WO2022094860A1

WO2022094860A1 - Unmanned aerial vehicle control method and device, unmanned aerial vehicle, and computer readable storage medium

Info

Publication number: WO2022094860A1
Application number: PCT/CN2020/126757
Authority: WO
Inventors: 李博文; 唐梓清
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-11-05
Filing date: 2020-11-05
Publication date: 2022-05-12
Also published as: CN114585985A

Abstract

An unmanned aerial vehicle control method. A photographing device is mounted on an unmanned aerial vehicle. The method comprises: after an unmanned aerial vehicle is started, acquiring a user's operation on physical keys of the unmanned aerial vehicle (202); according to the operation on the physical keys, controlling the unmanned aerial vehicle to directly enter a preset takeoff mode (204); in the takeoff mode, when an image photographed by the photographing device includes a face, controlling the unmanned aerial vehicle to start a power system to control the takeoff of the unmanned aerial vehicle (206); and after the unmanned aerial vehicle is controlled to take off, controlling the unmanned aerial vehicle to fly along a target flight trajectory, and controlling, during flight, the photographing device to perform photographing by taking a photographing object corresponding to the face as the subject (208). The method can solve the technical problems of the need of steps such as connecting a control device when a video is photographed using an unmanned aerial vehicle, and troublesome operations.

Description

UAV control method, device, UAV, and computer-readable storage medium

technical field

The present application relates to the technical field of unmanned aerial vehicles, and in particular, to a method and device for controlling an unmanned aerial vehicle, an unmanned aerial vehicle, and a computer-readable storage medium.

Background technique

The drone can be equipped with a camera, and through the camera, a video from the perspective of the drone can be taken. When using a drone to shoot, the user needs to connect the drone with the control device first. After the connection is successful, the user can control the drone to fly through the control device, and it is necessary to check the shooting angle of the shooting device while flying. control. It can be seen that the use of drones to shoot videos requires users to perform various operations such as connecting and controlling equipment, which brings inconvenience to users.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present application provide a method, device, drone and computer-readable storage medium for controlling an unmanned aerial vehicle, one of the purposes is to solve the steps and operations such as connecting a control device and the like that need to be performed when using an unmanned aerial vehicle to shoot video. troublesome technical issues.

A first aspect of the embodiments of the present application provides a method for controlling an unmanned aerial vehicle, wherein a photographing device is mounted on the unmanned aerial vehicle, and the method includes:

After the drone is started, obtain the user's operation on the physical button on the drone;

According to the operation of the physical button, control the drone to directly enter the preset take-off mode;

In the take-off mode, when the image captured by the photographing device includes a human face, controlling the UAV to start the power system to control the UAV to take off;

After the drone is controlled to take off, the drone is controlled to fly on the target flight trajectory, and the photographing device is controlled to take the photographing object corresponding to the face as the main body during the flight.

A second aspect of the embodiments of the present application provides a control device for an unmanned aerial vehicle, the unmanned aerial vehicle is equipped with a photographing device, and the unmanned aerial vehicle control device includes: a processor and a memory storing a computer program, the processor is in The following steps are implemented when executing the computer program:

A third aspect of the embodiments of the present application provides an unmanned aerial vehicle, including:

a body, the body is provided with a physical button;

a drive device connected with the body for powering the UAV;

a gimbal connected to the body;

a photographing device mounted on the platform;

A processor and a memory in which a computer program is stored, the processor implementing the following steps when executing the computer program:

After the drone is started, obtain the user's operation on the physical button;

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the drone control method provided by the embodiments of the present application.

In the UAV control method provided by the embodiment of the present application, after the user operates the physical button on the UAV, the UAV can directly enter the preset take-off mode. In this take-off mode, if the UAV captures a human face, It can automatically take off and fly on the target flight trajectory, and can also automatically take the subject corresponding to the captured face as the main body during the flight. It can be seen that the method provided by the embodiment of the present application greatly simplifies the operation of the user using the drone to shoot video, and the user does not need to connect the drone to the control device, but only needs to directly operate the physical button on the drone to trigger the unmanned aerial vehicle. The human-machine automatic flight and automatic shooting, the whole process is fast and simple, which can greatly improve the enthusiasm of users to use drones to shoot videos.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 is a schematic diagram of a scene in which a user uses a drone to take a selfie according to an embodiment of the present application.

FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle provided by an embodiment of the present application.

FIG. 3 is a schematic diagram of a scene in which a drone is used for face recognition according to an embodiment of the present application.

FIG. 4 is a schematic diagram of a scene in which a drone recognizes a user's forward push gesture provided by an embodiment of the present application.

FIG. 5 is a schematic diagram of a scene where a drone is landed on a palm according to an embodiment of the present application.

FIG. 6 is a schematic structural diagram of a drone control device provided by an embodiment of the present application.

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

With the gradual maturity of drone technology, drones have begun to enter people's lives. Drones are usually equipped with a camera, which may also be called a camera or camera. Due to the unique shooting angle and wide field of view of drones, many users like to take selfies with drones and record themselves and the scene they are in in the video.

As shown in FIG. 1 , FIG. 1 is a schematic diagram of a scene in which a user uses a drone to take a selfie according to an embodiment of the present application. When taking a selfie with a drone, the user can control the drone to fly through the control device, and needs to control the camera on the drone to face him during the flight to ensure that he is in the shot. After shooting the original video, the user needs to make the drone transmit the original video to the control device, so that the user can edit the original video on the control device to generate a shareable video or short film. Here, the control device may be a remote controller equipped with a display screen, or a combination of a remote controller and a terminal device, such as a mobile phone, tablet, computer, etc., or a combination of a remote controller and flying glasses.

It can be seen that users need to do a lot of work in order to shoot a shareable video, such as connecting the control device to the drone, controlling the drone to fly through the control device, controlling the shooting angle of the shooting device, and recording the original video. The transmission of the original video needs to be edited and so on. These tasks require a lot of time for the user and reduce the user’s shooting efficiency. Moreover, even if the user wants to shoot a short film of only ten seconds, all the above work still needs to be done. Using a drone to shoot a short film is cumbersome and troublesome. Reduce the enthusiasm of users to use drones to shoot short films.

In order to solve the above problem, an embodiment of the present application provides a method for controlling an unmanned aerial vehicle. Referring to FIG. 2 , FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle provided by an embodiment of the present application. The method may include the following steps:

S202. After the drone is started, obtain the user's operation on the physical button on the drone.

S204. Control the drone to directly enter a preset take-off mode according to the operation of the physical button.

S206. In the take-off mode, when the image captured by the photographing device includes a human face, control the drone to start a power system to control the drone to take off.

S208. After controlling the drone to take off, control the drone to fly with the target flight trajectory, and control the photographing device to take the photographing object corresponding to the human face as the main body during the flight.

Specifically, in the process of controlling the drone to fly with the target flight trajectory, the shooting object is photographed and a video is recorded or a picture is stored.

The drone can be provided with a physical button, and through the physical button, the user can make the drone enter a preset take-off mode. Here, the preset take-off mode may also be called a paper airplane mode in one example. Compared with virtual buttons or software triggering, physical buttons are more convenient to operate and more reliable to trigger.

The user can operate the physical button in various ways. In one embodiment, the physical button may be a push button, and the user can make the drone enter a preset takeoff mode by pressing the physical button. In one embodiment, the physical button may be a toggle button, and the user can make the drone enter a preset takeoff mode by toggling the physical button. In one embodiment, the physical button may be a touch-sensitive button, and the user can make the drone enter a preset take-off mode by touching the physical button.

After the user operates the physical button, the drone can directly enter the preset take-off mode. The so-called direct entry means that the drone does not need to establish a connection with the control device before entering the preset take-off mode, and establishing a connection with the control device is an option rather than a necessity. Therefore, in one example, the user does not need to use a mobile phone, flight glasses, remote control, etc. during the entire shooting process, and only needs to operate the physical buttons on the drone.

When the drone enters a preset take-off mode, the drone's camera unit can start capturing images. In one embodiment, the UAV may include a gimbal, and the photographing device may be mounted on the gimbal of the UAV. After the UAV enters the preset take-off mode, the gimbal of the UAV can be controlled to move to The target pose, so that the camera mounted on the gimbal can shoot at the target angle. Referring to FIG. 3 , FIG. 3 is a schematic diagram of a scene of using a drone for face recognition according to an embodiment of the present application. As shown in Figure 3, the drone can be a small drone, and the user can hold the drone on the palm. After the drone enters the preset take-off mode, the camera device of the drone can be driven by the gimbal. Rotating down to face straight ahead, the user can raise the drone so that the camera can be aimed at his face, so that face recognition can begin. In one example, after the drone enters the preset take-off mode, the camera can also automatically shoot images from the bottom to the top by controlling the gimbal, so that the user does not need to lift the drone, the drone The user's face is captured when shooting upwards.

After completing the face recognition, the drone can take off automatically, and can automatically fly with the target flight trajectory, and during the flight, the camera of the drone can always point the camera at the object corresponding to the recognized face (user), so that the main body of the captured video can be the user himself, so as to obtain the drone selfie video desired by the user.

The target flight path can be associated with a preset takeoff pattern. In an implementation manner, the relationship between the target flight trajectory and the take-off mode may be preset by the user. For example, the user can select one of various flight trajectories as the target flight trajectory by controlling the application program installed on the device in advance, so that after the drone enters the take-off mode and completes face recognition, it can automatically describe the target flight trajectory.

In one embodiment, the target flight trajectory may also be determined according to the user's gesture after the drone takes off. The correspondence between different gestures and flight trajectories can be configured in the drone in advance. After the drone scans the face, the drone can automatically take off and hover in front of the subject. At this time, The user can make a gesture corresponding to the desired flight trajectory, then the camera of the drone can capture an image or image sequence containing the user's gesture, and by recognizing the user's gesture in the image, the identified user's gesture The flight trajectory corresponding to the gesture is determined as the target flight trajectory.

The target flight trajectory can be any of a variety of flight trajectories. Here, the flight trajectory may include an escalating flight trajectory, a skyrocketing flight trajectory, a circumnavigating flight trajectory, a spiral flight trajectory, and the like. When the drone flies in an increasingly distant flight trajectory, the drone can gradually move away from the subject in a diagonal upward direction, and the field of view in the captured picture will gradually expand. When the UAV is flying in a sky-rocketing trajectory, the UAV can rise vertically at a faster speed. When the drone flies in an orbital flight path, the drone can fly around the subject without changing the flying height. When the drone flies in a spiral flight trajectory, the drone can gradually increase its flying height while flying around the subject, resulting in a spiral rise effect.

As mentioned above, the target flight trajectory can be determined according to the user's gesture, so different gestures can be preset for different flight trajectories. Here, the gesture may be a dynamic gesture. For example, in one example, the gesture corresponding to the soaring flight trajectory may be a palm up, the gesture corresponding to the surrounding flight trajectory may be a circle with a finger, the gesture corresponding to a spiral flight trajectory may be a finger pointing upward to draw a tornado, and the gesture corresponding to the receding flight trajectory The gesture can be a forward push of the palm. Referring to FIG. 4 , in FIG. 4 , the user controls the drone to fly in an increasingly distant flight trajectory by making a forward push gesture.

Since gestures can be dynamic, the movement of the user's hand can have different motion speeds while making the gesture. In one embodiment, the target flight speed of the drone when flying on the target flight trajectory can also be determined according to the movement speed of the user's gesture. The movement speed of the user's gesture can be calculated according to the image sequence including the user's gesture captured by the photographing device. There are various specific calculation methods, for example, it can be calculated according to the optical flow information between frames, or it can be calculated according to the shutter of the photographing device. The speed and motion blur in the image are calculated, and for some specific gestures, it can also be calculated according to the change of depth information.

In one example, if the user wants the drone to fly in an increasingly distant flight path, after the drone completes the face scan and takes off and hovers, he or she can make a forward push gesture in front of the camera. When making the forward push gesture, if the user wants the drone to fly faster, he can push the palm forward at a faster speed. If the user wants the drone to fly at a slower speed, he can control the push of the palm Slow down. When the user makes a forward push gesture, the drone can obtain the depth information of the user's palm through the depth sensor, and can determine the forward speed of the forward push gesture according to the change of the depth information of the user's palm, and can use the forward speed according to the forward speed. , to determine the target flight speed of the UAV when it flies in an increasingly distant flight path. Here, the depth sensor can be implemented in multiple ways, such as a binocular vision sensor, a TOF sensor, and so on.

Different flight trajectories have different requirements on the site. For example, the circumnavigation flight trajectory has lower height requirements and higher requirements on the area of the site due to the constant flight height, while the sky-high flight trajectory is the opposite, which has a high impact on the site. The height requirements of the drone are relatively high, but the requirements for the area of the site are relatively low... Therefore, in one embodiment, the drone can be provided with multiple shooting devices corresponding to different orientations. For example, the drone can be equipped with front, Cameras in any direction from the rear, left, right, up, and down can obtain scene images in different directions through different shooting devices, so that the current scene type can be determined according to the scene image, and then the scene type can be determined according to the scene image. suitable target flight path.

For example, if the user is shooting in a building complex with many high-rise buildings, according to the scene images captured by multiple shooting devices on the drone, it can be determined that the target flight trajectory adapted to the current scene is the sky-rocketing flight trajectory. If shooting indoors in an area, according to the scene images captured by multiple shooting devices on the drone, it can be determined that the target flight trajectory adapted to the current scene is the surrounding flight trajectory.

In one embodiment, after the drone completes the shooting when flying on the target flight trajectory, it can automatically generate a movie by using the video obtained by shooting, so as to realize automatic editing. Specifically, the final film template can be pre-stored in the drone, and the pre-stored film template in the drone can be managed through the application program on the control device, and the final film template can include music material, video special effects, and transition effects. , text material, picture material and other content, by combining the shot video with the template, you can quickly generate a viewing movie corresponding to the shot video, which is convenient for users to share.

In one embodiment, the drone can also be automatically controlled to return home after the shooting is completed. As mentioned above, the drone can be a small drone, and the drone can take off from the palm of the user, or land on the palm of the user to complete the return flight. Specifically, after completing the shooting, the drone can be controlled to return to the target position. The target position can be a specified height above the take-off position, for example, it can be 0.5m above the take-off position. Here, the take-off position can be the position recorded by the drone when it took off. After the drone returns to the target position, the landing can be started. Referring to FIG. 5 , FIG. 5 is a schematic diagram of a scene where a drone lands on a palm according to an embodiment of the present application.

When the drone starts to land, palm detection can be performed on the area below the drone, and when the target palm is detected, the drone can be controlled to land on the target palm. Here, palm detection can be realized through image recognition technology. Specifically, a camera can be equipped under the drone, images are taken by the camera under the drone, and palm recognition is performed on the captured image, and the target can be detected. palm.

In some cases, in order to shorten the landing time of the drone, the user may raise the palm when the drone is landing, so as to catch the drone as soon as possible, and the blade of the drone is rotating at a high speed. When the distance between the user's palm rapidly decreases, the risk of the user being cut by the drone increases. Therefore, for the sake of safety, in one embodiment, the distance between the drone and the target palm can be obtained through the distance sensor. When the landing speed of the drone is determined, that is, when the gap between the shortening speed and the landing speed is greater than the preset threshold, it can be determined that the user is raising the palm. The speed of the blades can slow down the shortening of the distance between the drone and the target palm. The increase in the speed of the blades can also remind the user to slow down to a certain extent. Haste is not enough. Of course, if the distance between the drone and the target palm is 0 or close to 0, the motor of the blade can be quickly braked to make the drone stop quickly.

In order to enrich the personalized expression of the user, in one embodiment, ambient lights may be provided on the arms and/or fuselage of the drone. The ambient light can have different lighting modes and lighting colors, among which the lighting modes can include breathing, constant light, rainbow, throttle (that is, the brightness of the light is linked to the propulsion depth of the acceleration stick of the drone), fast flash, slow flash, flowing water Lights (multiple ambient lights emit light in a certain order) and other modes, and the light-emitting colors can include various colors such as white, red, orange, yellow, green, and rainbow colors (gradient conversion between multiple colors).

The user can set the lighting color or lighting mode of the ambient light on the drone by controlling the device. As mentioned above, the control device can establish communication with the drone, and the control device can include a terminal device or flying glasses. The user can set the lighting color and/or lighting mode of the ambient light through an application installed on the terminal device or flying glasses. , so that the terminal device or the flying glasses can send the color information corresponding to the light-emitting color selected by the user and/or the mode information corresponding to the light-emitting mode to the drone, and the drone can The information controls the ambient light to switch to the corresponding light-emitting color and/or light-emitting mode.

As mentioned above, the drone can perform face recognition on the captured image after entering the preset take-off mode, but face recognition takes a certain amount of time, and in some cases, the recognition may not be successful, such as the user shaking Or the environment is too dark, etc. Therefore, in one embodiment, the progress of face recognition may be prompted to the user through an ambient light. When the drone is recognizing the face, the ambient light can be controlled to emit light in the first color and/or the first mode, such as making the ambient light emit orange light and/or flashing continuously, and after the recognition is completed, the ambient light can be controlled The lights are illuminated in a second color and/or a second pattern, such as making the ambient light green and/or always on.

When the drone takes off from the user's palm, the user can also be prompted through the ambient light. Since the blades of the drone need to reach a certain rotational speed (which can be called the target rotational speed) before the drone can take off, the user needs to keep lifting the drone until the rotational speed of the blades does not reach the target rotational speed. Therefore, in one embodiment, the user can be prompted for the state of the blade rotation speed through the ambient light, and before the blade rotation speed of the drone does not reach the target rotation speed, the ambient light can be controlled to emit light in a third color or a third mode, such as It emits a flashing red light. After the speed of the propeller reaches the target speed, the ambient light can be controlled to emit light in the fourth color or the fourth mode, such as a steady green light. Through this change of ambient light, it can help users determine when they do not need to lift, and prevent the drone from falling due to insufficient rotation speed.

When the drone takes off from the palm, for safety reasons, it is best for the user to maintain the palm level. In one embodiment, an attitude sensor may be configured in the UAV, and the current attitude of the UAV can be obtained through the attitude sensor, and it can be determined whether the UAV is kept level. When tilted, that is, when the difference between the current attitude and the horizontal attitude of the drone is greater than the preset threshold, the ambient light can be controlled to emit light in the fifth color or the fifth mode. When the user's palm is kept horizontal, the ambient light can be controlled to emit light in the sixth color. Or the sixth mode glows. Through this change of ambient light, the user can be assisted to adjust the palm so that the drone can take off safely.

In one embodiment, when the ambient light emits light in a breathing mode, the breathing frequency of the ambient light can be determined according to the remaining power of the drone. In one example, if the remaining power of the drone is lower, the breathing rate of the ambient light can be higher, and at the same time, the brightness of the ambient light can be reduced, so that an obvious signal of insufficient power can be sent to the user.

When the drone is equipped with ambient light, the ambient light has various optional lighting colors and optional lighting modes, which makes the drone itself have a certain ornamental value. In one embodiment, the ambient light of the drone can work in a breathing mode, and the breathing frequency of the ambient light can match the rhythm of the music, bringing a sense of visual and auditory unity to the user. Specifically, the drone can obtain the rhythm information of the target music, so that the breathing frequency of the ambient light can be controlled according to the rhythm information, so that the moment when the ambient light is on matches the rhythm point of the target music.

The rhythm information of the target music can be obtained by the drone from the control device. For example, if the control device includes a terminal device, the target music can be the music currently playing on the terminal device, or it can be specified by the user through the application program on the terminal device. music. The rhythm information of the target music can also be obtained by the drone by analyzing the audio signal collected by its own radio.

In the UAV control method provided by the embodiment of the present application, the user only needs to operate the physical buttons on the UAV, and the UAV can automatically recognize the face, automatically take off and fly, automatically shoot video for the shooting object corresponding to the face, and automatically Editing the captured video greatly simplifies the process of using drones to shoot videos. The whole process is fast and simple, which can greatly improve the enthusiasm of users to shoot videos using drones. In addition, in the method provided by the embodiment of the present application, the drone can be equipped with an ambient light, so that the user can personalize the decoration of the drone through the ambient light, and can also use the ambient light to perform face recognition, palm takeoff and other links to the user. Prompts enrich the interaction between the user and the drone.

Referring to FIG. 6 below, FIG. 6 is a schematic structural diagram of a drone control device provided by an embodiment of the present application. The drone control device provided by the embodiment of the present application includes: a processor 610 and a memory 620 storing a computer program, and the processor implements the following steps when executing the computer program:

In the take-off mode, when the image captured by the camera mounted on the UAV includes a human face, controlling the UAV to start the power system to control the UAV to take off;

Optionally, the target flight trajectory is associated with the preset takeoff mode.

Optionally, the association relationship between the target flight trajectory and the preset take-off mode is preset by a user.

Optionally, the processor is further configured to, after the shooting is completed, use the video obtained when the drone flies on the target flight trajectory to generate a movie, so as to realize automatic editing.

Optionally, the processor is configured to edit the captured video according to a pre-stored template when editing the captured video.

Optionally, the film-forming template includes one or more of the following: music material, video special effect, transition effect, text material, and picture material.

Optionally, the processor is also used for,

Before controlling the drone to fly with the target flight trajectory, the user gesture is recognized by the photographing device, and the target flight trajectory of the drone is determined according to the recognition result.

Optionally, the processor is further configured to, according to the image including the user gesture captured by the photographing device, determine the movement speed of the user gesture; and determine the movement speed of the user gesture according to the movement speed of the user gesture. The target flight speed of the man-machine when flying on the target flight path.

Optionally, the target flight trajectory includes an escalating flight trajectory, and the user gesture corresponding to the escalating flight trajectory includes a forward push gesture.

Optionally, the processor is used to obtain the depth information of the user's palm when determining the target flight speed of the drone when flying at the target flight trajectory according to the movement speed of the user's gesture; The change of the depth information of the user's palm determines the forward speed of the forward push gesture; according to the forward speed, the target flight speed of the unmanned aerial vehicle when it flies on the flight path that is gradually moving away is determined.

Optionally, the target flight trajectory includes one or more of the following: a progressive flight trajectory, a skyrocketing flight trajectory, a circular flight trajectory, and a spiral flight trajectory.

Optionally, when the UAV flies on the progressively distant flight trajectory, the drone moves away from the photographed object in an oblique upward direction.

Optionally, the unmanned aerial vehicle includes a plurality of photographing devices arranged in different directions, and the processor is further configured to, before controlling the unmanned aerial vehicle to fly with the target flight trajectory, obtain information from the plurality of photographing devices. Scene images of multiple orientations; determining the target flight trajectory corresponding to the current scene according to the scene images.

Optionally, the processor is configured to control the UAV to return to the target position when controlling the UAV to return.

Optionally, the target position includes a specified height above the take-off position of the UAV.

Optionally, the processor is further configured to, after the drone returns to the target position, perform palm detection on the area below the drone, and when the target palm is detected, control the drone. The man-machine landed on the palm of the target.

Optionally, when controlling the drone to land on the palm of the target, the processor is used to obtain the distance between the drone and the palm of the target; When the shortening speed of the distance between the target palms is greater than the landing speed of the drone, the landing speed of the drone is reduced.

Optionally, the drone further includes ambient lights.

Optionally, the drone is connected to a control device, and the processor is further configured to, according to the color information and/or mode information sent by the control device, control the ambient light to display the color corresponding to the color information. emit light and/or emit light in a mode corresponding to the mode information.

Optionally, the processor is further configured to, when performing face recognition on the image captured by the photographing device, before the recognition is completed, control the ambient light to emit light in a first color or a first mode, and before the recognition is completed, After completion, the ambient light is controlled to emit light in a second color or a second mode.

Optionally, the processor is further configured to, when controlling the drone to take off, before the rotational speed of the blades of the drone does not reach the target rotational speed, control the ambient light to change to a third color or a third color. Mode lighting, after the rotating speed of the blade reaches the target rotating speed, the ambient light is controlled to emit light in a fourth color or a fourth mode.

Optionally, the lighting mode of the ambient light includes a breathing mode.

Optionally, the processor is further configured to determine the breathing frequency of the ambient light according to the remaining power of the drone.

Optionally, the processor is further configured to acquire rhythm information of the target music; and adjust the breathing frequency of the ambient light according to the rhythm information.

Optionally, the rhythm information of the target music is obtained from the control device of the drone.

For the various implementation manners of the UAV control device provided above, reference may be made to the relevant descriptions in the foregoing for specific implementations, which will not be repeated here.

In the UAV control device provided by the embodiment of the present application, after the user operates the physical button on the UAV, the UAV can directly enter the preset take-off mode. In this take-off mode, if the UAV captures a human face, It can automatically take off and fly on the target flight trajectory, and can also automatically take the subject corresponding to the captured face as the main body during the flight. It can be seen that the method provided by the embodiment of the present application greatly simplifies the operation of the user using the drone to shoot video, and the user does not need to connect the drone to the control device, but only needs to directly operate the physical button on the drone to trigger the unmanned aerial vehicle. The human-machine automatic flight and automatic shooting, the whole process is fast and simple, which can greatly improve the enthusiasm of users to use drones to shoot videos.

Referring to FIG. 7 below, FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application. The unmanned aerial vehicle provided by the embodiment of the present application includes:

A body 710, which is provided with physical buttons;

a drive device 720 connected to the body, for providing power to the drone;

a pan/tilt 730 connected to the body;

a photographing device 740 mounted on the platform;

A processor 750 and a memory 760 storing a computer program that, when executing the computer program, implements the following steps:

After the drone is started, obtain the user's operation on the physical button;

Optionally, the processor is further configured to, after the shooting is completed, generate a movie by using the video obtained when the drone flies on the target flight trajectory, so as to realize automatic editing.

Optionally, the processor is further configured to, before controlling the UAV to fly with the target flight trajectory, identify the user's gesture through the photographing device, and determine the target flight trajectory of the UAV according to the recognition result. .

Optionally, the drone further includes ambient lights.

Optionally, the lighting mode of the ambient light includes a breathing mode.

For the various implementation manners of the UAV provided above, reference may be made to the relevant descriptions in the foregoing for the specific implementation, which will not be repeated here.

In the drone provided by the embodiment of the present application, after the user operates the physical button on the drone, the drone can directly enter the preset take-off mode. In this take-off mode, if the drone captures a human face, the drone can It takes off automatically and flies with the target flight trajectory. During the flight, it can also automatically take the subject corresponding to the captured face as the main body to shoot. It can be seen that the method provided by the embodiment of the present application greatly simplifies the operation of the user using the drone to shoot video, and the user does not need to connect the drone to the control device, but only needs to directly operate the physical button on the drone to trigger the unmanned aerial vehicle. The human-machine automatic flight and automatic shooting, the whole process is fast and simple, which can greatly improve the enthusiasm of users to use drones to shoot videos.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any UAV control provided by the embodiments of the present application is implemented method.

Various implementations are provided above for each protection subject. On the basis of no conflict or contradiction, those skilled in the art can freely combine various implementations according to the actual situation, thereby forming various technical solutions. . However, this application document is limited in space and cannot describe all the technical solutions obtained by combination, but it can be understood that these technical solutions that cannot be developed also belong to the scope disclosed in the embodiments of this application.

Embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer-usable storage media includes permanent and non-permanent, removable and non-removable media, and storage of information can be accomplished by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. The terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The methods and devices provided by the embodiments of the present invention have been described in detail above. The principles and implementations of the present invention are described with specific examples in this paper. The descriptions of the above embodiments are only used to help understand the methods of the present invention and its implementation. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. To sum up, the content of this description should not be construed as a limitation to the present invention. .

Claims

A method for controlling an unmanned aerial vehicle, characterized in that a photographing device is mounted on the unmanned aerial vehicle, and the method comprises:

After the drone is started, obtain the user's operation on the physical button on the drone;

According to the operation of the physical button, control the drone to directly enter the preset take-off mode;

In the take-off mode, when the image captured by the photographing device includes a human face, controlling the UAV to start the power system to control the UAV to take off;

After the drone is controlled to take off, the drone is controlled to fly on the target flight trajectory, and the photographing device is controlled to take the photographing object corresponding to the face as the main body during the flight.
The method of claim 1, wherein the target flight trajectory is associated with the preset take-off mode.
The method according to claim 2, wherein the relationship between the target flight trajectory and the preset take-off mode is preset by a user.
The method according to claim 1, wherein the method further comprises:

After the shooting is completed, a video is generated by using the video obtained when the drone flies on the target flight trajectory, so as to realize automatic editing.
The method according to claim 1, wherein the generating a film by using the video obtained by shooting comprises:

Edit the captured video according to the pre-stored template to generate a movie.
The method according to claim 5, wherein the film-forming template includes one or more of the following: music material, video special effect, transition effect, text material, and picture material.
The method according to claim 1, wherein before controlling the UAV to fly with the target flight trajectory, the method further comprises:

The user gesture is recognized by the photographing device, and the target flight trajectory of the drone is determined according to the recognition result.
The method according to claim 7, wherein the method further comprises:

determining the movement speed of the user gesture according to the image including the user gesture captured by the photographing device;

According to the movement speed of the user's gesture, the target flight speed of the drone when flying on the target flight trajectory is determined.
The method according to claim 8, wherein the target flight trajectory comprises an escalating flight trajectory, and the user gesture corresponding to the fading flight trajectory comprises a forward push gesture.
The method according to claim 9, wherein the determining the target flight speed of the drone when flying on the target flight trajectory according to the movement speed of the user gesture comprises:

Obtain the depth information of the user's palm;

Determine the forward speed of the forward push gesture according to the change of the depth information of the user's palm;

According to the forward speed, a target flight speed of the unmanned aerial vehicle when flying on the receding flight trajectory is determined.
The method according to claim 1, wherein the target flight trajectory includes one or more of the following: a progressive flight trajectory, a skyrocketing flight trajectory, a circular flight trajectory, and a spiral flight trajectory.
The method according to claim 11, wherein when the UAV is flying on the progressively distant flight trajectory, the drone moves away from the photographed object in an oblique upward direction.
The method according to claim 1, wherein the UAV comprises a plurality of photographing devices arranged in different directions, and before controlling the UAV to fly with a target flight trajectory, the method further comprises:

Acquiring scene images of multiple orientations through the multiple photographing devices;

The target flight trajectory corresponding to the current scene is determined according to the scene image.
The method according to claim 1, wherein the controlling the UAV to return to home comprises:

Control the drone to return to the target position.
15. The method of claim 14, wherein the target position comprises a specified altitude above a take-off position of the drone.
The method of claim 15, wherein the method further comprises:

After the drone returns to the target position, palm detection is performed on the area below the drone, and when the target palm is detected, the drone is controlled to land on the target palm.
The method according to claim 16, wherein the controlling the drone to land on the palm of the target comprises:

Obtain the distance between the drone and the target palm;

When the shortening speed of the distance between the drone and the target palm is greater than the landing speed of the drone, the landing speed of the drone is reduced.
The method of claim 1, wherein the drone further comprises an ambient light.
The method of claim 18, wherein the drone is connected to a control device, the method further comprising:

According to the color information and/or mode information sent by the control device, the ambient light is controlled to emit light in a color corresponding to the color information and/or in a mode corresponding to the mode information.
The method of claim 18, wherein the method further comprises:

When performing face recognition on the image captured by the photographing device, before the recognition is completed, the ambient light is controlled to emit light in a first color or a first mode, and after the recognition is completed, the ambient light is controlled to be in a second color or second mode glow.
The method of claim 18, wherein the method further comprises:

When controlling the drone to take off, before the speed of the blades of the drone does not reach the target speed, the ambient light is controlled to emit light in a third color or a third mode, and when the speed of the blades reaches the target speed After the target rotation speed, the ambient light is controlled to emit light in a fourth color or a fourth mode.
The method of claim 18, wherein the lighting mode of the ambient light comprises a breathing mode.
The method of claim 22, wherein the method further comprises:

The breathing frequency of the ambient light is determined according to the remaining power of the drone.
The method of claim 22, wherein the method further comprises:

Obtain the rhythm information of the target music;

The breathing frequency of the ambient light is adjusted according to the rhythm information.
The method of claim 24, wherein the rhythm information of the target music is obtained from a control device of the drone.
An unmanned aerial vehicle control device is characterized in that, comprising: a processor and a memory storing a computer program, the processor implements the following steps when executing the computer program:

After the drone is started, obtain the user's operation on the physical button on the drone;

According to the operation of the physical button, control the drone to directly enter the preset take-off mode;

In the take-off mode, when the image captured by the camera mounted on the UAV includes a human face, controlling the UAV to start the power system to control the UAV to take off;

After the drone is controlled to take off, the drone is controlled to fly on the target flight trajectory, and the photographing device is controlled to take the photographing object corresponding to the face as the main body during the flight.
The apparatus of claim 26, wherein the target flight trajectory is associated with the preset takeoff mode.
The device according to claim 27, wherein the relationship between the target flight trajectory and the preset take-off mode is preset by a user.
The device according to claim 26, wherein the processor is further configured to, after the shooting is completed, generate a movie by using the video obtained when the drone flies on the target flight trajectory, so as to realize automatic clip.
The apparatus according to claim 29, wherein the processor is configured to edit the captured video according to a pre-stored template when editing the captured video.
The device according to claim 30, wherein the film-forming template comprises one or more of the following: music material, video special effect, transition effect, text material, and picture material.
The apparatus of claim 26, wherein the processor is further configured to:

Before controlling the drone to fly with the target flight trajectory, the user gesture is recognized by the photographing device, and the target flight trajectory of the drone is determined according to the recognition result.
The device according to claim 32, wherein the processor is further configured to, according to the image including the user gesture captured by the photographing device, determine the movement speed of the user gesture; The movement speed of the gesture determines the target flight speed of the drone when it flies on the target flight trajectory.
The device according to claim 33, wherein the target flight trajectory comprises an escalating flight trajectory, and the user gesture corresponding to the escalating flight trajectory comprises a forward push gesture.
The device according to claim 34, wherein when the processor determines the target flight speed of the drone when flying on the target flight trajectory according to the movement speed of the user gesture, the processor is used to: Acquire the depth information of the user's palm; determine the forward speed of the push forward gesture according to the change of the depth information of the user's palm; determine according to the forward speed when the drone is flying on the progressively distant flight trajectory target flight speed.
The device according to claim 26, wherein the target flight trajectory includes one or more of the following: a progressive flight trajectory, a skyrocketing flight trajectory, a circular flight trajectory, and a spiral flight trajectory.
The device according to claim 36, wherein the drone moves away from the photographed object in an oblique upward direction when flying along the progressively distant flight trajectory.
The device according to claim 26, wherein the UAV comprises a plurality of photographing devices arranged in different directions, and the processor is further configured to: before controlling the UAV to fly with a target flight trajectory , acquiring scene images of multiple orientations through the multiple shooting devices; and determining the target flight trajectory corresponding to the current scene according to the scene images.
The device according to claim 26, wherein the processor is configured to control the UAV to return to the target position when controlling the UAV to return.
39. The apparatus of claim 39, wherein the target location comprises a specified altitude above a take-off location of the drone.
The device according to claim 40, wherein the processor is further configured to, after the drone returns to the target position, perform palm detection on the area below the drone, and when the drone is detected When reaching the palm of the target, control the drone to land on the palm of the target.
The device according to claim 41, wherein the processor is configured to acquire the distance between the drone and the target palm when controlling the drone to land on the target palm ; When the shortening speed of the distance between the drone and the target palm is greater than the landing speed of the drone, reduce the landing speed of the drone.
The device of claim 26, wherein the drone further comprises an ambient light.
The device according to claim 43, wherein the drone is connected to a control device, and the processor is further configured to control the atmosphere according to color information and/or mode information sent by the control device The lamp emits light in a color corresponding to the color information and/or in a mode corresponding to the mode information.
The device according to claim 43, wherein the processor is further configured to, when performing face recognition on the image captured by the photographing device, before the recognition is completed, control the ambient light to first The color or the first mode emits light, and after the recognition is completed, the ambient light is controlled to emit light in the second color or the second mode.
The device according to claim 43, wherein the processor is further configured to, when controlling the UAV to take off, before the rotational speed of the blades of the UAV does not reach the target rotational speed, control the UAV to take off. The ambient light emits light in a third color or a third mode, and after the rotational speed of the paddle reaches the target rotational speed, the ambient light is controlled to emit light in a fourth color or a fourth mode.
The device of claim 43, wherein the lighting mode of the ambient light comprises a breathing mode.
The device according to claim 47, wherein the processor is further configured to determine the breathing frequency of the ambient light according to the remaining power of the drone.
The device according to claim 47, wherein the processor is further configured to acquire rhythm information of the target music; and adjust the breathing frequency of the ambient light according to the rhythm information.
The apparatus of claim 49, wherein the rhythm information of the target music is obtained from a control device of the drone.
An unmanned aerial vehicle, characterized in that it includes:

a body, the body is provided with a physical button;

a drive device connected with the body for powering the UAV;

a gimbal connected to the body;

a photographing device mounted on the platform;

A processor and a memory in which a computer program is stored, the processor implementing the following steps when executing the computer program:

After the drone is started, obtain the user's operation on the physical button;

According to the operation of the physical button, control the drone to directly enter the preset take-off mode;

In the take-off mode, when the image captured by the photographing device includes a human face, controlling the UAV to start the power system to control the UAV to take off;

After the drone is controlled to take off, the drone is controlled to fly on the target flight trajectory, and the photographing device is controlled to take the photographing object corresponding to the face as the main body during the flight.
The drone of claim 49, wherein the target flight trajectory is associated with the preset takeoff mode.
The drone according to claim 50, wherein the relationship between the target flight trajectory and the preset take-off mode is preset by a user.
The unmanned aerial vehicle according to claim 51, wherein the processor is further configured to, after the shooting is completed, generate a movie by using the video obtained when the unmanned aerial vehicle flies on the target flight trajectory to generate a movie to Implement automatic clipping.
The drone according to claim 54, wherein the processor is configured to edit the captured video according to a pre-stored template when editing the captured video.
The drone according to claim 55, wherein the film-forming template includes one or more of the following: music material, video special effects, transition effects, text material, and picture material.
The unmanned aerial vehicle according to claim 51, wherein the processor is further configured to, before controlling the unmanned aerial vehicle to fly on a target flight trajectory, identify the user gesture through the photographing device, and according to the identification As a result, the target flight trajectory of the UAV is determined.
The drone according to claim 57, wherein the processor is further configured to determine the movement speed of the user gesture according to the image including the user gesture captured by the photographing device; The movement speed of the user's gesture is used to determine the target flight speed of the drone when it flies on the target flight trajectory.
The drone according to claim 58, wherein the target flight trajectory comprises an escalating flight trajectory, and the user gesture corresponding to the escalating flight trajectory comprises a forward push gesture.
The unmanned aerial vehicle of claim 59, wherein the processor is used when determining the target flight speed of the unmanned aerial vehicle when it flies on the target flight path according to the movement speed of the user's gesture. Then, obtain the depth information of the user's palm; determine the forward speed of the push forward gesture according to the change of the depth information of the user's palm; determine according to the forward speed that the drone is flying at the gradually-away flight path The target flight speed when flying.
The UAV according to claim 51, wherein the target flight trajectory includes one or more of the following: a progressive flight trajectory, a skyward flight trajectory, a circumnavigation flight trajectory, and a spiral flight trajectory.
The drone according to claim 61, wherein when the drone is flying on the progressively distant flight trajectory, the drone moves away from the photographed object in an obliquely upward direction.
The unmanned aerial vehicle according to claim 51, wherein the unmanned aerial vehicle comprises a plurality of photographing devices arranged in different directions, and the processor is further configured to control the unmanned aerial vehicle to follow a target flight trajectory Before flying, scene images of multiple orientations are acquired through the multiple photographing devices; and the target flight trajectory corresponding to the current scene is determined according to the scene images.
The drone according to claim 63, wherein the processor is configured to control the drone to return to the target position when controlling the drone to return.
64. The drone of claim 64, wherein the target location comprises a specified altitude above a take-off location of the drone.
The drone according to claim 65, wherein the processor is further configured to, after the drone returns to the target position, perform palm detection on the area below the drone, When the target palm is detected, the drone is controlled to land on the target palm.
The drone according to claim 66, wherein when the processor controls the drone to land on the palm of the target, the processor is configured to obtain the distance between the drone and the palm of the target. When the shortening speed of the distance between the drone and the target palm is greater than the landing speed of the drone, reduce the landing speed of the drone.
The drone of claim 51, wherein the drone further comprises an ambient light.
The drone according to claim 68, wherein the drone is connected to a control device, and the processor is further configured to, according to the color information and/or mode information sent by the control device, control the drone The ambient light emits light in a color corresponding to the color information and/or emits light in a mode corresponding to the mode information.
The drone according to claim 68, wherein the processor is further configured to, when performing face recognition on the image captured by the photographing device, before the recognition is completed, control the ambient light to The first color or the first mode emits light, and after the recognition is completed, the ambient light is controlled to emit light in the second color or the second mode.
The unmanned aerial vehicle according to claim 68, wherein the processor is further configured to, when controlling the unmanned aerial vehicle to take off, before the rotating speed of the blades of the unmanned aerial vehicle reaches the target rotating speed, control the unmanned aerial vehicle to take off. The ambient light emits light in a third color or a third mode, and after the rotational speed of the paddle reaches the target rotational speed, the ambient light is controlled to emit light in a fourth color or a fourth mode.
The drone of claim 68, wherein the lighting mode of the ambient light includes a breathing mode.
The drone according to claim 72, wherein the processor is further configured to determine the breathing frequency of the ambient light according to the remaining power of the drone.
The drone according to claim 72, wherein the processor is further configured to acquire rhythm information of the target music; and adjust the breathing frequency of the ambient light according to the rhythm information.
The drone of claim 74, wherein the rhythm information of the target music is obtained from a control device of the drone.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the drone control according to any one of claims 1-25 is realized method.