WO2021031159A1

WO2021031159A1 - Match photographing method, electronic device, unmanned aerial vehicle and storage medium

Info

Publication number: WO2021031159A1
Application number: PCT/CN2019/101818
Authority: WO
Inventors: 刘畅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2021-02-25
Also published as: CN112154654A

Abstract

A match photographing method, an electronic device and an unmanned aerial vehicle. The method comprises: acquiring a preset match region and target objects; controlling, according to the number of the target objects, a camera to generate fixed-focus frames, the number of which is adapted to the number of the target objects; and when it is detected that the target objects are in the match region, adjusting the parameters of at least one of an unmanned aerial vehicle (110), the camera, and a gimbal (120), such that the target objects are in the fixed-focus frames of the camera. That is, according to the method of the present application, when tracking and photographing target objects in a match region, the target objects are enabled to be in fixed-focus frames of a camera by adjusting the parameters of at least one of an unmanned aerial vehicle, the camera and a gimbal, instead of providing the camera within or at the periphery of the match region, such that the tracking and photographing of the target objects has a low cost and a high flexibility, and competition focal points can be captured in a timely manner, thereby improving the efficiency of tracking and photographing the target objects in the match region.

Description

Competition shooting methods, electronic equipment, drones and storage media

Technical field

The embodiments of the present invention relate to the technical field of drone shooting, and in particular, to a game shooting method, electronic equipment, drone, and storage medium.

Background technique

With the popularization of sports, more and more communities, units, and companies have begun to organize sports events involving many people such as football and basketball. For small-group and small-scale competitions, there is no condition to configure dedicated cameras and photographers to shoot by setting up small cameras on the sidelines.

However, due to the low position of the cameras set up on the sidelines, there is a problem of incomplete vision and unable to capture the focus of the event.

Summary of the invention

The embodiment of the present invention provides a game shooting method, electronic equipment, drone, and storage medium.

In the first aspect, an embodiment of the present application provides a game shooting method, which is applied to a drone equipped with a camera and a pan-tilt, including:

Obtain the preset competition area and target;

According to the number of the target objects, controlling the camera to generate a fixed focus frame suitable for the number of the target objects;

When it is detected that the target is located in the competition area, the parameters of at least one of the drone, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.

In the second aspect, an embodiment of the present application provides an electronic device, which is applied to a drone equipped with a camera and a pan/tilt, including:

Memory, used to store computer programs;

The processor is configured to execute the computer program, specifically:

Obtain the preset competition area and target;

In a third aspect, embodiments of the present application provide a drone, including a fuselage, a power supply battery, a power system, a camera, a pan/tilt, and a processor provided on the fuselage; the power supply battery can be the power system Power supply, the power system provides power for the drone;

The processor is configured to obtain a preset competition area and a target; according to the number of the target, control the camera to generate a fixed focus frame suitable for the number of the target; and when detected When the target is located in the competition area, the parameters of at least one of the power system, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.

In a fourth aspect, an embodiment of the present application provides a computer storage medium in which a computer program is stored, and the computer program implements the game shooting method as described in the first aspect when executed.

The game shooting method, electronic equipment, drone, and storage medium provided by the embodiments of this application obtain preset game areas and targets, and control the camera to generate a camera corresponding to the number of targets according to the number of targets. Fix the focus frame, and when it is detected that the target is located in the competition area, adjust the parameters of at least one of the drone, camera and pan/tilt so that the target is located in the fixed focus frame of the camera. That is, in the embodiment of the present application, when tracking and shooting a target in the competition area, there is no need to set up a camera in or around the competition area. Instead, a fixed focus frame suitable for the number of targets is first generated according to the number of targets. , And then adjust the parameters of at least one of the drone, camera and pan/tilt so that the target is located in the fixed focus frame, so as to realize real-time tracking and shooting of the target in the competition area. The tracking and shooting cost of the target is low and flexible It has high performance and can capture the target in time, which improves the efficiency of tracking and shooting the target in the competition area.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a movable platform involved in an embodiment of the present application;

FIG. 2 is a schematic architecture diagram of an unmanned aerial vehicle system related to an embodiment of the present application;

FIG. 3 is a flowchart of a competition shooting method provided by an embodiment of the application;

FIG. 4a is a schematic diagram of a target involved in an embodiment of this application;

FIG. 4b is another schematic diagram of a target involved in an embodiment of the application;

FIG. 5 is a flowchart of a method for shooting a game according to an embodiment of the application;

Figure 6a is a top view of a competition area involved in an embodiment of the application;

Figure 6b is a side view of the competition area shown in Figure 6a;

FIG. 7 is a flowchart of a competition shooting method provided by an embodiment of the application;

FIG. 8 is a flowchart of a game shooting method provided by an embodiment of the application;

FIG. 9 is a flowchart of a game shooting method provided by an embodiment of the application;

FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the application;

FIG. 11 is a schematic structural diagram of a drone provided by an embodiment of the application;

FIG. 12 is a schematic structural diagram of a drone provided by an embodiment of the application.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

FIG. 1 is a schematic architecture diagram of a movable platform involved in an embodiment of the present application. The movable platform 100 includes a mobile body 101, a pan-tilt 120 arranged on the mobile body, and a camera 123 arranged on the pan-tilt 120 .

The mobile body 101 can move in any posture in space, such as horizontal movement and movement, vertical movement and rotation movement. The pan/tilt head can rotate in the horizontal direction (that is, in the XY plane), as well as in the vertical direction.

In an example, as shown in FIG. 2, the above-mentioned movable platform 100 may be an unmanned aerial system, and the corresponding above-mentioned mobile body 101 may be a drone 110. Optionally, the UAV may be a multi-rotor, fixed-wing and other types of UAVs. The multi-rotor UAV may include four-rotor, six-rotor, octo-rotor, and other UAVs including other numbers of rotors. In this embodiment, a rotary wing drone is taken as an example for description.

The unmanned flying system 100 may include a drone 110, a display device 130, and a control terminal 140. Among them, the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the control terminal 140 and the display device 130.

The drone 110 includes a frame, and the frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected with the fuselage, and is used for supporting the UAV 110 when landing.

The power system 150 may include one or more electronic speed regulators (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS). The flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt is used to carry the camera 123. The flight controller 161 can control the movement of the pan-tilt 120 through the motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan-tilt may be located on the top of the drone or on the bottom of the drone.

The camera 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the camera 123 may communicate with the flight controller 161 and take pictures under the control of the flight controller 161. The camera 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed on the drone 110, so the pan-tilt 120 can be omitted.

The display device 130 is located at the ground end of the unmanned aerial system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image taken by the imaging device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.

The control terminal 140 is located on the ground end of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.

The technical solutions of the present invention will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

FIG. 3 is a flowchart of a game shooting method provided by an embodiment of the application. As shown in FIG. 3, the control method of the embodiment of the application may include:

S101: Obtain a preset competition area and target.

The execution subject of the method of this application is an unmanned aerial vehicle, which may be an exemplary flight controller in the unmanned aerial vehicle shown in FIG.

The competition area is the tracking range of the drone, that is, the drone tracks and photographs the target in the competition area, and the target is located in the fixed focus frame of the camera.

Exemplarily, the competition area may be a specific area within the competition venue, for example, including the competition area and the peripheral expansion area of the competition area. The size of the periodical expansion area is set according to actual needs. For example, the peripheral expansion area is a periodical extension of 10 meters to the playing field area, so that the playing field area and the playing field area extending 10 meters outward constitute the playing area.

The embodiment of the application does not limit the way the drone can obtain the competition area.

In an example, the drone can obtain the competition area through image processing. For example, the drone controls the camera to take a picture of the competition area. Then, the user specifies the size of the competition area on the captured competition area picture, for example, the user Carry out a frame selection on the pictures of the shooting venue, and set the area in the selection frame as the competition area.

In another example, the drone can obtain the competition area through the information input by the user. For example, the user inputs the size and boundary of the competition area to the drone, and the drone is based on the size and boundary of the competition area input by the user. Wait for information to get the game area.

The competition area includes one or more of ball competition area, shooting competition area, track and field competition area, water competition area, and ice and snow competition area.

The targets involved in this implementation are those tracked by drones.

Optionally, the target in the embodiment of the present application includes one or more targets. For example, as shown in Figure 4a, the ball is used as a target, or, as shown in Figure 4b, six players and one ball are both used as the target.

Optionally, the target object is basketball, football, rugby, etc.

Optionally, the target is one or more athletes.

Optionally, the target is one or more referees.

In the embodiments of the present application, the setting of the number and types of targets is determined according to actual needs, which is not limited in the embodiments of the present application.

S102. According to the number of the target objects, control the camera to generate a fixed focus frame suitable for the number of the target objects.

Wherein, the fixed focus frame is a field of view frame with a constant focal length, and its field of view range remains unchanged accordingly.

Continuing to refer to Figures 4a and 4b, according to the number of targets, the camera is controlled to generate a fixed focus frame. The size of the fixed focus frame is adapted to the number of targets, even if the target is within the fixed focus frame, so the camera You can track and shoot the target in the fixed focus frame.

In the first example of S102, as shown in FIG. 4a, when the number of the target is one, the focal length of the camera is adjusted to generate a first fixed focus frame, so that the one target is located in the first fixed focus frame. Within a certain focal frame.

In the second example of S102, as shown in FIG. 4b, when the number of the target objects is multiple, the focal length of the camera is adjusted to generate a second fixed focus frame. The size of the second fixed focus frame is adapted to the size and number of the target object.

It should be noted that the shooting range of the second fixed focus frame is larger than the shooting range of the first fixed focus frame.

In an implementation of the second example of S102, when there are multiple targets, adjusting the focal length of the camera to generate a second fixed focus frame may specifically include step A:

Step A: When the number of the target objects is multiple, the focal length of the camera is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of target objects and the focal length value.

The embodiment of the application presets the focal length values corresponding to different numbers of targets, for example, as shown in Table 1:

Table 1

目标物个数Number of targets	焦距值Focal length
22	A1 A1
33	A2A2
……...	……...
nn	AnAn

As shown in Table 1, when the number of targets is 2, the corresponding focal length value is A1, when the number of targets is 3, the corresponding focal length value is A2, and when the number of targets is n, the corresponding focal length value is An. In this way, according to the mapping relationship between the number of targets and the focal length value shown in Table 1, the target focal length value corresponding to the number of targets can be obtained, and then the focal length value of the camera can be adjusted to the target focal length value, thereby forming a second setting Focus frame.

In some embodiments, as shown in FIG. 5, according to the number of targets in S102, controlling the camera to generate a fixed focus frame suitable for the number of targets may include:

S1021, if a target switching instruction is received, determine the number of targets after switching.

S1022. When the difference between the number of targets after switching and the number of targets before switching is greater than a preset threshold value, adjust the focal length of the camera to generate an image that is compatible with the number of targets after switching. Fixed focus frame.

For example, suppose that the number of objects shot at the previous moment (ie before switching) is 3, and the number of objects that need to be shot at the current moment (ie after switching) is 5, so when judging the number of objects that need to be shot at that moment When the number of targets taken at the previous moment is different, the user inputs a target switching instruction to the drone. After the drone receives the target switching instruction, it determines the number of targets after switching. For example, the target switching instruction adds 2 targets, so that the drone can be based on the number of targets and the target before switching Switch command, confirm that there are 5 targets after switching. Next, determine the difference 2 between the number of targets after switching (for example, 5) and the number of targets before switching (for example, 3), and when determining that the difference 2 is greater than a preset threshold (for example, 0), control The camera adjusts the focal length to generate a fixed-focus frame suitable for the number of targets (for example, 5) after switching.

S103: When it is detected that the target is located in the competition area, adjust the parameters of at least one of the drone, the camera, and the pan/tilt so that the target is located in the fixed focus frame of the camera.

As shown in Figure 4a and Figure 4b, when the target is detected in the competition area, the drone adjusts the parameters of at least one of the drone, the camera, and the pan/tilt so that the target is located in the fixed focus frame of the camera. Realize tracking and shooting of targets in the competition area.

It should be noted that when the drone is tracking and shooting the target in the competition area, the fixed focus frame of the camera is always located in the competition area, which can prevent the drone from tracking and shooting non-target objects outside the competition area. , Causing a waste of resources.

In some examples, when there are multiple targets, the parameters of at least one of the drone, camera, and pan/tilt are adjusted so that the largest number of targets are located in the fixed focus frame. For example, as shown in Figure 4b, when the target includes 6 players and a ball, if all the targets cannot be located in the fixed focus frame, adjust the parameters of at least one of the drone, camera, and pan/tilt to make as many as possible The target is located in the fixed focus frame to achieve tracking and shooting of as many targets as possible.

In a possible implementation manner, the parameters of the drone are adjusted in S103 so that the target is located in the fixed focus frame of the camera, which may specifically include step B:

Step B: Adjust the parameters of the drone so that the drone and the target are in a preset angle range.

Specifically, referring to FIG. 6b, the parameters of the drone are adjusted so that the angle α between the drone and the target is within a preset angle range, thereby ensuring that the target is within the fixed focus frame of the camera.

Optionally, the aforementioned preset angle range may be the pitch angle range of the drone, that is, the angle between the drone and the target is within the pitch angle range of the drone, so that the target can be guaranteed to be positioned at the camera's pitch. In the focal frame, the drone can track and shoot the target.

Optionally, in the embodiment of the present application, when there are multiple targets, the composition may be performed according to the distribution of the targets.

Optionally, the drone in the embodiment of the present application may also broadcast the shooting picture through the communication interface.

In the competition shooting method provided by the embodiment of the application, by acquiring the preset competition area and the target, according to the number of the target, the camera is controlled to generate a fixed focus frame suitable for the number of the target, and when the target is detected When in the competition area, adjust the parameters of at least one of the drone, camera and pan/tilt so that the target is located in the fixed focus frame of the camera. That is, in the embodiment of the present application, when tracking and shooting a target in the competition area, there is no need to set up a camera in or around the competition area. Instead, a fixed focus frame suitable for the number of targets is first generated according to the number of targets. , And then adjust the parameters of at least one of the drone, camera, and pan/tilt to make the target in the fixed focus frame, so as to achieve real-time tracking and shooting of the target in the competition area. The tracking and shooting cost of the target is low and flexible It is high and can capture the target in time, which improves the efficiency of tracking and shooting the target in the competition area.

On the basis of the foregoing embodiment, the specific process of adjusting the parameters of at least one of the drone, camera and pan/tilt described in the foregoing embodiment will be described in detail below in conjunction with specific examples.

As shown in Figure 2, the drone is equipped with a gimbal, and the gimbal is equipped with a camera. At this time, adjusting the parameters of at least one of the drone, camera, and pan/tilt in S103 includes:

Step C: Adjust at least one of the flight parameters of the drone, the movement parameters of the pan/tilt, and the shooting parameters of the camera.

Wherein, the flight parameters of the drone include at least one of the following: the movement direction of the drone and/or the attitude of the drone. Among them, the movement direction of the drone includes the horizontal direction and the vertical direction.

As shown in FIG. 2, the flight controller 161 adjusts the flight parameters of the UAV by controlling the power system 150. Specifically, the power system 150 may include one or more electronic governors (referred to as ESCs) 151, One or more propellers 153 and one or more motors 152 corresponding to the one or more propellers 153. The electronic governor 151 is used to receive a driving signal generated by the flight controller 161 and provide a driving current to the motor according to the driving signal 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate so as to provide power for the flight of the drone, and the power enables the drone to achieve one or more degrees of freedom of movement.

The movement parameters of the pan/tilt include at least one of the following: horizontal movement parameters of the pan/tilt, vertical pitch parameters, and rotation angular velocity of the pan/tilt. As shown in FIG. 2, the pan-tilt 120 may include a motor 122. The flight controller 161 can control the movement of the pan-tilt 120 through the motor 122. For example, the pan/tilt head 120 may rotate around one or more rotation axes, and the rotation axes may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).

The shooting parameters of the camera include at least one of the following: the field of view, aperture, exposure time, sensitivity, and illuminance of the camera. Among them, the field of view (that is, the field of view), in engineering practice, the horizontal field of view is often used to reflect the shooting range of the picture. The smaller the field of view, the smaller the picture range formed on the photosensitive element. The larger the aperture is, the greater the luminous flux through the lens, the higher the sharpness of the image, the smaller the aperture, the smaller the luminous flux through the lens, and the lower the clarity of the image. The exposure time is the time required for the shutter to open in order to project light onto the photosensitive surface of the photosensitive material. Long exposure time will bring in more light, which is suitable for poor light conditions. Short exposure time is suitable for better light conditions. Sensitivity is a measure of the sensitivity of the film to light. It is determined by sensitivity measurement and measurement of several values. For the less sensitive film, the exposure time is longer to achieve the same imaging as the more sensitive film. Therefore, it is usually Known as slow film. Highly sensitive negatives are therefore called fast negatives. Illuminance is a unit for measuring the sensitivity of the camera, expressed in lux, it is also the camera that can capture images under darker lighting conditions. The lower the value of Lux, it means that the camera can capture clear images under lower lighting conditions.

In the embodiment of the present application, at least one of the flight parameters of the drone, the movement parameters of the gimbal, and the shooting parameters of the camera can be adjusted so that the target is located in the fixed focus frame of the camera, thereby enabling the drone to be able to Track and shoot the preset target in the competition area.

Optionally, in an adjustment method of the embodiment of the present application, the movement parameters of the pan/tilt may be adjusted preferentially. If the movement parameters of the pan/tilt cannot be adjusted and the target object cannot be located in the fixed focus frame of the camera, then adjust the movement parameters of the camera. Camera parameters. If the target object cannot be located in the fixed focus frame of the camera after adjusting the camera parameters, adjust the flight parameters of the drone.

Optionally, in another adjustment method of the embodiment of the present application, two or three of the flight parameters of the drone, the movement parameters of the gimbal, and the shooting parameters of the camera can be adjusted at the same time, so that the target is located on the camera. Within the fixed focus frame.

In an example, adjusting the flight parameters of the drone in step C may include:

Step C1. Adjust the movement parameters of the UAV in the first horizontal direction or the movement parameters in the second horizontal direction.

Fig. 6a is a top view of a competition area related to an embodiment of the application, and Fig. 6b is a side view of the competition area shown in Fig. 6a. As shown in Figure 6a and Figure 6b, when the competition area is square, assuming that the competition area is rectangular, the first horizontal direction is the direction of the long side of the competition area, that is, the x-axis direction in Figure 6a, and the second horizontal direction is the competition The direction in which the short side of the area is located, that is, the y-axis direction in Figure 6a and Figure 6b. At this time, the first horizontal direction and the second horizontal direction respectively correspond to two adjacent sides of the competition area.

As shown in Figure 6a, the movement parameters of the drone in the first horizontal direction can be adjusted to make the drone move left and right along the first horizontal direction, thereby making it move along the first horizontal direction or its movement component along the The target moving in the first horizontal direction is located in the fixed focus frame of the camera, so that tracking of the shooting target in the first horizontal direction is achieved. As shown in Figure 6a, when the drone moves along the first horizontal direction, the horizontal viewing angle of the drone changes along the first horizontal direction, so that the target moving along the first horizontal direction can be located on the camera In the fixed focus frame, the UAV can track and shoot the target in the first horizontal direction.

As shown in Figure 6b, the movement parameters of the drone in the second horizontal direction can also be adjusted to make the drone move along the second horizontal direction, so that the drone moves along the second horizontal direction or its movement component The target moving in the second horizontal direction is located in the fixed focus frame of the camera, so that tracking of the shooting target in the second horizontal direction is achieved. As shown in Figure 6b, when the drone moves along the second horizontal direction, the pitch range of the drone changes along the second horizontal direction, so that the target moving along the second horizontal direction can be located at the camera Within the fixed focus frame, the UAV can track and shoot the target in the second horizontal direction.

In a preferred embodiment, the target has motion components in the first horizontal direction and the second horizontal direction, and the drone can automatically according to the proportional relationship between the first horizontal direction motion component and the second horizontal direction motion component, To decide the direction of movement of the drone.

It should be noted that the moving speed of the drone along the first horizontal direction or the second horizontal direction can be determined according to the moving speed of the target and the flying speed of the drone. For example, when the target is moving slowly, the drone can be controlled to reduce the flying speed, and when the target is moving fast, the drone can be controlled to increase the flying speed so that the target is located in the fixed focus frame of the camera to achieve timely tracking of the target.

In another preferred embodiment, in a sports event, in order to capture the event in real time, the drone may not be limited to the first horizontal direction and the second horizontal direction, and its movement in the horizontal direction is the same as the movement of the target in the horizontal direction. Keep the direction the same.

In the competition shooting method provided by the embodiment of the present application, by adjusting at least one of the flight parameters of the drone, the movement parameters of the pan-tilt and the shooting parameters of the camera, the target object is positioned in the fixed focus frame of the camera. It realizes real-time tracking and shooting of the target in the competition area. The tracking and shooting of the target has low cost, high flexibility and convenience, and it can capture the target in time, which improves the efficiency of tracking and shooting the target in the competition area. .

On the basis of the above-mentioned embodiments, in some embodiments, the UAV is limited to move within a preset flight range. As shown in FIG. 7, the method of the embodiment of the present application further includes:

S201: Acquire the flying range of the drone according to the location information of the competition area and the attribute information of the drone.

Optionally, the attributes of the drone involved in the embodiment of the present application include at least one of the following: an offset angle of the drone, a rotation range of each axis of the pan/tilt, and a zoom range of the camera.

In this embodiment of the application, the drone first obtains the location information of the competition area before acquiring the flying range of the drone according to the location information of the competition area and the attribute information of the drone.

The drone can obtain the position information of the competition area through two methods: automatic generation and user input. The automatic generation method includes the following method 1 and method 2, and the user input method includes the following method 3.

Method one includes the following steps D1 to D3:

Step D1: Control the drone to collect image information of the area to be divided.

The area to be divided includes the aforementioned competition area, for example, the area to be divided is a competition venue (such as a stadium), and the competition area is a competition area (such as a stadium) in the competition venue.

Optionally, adjust the parameters of the drone, for example, adjust the flying height of the drone to increase the field of view of the drone, so that the drone can collect image information of the entire area to be divided.

Step D2: Obtain location information of the area to be divided according to the image information of the area to be divided; wherein the location information of the area to be divided includes the boundary position information of the area to be divided.

The position information of the area to be divided includes the position information of the boundary of the area to be divided, wherein the boundary of the area to be divided includes corner points and/or edges of the area to be divided.

Step D3: Divide the to-be-divided area to generate the competition area, and obtain the position information of the competition area according to the position information of the to-be-divided area.

The competition area is a part of the area to be divided, so that a part of the content can be divided from the area to be divided as the competition area. For example, if the competition area is set to include the arena area and the area that is expanded by 10 meters, the drone According to the above setting, the competition area is divided from the area to be divided and the area expanded by 10 meters outward as the competition area. Optionally, it can be divided automatically by the system, such as directly identifying the boundary line of the stadium for division; optionally, the above settings can be the setting parameters input by the user, or the user can frame the image information of the area to be divided. The result of the election.

In this way, after the competition area is divided from the area to be divided, the position information of the competition area can be obtained according to the position information of the area to be divided. For example, according to the position information of the area to be divided and the position of the competition area in the area to be divided, the position information of the competition area is obtained.

Method two includes the following steps E1 to E3:

Step E1: Control the drone to collect image information of multiple partitions in the area to be divided.

In this method, the UAV can only collect image information of one subarea of the area to be divided at a time, so that the UAV can be controlled to perform multiple collections. For example, the UAV can be controlled to fly around the area to be divided for one week, so that no one The machine collects image information of multiple partitions in the area to be divided.

Step E2: Acquire location information of the multiple partitions according to the image information of the multiple partitions.

With reference to the above method, the location information of each partition in the area to be divided can be obtained.

Step E3: Obtain the location information of the area to be divided according to the location information of the multiple partitions.

Specifically, according to the location information of the multiple partitions, the multiple partitions are pieced together to obtain the pieced together location information of the area to be divided.

Step E4: Divide the to-be-divided area to generate the competition area, and obtain the position information of the competition area according to the position information of the to-be-divided area.

For the specific process of this step, refer to the above step D3, which will not be repeated here.

The above two methods are both the drone automatically generating the position information of the competition area based on image processing. The following describes the method of obtaining the position information of the competition area by user input.

Method three, including step F1 and step F2:

Step F1: Receive boundary information input by the user.

Exemplarily, the aforementioned boundary information includes: corner point information of the game area and/or sideline information of the game area. For example, the boundary information input by the user includes two corner points on the diagonal of the game area and any one sideline, or includes 4 corner points of the game area, or includes two adjacent sidelines of the game area.

Step F2: Determine the location information of the competition area according to the boundary information.

According to the boundary information input by the user, the position information of the competition area can be determined. For example, the user inputs the coordinates of 4 corner points of the competition area, so that the position information of the competition area can be determined according to the coordinates of the 4 corner points.

In the embodiment of the application, the position information of the competition area is obtained through the above three methods, among which the first and second methods are highly intelligent, reduce the user's participation degree, and can automatically generate the position information of the competition area. In the third method, the location information of the competition area can be determined according to the needs of the user, and the whole process is simple.

According to the above steps, after obtaining the location information of the competition area, the drone can obtain the flying range of the drone according to the location information of the competition area and the attribute information of the drone. Preferably, the flying range of the drone includes the flying range of the drone in the horizontal direction and the flying range in the vertical direction.

Assuming that the competition area is rectangular, the flying range of the drone in the horizontal direction includes the moving range of the drone in the x-axis direction as shown in Figure 6a and the moving range of the drone in the y-axis direction as shown in Figure 6b. The movement range of the drone in the x-axis direction can be determined according to the drone's horizontal viewing angle and the length of the long side of the competition area. The movement range of the drone in the y-axis direction can be determined by the drone's pitch angle and the short side length of the competition area. determine.

The flying range of the UAV in the vertical direction should be greater than or equal to the minimum safe flying height of the UAV as shown in Figure 6b, and less than or equal to the maximum safe flying height of the UAV.

Optionally, when obtaining the flying range of the drone based on the location information of the competition area and the attribute information of the drone, it is also necessary to consider the limitation of the flying range of the drone on the area to be divided. For example, when there is a wall on one side of the area to be divided, the flying range of the drone should avoid the wall.

S202. Control the drone to move within the flying range of the drone according to the flying range of the drone, so that the target is located in the fixed focus frame of the camera.

According to the embodiment of the present application, after obtaining the flying range of the drone according to the above steps, the drone is controlled to move within the flying range, which can realize the accurate grasp of the flying range of the drone and improve the flight of the drone. Safety, in order to realize that when the drone moves within the flight range, the target is located in the fixed focus frame of the camera to track and shoot the target in the competition area.

According to the competition shooting method provided in the embodiment of the application, the flight range of the drone is obtained according to the location information of the competition area and the attribute information of the drone; The drone moves within the flying range of the drone so that the target is located in the fixed focus frame of the camera. That is, in the embodiment of this application, the flying range of the drone is accurately obtained, and the drone is controlled to move within the flying range, so as to achieve precise control of the drone and ensure that the target is located in the fixed focus frame of the camera. The drone accurately tracks the target in the competition area.

On the basis of the embodiment shown in FIG. 7, in some embodiments, as shown in FIG. 8, adjusting the parameters of at least one of the drone, camera, and pan/tilt in S103 may include:

S301. Control the drone to fly at a first preset height, where the first preset height belongs to the flying range of the drone.

S302: When the drone is flying at the first preset height, adjust the movement parameters of the drone in the horizontal direction, the movement parameters of the pan-tilt and/or the shooting parameters of the camera.

In the embodiment of the application, the drone tracks and photographs the target in the competition area at the first preset height, so that when the parameters of at least one of the drone, camera and pan/tilt are adjusted, the drone is first controlled to fly At the first preset height, then adjust the movement parameters of the drone in the horizontal direction. After the flight parameters of the drone are adjusted, the movement parameters of the gimbal and/or the shooting parameters of the camera are adjusted so that the target is located in the fixed focus frame of the camera.

The aforementioned first preset height is specifically set according to actual needs. For example, the first preset height corresponding to a basketball game is smaller than the first preset height corresponding to a football game.

In a case of the embodiment of the present application, the method of the embodiment of the present application further includes:

S303. Control the flying height of the drone to rise from the first preset height to the second preset height, so that the target is located in the fixed focus frame of the camera, and the second preset height It is assumed that the altitude belongs to the flying range of the UAV.

Specifically, in the above S301 and S302, the drone is controlled to fly at the first preset height, and the movement parameters of the drone in the horizontal direction, the movement parameters of the pan/tilt and/or the shooting parameters of the camera are still adjusted. When the target cannot be located in the fixed focus frame of the camera, at this time, the flying height of the drone can be increased from the first preset height to the second preset height to increase the field of view of the fixed focus frame of the camera. Realize that the target in the competition area is located in the fixed focus frame of the camera.

Optionally, the above-mentioned second preset altitude is specifically set according to actual needs. Optionally, the second preset altitude is less than or equal to the highest safe flying altitude of the drone, greater than the first preset altitude, and the second preset altitude The second preset altitude and the first preset altitude are both within the flight range of the drone.

In the method of the embodiment of the present application, when adjusting the parameters of at least one of the drone, the camera, and the gimbal, the drone is first controlled to fly at a first preset height, and when the drone is flying at the first preset height, Adjust the movement parameters of the drone in the horizontal direction, the movement parameters of the PTZ and/or the shooting parameters of the camera, and then realize the rapid and accurate adjustment of each parameter to realize the rapid and accurate tracking of the target.

On the basis of the foregoing embodiments, in some embodiments, as shown in FIG. 9, adjusting the parameters of the drone in the foregoing S103 may include:

S401. Acquire location information of the target in the competition area.

Wherein, obtaining the position information of the target in the competition area includes at least the following two methods:

The first method is to identify the preset target in the competition area, and obtain the position information of the target in the competition area.

Specifically, the drone recognizes the target in the competition area. For example, the drone takes a photo of the competition area to obtain image information of the competition area. Based on the image recognition method, the target is identified from the image information of the competition area. And judge whether the recognized target matches the preset target, and then obtain the recognition result of the target.

Optionally, when the recognition result of the target object is a match, the position information of the target object in the competition area can be obtained.

In a possible implementation of the present application, the drone can use image processing to obtain the location information of the target. Specifically, the current image information is acquired through the camera of the drone; when the current image information includes the image of the target, the current image information of the competition area is used to obtain the current image information of the target. Location information in the competition area.

The first method mentioned above uses image recognition to identify the preset target in the competition area and generate the recognition result; if the recognition result is a match, the position of the target in the competition area is obtained based on the image processing method information.

In the second way, the sensing signal sent by the sensing device on the target is obtained; the position information of the target is obtained according to the sensing signal.

In this implementation, a sensing device, such as an RFID (Radio Frequency IDentification) sensor, an infrared sensor, etc., is set on the target. These sensing devices can send sensing signals to the surroundings in real time. In this way, after the drone receives the sensor information sent by the sensor device, it can obtain the location information of the target according to the sensor signal.

In this manner, by obtaining the sensing signal sent by the sensing device on the target, the position information of the target is obtained according to the sensing signal, and the method of obtaining the position information of the target is simple.

S402: Adjust the parameters of the drone according to the position information of the target.

Specifically, according to the above steps, after obtaining the position information of the target, adjust the parameters of the drone according to the position information of the target, for example, adjust the flight parameters and pan/tilt of the drone according to the position information of the target in the competition area. At least one of the movement parameters of the camera and the shooting parameters of the camera, so that the target is located in the fixed focus frame of the camera, so that the drone can track and shoot the target in the competition area.

In the embodiment of the application, by obtaining the position information of the target in the competition area, and based on the obtained position information of the target, the parameters of the drone are accurately adjusted, so that the target is located at the fixed focus of the camera. Within the frame, the drone can accurately track and shoot the target in the competition area.

FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the application. As shown in FIG. 10, the electronic device 200 of an embodiment of the application is applied to a drone equipped with a camera and a pan/tilt, and includes: a memory 220 and a processor 230 .

The memory 220 is used to store computer programs;

The processor 230 is configured to execute the computer program, specifically,

Obtain the preset competition area and target;

The electronic device in the embodiment of the present invention may be used to execute the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

In a possible implementation manner, the processor 230 is specifically configured to:

When the number of the target is one, adjusting the focal length of the camera to generate a first fixed focus frame;

When the number of the target object is multiple, adjusting the focal length of the camera to generate a second fixed focus frame;

The shooting range of the second fixed focus frame is larger than the shooting range of the first fixed focus frame.

When the number of the target objects is multiple, the focal length of the camera is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of target objects and the focal length value.

Optionally, the competition area includes one or more of a ball competition area, a shooting competition area, a track and field competition area, a water competition area, and an ice and snow competition area.

Optionally, the target object is basketball, football or football.

Optionally, the target is one or more players.

The parameters of the drone are adjusted so that the drone and the target are in a preset angle range.

In a possible implementation manner, the processor 230 is further configured to:

When there are more than one target, the composition is made according to the distribution of the target.

In a possible implementation manner, the processor 230 is further configured to

When there are multiple targets, the parameters of at least one of the drone, camera and pan/tilt are adjusted so that the largest number of targets are located in the fixed focus frame.

In a possible implementation manner, the processor 230 is further configured to

Live the shooting screen through the communication interface.

If a target switching instruction is received, determine the number of targets after switching;

When the difference between the number of targets after switching and the number of targets before switching is greater than a preset threshold, the focal length of the camera is adjusted to generate a fixed focus compatible with the number of targets after switching frame.

At least one of the flight parameters of the drone, the movement parameters of the pan-tilt and the shooting parameters of the camera is adjusted.

Optionally, the flight parameters of the UAV include: the movement direction of the UAV and/or the attitude of the UAV.

Adjust the movement parameters of the drone in the first horizontal direction or the movement parameters in the second horizontal direction, wherein when the competition area is square, the first horizontal direction and the second horizontal direction The directions correspond to the two adjacent sides of the competition area respectively.

Optionally, the moving direction of the drone in the horizontal direction is consistent with the moving direction of the target in the horizontal direction.

Acquiring the flying range of the drone according to the location information of the competition area and the attribute information of the drone;

According to the flying range of the drone, the drone is controlled to move within the flying range of the drone so that the target is located within the fixed focus frame of the camera.

In a possible implementation manner, the processor 230 is also used to obtain the competition area before acquiring the flying range of the drone according to the location information of the competition area and the attribute information of the drone. Location information of the area.

Controlling the drone to collect image information of the area to be divided;

Acquiring the position information of the area to be divided according to the image information of the area to be divided; the position information of the area to be divided includes the boundary position information of the area to be divided;

The area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.

Controlling the drone to collect image information of multiple partitions in the area to be divided;

Respectively acquiring location information of the multiple partitions according to the image information of the multiple partitions;

Acquiring the location information of the area to be divided according to the location information of the multiple partitions;

Receive boundary information entered by the user;

The location information of the competition area is determined according to the boundary information.

Optionally, the boundary information includes: corner point information of the game area and/or sideline information of the game area.

Optionally, the attribute of the drone includes at least one of the following: an offset angle of the drone, a rotation range of each axis of the pan/tilt, and a zoom range of the camera.

Controlling the drone to fly at a first preset height, where the first preset height belongs to the flying range of the drone;

When the drone is flying at the first preset height, adjusting the movement parameters of the drone in the horizontal direction, the movement parameters of the pan-tilt and/or the shooting parameters of the camera.

The flying height of the drone is controlled to rise from the first preset height to the second preset height, so that the target is located in the fixed focus frame of the camera, and the second preset height Be within the flight range of the UAV.

Acquiring position information of the target in the competition area;

Adjust the flight parameters of the drone according to the location information of the target.

Identify the target in the competition area, and obtain position information of the target in the competition area.

Acquiring current image information through the camera of the drone;

When the current image information includes the image of the target object, obtain position information of the target object in the competition area according to the image information of the competition area and the current image information.

Obtaining a sensing signal sent by a sensing device on the target;

According to the sensor signal, the position information of the target object in the competition area is obtained.

Optionally, the competition area includes a competition area and a peripheral expansion area of the competition area.

FIG. 11 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application. On the basis of the above-mentioned embodiment, as shown in FIG. A battery 320, a power system 330, a camera 340, a pan/tilt 360, and a processor 350; the power supply battery 320 can supply power to the power system 330, and the power system 330 provides power to the drone;

The processor 350 is configured to obtain a preset competition area and a target; according to the number of the target, control the camera 340 to generate a fixed focus frame suitable for the number of the target; and When detecting that the target is located in the competition area, adjust the parameters of at least one of the power system 330, the camera 340, and the pan/tilt 360, so that the target is located in the fixed focus frame of the camera 340 .

The drone of the embodiment of the present invention may be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and details are not described herein again.

In a possible implementation manner, the processor 350 is specifically configured to:

When the number of the target is one, adjust the focal length of the camera 340 to generate a first fixed focus frame;

When the number of the target objects is multiple, adjusting the focal length of the camera 340 to generate a second fixed focus frame;

When there are multiple targets, the focal length of the camera 340 is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of targets and the focal length value.

Optionally, the target object is basketball, football or football.

Optionally, the target is one or more players.

In one possible implementation,

The processor 350 is specifically configured to adjust the parameters of the power system 330 so that the drone and the target are in a preset angle range.

In a possible implementation manner, the processor 350 is further configured to:

In a possible implementation manner, the processor 350 is further configured to

When there are multiple targets, the parameters of at least one of the power system 330, the pan/tilt 360 and the camera 340 are adjusted so that the target is located in the fixed focus frame of the camera 340.

In a possible implementation manner, the processor 350 is further configured to broadcast the shooting picture through a communication interface.

When the difference between the number of targets after switching and the number of targets before switching is greater than a preset threshold, the focal length of the camera 340 is adjusted to generate a fixed position that is compatible with the number of targets after switching. Focus frame.

FIG. 12 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application. Based on the foregoing embodiment, as shown in FIG. 12, the power system 330 includes a fuselage power device 331 and a pan/tilt power device 332;

The processor 350 is specifically configured to control the fuselage power device 331 to adjust the flight parameters of the fuselage 310, and/or control the pan-tilt power device 332 to adjust the movement parameters of the pan-tilt 360 and /Or control the camera 340 to adjust shooting parameters.

Optionally, the flight parameters of the fuselage 310 include: the movement direction of the fuselage 310 and/or the attitude of the fuselage 310.

In a possible implementation manner, the processor 350 is specifically configured to control the fuselage power device 331 to adjust the movement parameters of the fuselage 310 in the first horizontal direction, or control the fuselage power device 331 Adjust the movement parameters of the fuselage 310 in the second horizontal direction. When the competition area is square, the first horizontal direction and the second horizontal direction are respectively adjacent to the competition area. Correspondence on both sides.

Optionally, the moving direction of the body 310 in the horizontal direction is consistent with the moving direction of the target in the horizontal direction.

In a possible implementation, the processor 350 is further configured to obtain the flying range of the drone according to the location information of the competition area and the attribute information of the drone;

According to the flying range of the drone, the drone is controlled to move within the flying range of the drone so that the field of view of the drone is within the competition area.

In a possible implementation manner, the processor 350 is configured to obtain the flying range of the UAV according to the location information of the competition area and the attribute information of the UAV, and is also used to obtain all the UAVs. State the location information of the competition area.

In a possible implementation manner, the processor 350 has image information for controlling the drone to collect the area to be divided;

In a possible implementation, the processor 350 is specifically configured to control the drone to collect image information of multiple partitions in the area to be divided;

In a possible implementation manner, the processor 350 is specifically configured to receive boundary information input by a user;

Optionally, the attributes of the drone include at least one of the following: an offset angle of the drone, a rotation range of each axis of the pan/tilt 360, and a zoom range of the camera 340.

In a possible implementation, the processor 350 is specifically configured to control the fuselage 310 to fly at a first preset height by controlling the fuselage power device 331, and the first preset height belongs to Within the flight range of the UAV;

When the fuselage 310 is flying at the first preset height, by controlling the fuselage power device 331 to adjust the parameters of the fuselage 310 in the horizontal direction, and/or by controlling the pan/tilt power device 332 adjusts the movement parameters of the pan/tilt 360 and/or adjusts the shooting parameters by controlling the camera 340.

In a possible implementation manner, the processor 350 is further configured to control the flying height of the fuselage 310 to rise from the first preset height to the first by controlling the fuselage power device 331 Two preset heights, so that the target is located in the fixed focus frame of the camera 340, and the second preset height belongs to the flying range of the drone.

Acquiring position information of the target in the competition area;

According to the position information of the target, the flight parameters of the power system 330 are adjusted.

Controlling the camera 340 of the drone to collect current image information;

In a possible implementation manner, the processor 350 is further configured to obtain a sensing signal sent by a sensing device on the target;

The embodiment of the present invention also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include part or all of the steps of the game shooting method in the foregoing embodiments.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims

A game shooting method, characterized in that it is applied to a drone equipped with a camera and a gimbal, and includes:

Obtain the preset competition area and target;

According to the number of the target objects, controlling the camera to generate a fixed focus frame suitable for the number of the target objects;

When it is detected that the target is located in the competition area, the parameters of at least one of the drone, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.
The method according to claim 1, wherein the generating a fixed focus frame suitable for the number of the target according to the number of the target comprises:

When the number of the target is one, adjusting the focal length of the camera to generate a first fixed focus frame;

When the number of the target object is multiple, adjusting the focal length of the camera to generate a second fixed focus frame;

The shooting range of the second fixed focus frame is larger than the shooting range of the first fixed focus frame.
The method according to claim 2, wherein when the number of the target objects is more than one, adjusting the focal length of the camera to generate the second fixed focus frame comprises:

When the number of the target objects is multiple, the focal length of the camera is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of target objects and the focal length value.
The method according to any one of claims 1 to 3, wherein the competition area includes one of a ball competition area, a shooting competition area, a track and field competition area, a water competition area, and an ice and snow competition area. Many kinds.
The method according to any one of claims 1 to 3, wherein the target object is basketball, football or football.
The method according to any one of claims 1 to 3, wherein the target object is one or more players.
The method according to any one of claims 1 to 3, wherein the adjusting the parameters of the drone so that the target is located in the fixed focus frame of the camera specifically comprises:

The parameters of the drone are adjusted so that the drone and the target are in a preset angle range.
The method according to claim 7, wherein the method comprises:

When there are more than one target, the composition is made according to the distribution of the target.
The method according to claim 7, wherein the method comprises:

When there are multiple targets, the parameters of at least one of the drone, camera and pan/tilt are adjusted so that the largest number of targets are located in the fixed focus frame.
The method according to any one of claims 1-3, wherein the method further comprises:

Live the shooting screen through the communication interface.
The method according to claim 1, wherein said generating a fixed focus frame suitable for the number of targets according to the number of targets comprises:

If a target switching instruction is received, determine the number of targets after switching;

When the difference between the number of targets after switching and the number of targets before switching is greater than a preset threshold, the focal length of the camera is adjusted to generate a fixed focus compatible with the number of targets after switching frame.
The method according to claim 1, wherein the adjusting the parameters of at least one of the drone, camera, and pan-tilt includes:

At least one of the flight parameters of the drone, the movement parameters of the pan-tilt and the shooting parameters of the camera is adjusted.
The method according to claim 12, wherein the flight parameters of the drone comprise: the movement direction of the drone and/or the attitude of the drone.
The method according to claim 13, wherein the adjusting the flight parameters of the UAV comprises:

Adjust the movement parameters of the drone in the first horizontal direction or the movement parameters in the second horizontal direction, wherein when the competition area is square, the first horizontal direction and the second horizontal direction The directions correspond to the two adjacent sides of the competition area respectively.
The method of claim 14, wherein the moving direction of the drone in the horizontal direction is consistent with the moving direction of the target in the horizontal direction.
The method according to any one of claims 12-15, wherein the method further comprises:

Acquiring the flying range of the drone according to the location information of the competition area and the attribute information of the drone;

According to the flying range of the drone, the drone is controlled to move within the flying range of the drone so that the target is located in the fixed focus frame of the camera.
The method according to claim 16, characterized in that, before obtaining the flight range of the drone according to the location information of the competition area and the attribute information of the drone, it further comprises: obtaining the information of the competition area. location information.
The method according to claim 17, wherein the acquiring location information of the competition area comprises:

Controlling the drone to collect image information of the area to be divided;

Acquiring the position information of the area to be divided according to the image information of the area to be divided; the position information of the area to be divided includes the boundary position information of the area to be divided;

The area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
The method according to claim 17, wherein the acquiring location information of the competition area comprises:

Controlling the drone to collect image information of multiple partitions in the area to be divided;

Respectively acquiring location information of the multiple partitions according to the image information of the multiple partitions;

Acquiring the location information of the area to be divided according to the location information of the multiple partitions;

The area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
The method according to claim 17, wherein the acquiring location information of the competition area comprises:

Receive boundary information entered by the user;

The location information of the competition area is determined according to the boundary information.
The method according to claim 20, wherein the boundary information comprises: corner point information of the game area and/or sideline information of the game area.
The method according to claim 17, wherein the attributes of the drone include at least one of the following: the offset angle of the drone, the rotation range of each axis of the pan/tilt, and the camera's Zoom range.
The method according to claim 16, wherein the adjusting the parameters of at least one of the drone, camera, and pan-tilt includes:

Controlling the UAV to fly at a first preset altitude, where the first preset altitude is within the flight range of the UAV;

When the drone is flying at the first preset height, adjusting the movement parameters of the drone in the horizontal direction, the movement parameters of the pan-tilt and/or the shooting parameters of the camera.
The method of claim 23, wherein the method further comprises:

The flying height of the drone is controlled to rise from the first preset height to the second preset height, so that the target is located in the fixed focus frame of the camera, and the second preset height Be within the flight range of the UAV.
The method according to claim 1, wherein the adjusting the flight parameters of the UAV comprises:

Acquiring position information of the target in the competition area;

Adjust the flight parameters of the drone according to the location information of the target.
The method according to claim 25, wherein said acquiring position information of said target in said competition area comprises:

Identify the target in the competition area, and obtain position information of the target in the competition area.
The method according to claim 26, wherein said acquiring position information of said target in said competition area comprises:

Acquiring current image information through the camera of the drone;

When the current image information includes the image of the target object, obtain position information of the target object in the competition area according to the image information of the competition area and the current image information.
The method according to claim 25, wherein said acquiring position information of said target in said competition area comprises:

Obtaining a sensing signal sent by a sensing device on the target;

According to the sensor signal, the position information of the target object in the competition area is obtained.
The method according to claim 1, wherein the competition area includes a competition area and a peripheral expansion area of the competition area.
An electronic device, characterized in that it is applied to an unmanned aerial vehicle equipped with a camera and a pan-tilt, including:

Memory, used to store computer programs;

The processor is configured to execute the computer program, specifically:

Obtain the preset competition area and target;

According to the number of the target objects, controlling the camera to generate a fixed focus frame suitable for the number of the target objects;

When it is detected that the target is located in the competition area, the parameters of at least one of the drone, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.
The electronic device according to claim 30, wherein the processor is specifically configured to:

When the number of the target is one, adjusting the focal length of the camera to generate a first fixed focus frame;

When the number of the target object is multiple, adjusting the focal length of the camera to generate a second fixed focus frame;

The shooting range of the second fixed focus frame is larger than the shooting range of the first fixed focus frame.
The electronic device according to claim 31, wherein the processor is specifically configured to:

When the number of the target objects is multiple, the focal length of the camera is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of target objects and the focal length value.
The electronic device according to any one of claims 30-32, wherein the competition area includes one of a ball competition area, a shooting competition area, a track and field competition area, a water competition area, and an ice and snow competition area. Or multiple.
The electronic device according to any one of claims 30-32, wherein the target object is a basketball, football, or football.
The electronic device according to any one of claims 30-32, wherein the target object is one or more players.
The electronic device according to any one of claims 30-32, wherein:

The processor is specifically used for:

The parameters of the drone are adjusted so that the drone and the target are in a preset angle range.
The electronic device according to claim 36, wherein the processor is further configured to:

When there are more than one target, the composition is made according to the distribution of the target.
The electronic device according to claim 36, wherein the processor is further configured to

When there are multiple targets, the parameters of at least one of the drone, camera and pan/tilt are adjusted so that the largest number of targets are located in the fixed focus frame.
The electronic device according to any one of claims 30-32, wherein the processor is further configured to

Live the shooting screen through the communication interface.
The electronic device according to claim 30, wherein the processor is specifically configured to:

If a target switching instruction is received, determine the number of targets after switching;

When the difference between the number of targets after switching and the number of targets before switching is greater than a preset threshold, the focal length of the camera is adjusted to generate a fixed focus compatible with the number of targets after switching frame.
The electronic device according to claim 30, wherein the processor is specifically configured to:

At least one of the flight parameters of the drone, the movement parameters of the pan-tilt and the shooting parameters of the camera is adjusted.
The electronic device according to claim 41, wherein the flight parameters of the drone comprise: the movement direction of the drone and/or the attitude of the drone.
The electronic device according to claim 42, wherein the processor is specifically configured to:

Adjust the movement parameters of the drone in the first horizontal direction or the movement parameters in the second horizontal direction, wherein when the competition area is square, the first horizontal direction and the second horizontal direction The directions correspond to the two adjacent sides of the competition area respectively.
The electronic device according to claim 43, wherein the moving direction of the drone in the horizontal direction is consistent with the moving direction of the target in the horizontal direction.
The electronic device according to any one of claims 41-44, wherein the processor is further configured to:

Acquiring the flying range of the drone according to the location information of the competition area and the attribute information of the drone;

According to the flying range of the drone, the drone is controlled to move within the flying range of the drone so that the target is located within the fixed focus frame of the camera.
The electronic device according to claim 45, wherein the processor is further configured to: before acquiring the flying range of the drone according to the location information of the competition area and the attribute information of the drone, Obtain the location information of the competition area.
The electronic device according to claim 46, wherein the processor is specifically configured to:

Controlling the drone to collect image information of the area to be divided;

Acquiring the position information of the area to be divided according to the image information of the area to be divided; the position information of the area to be divided includes the boundary position information of the area to be divided;

The area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
The electronic device according to claim 46, wherein the processor is specifically configured to:

Controlling the drone to collect image information of multiple partitions in the area to be divided;

Respectively acquiring location information of the multiple partitions according to the image information of the multiple partitions;

Acquiring the location information of the area to be divided according to the location information of the multiple partitions;

The area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
The electronic device according to claim 46, wherein the processor is specifically configured to:

Receive boundary information entered by the user;

The location information of the competition area is determined according to the boundary information.
The electronic device according to claim 49, wherein the boundary information comprises: corner point information of the game area and/or sideline information of the game area.
The electronic device according to claim 46, wherein the attributes of the drone include at least one of the following: an offset angle of the drone, a rotation range of each axis of the pan/tilt, and the camera Zoom range.
The electronic device according to claim 45, wherein the processor is specifically configured to:

Controlling the drone to fly at a first preset height, where the first preset height belongs to the flying range of the drone;

When the drone is flying at the first preset height, adjusting the movement parameters of the drone in the horizontal direction, the movement parameters of the pan-tilt and/or the shooting parameters of the camera.
The electronic device according to claim 52, wherein the processor is further configured to:

The flying height of the drone is controlled to rise from the first preset height to the second preset height, so that the target is located in the fixed focus frame of the camera, and the second preset height Be within the flight range of the UAV.
The electronic device according to claim 30, wherein the processor is specifically configured to:

Acquiring position information of the target in the competition area;

Adjust the flight parameters of the drone according to the location information of the target.
The electronic device according to claim 54, wherein the processor is specifically configured to:

Identify the target in the competition area, and obtain position information of the target in the competition area.
The electronic device according to claim 55, wherein the processor is specifically configured to:

Acquiring current image information through the camera of the drone;

When the current image information includes the image of the target object, obtain position information of the target object in the competition area according to the image information of the competition area and the current image information.
The electronic device according to claim 54, wherein the processor is specifically configured to:

Obtaining a sensing signal sent by a sensing device on the target;

According to the sensor signal, the position information of the target object in the competition area is obtained.
The electronic device according to claim 30, wherein the game area includes a game field area and a peripheral expansion area of the game field area.
An unmanned aerial vehicle, characterized in that it comprises a fuselage, a power supply battery arranged on the fuselage, a power system, a camera, a pan-tilt, and a processor; the power supply battery can supply power to the power system, and the power The system provides power for the UAV;

The processor is configured to obtain a preset competition area and a target; according to the number of the target, control the camera to generate a fixed focus frame suitable for the number of the target; and when detected When the target is located in the competition area, the parameters of at least one of the power system, the camera and the pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.
The drone of claim 59, wherein the processor is specifically configured to:

When the number of the target is one, adjusting the focal length of the camera to generate a first fixed focus frame;

When the number of the target object is multiple, adjusting the focal length of the camera to generate a second fixed focus frame;

The shooting range of the second fixed focus frame is larger than the shooting range of the first fixed focus frame.
The UAV according to claim 60, wherein the processor is specifically configured to:

When the number of the target objects is multiple, the focal length of the camera is adjusted to generate the second fixed focus frame according to the preset mapping relationship between the number of target objects and the focal length value.
The drone according to any one of claims 59-61, wherein the competition area includes one of a ball competition area, a shooting competition area, a track and field competition area, a water competition area, and an ice and snow competition area. Kind or more.
The drone according to any one of claims 59-61, wherein the target object is a basketball, football or football.
The drone according to any one of claims 59-61, wherein the target object is one or more players.
The drone according to any one of claims 59-61, characterized in that:

The processor is specifically configured to adjust the parameters of the power system so that the UAV and the target are in a preset angle range.
The drone according to claim 65, wherein the processor is further configured to:

When there are more than one target, the composition is made according to the distribution of the target.
The drone according to claim 65, wherein the processor is also used for

When there are multiple targets, the parameters of at least one of the power system, camera, and pan/tilt are adjusted so that the target is located in the fixed focus frame of the camera.
The unmanned aerial vehicle according to any one of claims 59-61, wherein the processor is further configured to broadcast the shooting picture live through the communication interface.
The drone of claim 59, wherein the processor is specifically configured to:

If a target switching instruction is received, determine the number of targets after switching;

When the difference between the number of targets after switching and the number of targets before switching is greater than a preset threshold, the focal length of the camera is adjusted to generate a fixed focus compatible with the number of targets after switching frame.
The unmanned aerial vehicle according to claim 59, wherein the power system includes a fuselage power device and a pan/tilt power device;

The processor is specifically configured to control the fuselage power device to adjust the flight parameters of the fuselage, and/or control the pan-tilt power device to adjust the movement parameters of the pan-tilt and/or control the Camera to adjust shooting parameters.
The drone according to claim 70, wherein the flight parameters of the fuselage include: the direction of movement of the fuselage and/or the attitude of the fuselage.
The drone according to claim 71, wherein the processor is specifically configured to control the fuselage power device to adjust the movement parameters of the fuselage in the first horizontal direction, or to control the aircraft The body power device adjusts the movement parameters of the fuselage in the second horizontal direction, wherein, when the competition area is square, the first horizontal direction and the second horizontal direction are respectively relative to the competition area. Corresponding to both sides.
The drone of claim 72, wherein the moving direction of the fuselage in the horizontal direction is consistent with the moving direction of the target in the horizontal direction.
The drone according to any one of claims 70-73, characterized in that:

The processor is further configured to obtain the flying range of the drone according to the location information of the competition area and the attribute information of the drone;

According to the flying range of the drone, the drone is controlled to move within the flying range of the drone so that the field of view of the drone is within the competition area.
The UAV according to claim 74, wherein the processor is used for obtaining the flight range of the UAV according to the location information of the competition area and the attribute information of the UAV. Therefore, the location information of the competition area is acquired.
The drone of claim 75, wherein:

The processor has image information for controlling the UAV to collect the area to be divided;

Acquiring the position information of the area to be divided according to the image information of the area to be divided; the position information of the area to be divided includes the boundary position information of the area to be divided;

The area to be divided is divided to generate the competition area, and the position information of the competition area is obtained according to the position information of the area to be divided.
The drone of claim 75, wherein:

The processor is specifically configured to control the drone to collect image information of multiple partitions in the area to be divided;

Respectively acquiring location information of the multiple partitions according to the image information of the multiple partitions;

Acquiring the location information of the area to be divided according to the location information of the multiple partitions;

The area to be divided is divided to generate the competition area, and the position information of the competition area is acquired according to the position information of the area to be divided.
The drone of claim 75, wherein:

The processor is specifically configured to receive boundary information input by a user;

The location information of the competition area is determined according to the boundary information.
The drone of claim 78, wherein the boundary information comprises: corner point information of the competition area and/or sideline information of the competition area.
The UAV according to claim 75, wherein the attributes of the UAV include at least one of the following: the offset angle of the UAV, the rotation range of each axis of the PTZ, and the The zoom range of the camera.
The drone of claim 74, wherein:

The processor is specifically configured to control the fuselage to fly at a first preset height by controlling the fuselage power device, where the first preset height belongs to the flight range of the drone;

When the fuselage is flying at the first preset altitude, the parameters of the fuselage in the horizontal direction are adjusted by controlling the fuselage power device, and/or the parameters of the fuselage in the horizontal direction are adjusted by controlling the pan/tilt power device. The movement parameters of the pan-tilt and/or the shooting parameters are adjusted by controlling the camera.
The drone of claim 81, wherein:

The processor is further configured to control the flying height of the fuselage from the first preset height to the second preset height by controlling the power device of the fuselage, so that the target is located In the fixed focus frame of the camera, the second preset height belongs to the flying range of the drone.
The drone of claim 59, wherein the processor is specifically configured to:

Acquiring position information of the target in the competition area;

The flight parameters of the power system are adjusted according to the position information of the target.
The UAV according to claim 83, wherein the processor is specifically configured to:

Identify the target in the competition area, and obtain position information of the target in the competition area.
The UAV according to claim 84, wherein the processor is specifically configured to:

Controlling the camera of the drone to collect current image information;

When the current image information includes the image of the target object, obtain position information of the target object in the competition area according to the image information of the competition area and the current image information.
The drone of claim 83, wherein:

The processor is also used to obtain a sensing signal sent by a sensing device on the target;

According to the sensor signal, the position information of the target object in the competition area is obtained.
The drone of claim 59, wherein the competition area includes a competition area and a peripheral expansion area of the competition area.
A computer storage medium, characterized in that a computer program is stored in the storage medium, and the computer program, when executed, realizes the game shooting method according to any one of claims 1-29.