image when executing flight action according to the flight instruction.
Optionally, the unmanned aerial vehicle shooting device further includes:
a second holding module for obtaining a distance between the target object and the drone; and judging whether the distance meets the requirement of safe distance, if not, adjusting the flight instruction so as to keep the distance between the unmanned aerial vehicle and the target object to meet the requirement of safe distance when the unmanned aerial vehicle executes flight action according to the flight instruction.
Optionally, the unmanned aerial vehicle shooting device further includes:
the landing module is used for acquiring the current position of the unmanned aerial vehicle; based on current position and preset descending position, the drive unmanned aerial vehicle carries out the descending action, so that unmanned aerial vehicle follows current position flies to preset descending position.
In addition, in order to achieve the above object, the present invention also provides an unmanned aerial vehicle, including: the unmanned aerial vehicle shooting method comprises a memory, a processor and an unmanned aerial vehicle shooting program stored on the memory and capable of running on the processor, wherein the unmanned aerial vehicle shooting program realizes the steps of the unmanned aerial vehicle shooting method when being executed by the processor.
In addition, in order to achieve the above object, the present invention further provides a storage medium having a drone shooting program stored thereon, wherein the drone shooting program, when executed by a processor, implements the steps of the drone shooting method as described above.
The embodiment of the invention provides a shooting method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, wherein the method is used for the unmanned aerial vehicle, the unmanned aerial vehicle is provided with the shooting device, and the shooting method for the unmanned aerial vehicle comprises the steps of obtaining the current running state of the unmanned aerial vehicle after receiving a target shooting instruction; adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle; wherein the operation mode comprises a first mode and a second mode; when the unmanned aerial vehicle is adjusted from the first mode to the second mode, the flying action of the target route corresponding to the target shooting instruction is executed, so that the shooting device shoots the target object on the target route. According to the invention, after the target shooting instruction is received, the operation mode of the unmanned aerial vehicle is adjusted according to the state information of the unmanned aerial vehicle, so that the unmanned aerial vehicle executes corresponding flight action and shooting action according to the target shooting instruction, automatic flight and automatic shooting under different shooting modes are realized, the hands of a photographer are liberated, and the intellectualization of the unmanned aerial vehicle executing an automatic shooting function under different shooting modes is improved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle in the embodiment of the present invention.
Fig. 2 is a schematic flow chart of a first embodiment of the unmanned aerial vehicle photographing method according to the present invention.
Fig. 3 is a schematic flow chart of a second embodiment of the unmanned aerial vehicle photographing method according to the present invention.
Fig. 4 is a block diagram of the structure of the unmanned aerial vehicle photographing device in the embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A drone is an unmanned aircraft that is operated by a radio remote control device or self-contained program control device. The unmanned aerial vehicle has the characteristics of simple structure, light weight, small size, low cost, high maneuverability, good concealment and the like. With the development of unmanned aerial vehicles and the updating of technology, utilize unmanned aerial vehicles to shoot and shoot, become unmanned aerial vehicle's a use scene, obtained more people's application. However, along with the demand of shooting mode constantly increases, unmanned aerial vehicle also need possess the function of different shooting modes, when present unmanned aerial vehicle shoots, can only realize fixed shooting or follow the shooting, if need realize the automatic shooting of multi-mode selection, still need adopt the remote controller to carry out artificial flight control and shooting control, and intelligent degree is not high, and the shooter still can not liberate the automatic shooting of the multi-mode selection of self both hands realization without intervention. Therefore, how to implement the function of automatic shooting performed by the unmanned aerial vehicle in different shooting modes is a technical problem which needs to be solved urgently.
In order to solve this problem, various embodiments of the unmanned aerial vehicle photographing method of the present invention are proposed. According to the unmanned aerial vehicle shooting method, after the target shooting instruction is received, the operation mode of the unmanned aerial vehicle is adjusted according to the state information of the unmanned aerial vehicle, so that the unmanned aerial vehicle executes corresponding flight action and shooting action according to the target shooting instruction, automatic flight and automatic shooting are achieved, hands of a photographer are liberated, and the intellectualization and convenience of automatic shooting of the unmanned aerial vehicle are improved.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
Generally, a drone comprises: at least one processor 301, a memory 302, and a drone filming program stored on the memory and executable on the processor, the drone filming program configured to implement the steps of the drone filming method as previously described.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. Processor 301 may also include an AI (Artificial Intelligence) processor for processing pertinent unmanned aerial vehicle shooting operations so that the unmanned aerial vehicle shooting model may train learning autonomously, improving efficiency and accuracy.
In some embodiments, the drone may further optionally include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. The communication interface 303 is used for receiving the movement tracks of the plurality of mobile terminals uploaded by the user and other data through the peripheral device. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit 304 communicates with a communication network and other communication devices through electromagnetic signals, so as to obtain the movement tracks and other data of a plurality of mobile terminals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to capture touch signals on or over the surface of the display screen 305. The touch signal may be input to the processor 301 as a control signal for processing. At this point, the display screen 305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 305 may be one, the front panel of the electronic device; in other embodiments, the display screens 305 may be at least two, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display screen 305 may be a flexible display screen disposed on a curved surface or a folded surface of the electronic device. Even further, the display screen 305 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 305 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 306 is used to power various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the drone and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
An embodiment of the present invention provides an unmanned aerial vehicle shooting method for an unmanned aerial vehicle, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the unmanned aerial vehicle shooting method of the present invention.
In this embodiment, the unmanned aerial vehicle shooting method is used for an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a shooting device, and the unmanned aerial vehicle shooting method includes the following steps:
and S100, acquiring the current running state of the unmanned aerial vehicle after receiving a target shooting instruction.
Specifically, the target shooting instruction is an instruction received by the unmanned aerial vehicle and used for driving the unmanned aerial vehicle to execute a corresponding action to shoot, and the instruction may be a voice interaction instruction, a key interaction instruction or a text interaction instruction, may be a shooting instruction transmitted by another terminal, and may also be a signal trigger instruction triggered by meeting a preset condition, which is not limited in this embodiment.
It should be noted that, after receiving the target shooting instruction, obtain unmanned aerial vehicle's current running state, through the change of judging current running state, come the flight action of drive control unmanned aerial vehicle and the shooting action of shooting device on the unmanned aerial vehicle, consequently, the shooting of unmanned aerial vehicle is controlled to the change of this embodiment's available unmanned aerial vehicle's running state. Specifically, after receiving a target shooting instruction, state information of the unmanned aerial vehicle is acquired, and then the current running state of the unmanned aerial vehicle is determined based on the state information; the state information can be the position, the moving speed, the moving acceleration and the like of the unmanned aerial vehicle, and the current running state of the unmanned aerial vehicle is determined through the state information.
It is easy to understand, unmanned aerial vehicle's current running state can be according to unmanned aerial vehicle's position, moving speed or moving acceleration confirm whether for quiescent condition or starting condition, if for quiescent condition, then unmanned aerial vehicle and camera device do not move, if for starting condition, then shoot the instruction according to the target, drive shooting device when unmanned aerial vehicle carries out the flight action and shoot, in this embodiment, start unmanned aerial vehicle through unmanned aerial vehicle's current running state, and then shoot the target object, manual start has been reduced, the complexity that manual control unmanned aerial vehicle shot, the intellectuality that unmanned aerial vehicle shot has been improved.
Step S200, adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle; wherein the operating modes include a first mode and a second mode.
Particularly, after obtaining the current running state of unmanned aerial vehicle, can adjust unmanned aerial vehicle's operational mode according to the current running state, for example can drive unmanned aerial vehicle according to unmanned aerial vehicle's current running state and take off to the target object shoots.
It is easy to understand, adjust the operating mode of unmanned aerial vehicle through the change of monitoring unmanned aerial vehicle's current operating condition, when current operating condition changed from the first state to the second state, with the operating mode of unmanned aerial vehicle from the first mode adjustment to the second mode.
In this embodiment, the first state is a stationary state, the state information of the stationary state is that the moving speed of the unmanned aerial vehicle is less than a preset moving speed and/or the moving acceleration is less than a preset moving acceleration, at this time, the unmanned aerial vehicle is considered to be in a non-working state, that is, the user does not have a requirement for driving the unmanned aerial vehicle to shoot at this time; the second state is the starting state, and the state information of starting state is that unmanned aerial vehicle's travelling speed is not less than and predetermines travelling speed and/or moving acceleration is not less than and predetermine moving acceleration, and this moment, think that unmanned aerial vehicle is operating condition, and the user wants to drive unmanned aerial vehicle to fly this moment to carry out and shoot the action. The first mode is an idle mode, when the unmanned aerial vehicle is in the idle mode, the rotating speed of a propeller of the unmanned aerial vehicle is a first preset value, and the first preset value is the lowest rotating speed of the unmanned aerial vehicle; the second mode is a flight mode, when the unmanned aerial vehicle is in the flight mode, the rotating speed of a propeller of the unmanned aerial vehicle is a second preset value, and the second preset value is the rotating speed of the unmanned aerial vehicle for keeping static flight.
In specific implementation process, the first state is that the user carries this unmanned aerial vehicle or unmanned aerial vehicle is idle, this unmanned aerial vehicle is in the idle state, the second state is that the user throws through actions such as throwing, throw, lose and throw unmanned aerial vehicle out, so that unmanned aerial vehicle's travelling speed is not less than and predetermines travelling speed and/or travelling acceleration and is not less than and predetermines travelling acceleration after, drive unmanned aerial vehicle gets into flight mode, and then unmanned aerial vehicle can be static in the air, and then through carrying out the flight action and shoot the action, realize unmanned aerial vehicle's shooting process.
In this embodiment, judge user's action through the change of control unmanned aerial vehicle's the rate of movement and/or the acceleration of movement, and then control unmanned aerial vehicle's operation mode, drive unmanned aerial vehicle gets into flight mode, and then through carrying out flight action and shooting action, realize unmanned aerial vehicle's shooting process, the control command who obtains user through unmanned aerial vehicle's state change, and then utilize this control command drive unmanned aerial vehicle to realize unmanned aerial vehicle's shooting, very big improvement the intellectuality that unmanned aerial vehicle shot.
Step S300, when the unmanned aerial vehicle is adjusted from the first mode to the second mode, executing a flight action of a target route corresponding to the target shooting instruction, so that the shooting device shoots a target object on the target route.
Specifically speaking, when unmanned aerial vehicle is adjusted to the flight mode from idle mode, unmanned aerial vehicle will static flight in the air, and then carries out the flight action of the target route that the target shooting instruction corresponds to make unmanned aerial vehicle fly on the target route, with this simultaneously, carry out the shooting action that the target shooting instruction corresponds, shoot the target object when making unmanned aerial vehicle fly with the shooting device of unmanned aerial vehicle.
It should be noted that the target shooting instruction may be an instruction corresponding to different shooting modes, and the unmanned aerial vehicle may use different shooting modes to shoot the target object according to different target shooting instructions, which is described in order to more clearly illustrate the corresponding relationship between the different shooting modes of the unmanned aerial vehicle and the shooting instruction.
The target is shot the instruction and can be for the user carry out the number of times of pressing of key operation to unmanned aerial vehicle, for example, after unmanned aerial vehicle starts, press the cubic to the mode button that unmanned aerial vehicle set up, can trigger the auto heterodyne mode, the user throws away the back with unmanned aerial vehicle, unmanned aerial vehicle is in the air through the static flight of adjustment operational mode, the action of the flight that the execution auto heterodyne mode corresponds after that and the action of shooing, fly to the preset position in target thing the place ahead promptly and shoot, accomplish unmanned aerial vehicle's intelligent shooting process.
The instruction is shot to the target can be for the user through mobile terminal to unmanned aerial vehicle transmission characters interactive instruction, for example, after unmanned aerial vehicle starts, send through mobile terminal to unmanned aerial vehicle and encircle the video recording, can trigger and encircle the video recording mode, the user throws away the back with unmanned aerial vehicle, unmanned aerial vehicle is in the air through the static flight of adjustment operational mode, then carry out the flight action and the shooting action that encircle the video recording mode and correspond, fly to the preset position in target thing the place ahead promptly and shoot, encircle the target thing flight simultaneously, until finishing around, accomplish unmanned aerial vehicle's intelligent shooting process.
It should be noted that the types of the shooting instruction and the shooting mode are not limited in this embodiment, and a person skilled in the art may set different shooting modes and corresponding shooting instructions as needed.
In this embodiment, through after receiving the target shooting instruction, adjust unmanned aerial vehicle's operational mode according to unmanned aerial vehicle's state information to make unmanned aerial vehicle shoot the corresponding flight action of instruction execution and shoot the action according to the target, realize automatic flight and automatic shooting under the different shooting modes, liberate shooter's both hands, improved unmanned aerial vehicle and carried out the intellectuality of automatic shooting function under the different shooting modes.
For convenience of understanding, referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the unmanned aerial vehicle shooting method of the present invention. Based on the first embodiment of the unmanned aerial vehicle shooting method shown in fig. 2, this embodiment provides an implementation method for executing a flight action of a target route corresponding to the target shooting instruction, so that the shooting device shoots a target object on the target route, which specifically includes:
step S301, acquiring a flight instruction and a shooting instruction of the unmanned aerial vehicle based on the target shooting instruction; wherein, the flight instruction is unmanned aerial vehicle's driving instruction of driving system, it is to shoot the instruction the driving instruction of device.
Specifically, when it is known that the unmanned aerial vehicle is adjusted from the idle mode to the flight mode, the flight action of the target route corresponding to the target shooting instruction needs to be executed, so that the shooting device shoots the target object on the target route, and at this time, the flight instruction and the shooting instruction of the unmanned aerial vehicle need to be obtained according to the received target shooting instruction.
It should be noted that, the flight instruction and the shooting instruction of unmanned aerial vehicle are the flight drive instruction of unmanned aerial vehicle and the drive instruction of shooting device that present target shooting instruction corresponds, and the flight instruction is the drive instruction of unmanned aerial vehicle's driving system, the shooting instruction is the drive instruction of shooting device, thereby when receiving flight instruction and shooting instruction, can drive unmanned aerial vehicle and fly at the route that the shooting mode corresponds, for example encircle the target object flight during the video recording mode, drive shooting device and shoot at the shooting mode corresponding position, for example during the auto heterodyne mode, shoot at the target object dead ahead preset position.
Step S302, driving an unmanned aerial vehicle to execute the flying action of a target route based on the flying instruction, and driving the shooting device to execute the shooting action of the target object on the target route based on the shooting instruction.
Specifically, after the flight instruction and the shooting instruction of the unmanned aerial vehicle are obtained, the unmanned aerial vehicle can be driven to execute the flight action of the target route based on the flight instruction, and the shooting device is driven to execute the shooting action of the target object on the target route based on the shooting instruction.
In some embodiments, the drone shoots the target object with the shooting device during flight, and it is necessary to keep the position of the target object in the shooting picture, for example, during self-shooting, and keep the target object in the picture at the composition position desired by the user, for example, during surround-video recording, so as to keep a plurality of target objects in the picture. Specifically, the image shot by the shooting device on the target route can be acquired, whether the target object is at the preset position of the shot image or not is judged, and if not, the flight instruction is adjusted, so that the target object is kept at the preset position of the shot image when the unmanned aerial vehicle executes the flight action according to the flight instruction.
In another embodiment, the drone shoots the target object with the shooting device during flight, and the distance between the target object and the drone needs to be maintained, for example, during the video surround recording, the target object and the drone are always at a safe distance, so as to avoid damage to the drone or injury or damage to the target object. Specifically, the distance between the target object and the unmanned aerial vehicle can be acquired, whether the distance meets the requirement of the safe distance is judged, and if not, the flight instruction is adjusted, so that the distance between the unmanned aerial vehicle and the target object meets the requirement of the safe distance when the unmanned aerial vehicle executes flight action according to the flight instruction.
In another embodiment, after the unmanned aerial vehicle finishes shooting, that is, after corresponding flight action and shooting action are performed, the unmanned aerial vehicle needs to perform corresponding landing action to complete one-time shooting by the unmanned aerial vehicle, and meanwhile, the user can conveniently perform the next shooting action. Specifically, can be through acquireing unmanned aerial vehicle's current position, again based on current position and preset descending position, the drive unmanned aerial vehicle carries out the descending action, so that unmanned aerial vehicle follows current position flies to preset descending position.
It should be noted that, predetermine the landing position and can set up in the target shooting instruction that corresponds, also can be for shooing the completion back, send to unmanned aerial vehicle again by the user, predetermine the landing position and can be for the dead ahead of target object, also can be for predetermineeing ground position, and this embodiment does not restrict, and the field personnel can set up different predetermined landing positions as required to it is more convenient to make the user retrieve unmanned aerial vehicle.
In this embodiment, by obtaining the flight instruction and the shooting instruction corresponding to the target shooting instruction, the unmanned aerial vehicle executes the corresponding flight action according to the flight instruction and executes the corresponding shooting action according to the shooting instruction, thereby implementing the shooting action of the target shooting instruction corresponding to the shooting mode. The intellectuality and the convenience that unmanned aerial vehicle carries out automatic shooting under different shooting modes have been promoted.
Referring to fig. 4, fig. 4 is a block diagram of the structure of the unmanned aerial vehicle photographing device of the present invention, and proposes a first embodiment of the unmanned aerial vehicle photographing device of the present invention.
As shown in fig. 4, an unmanned aerial vehicle photographing device provided in an embodiment of the present invention includes:
the acquisition module 10 is configured to acquire a current operation state of the unmanned aerial vehicle after receiving a target shooting instruction;
the adjusting module 20 is configured to adjust an operation mode of the unmanned aerial vehicle according to a current operation state of the unmanned aerial vehicle; wherein the operating modes include a first mode and a second mode;
and the shooting module 30 is configured to execute a flight action of a target route corresponding to the target shooting instruction when the unmanned aerial vehicle is adjusted from the first mode to the second mode, so that the shooting device shoots a target object on the target route.
As an implementation manner, the obtaining module 10 is further configured to obtain state information of the unmanned aerial vehicle after receiving a target shooting instruction; determining a current operating state of the drone based on the state information.
As an embodiment, the adjusting module 20 is further configured to adjust the operation mode of the drone from the first mode to the second mode when the current operation state changes from the first state to the second state; wherein:
the first state is a static state, and the state information of the static state is that the moving speed of the unmanned aerial vehicle is less than a preset moving speed and/or the moving acceleration is less than a preset moving acceleration;
the second state is a starting state, and the state information of the starting state is that the moving speed of the unmanned aerial vehicle is not less than the preset moving speed and/or the moving acceleration is not less than the preset moving acceleration;
the first mode is an idle mode, when the unmanned aerial vehicle is in the idle mode, the rotating speed of a propeller of the unmanned aerial vehicle is a first preset value, and the first preset value is the lowest rotating speed of the unmanned aerial vehicle;
the second mode is a flight mode, when the unmanned aerial vehicle is in the flight mode, the rotating speed of a propeller of the unmanned aerial vehicle is a second preset value, and the second preset value is the rotating speed of the unmanned aerial vehicle for keeping static flight.
The automatic device of shooing of unmanned aerial vehicle that this embodiment provided, through after receiving the target shooting instruction, according to unmanned aerial vehicle's the operational mode of state information adjustment unmanned aerial vehicle to make unmanned aerial vehicle shoot the flight action that the instruction execution corresponds and shoot the action according to the target, realize automatic flight and automatic shooting, liberation shooter's both hands have improved the intellectuality and the convenience that unmanned aerial vehicle was automatic to shoot.
Based on the first embodiment of the automatic unmanned aerial vehicle shooting device, the second embodiment of the automatic unmanned aerial vehicle shooting device is provided. In this embodiment, the shooting module 30 is further configured to obtain a flight instruction and a shooting instruction of the unmanned aerial vehicle based on the target shooting instruction; the flight instruction is a driving instruction of a power system of the unmanned aerial vehicle, and the shooting instruction is a driving instruction of the shooting device; and driving an unmanned aerial vehicle to execute the flying action of a target route based on the flying instruction, and driving the shooting device to execute the shooting action of the target object on the target route based on the shooting instruction.
As an embodiment, the unmanned aerial vehicle photographing apparatus further includes:
a first holding module 40 for acquiring an image taken by the photographing apparatus on the target route; and judging whether the target object is at the preset position of the shot image, if not, adjusting the flight instruction so as to enable the unmanned aerial vehicle to keep the target object at the preset position of the shot image when executing flight action according to the flight instruction.
As an embodiment, the unmanned aerial vehicle photographing apparatus further includes:
a second holding module 50 for acquiring a distance between the target object and the drone; and judging whether the distance meets the requirement of safe distance, if not, adjusting the flight instruction so as to keep the distance between the unmanned aerial vehicle and the target object to meet the requirement of safe distance when the unmanned aerial vehicle executes flight action according to the flight instruction.
As an embodiment, the unmanned aerial vehicle photographing apparatus further includes:
a landing module 60 for obtaining a current position of the drone; based on current position and preset descending position, the drive unmanned aerial vehicle carries out the descending action, so that unmanned aerial vehicle follows current position flies to preset descending position.
In this embodiment, by obtaining the flight instruction and the shooting instruction corresponding to the target shooting instruction, the unmanned aerial vehicle executes the corresponding flight action according to the flight instruction and executes the corresponding shooting action according to the shooting instruction, thereby implementing the shooting action of the target shooting instruction corresponding to the shooting mode. The intellectuality and the convenience that unmanned aerial vehicle shot have been promoted.
Other embodiments or specific implementation manners of the unmanned aerial vehicle shooting device can refer to the above method embodiments, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where an unmanned aerial vehicle shooting program is stored on the storage medium, and when executed by a processor, the unmanned aerial vehicle shooting program implements the steps of the unmanned aerial vehicle shooting method described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus necessary general hardware, and may also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, the implementation of a software program is a more preferable embodiment for the present invention. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, where the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-only memory (ROM), a random-access memory (RAM), a magnetic disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
Claims (10)
1. An unmanned aerial vehicle shooting method is characterized by being used for an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a shooting device, and the unmanned aerial vehicle shooting method comprises the following steps:
after receiving a target shooting instruction, acquiring the current running state of the unmanned aerial vehicle;
adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle; wherein the operating modes include a first mode and a second mode;
when the unmanned aerial vehicle is adjusted from the first mode to the second mode, executing the flight action of a target route corresponding to the target shooting instruction, so that the shooting device shoots a target object on the target route.
2. The unmanned aerial vehicle shooting method of claim 1, wherein the step of obtaining the current operating state of the unmanned aerial vehicle after receiving the target shooting instruction specifically comprises:
after receiving a target shooting instruction, acquiring state information of the unmanned aerial vehicle;
determining a current operating state of the drone based on the state information.
3. The unmanned aerial vehicle shooting method of claim 2, wherein the step of adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle specifically comprises:
when the current operation state is changed from a first state to a second state, adjusting the operation mode of the unmanned aerial vehicle from a first mode to a second mode; wherein:
the first state is a static state, and the state information of the static state is that the moving speed of the unmanned aerial vehicle is less than a preset moving speed and/or the moving acceleration is less than a preset moving acceleration;
the second state is a starting state, and the state information of the starting state is that the moving speed of the unmanned aerial vehicle is not less than the preset moving speed and/or the moving acceleration is not less than the preset moving acceleration;
the first mode is an idle mode, when the unmanned aerial vehicle is in the idle mode, the rotating speed of a propeller of the unmanned aerial vehicle is a first preset value, and the first preset value is the lowest rotating speed of the unmanned aerial vehicle;
the second mode is a flight mode, when the unmanned aerial vehicle is in the flight mode, the rotating speed of a propeller of the unmanned aerial vehicle is a second preset value, and the second preset value is the rotating speed of the unmanned aerial vehicle for keeping static flight.
4. The unmanned aerial vehicle shooting method of claim 1, wherein the executing of the flying action of the target route corresponding to the target shooting instruction to enable the shooting device to shoot the target object on the target route specifically comprises:
acquiring a flight instruction and a shooting instruction of the unmanned aerial vehicle based on the target shooting instruction; the flight instruction is a driving instruction of a power system of the unmanned aerial vehicle, and the shooting instruction is a driving instruction of the shooting device;
and driving an unmanned aerial vehicle to execute the flying action of a target route based on the flying instruction, and driving the shooting device to execute the shooting action of the target object on the target route based on the shooting instruction.
5. The unmanned aerial vehicle photographing method of claim 4, wherein after the steps of driving the unmanned aerial vehicle to perform the flying action of the target route based on the flying instruction and driving the photographing device to perform the photographing action of the target object on the target route based on the photographing instruction, the method further comprises:
acquiring an image shot by the shooting device on the target route;
and judging whether the target object is at the preset position of the shot image, if not, adjusting the flight instruction so as to enable the unmanned aerial vehicle to keep the target object at the preset position of the shot image when executing flight action according to the flight instruction.
6. The unmanned aerial vehicle photographing method of claim 4, wherein after the steps of driving the unmanned aerial vehicle to perform the flying action of the target route based on the flying instruction and driving the photographing device to perform the photographing action of the target object on the target route based on the photographing instruction, the method further comprises:
acquiring the distance between the target object and the unmanned aerial vehicle;
and judging whether the distance meets the requirement of safe distance, if not, adjusting the flight instruction so as to keep the distance between the unmanned aerial vehicle and the target object to meet the requirement of safe distance when the unmanned aerial vehicle executes flight action according to the flight instruction.
7. The unmanned aerial vehicle photographing method of claim 4, wherein after the steps of driving the unmanned aerial vehicle to perform the flying action of the target route based on the flying instruction and driving the photographing device to perform the photographing action of the target object on the target route based on the photographing instruction, the method further comprises:
acquiring the current position of the unmanned aerial vehicle;
based on current position and preset descending position, the drive unmanned aerial vehicle carries out the descending action, so that unmanned aerial vehicle follows current position flies to preset descending position.
8. The utility model provides a device is shot to unmanned aerial vehicle, its characterized in that, device is shot to unmanned aerial vehicle includes:
the acquisition module is used for acquiring the current running state of the unmanned aerial vehicle after receiving a target shooting instruction;
the adjusting module is used for adjusting the operation mode of the unmanned aerial vehicle according to the current operation state of the unmanned aerial vehicle; wherein the operating modes include a first mode and a second mode;
and the shooting module is used for executing the flight action of a target route corresponding to the target shooting instruction when the unmanned aerial vehicle is adjusted from the first mode to the second mode, so that the shooting device shoots a target object on the target route.
9. A drone, characterized in that it comprises: memory, a processor and a drone filming program stored on the memory and executable on the processor, the drone filming program when executed by the processor implementing the steps of the drone filming method of any one of claims 1 to 7.
10. A storage medium having stored thereon a drone filming program which, when executed by a processor, performs the steps of the drone filming method of any one of claims 1 to 7.
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