WO2017020856A1

WO2017020856A1 - Photographing device and method using drone to automatically track and photograph moving object

Info

Publication number: WO2017020856A1
Application number: PCT/CN2016/093490
Authority: WO
Inventors: 黄立; 刘华斌; 王效杰; 顾兴
Original assignee: 普宙飞行器科技（深圳）有限公司
Priority date: 2015-08-05
Filing date: 2016-08-05
Publication date: 2017-02-09
Also published as: CN105120146A; CN105120146B

Abstract

The invention relates to a device using a drone to automatically track and photograph a moving object, comprising: a drone flight platform, a load stabilization device, a photographing apparatus, and a mobile terminal, wherein the photographing apparatus is fixed to the drone flight platform via the load stabilization device and is configured to take an image of a moving object, and the mobile terminal is disposed on the moving object and can acquire location information of the moving object. According to location information of the drone flight platform and the moving object, a flightpath of the drone flight platform and a relative location of the photographing apparatus with respect to the drone flight platform are adjusted. Moreover, an orientation of the photographing apparatus is adjusted according to the image taken by the photographing apparatus, thereby enabling the photographing apparatus to track the moving object. The invention further relates to a method using a drone to automatically track and photograph a moving object, drone and control terminal.

Description

Automatic locking shooting device for moving object by using drone and shooting method

Technical field

The invention relates to a moving object automatic locking photographing device and a photographing method.

Background technique

At present, the traditional sports aerial photography technology or the professional shooting based on the stability of the gimbal, there are difficulties in the details of the long motion process, and it is necessary to set a plurality of viewing angles in a designated place, and to select the best details in the later stage, and the shooting equipment is constructed and Control debugging is difficult and costly; the emerging follow-up shooting technology based on the UAV flight platform has lower cost and can lock moving objects, but only the rear shooting angle can be set, more exciting details can not be captured, and there is no tracking based. The region of interest of the algorithm is adjusted, and the specific parameters of the locked moving object, such as the shooting angle and the shooting distance, cannot be arbitrarily adjusted.

Summary of the invention

In view of the above, it is necessary for the present invention to provide an automatic locking device and a shooting method for a moving object using a drone with a suitable cost and outstanding performance.

The utility model relates to an automatic locking shooting device for a moving object by using a drone, comprising a drone flight platform, a load stabilization device, a motion camera and a mobile control terminal, wherein:

The bottom of the UAV flight platform is fixed with a load stabilizer. The motion camera is fixed on the load stabilizer. The mobile control terminal is carried by the moving target. The mobile control terminal obtains the real-time image of the motion camera from the UAV flight platform through the data link. State information, and according to the instruction of the moving object to automatically lock the feedback of the shooting algorithm, control the flight platform of the drone with the moving object;

The UAV flight platform has an automatic hovering and GPS navigation flight function, and the route is planned by GPS;

The load stabilizing device is used for stabilizing the motion camera load and feeding back the load attitude in real time; the load stabilizing device ensures that the motion camera load can filter out motion disturbances from outside the load, maintaining a fixed viewing angle without jitter.

The motion camera, as an image acquisition source device, provides high-definition scene data that is of most interest to the user. The load stabilizing device will stabilize the motion camera load to ensure that the motion camera can capture high quality HD images for moving objects;

The mobile control terminal acquires the real-time image and related state information of the motion camera from the UAV flight platform through the data link, and automatically controls the unmanned aerial vehicle flight platform to shoot with the moving object according to the instruction of the moving object automatically locking the shooting algorithm feedback. ;

The mobile control terminal is equipped with an automatic locking imaging algorithm for moving objects, real-time intelligent calculation based on image and status information, combined with image tracking and GPS trend following or prediction, and finally realizes that the moving camera load locks the moving object and simultaneously captures the most moving objects. Good angle image.

The UAV flight platform can perform GPS navigation flight, set multiple waypoints to fly in sequence, and automatically hover when idle.

The UAV flight platform has a data link, and transmits a real-time image and status information of the loaded camera load to the mobile control terminal of the data link, and receives from the mobile control terminal connected to the data link. Intelligent control information to track moving shots.

The load stabilizing device can stabilize the three dimensions of pitch, roll and azimuth for the mounted moving camera load.

The motion camera is optimized for shooting moving objects, and has faster exposure time and motion compensation under the premise of ensuring image quality, ensuring that the motion details of the object can be photographed.

The mobile control terminal can establish a data link based on WIFI or digital transmission on the unmanned aerial vehicle flight platform, thereby performing image and status information transmission and control signal uploading.

The mobile control terminal has a GPS positioning function and is carried or fixed by a moving object.

A photographing method for automatically locking a moving object by using a drone, characterized in that the method comprises the following steps:

(1) Real-time data acquisition of the mobile control terminal, obtaining the real-time image, load and attitude state data of the motion camera, identifying the specific area of the target to be tracked, and acquiring the telemetry state data of the drone;

(2) The mobile control terminal analyzes the data preprocessing, performs screening or serialization modeling, estimates the motion state of the target to be tracked, and establishes a cumulative tracking pipeline for target tracking processing;

The specific steps of the screening or serialization modeling are as follows:

(a) extracting current attitude data of the drone and the load stabilizing device;

(b) Establishing historical attitude data pipelines for drones and load stabilizers;

(c) calculating the trajectory curve of the drone and the load stabilizing device;

(d) extracting current positioning position data of the moving target obtained by the mobile control terminal;

(e) Establish a historical location data pipeline for the moving target;

(f) Calculate the trajectory curve of the moving target.

(3) The mobile control terminal comprehensive decision data processing, based on the target motion estimation and tracking processing data, generates comprehensive decision data, and transmits it to the drone flight platform through the data link to control the load and the next movement of the drone.

The specific operation steps of the moving object automatic locking shooting algorithm are as follows:

(1) Smoothing of the target motion curve: smoothing the trajectory history curve of the target according to the GPS trajectory of the target, and analyzing the motion characteristics of the target;

(2) Smooth motion curve of the drone: According to the GPS trajectory of the drone, smooth the historical curve of the trajectory of the drone and analyze the motion characteristics of the drone;

(3) UAV flight plan prediction: compare the motion curve of the target with the motion curve of the drone, calculate the difference between the two running trajectories, and set the standard according to the trajectory of the UAV's motion trajectory to the target trajectory. Flight plan for man and machine;

(4) Target position search and positioning: In order to ensure that the target of interest has a good shooting effect, the target needs to be located at the center of the motion camera, so the target search positioning is performed;

(5) Load attitude stability analysis: After searching for the moving target of interest in the real-time image, it is necessary to set the control scheme of the load stabilizer;

(6) Flight and load stability decision: The flight joint prediction scheme and the load stability control scheme are integrated, and the decision of the trade-off is made, and the final joint control scheme is obtained.

The moving target of the present invention carries a mobile control terminal, and the mobile control terminal is carried by the moving object, can perform real-time GPS positioning, and can run a moving object automatic locking shooting algorithm;

The UAV flight platform of the present invention can transmit telemetry data including the motion posture of the UAV and the load stabilizing device to the mobile control terminal through the data link in real time, and real-time images of the moving object target captured by the motion camera;

The mobile control terminal of the invention is based on the attitude of the unmanned aerial vehicle and the load stabilizing device, the real-time image of the moving target, the real-time GPS positioning information of the moving object, the automatic target locking tracking algorithm of the moving object, and the control of the drone and the load stabilizing device. The solution is sent to the drone and load stabilizer via the data link.

The invention has the following advantages:

(1) After selecting the target of the moving object, you can automatically follow the target to shoot; or predict the movement trend of the object and perform pre-shooting.

(2) You can choose the best shooting angle of the moving object, such as trailing, sideways or head-on, which is different from the common follow-up shooting in the market.

(3) The cost of the whole system is low, far lower than the traditional aerial equipment, but it can get equal or even better motion details.

(4) With image tracking function, it can set the most interesting target details to the central area of the shooting screen in real time to ensure the shooting effect.

(5) The following or predictive algorithm combines the GPS trajectory calculation tracking and prediction algorithm with the image tracking and prediction algorithm, which has better robustness.

The invention needs to be combined with the unmanned aerial vehicle flight platform, equipped with a load stabilizing device, a motion camera, and a mobile control terminal to complete the wonderful detail shooting for the moving object.

DRAWINGS

Figure 1 is a block diagram showing the overall assembly of the system of the present invention;

2 is a flow chart of internal data operation of a specific implementation of the present invention;

3 is a flow chart of an automatic locking shooting algorithm for a moving object according to the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the flowchart of the internal data in the embodiments of the present invention. It is obvious that the embodiments are only a part of the embodiments of the present invention, and not all of them. An embodiment. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

As shown in FIG. 1, the present invention includes: a drone flight platform 10, a load stabilizing device 20, a motion camera 30, and a mobile control terminal 40. The motion camera 30 is fixed to the load stabilizing device 20, and the load stabilizing device 20 and the motion camera 30 is again carried on the UAV flight platform 10; the digital transmission device of the UAV flight platform 10 establishes a data link with the mobile control terminal 40. The bottom of the UAV flight platform 10 is fixed with a load stabilizing device 20, the motion camera 30 is fixed on the load stabilizing device 20, the mobile control terminal 40 is carried by the moving target, and the mobile control terminal 40 is obtained from the UAV flight platform 10 via the data link. The real-time image of the motion camera 30 and related state information, and according to the instruction of the moving object automatically locking the feedback of the shooting algorithm, controlling the drone flight platform to shoot with the moving object

A data link is established with the mobile control terminal 40 by the data transmission device of the drone flight platform 10.

The UAV flight platform 10 is composed of intelligent flight control, ESC, motor, propeller, frame, power lithium battery, and digital transmission device components, and is used for carrying a moving camera and a load stabilizing device for moving objects accompanying flight;

A load stabilizing device 20 is fixed to the bottom of the drone flight platform for stabilizing the motion camera 30 at a specified viewing angle;

The motion camera 30 is used as an image acquisition source device for capturing wonderful details of moving objects;

The mobile control terminal 40 acquires the real-time image and load status of the moving object through the data link to the UAV flight platform, and transmits the load and the control signal of the flight platform, and has a GPS positioning function, and is carried by the moving object for motion. GPS positioning of objects;

The mobile control terminal 40 is provided with an automatic locking imaging algorithm for moving objects, which is an algorithm application running on the mobile control terminal, which inputs real-time images, load states, etc. as auxiliary parameters for motion state analysis of moving objects, and outputs the flight platform of the unmanned aerial vehicle. The flight control command ensures that the front of the moving object or the image of the user's interest is in the central area of the shooting result.

The device provided by the invention can realize moving object following or pre-shooting to obtain the best motion detail shooting effect.

As shown in FIG. 2 and FIG. 3, a shooting method for automatically locking a shooting device using a no-face surface includes the following steps:

(1) Data source generation, the data source comes from the real-time image and attitude data generated by the flight control, load stabilizer and motion camera from the front end of the drone, and is transmitted to the mobile control terminal through the data link, wherein the data source mainly includes none. Man-machine attitude data: pitch angle, yaw angle and roll angle, the camera's attitude data is obtained by the load stabilizer, the real-time image data obtained by the camera, and the UAV position coordinates and target position coordinates obtained by the GPS positioning system;

(2) After receiving the data source collected in real time, the mobile control terminal enters the processing flow of the automatic locking imaging algorithm of the moving object. The first step is data analysis preprocessing, which refines, detects and analyzes all the original data. The real-time image data is processed to output the relative position of the target center and the image center in the image, and the output camera motion is up, down, left, and right. Deflection control parameters; processing the GPS sequence position of the drone and the GPS sequence position of the target, and outputting the direction and speed of movement of the drone and the target;

(3) The second step of the automatic locking imaging algorithm of the moving object, combined with the locked target limit condition, according to the moving speed and direction of the target obtained in (2), the control parameters of the camera up and down and left and right deflection, and according to different shooting requirements The predecessor pats the camera, follows the post, and shoots sideways to perform attitude stability analysis and UAV flight plan prediction to achieve the above functions;

(4) Perform real-time intelligent calculation based on the analyzed image and state information, combine the attitude analysis result and the flight plan prediction result, and make the final flight and load stability decision, and give the final drone and load control scheme;

(5) The unmanned aerial vehicle and load control scheme after the decision is transmitted to the unmanned aerial vehicle flight platform 10 and the load stabilizing device 20 through the data link, and the two receive the decision-making sub-frame and the load control scheme of the drone. The detailed process of the moving object automatic locking shooting algorithm is described as follows:

In the present invention, the mobile control terminal is carried by the moving object target, so that the moving object target also has the GPS positioning function; the real-time image of the moving object target, the complete attitude angle of the load, and the real-time GPS position of the drone through the data link The downlink control arrives at the mobile control terminal. At this time, the moving object automatic locking shooting algorithm APP will perform the motion state analysis of the load and the moving object target from the image feature and the motion curve according to the information, combined with the GPS position of the moving object; The dimension of the feature, called the target location tracking sub-algorithm, is selected while the moving target object is selected, and the impact template of the moving target is saved as an important reference data for real-time tracking calculation; the real-time image is continuously updated, and the moving target is utilized. Influencing the template to match in real time, detecting the target, so that the target is continuously positioned. If it is about to deviate from the field of view, it will calculate according to the complete attitude parameter of the motion camera. After calculating the deviation angle, upload the control command of the load stabilization device to ensure Load stabilizers can be adjusted and reversed Deviation angle off target. From the dimension of the motion curve, called the flight platform trajectory correction sub-algorithm, according to the sequence position of the UAV flight platform obtained by the GPS positioning system and the sequence position of the moving object target, the motion curves of the two can be calculated. The adjustment command is issued to the UAV flight platform in real time to ensure that the UAV flight curve can maintain a stable distance to the moving object target as much as possible, as well as the flight curve of the same shape. In this way, the target positioning tracking sub-algorithm is first used to continuously locate the target, and the moving camera offset angle is continuously adjusted by the load stabilization device to ensure that the target is at the center of the image. Then use the flight platform trajectory correction sub-algorithm to adjust the motion direction of the drone, so that the trajectory of the drone is consistent with the trajectory of the target, ensuring that the target does not deviate from the camera field of view, and adjust the speed of the drone. , to ensure that the target has a suitable proportion in the image. Combined with the above-mentioned target positioning tracking sub-algorithm and flight platform trajectory correction sub-algorithm, the process of automatic locking shooting of moving objects is realized by using the drone. The flow chart of the moving object automatic locking shooting algorithm is shown in Figure 3, and the specific operation steps are as follows:

(1) Smoothing of the target motion curve: According to the GPS trajectory of the target, the trajectory history curve of the target is smoothed, and the motion characteristics of the target are analyzed.

The tangential direction of the current time point on the motion trajectory curve is used as the predicted value of the moving direction of the target next time, and the moving speed of the current target is calculated according to the target position information of the first two moments.

(2) Smooth motion curve of the drone: According to the GPS trajectory of the drone, smooth the historical curve of the trajectory of the drone, analyze the motion characteristics of the drone, and also use the tangential direction of the current time point on the motion trajectory curve as The predicted value of the movement direction of the man-machine at the next moment is calculated according to the position information of the drone at the first two moments.

(3) UAV flight plan prediction: compare the motion curve of the target and the motion curve of the drone, and the direction of motion of the target and the next moment of the drone, calculate the difference between the running track and the moving direction of the drone, according to the drone The trajectory of the trajectory to the target's trajectory adjustment criteria, as well as different shooting requirements, set the drone's flight plan. For example, when the front drive is taken, after the target moving direction and the moving speed are obtained, the moving direction and the moving speed of the drone are adjusted, so that the drone reaches the target moving position in advance, and the front shooting function is realized.

(4) Target position search and positioning: In order to ensure that the target of interest has a good shooting effect, the target needs to be located at the center of the motion camera, so the target search positioning is performed.

(5) Load attitude stability analysis: After searching for the moving target of interest in the real-time image, it is necessary to set the control scheme of the load stabilizer.

(6) Flight and load stability decision-making: The flight joint prediction scheme and the load stability control scheme are integrated, and the decision of the trade-off is made, and the final joint control scheme can be obtained.

(7) Load attitude stability analysis: After searching for the moving target of interest in the real-time image, it is necessary to set the control scheme of the load stabilizer. The specific implementation scheme is as follows:

(a) The angular velocity, acceleration, and magnetic field of the current load stabilizing device are obtained by a three-axis gyro, a three-axis accelerometer, and a three-axis magnetic compass.

(b) The offset of the load stabilizing device in the x, y, z direction is calculated by the transformation formula.

(c) Calculate the relative displacement of the center from the center of the image based on the currently obtained target center position of interest.

(8) Flight and load stability decision: The integrated flight prediction scheme and the load stability control scheme, through the trade-off decision, the final joint control scheme is obtained.

(a) Adjust the direction of motion of the drone according to the flight prediction plan of the drone, and control the speed of the drone

(b) According to the load attitude stability analysis, the control scheme of the load stabilizer is obtained.

1. According to the calculated offset of the load stabilizer in the x, y, z direction, the motor is controlled to ensure the camera is stable.

2. According to the calculated relative displacement of the target center, control the movement of the camera to ensure that the image is in the target center

The displacement in the X direction is adjusted by the left and right rotation of the camera

The displacement in the Y direction is adjusted by the up and down rotation of the camera

In one embodiment, the UAV flight platform has a GPS navigation flight mode, which can sequentially set a plurality of waypoints to be flighted; can be controlled to hover at a specified altitude at any time; there is wireless data transmission Function, can be connected to the mobile control terminal to become a data link, The image is transmitted down and the state control information is bidirectionally transmitted; the load stabilizing device can be fixed and the motion camera is carried for stable shooting of the moving object object.

In one of the embodiments, the load stabilizing device comprises a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetic compass to form a closed-loop feedback control system, which can be used to stabilize the motion camera to a specified viewing angle, Disturbed by external high frequency or small motion, such as the vibration of the drone or the wind blowing.

The load stabilizing device consists of three parts:

(1) Three-axis gyro: The angular velocity of the output load stabilizing device x, y, z.

(2) Three-axis accelerometer: The acceleration of the output load stabilizing device x, y, z.

(3) Three-axis magnetic compass: The magnetic field of the output load stabilizing device x, y, z.

According to the data of the three parts of the output, the attitude parameters and positioning parameters of the load stabilizing device can be obtained through calculation, and when there is external interference, it can be adjusted in real time to achieve the purpose of stabilizing the motion camera.

In one of the embodiments, the motion camera has a high-definition photo shooting or high-definition video recording function, and has a large-capacity SD card storage; and is optimized for shooting of moving objects, and is suitable for the field of sports aerial photography.

In one embodiment, the mobile control terminal may be a mobile phone or a tablet, and an Android or IOS operating system is installed, and the mobile APP configured with a moving object automatic locking shooting algorithm may be executed, and has a GPS positioning function, which can be the same The UAV flight platform establishes a data link, and the image data and motion camera status information can be transmitted from the data link to the mobile control terminal and finally to the algorithm APP. After the intelligent calculation, the algorithm APP transmits the precise control information to none. Man-machine flight platform, load stabilizer and motion camera. Moving objects will be bundled or carry mobile control terminals, which also have GPS positioning capabilities.

In one of the embodiments, the moving object automatically locks the shooting algorithm, combines the motion object trajectory calculation and prediction based on the moving object GPS positioning, and runs a real-time image tracking locking algorithm to pull the object of interest into the motion camera. Central area for better sports shooting.

Claims

The utility model relates to a device for automatically locking and shooting a moving object by using a drone, comprising a drone flight platform, a load stabilization device, an imaging device and a mobile terminal, wherein:

The image capturing apparatus is fixed to the UAV flight platform by the load stabilizing device for photographing the moving object, and the load stabilizing device is capable of filtering out an image capturing device from outside the load stabilizing device Motion interference and directing the imaging device to the moving object;

The mobile terminal is disposed on the moving object and is capable of acquiring position information of the moving object;

The automatic lock camera performs the following control operations:

Adjusting a flight route of the UAV flight platform and a relative position of the camera device and the UAV flight platform according to the UAV flight platform and position information of the moving object, and according to the camera device The captured image adjusts the orientation of the imaging device such that the imaging device locks the shooting of the moving object.
The apparatus for automatically locking a moving object by using a drone according to claim 1, wherein:

The load stabilizing device comprises at least one of a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetic compass to form a closed loop feedback control system.
The apparatus for automatically locking a moving object by using a drone according to claim 2, wherein:

The mobile terminal connects to the drone platform through a data link, and the control operation of the automatic lock photographing device is performed on the mobile terminal.
The apparatus for automatically locking a moving object by using a drone according to claim 3, wherein:

The mobile terminal acquires the attitude information of the drone, the attitude information of the load stabilization device, the position information of the UAV flight platform and the moving object, and the image information captured by the imaging device from the UAV platform through a data link. .
The apparatus for automatically locking a moving object by using a drone according to claim 4, wherein:

The mobile terminal controls the attitude of the flight and load stabilizing device of the drone using a self-locking photographing mode such that the moving object is always located at the center of the image captured by the image capturing device.
The apparatus for automatically locking a moving object by using a drone according to claim 5, wherein:

When the mobile terminal uses the self-locking shooting mode, smoothing a motion trajectory of at least one of the moving object and the UAV flight platform, and using a tangential direction of the current time on the motion trajectory curve as a target next The predicted value of the moment of motion is calculated based on the position of the first two moments.
The apparatus for automatically locking a moving object by using a drone according to claim 6, wherein:

The mobile terminal compares the motion curve of the moving object with the motion curve of the UAV platform, and the motion curve and the motion direction of the UAV platform in the next moment, and calculates the difference between the running track and the moving direction of the mobile device, according to the UAV platform. The standard for adjusting the trajectory of the moving trajectory to the moving object and the different shooting requirements, setting the flight plan of the drone.
The apparatus for automatically locking a moving object by using a drone according to claim 7, wherein the load posture stabilization analysis is performed by the following steps, and the control scheme of the load stabilization device is set:

(a) obtaining the angular velocity, acceleration, and magnetic field of the current load stabilizing device through a three-axis gyro, a three-axis accelerometer, and a three-axis magnetic compass;

(b) calculating the offset of the load stabilizing device in the x, y, z direction by a transformation formula;

(c) Calculate the relative displacement of the center from the center of the image based on the currently obtained center position of the moving object.
The apparatus for automatically locking a moving object by using a drone according to claim 8, wherein:

Combining the flight plan of the drone and the control plan of the load stabilizing device, the final joint control plan is obtained through the trade-off decision.
The apparatus for automatically locking a moving object by using a drone according to claim 9, wherein:

(a) adjusting the direction of movement of the drone according to the flight plan of the drone, and controlling the speed of movement of the drone;

(b) Obtain a control scheme for the load stabilizer by the following steps:

(b1) According to the calculated offset of the load stabilizing device in the x, y, z direction, the motor is controlled to ensure that the camera is stable;

(b2) According to the calculated relative displacement of the center of the moving object, control the movement of the camera to ensure that the image is at the center of the target, the displacement in the X direction is adjusted by the left and right rotation of the camera, and the displacement in the Y direction is rotated up and down by the camera. Make adjustments.
A method for automatically locking a moving object by using a drone, characterized in that: the image capturing device is fixed to the unmanned aerial vehicle flight platform by a load stabilizing device, and the load stabilizing device is used to filter out the outside of the load stabilizing device Interfering with motion of the imaging device and directing the imaging device to the moving object;

a mobile terminal capable of acquiring position information of the moving object is disposed on the moving object;

Adjusting a flight route of the UAV flight platform and a relative position of the camera device and the UAV flight platform according to the UAV flight platform and position information of the moving object, and according to the camera device The captured image adjusts the orientation of the imaging device such that the imaging device locks the shooting of the moving object.
A method for automatically locking a moving object by using a drone, characterized in that the method comprises the following steps:

(1) The mobile terminal automatically locks the feedback instruction of the shooting algorithm according to the moving object, controls the flying platform of the drone to perform flight shooting with the moving object, real-time data acquisition, obtains the real-time image of the moving camera, the posture state data of the load stabilization device, and recognizes The target to be tracked Body area, obtaining drone telemetry status data;

(2) The mobile terminal analyzes the data preprocessing, performs screening or serialization modeling, determines the motion state of the target to be tracked, and establishes a cumulative tracking pipeline for target tracking processing;

(3) The mobile terminal comprehensive decision data processing, based on the target motion estimation and tracking processing data, generates comprehensive decision data, and controls the load and the next movement of the drone flight platform through the UAV flight platform transmitted to the data link.
The method for automatically locking a moving object by using a drone according to claim 12, wherein the specific steps of the screening or serialization modeling are:

(a) extracting current attitude data of the drone and the load stabilizing device;

(b) Establishing historical attitude data pipelines for drones and load stabilizers;

(c) calculating the trajectory curve of the drone and the load stabilizing device;

(d) extracting current positioning position data of the moving target obtained by the mobile control terminal;

(e) Establish a historical location data pipeline for the moving target;

(f) Calculate the trajectory curve of the moving target.
An unmanned aerial vehicle for automatically locking and shooting a moving object, including a drone flight platform, a load stabilizing device, and an imaging device, wherein:

The image capturing apparatus is fixed to the UAV flight platform by the load stabilizing device for photographing the moving object, and the load stabilizing device is capable of filtering out an image capturing device from outside the load stabilizing device Motion interference and directing the imaging device to the moving object;

The drone is capable of communicating with a mobile terminal disposed on the moving object and acquiring position information of the moving object, and performing the following control operations:

Adjusting a flight route of the UAV flight platform and a relative position of the camera device and the UAV flight platform according to the UAV flight platform and position information of the moving object, and according to the camera device The captured image adjusts the orientation of the imaging device such that the imaging device locks the shooting of the moving object.
Mobile terminal for controlling drone to automatically lock and shoot moving objects, and its characteristics Lie in:

The mobile terminal is disposed on the moving object and is capable of acquiring position information of the moving object;

The UAV includes a UAV flight platform, a load stabilizing device, and an imaging device, and the imaging device is fixed to the UAV flight platform by the load stabilizing device, and is used for photographing the moving object. The load stabilizing device is capable of filtering out motion interference with the imaging device from outside the load stabilizing device and directing the imaging device to the moving object;

The mobile terminal performs the following control operations on the drone:

Adjusting a flight route of the UAV flight platform and a relative position of the camera device and the UAV flight platform according to the UAV flight platform and position information of the moving object, and according to the camera device The captured image adjusts the orientation of the imaging device such that the imaging device locks the shooting of the moving object.