WO2023036197A1 - 一种控制飞行器跟拍的方法、装置、电子设备及存储介质 - Google Patents

一种控制飞行器跟拍的方法、装置、电子设备及存储介质 Download PDF

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Publication number
WO2023036197A1
WO2023036197A1 PCT/CN2022/117622 CN2022117622W WO2023036197A1 WO 2023036197 A1 WO2023036197 A1 WO 2023036197A1 CN 2022117622 W CN2022117622 W CN 2022117622W WO 2023036197 A1 WO2023036197 A1 WO 2023036197A1
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Prior art keywords
follow
aircraft
user
controlling
target
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PCT/CN2022/117622
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English (en)
French (fr)
Inventor
崔广鑫
张斌
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深圳市道通智能航空技术股份有限公司
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Publication of WO2023036197A1 publication Critical patent/WO2023036197A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/617—Upgrading or updating of programs or applications for camera control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • Embodiments of the present invention relate to the technical field of unmanned aerial vehicle control, and in particular, to a method, device, electronic equipment, and storage medium for controlling the follow-up shooting of an aircraft.
  • Follow-up shooting also known as follow-up lens
  • follow-up lens refers to a shooting method that can adapt to the movement of moving objects and follow the movement of the subject.
  • follow-up shooting technology is widely used in power inspection, remote sensing mapping, environmental monitoring, film and television shooting, and webcasting.
  • the existing follow-up shooting schemes mainly include two methods: real-time control of remote control equipment to achieve follow-up shooting and automatic follow-up shooting based on image information.
  • the former requires special personnel to make frequent and professional adjustments to the follow-up shooting equipment according to the shooting situation.
  • the latter is easier to use and is more and more popular among people. It can generally be realized by drones and other aircraft.
  • the current automatic follow-up shooting solution can only keep a relatively fixed position relative to the shooting target for follow-up shooting after the shooting target is determined.
  • the user needs to manually adjust the stick through the remote control.
  • the time available for the user to adjust is very short, so that the adjustment of the tracking position cannot be completed in time and accurately, and the adjustment process is also very troublesome.
  • Embodiments of the present invention provide a method, device, electronic device, and storage medium for controlling the tracking of an aircraft, so as to solve the problem of untimely adjustment of the tracking position, thereby realizing switching of the tracking position simply, quickly and accurately.
  • the embodiment of the present invention provides a method for controlling the tracking of an aircraft, the method comprising:
  • the aircraft is controlled to switch the tracking orientation according to the user's operation on the tracking orientation control.
  • the method after the acquisition of the current shooting picture of the aircraft, the method also includes:
  • the object that can be followed and photographed selected by the user is determined as the photographed and followed target.
  • the method further includes:
  • controlling the aircraft to lock on the follow-up target for follow-up shooting includes:
  • the method further includes:
  • the embodiment of the present invention also provides a device for controlling the tracking of an aircraft, the device comprising:
  • the follow-up command receiving module is used to receive the follow-up command of the user, and control the aircraft to enter the follow-up mode according to the follow-up command;
  • a follow-up target determination module configured to obtain the current shooting picture of the aircraft, and display the current shooting picture to the user, so that the user can select a follow-up target from the current shooting picture;
  • the orientation control display module is used to control the aircraft to lock the tracking target for tracking, and to display the tracking control to the user;
  • the camera-following azimuth switching module is used to control the aircraft to switch the camera-following azimuth according to the user's operation on the camera-following azimuth control.
  • an embodiment of the present invention also provides an electronic device, the electronic device comprising:
  • processors one or more processors
  • memory for storing one or more programs
  • the one or more processors are made to implement the method for controlling aircraft tracking provided by any embodiment of the present invention.
  • the embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored.
  • the program is executed by a processor, the method for controlling aircraft tracking provided by any embodiment of the present invention is implemented.
  • the embodiment of the present invention provides a method for controlling the follow-up shooting of the aircraft. Firstly, the user's follow-up command is received, and the aircraft is controlled to enter the follow-up mode according to the follow-up command, and then the current shooting picture of the aircraft is obtained, and the current shooting picture is displayed. To the user, so that the user can select the follow-up target from the current shooting screen. After the follow-up target is determined, the aircraft can be controlled to lock the follow-up target for follow-up shooting. The user's operation on the camera tracking control controls the aircraft to switch the camera tracking camera.
  • the method for controlling the follow-up shooting of the aircraft provided by the embodiment of the present invention provides the user with a follow-up orientation control, so that the user can adjust the follow-up orientation of the aircraft through the follow-up orientation control, thereby solving the problem of the traditional follow-up method. Due to the untimely problem caused by the need for the user to manually adjust through the remote control, the tracking position can be switched simply, quickly and accurately, which provides great convenience for the user.
  • FIG. 1 is a flow chart of a method for controlling aircraft tracking according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic structural diagram of an interactive interface provided after entering an application program according to Embodiment 1 of the present invention
  • FIG. 3 is a schematic structural diagram of an interactive interface for displaying guidance videos provided by Embodiment 1 of the present invention.
  • FIG. 4 is a schematic structural diagram of an interactive interface showing object identifiers that can be followed according to Embodiment 1 of the present invention
  • FIG. 5 is a schematic structural diagram of an interactive interface showing a follow-up orientation control provided by Embodiment 1 of the present invention
  • Fig. 6 is a schematic structural diagram of a device for controlling aircraft tracking according to Embodiment 2 of the present invention.
  • FIG. 7 is a schematic structural diagram of an electronic device provided by Embodiment 3 of the present invention.
  • FIG. 1 is a flow chart of a method for controlling an aircraft to follow a shot according to Embodiment 1 of the present invention. This embodiment is applicable to the situation where the aircraft is used to automatically follow-up the target object.
  • the method can be executed by the device for controlling the aircraft to follow-up provided in the embodiment of the present invention.
  • the device can be implemented by means of hardware and/or software , generally can be integrated in electronic devices, such electronic devices can be but not limited to smart phones and tablet computers. As shown in Figure 1, it specifically includes the following steps:
  • the aircraft can be any flying object manufactured by humans, capable of flying off the ground, flying in space and controlled by humans.
  • a mobile phone to control an aircraft is used for illustration. After the mobile phone is connected to the aircraft through a remote control, the aircraft can be controlled through an application (Application, APP) installed on the mobile phone. After entering the application program, an interactive interface as shown in FIG. 2 can be provided for the user.
  • Application Application
  • the interactive interface includes a control interface 21, a shooting screen display interface 22, and a status bar 23, wherein the control interface 21 includes various mode selection controls, such as Modes such as follow-up, short film, portrait, photo, video, time-lapse, panorama and night scene, etc., also include a start shooting button 211, the user can select the desired mode through the mode selection control, and can press the start shooting button 211 in the Taking pictures or taking photos in the corresponding mode, in addition, the control interface 21 can also include controls such as a gallery, image parameter settings and more functions, which can be used to open the gallery, set image parameters, and open more functional options.
  • mode selection controls such as Modes such as follow-up, short film, portrait, photo, video, time-lapse, panorama and night scene, etc.
  • start shooting button 211 also include a start shooting button 211, the user can select the desired mode through the mode selection control, and can press the start shooting button 211 in the Taking pictures or taking photos in the corresponding mode
  • the control interface 21 can also include controls such as
  • the shooting screen display interface 22 is used to display the shooting screen of the aircraft in real time, which may include an image zoom control 221 , and the user can click on the image zoom control 221 to adjust the size of the shooting screen.
  • the status bar 23 can be used to display some common states of the mobile phone, such as signal strength, battery power and picture aspect ratio, etc.
  • the status bar 23 can be transparent, that is, it will not block the shooting screen display interface 22 except for the content that needs to be displayed. , to expand the field of view displayed on the screen.
  • the user can generate a follow-up instruction by sliding or clicking to select the follow-up mode control, and can also generate a follow-up instruction when clicking the start shooting button 211 after selecting the follow-up mode control, and receive the user's follow-up After the command, the aircraft can be controlled to enter the follow-up mode according to the follow-up command for subsequent steps.
  • the display style of the follow-up mode control can be changed, such as changing color, thickening, tilting or shifting, etc., to remind the user of the currently selected mode.
  • it can be selected as the follow-up mode by default.
  • the method before controlling the aircraft to enter the follow-up mode according to the follow-up command, the method further includes: judging whether the aircraft has currently taken off, and if not, prompting the user to take off first. Specifically, you can judge whether the aircraft is taking off after entering the application program, or you can judge after receiving the user's follow-up command. If the aircraft has not yet taken off, the user will be prompted to control the aircraft to take off before taking off. shoot. Specifically, the user may be prompted with text at the upper position in the middle of the shooting screen display interface 22. Exemplarily, the text may be "the aircraft has not taken off, and cannot follow and shoot" or the like.
  • the method further includes: showing the user a follow-up operation guide video and/or a shooting effect video.
  • the follow-up operation guide video and/or shooting effect video may be displayed in the video frame 300 in the center of the shooting screen display interface 22, specifically, only the operation Guide video or shooting effect video, or successively display follow-up operation guide video and shooting effect video, wherein, the content of follow-up operation guide video may include the demonstration of the control method in the follow-up process, and the content of shooting effect video may include executing various The display of the shooting effect obtained by the control method, etc., to remind the user how to use the follow-up function.
  • the video frame 300 may include a close button (such as “ ⁇ ” in FIG. 3 ) at the edge (such as the upper right corner), and the user can click the close button to close the video to enter the subsequent control process.
  • the aircraft can capture the picture in front of the lens in real time and transmit it to the mobile phone, so that the mobile phone can obtain the current shooting picture of the aircraft, and then it can be displayed by the above-mentioned shooting picture display interface.
  • the user can determine the desired follow-up target and select it by clicking or selecting a frame.
  • the follow-up target can be pedestrians, vehicles and boats, etc.
  • the acquisition of the current shooting picture of the aircraft also includes: automatically identifying and marking the object that can be followed in the current shooting picture; determining the object that can be followed by the user selected as The follow-up target.
  • it can automatically identify the objects that can be followed in the current shooting picture.
  • it can be preset for the object. For example, only follow-up shooting of pedestrians can be automatically identified If you can identify all the pedestrians in the current shooting picture, or follow up the pedestrians or cars and other objects, you can first automatically identify all the pedestrians, cars and other objects in the current shooting picture. After identifying the object that can be followed, as shown in FIG.
  • the marking frame 400 can be marked with a mark frame 400 in the shooting screen display interface 22.
  • the mark frame 400 can be indicated by "+” so that the user can quickly select it. Any position in the shooting screen display interface 22 (such as the upper middle position) prompts the user to make a selection with text, such as "click + or select a follow-up target", then the user can click "+” or select one of them
  • the identification frame 400 is used to determine the follow-up target to be selected, and the mobile phone can determine and obtain the follow-up target according to the user's selection.
  • the follow-up mode control can be aligned with the start shooting button 211 , and the follow-up mode control is displayed in bold to remind the user of the currently selected mode.
  • the aircraft can be controlled to lock on to the follow-up target for follow-up shooting, that is, the aircraft is controlled to move with the follow-up target to shoot and record a video. It is also possible to keep the aircraft in the follow-up mode to obtain the shooting images in real time and transmit them to the mobile phone for display.
  • the user can press the start shooting button at the specified time to start the actual video recording. After the recording starts, the user can be prompted that the shooting has started, and the shooting progress can be displayed in real time, such as the current shooting time.
  • the following shooting orientation control 500 can be displayed in the shooting screen display interface 22, wherein the front, rear, left, and right directions are shown as examples.
  • the follow-up target can be kept in the frame of the follow-up orientation control 500, so that the user can observe the follow-up target in time, and adjust the follow-up orientation using the follow-up orientation control 500 according to the overall picture.
  • the follow-up orientation refers to the position relative to the follow-up target, such as the front, means keeping in front of the follow-up target for follow-up shooting.
  • the controlling the aircraft to lock on the tracking target to perform follow-up shooting includes: controlling the aircraft to follow-up on the tracking target from a default follow-up orientation, and prompting the user for the default follow-up shooting position.
  • the default follow-up position may be the front, that is, after the aircraft is controlled to perform follow-up shooting, it does not need to be selected or operated by the user, that is, it is kept in front of the follow-up target for follow-up shooting.
  • the user can be prompted with text in the upper middle of the shooting screen display interface 22 for the specific default tracking position.
  • the text can be "the default tracking position of the aircraft is the front".
  • the "front" button in the follow-up orientation control 500 may be displayed as a selected state, such as filled with a different color from other orientation buttons, so that the user knows the current follow-up orientation, so that the user can make adjustments conveniently.
  • the tracking position is not adjusted, but the aircraft can be controlled to maintain the current tracking position for tracking, and at the same time, the current tracking position of the aircraft relative to the tracking target can be automatically judged.
  • the specific orientation judgment process can be realized by adding the framework of Face ID and human skeleton through deep learning, and the follow-up orientation can be the position relative to the direction of the face.
  • the orientation buttons are not limited to the "front, rear, left, and right" four types in Fig. 5, and can also include more orientations, such as left oblique front, left oblique rear, right oblique front and right oblique rear, etc., to provide A more precise bearing representation.
  • the user can switch the shooting direction by clicking each direction button in the shooting direction control 500. If the current shooting direction is the front, when the user clicks the "left" button, the Control the aircraft to switch the tracking position to the left.
  • the method further includes: feeding back the switched tracking orientation to the user. That is, after the switching of the tracking position is completed, it can be fed back to the user through text or by displaying the switched position button as a selected state, so that the user knows that the switching has been completed.
  • the tracking position control to switch the tracking position, it can also be adjusted through the traditional remote controller to provide users with a variety of ways to meet their various needs. After completing the recording of the follow-up video, the user can click the start shooting button again to end the recording, and save the recorded follow-up video to the camera roll of the mobile phone.
  • the technical solution provided by the embodiment of the present invention firstly receives the follow-up command from the user, and controls the aircraft to enter the follow-up mode according to the follow-up command, then obtains the current shooting picture of the aircraft, and presents the current shooting picture to the user, so that the user You can select a follow-up target from the current shooting screen. After the follow-up target is determined, you can control the aircraft to lock the follow-up target for follow-up shooting.
  • the operation of the control controls the aircraft to switch the tracking position.
  • Fig. 6 is a schematic structural diagram of a device for controlling aircraft tracking provided by Embodiment 2 of the present invention.
  • the device can be implemented by hardware and/or software, and can generally be integrated into electronic equipment to implement any embodiment of the present invention.
  • Provided is a method for controlling the tracking of the aircraft. As shown in Figure 6, the device includes:
  • Follow-up instruction receiving module 61 for receiving user's follow-up instruction, and control aircraft to enter follow-up mode according to said follow-up instruction;
  • the follow-up target determination module 62 is used to obtain the current shooting picture of the aircraft, and present the current shooting picture to the user, so that the user selects a follow-up target from the current shooting picture;
  • the azimuth control display module 63 is used to control the aircraft to lock the follow-up target for follow-up shooting, and to display the follow-up azimuth control to the user;
  • the camera-following orientation switching module 64 is configured to control the aircraft to switch the camera-following orientation according to the user's operation on the camera-following orientation control.
  • the technical solution provided by the embodiment of the present invention firstly receives the follow-up command from the user, and controls the aircraft to enter the follow-up mode according to the follow-up command, then obtains the current shooting picture of the aircraft, and presents the current shooting picture to the user, so that the user You can select a follow-up target from the current shooting screen. After the follow-up target is determined, you can control the aircraft to lock the follow-up target for follow-up shooting.
  • the operation of the control controls the aircraft to switch the tracking position.
  • the device for controlling the follow-up of the aircraft also includes:
  • An object identification module that can be followed and photographed is used to automatically identify and identify an object that can be photographed and followed in the current photographed picture after the acquisition of the current photographed picture of the aircraft;
  • a user selection module configured to determine the follow-up object selected by the user as the follow-up target.
  • the device for controlling the follow-up of the aircraft also includes:
  • the current follow-up orientation determination module is used to determine the target after the acquisition of the current shooting picture of the aircraft and displaying the current shooting picture to the user, so that the user selects a follow-up target from the current shooting picture.
  • the current follow-up orientation of the aircraft relative to the follow-up target is displayed to the user, so that the user can determine the desired target follow-up orientation according to the current follow-up orientation.
  • the orientation control display module 63 includes:
  • the default location follow-up unit is used to control the aircraft to follow-up the target from the default follow-up location, and prompt the user for the default follow-up location.
  • the device for controlling the follow-up of the aircraft also includes:
  • the tracking position switching feedback module is configured to feed back the switched tracking position to the user after the aircraft is controlled to switch the following position according to the user's operation on the tracking control control.
  • the device for controlling the follow-up of the aircraft also includes:
  • the take-off judging module is used for judging whether the aircraft has completed take-off before the aircraft is controlled to enter the follow-up mode according to the follow-up command, and if not, prompting the user to take off first.
  • the device for controlling the follow-up of the aircraft also includes:
  • the video presentation module is used for showing the follow-up operation guide video and/or shooting effect video to the user after the aircraft is controlled to enter the follow-up mode according to the follow-up instruction.
  • the device for controlling aircraft tracking provided by the embodiments of the present invention can execute the method for controlling aircraft tracking provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.
  • the included units and modules are only divided according to functional logic, but are not limited to the above-mentioned divisions, as long as the corresponding functions can be realized ;
  • the specific names of each functional unit are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention.
  • FIG. 7 is a schematic structural diagram of an electronic device provided by Embodiment 3 of the present invention, showing a block diagram of an exemplary electronic device suitable for implementing the implementation manner of the present invention.
  • the electronic device shown in FIG. 7 is only an example, and should not limit the functions and scope of use of this embodiment of the present invention.
  • the electronic equipment includes a processor 71, a memory 72, an input device 73 and an output device 74; the number of processors 71 in the electronic equipment can be one or more, and one processor 71 is taken as an example in Figure 7 , the processor 71, memory 72, input device 73, and output device 74 in the electronic device may be connected via a bus or in other ways. In FIG. 7, connection via a bus is taken as an example.
  • Memory 72 can be used to store software programs, computer-executable programs and modules, such as program instructions/modules corresponding to the method for controlling aircraft tracking in the embodiment of the present invention (for example, controlling aircraft tracking
  • the processor 71 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 72 , that is, realizes the above-mentioned method for controlling the tracking of the aircraft.
  • the memory 72 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created according to the use of the electronic device, and the like.
  • the memory 72 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices.
  • the memory 72 may further include a memory that is remotely located relative to the processor 71, and these remote memories may be connected to the electronic device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 73 can be used to receive the user's follow-up instruction and the operation of the follow-up orientation control, as well as generate key signal input related to user settings and function control of the electronic device.
  • the output device 74 may include equipment such as a display screen, and may be used to provide a user with a human-computer interaction interface, so as to show the user the captured images and guidance content.
  • Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions.
  • the computer-executable instructions are executed by a computer processor, they are used to execute a method for controlling the tracking of an aircraft.
  • the method includes:
  • the aircraft is controlled to switch the tracking orientation according to the user's operation on the tracking orientation control.
  • the storage medium may be any of various types of memory devices or storage devices.
  • the term "storage medium” is intended to include: installation media such as CD-ROMs, floppy disks, or tape drives; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc. ; non-volatile memory, such as flash memory, magnetic media (eg hard disk or optical storage); registers or other similar types of memory elements, etc.
  • the storage medium may also include other types of memory or combinations thereof.
  • the storage medium may be located in a computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network such as the Internet.
  • the second computer system may provide program instructions to the computer for execution.
  • storage medium may include two or more storage media that may reside in different locations, such as in different computer systems connected by a network.
  • the storage medium may store program instructions (eg embodied as computer programs) executable by one or more processors.
  • the computer-executable instructions are not limited to the above-mentioned method operations, and can also execute the control aircraft tracking provided by any embodiment of the present invention. Related operations in the method.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • the present invention can be realized by means of software and necessary general-purpose hardware, and of course it can also be realized by hardware, but in many cases the former is a better implementation mode .
  • the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc, etc., including a number of instructions to make an electronic device (which can be a personal computer) , server, or network device, etc.) execute the methods described in various embodiments of the present invention.
  • a computer-readable storage medium such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc

Abstract

本发明实施例公开了一种控制飞行器跟拍的方法、装置、电子设备及存储介质。该方法包括：接收用户的跟拍指令，并根据跟拍指令控制飞行器进入跟拍模式；获取飞行器的当前拍摄画面，并将当前拍摄画面展示给用户，以使用户从当前拍摄画面中选择跟拍目标；控制飞行器锁定跟拍目标进行跟拍，并向用户展示跟拍方位控件；根据用户对跟拍方位控件的操作控制飞行器对跟拍方位进行切换。通过向用户提供跟拍方位控件，使得用户可以通过跟拍方位控件来实现对飞行器的跟拍方位的调整，从而解决了传统跟拍方式中由于需要用户通过遥控器手动进行调整而导致的不及时的问题，使得跟拍方位可以简单快速准确的进行切换，为用户的使用提供了极大的便利。

Description

一种控制飞行器跟拍的方法、装置、电子设备及存储介质
本申请要求于2021年9月7日提交中国专利局、申请号为202111045441X、申请名称为“一种控制飞行器跟拍的方法、装置、电子设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及无人机控制技术领域，尤其涉及一种控制飞行器跟拍的方法、装置、电子设备及存储介质。
背景技术
跟拍又称为跟镜头，指可以适应移动物体的动作，跟随被摄主体一起运动的拍摄方式。随着科技的进步，跟拍技术大量应用于电力巡检、遥感测绘、环境监测、影视拍摄以及网络直播等方面。现有的跟拍方案主要包括通过遥控设备实时操控实现跟拍以及基于图像信息进行自动跟拍两种方式，前者需要专人针对拍摄情况对跟拍设备进行频繁且专业的调整，相比之下后者使用更为轻松，越来越受到人们的青睐，一般可通过无人机等飞行器来实现。
目前自动跟拍的方案在确定拍摄目标之后，只能保持相对拍摄目标较为固定的方位进行跟拍，在需要切换跟拍方位时，需要用户手动通过遥控器打杆来进行调整，在很多场景下用户可以用于调整的时间很短，从而不能及时准确的完成跟拍方位的调整，调整的过程也十分麻烦。
发明内容
本发明实施例提供一种控制飞行器跟拍的方法、装置、电子设备及存储介质，以解决跟拍方位调整不及时的问题，从而简单快速准确的实现跟拍方位的切换。
第一方面，本发明实施例提供了一种控制飞行器跟拍的方法，该方法包括：
接收用户的跟拍指令，并根据所述跟拍指令控制飞行器进入跟拍模式；
获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标；
控制所述飞行器锁定所述跟拍目标进行跟拍，并向用户展示跟拍方位控件；
根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换。
可选的，在所述获取所述飞行器的当前拍摄画面之后，还包括：
在所述当前拍摄画面中自动识别出可跟拍对象并进行标识；
将用户选择的所述可跟拍对象确定为所述跟拍目标。
可选的，在所述获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标之后，还包括：
确定所述飞行器相对于所述跟拍目标的当前跟拍方位并向用户展示，以使用户根据所述当前跟拍方位确定所需的目标跟拍方位。
可选的，所述控制所述飞行器锁定所述跟拍目标进行跟拍，包括：
控制所述飞行器从默认跟拍方位对所述跟拍目标进行跟拍，并向用户提示所述默认跟拍方位。
可选的，在所述根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换之后，还包括：
将切换后的跟拍方位反馈给用户。
可选的，在所述根据所述跟拍指令控制飞行器进入跟拍模式之前，还包括：
判断所述飞行器当前是否完成起飞，若否，则提示用户先进行起飞。
可选的，在所述根据所述跟拍指令控制飞行器进入跟拍模式之后，还包括：
向用户展示跟拍操作指引视频和/或拍摄效果视频。
第二方面，本发明实施例还提供了一种控制飞行器跟拍的装置，该装置包括：
跟拍指令接收模块，用于接收用户的跟拍指令，并根据所述跟拍指令控制飞行器进入跟拍模式；
跟拍目标确定模块，用于获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标；
方位控件展示模块，用于控制所述飞行器锁定所述跟拍目标进行跟拍，并向用户展示跟拍方位控件；
跟拍方位切换模块，用于根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换。
第三方面，本发明实施例还提供了一种电子设备，该电子设备包括：
一个或多个处理器；
存储器，用于存储一个或多个程序；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现本发明任意实施例所提供的控制飞行器跟拍的方法。
第四方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本发明任意实施例所提供的控制飞行 器跟拍的方法。
本发明实施例提供了一种控制飞行器跟拍的方法，首先接收用户的跟拍指令，并根据该跟拍指令控制飞行器进入跟拍模式，然后获取飞行器的当前拍摄画面，并将当前拍摄画面展示给用户，从而用户可以从当前拍摄画面中选择跟拍目标，在确定了跟拍目标之后，即可控制飞行器锁定该跟拍目标进行跟拍，同时可以向用户展示跟拍方位控件，从而可以根据用户对跟拍方位控件的操作控制飞行器切换跟拍方位。本发明实施例所提供的控制飞行器跟拍的方法，通过向用户提供跟拍方位控件，使得用户可以通过跟拍方位控件来实现对飞行器的跟拍方位的调整，从而解决了传统跟拍方式中由于需要用户通过遥控器手动进行调整而导致的不及时的问题，使得跟拍方位可以简单快速准确的进行切换，为用户的使用提供了极大的便利。
附图说明
图1为本发明实施例一提供的控制飞行器跟拍的方法的流程图；
图2为本发明实施例一提供的进入应用程序后所提供的交互界面的结构示意图；
图3为本发明实施例一提供的展示指引视频的交互界面的结构示意图；
图4为本发明实施例一提供的展示可跟拍对象标识的交互界面的结构示意图；
图5为本发明实施例一提供的展示跟拍方位控件的交互界面的结构示意图；
图6为本发明实施例二提供的控制飞行器跟拍的装置的结构示意图；
图7为本发明实施例三提供的电子设备的结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各步骤描述成顺序的处理，但是其中的许多步骤可以被并行地、并发地或者同时实施。此外，各步骤的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
实施例一
图1为本发明实施例一提供的控制飞行器跟拍的方法的流程图。本实施例可适用于使用飞行器自动对目标对象进行跟拍的情况，该方法可以由本发明实施例所提供的控制飞行器跟拍的装置来执行，该装置可以由硬件和/或软件的方式来实现，一般可集成于电子设备中，该电子设备可以但不限于是智能手机和平板电脑等。如图1所示，具体包括如下步骤：
S11、接收用户的跟拍指令，并根据所述跟拍指令控制飞行器进入跟拍模式。
其中，飞行器可以是任何由人类制造、能飞离地面、在空间飞行并由可人为控制的飞行物。具体的，以使用手机控制飞行器为例进行说明，在手机通过遥控器连接到飞行器之后，可以通过手机上安装的应用程序(Application，APP)对飞行器进行控制。进入应用程序后，可以为用户提供如图2所示的交互界面， 该交互界面包括控制界面21、拍摄画面展示界面22以及状态栏23，其中，控制界面21中包括各种模式选择控件，如跟拍、短片、人像、拍照、视频、延时、全景和夜景等等模式，还包括开始拍摄按键211，通过模式选择控件用户可以选择所需的模式，并可以通过按下开始拍摄按键211在相应模式下进行拍照或摄影，除此之外，控制界面21中还可以包括图库、图像参数设置以及更多功能等控件，可分别用于打开图库、设置图像参数以及打开更多功能选项等。拍摄画面展示界面22用于实时展示飞行器的拍摄画面，其中可包括图像缩放控件221，用户可通过点击图像缩放控件221调整拍摄画面的大小。状态栏23可用于显示手机的一些常用状态，如信号强度、电量以及画面长宽比等等，状态栏23可以为透明，即除需要显示的内容外，不会对拍摄画面展示界面22造成遮挡，以扩大画面展示的视野。在进入应用程序后，用户可以通过滑动或点击选择跟拍模式控件来生成跟拍指令，也可以在选择跟拍模式控件之后点击开始拍摄按键211时生成跟拍指令，在接收到用户的跟拍指令之后，即可根据该跟拍指令控制飞行器进入跟拍模式，以进行后续的步骤。其中，当用户选择跟拍模式控件时，可以更改跟拍模式控件的显示样式，如改变颜色、加粗、倾斜或位移等，以提示用户当前所选的模式。特别的，当进入应用程序时，可以默认选择为跟拍模式。
可选的，在所述根据所述跟拍指令控制飞行器进入跟拍模式之前，还包括：判断所述飞行器当前是否完成起飞，若否，则提示用户先进行起飞。具体的，可以在进入应用程序后，即对飞行器是否起飞进行判断，也可以在接收到用户的跟拍指令之后再进行判断，如果飞行器尚未起飞，则提示用户先控制飞行器起飞，起飞后方可进行拍摄。具体可以通过在拍摄画面展示界面22中间靠上的 位置以文字提示用户，示例性的，该文字可以是“飞行器未起飞，无法跟随拍摄”等等。
可选的，在所述根据所述跟拍指令控制飞行器进入跟拍模式之后，还包括：向用户展示跟拍操作指引视频和/或拍摄效果视频。具体的，如图3所示，在确定飞行器进入跟拍模式之后，可以在拍摄画面展示界面22居中位置的视频框300中显示跟拍操作指引视频和/或拍摄效果视频，具体可以仅显示操作指引视频或拍摄效果视频，或者先后展示跟拍操作指引视频和拍摄效果视频，其中，跟拍操作指引视频的内容可以包括跟拍过程中控制方法的演示，拍摄效果视频的内容可以包括执行各种控制方法所得到的拍摄效果的展示等，以提示用户如何使用跟拍功能。同时，视频框300可以在边缘处(如右上角)包括一关闭按键(如图3中的“×”)，则用户可以通过点击该关闭按键来关闭视频，以进入后续的控制流程。
S12、获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标。
具体的，在进入跟拍模式之后，飞行器可以实时的拍摄镜头前方的画面，并传输到手机上，从而使得手机可以获取到飞行器的当前拍摄画面，然后即可由上述的拍摄画面展示界面进行展示，用户通过观察当前拍摄画面，即可从中确定所需的跟拍目标，并可通过点击或框选等方式进行选择，其中的跟拍目标可以是行人及车船等等。
可选的，在所述获取所述飞行器的当前拍摄画面之后，还包括：在所述当前拍摄画面中自动识别出可跟拍对象并进行标识；将用户选择的所述可跟拍对象确定为所述跟拍目标。具体的，在获取到飞行器的当前拍摄画面之后，可以 自动的识别出当前拍摄画面中的可以跟拍的对象，具体可以为对象进行预设，如仅对行人进行跟拍，则可以首先自动识别出当前拍摄画面中的所有行人，或者对行人或汽车等多种对象进行跟拍，则可以首先自动识别出当前拍摄画面中的所有行人及汽车等多种对象。在识别出可跟拍对象之后，如图4所示，可以在拍摄画面展示界面22中将其用标识框400标识出来，标识框400中可用“+”进行指示，以便用户快速选择，同时可以在拍摄画面展示界面22中的任意位置(如中间靠上的位置)以文字提示用户进行选择，如“点击+或框选跟拍目标”，则用户可以通过点击“+”或框选其中一个标识框400来确定所要选择的跟拍目标，手机即可根据用户的选择确定得到跟拍目标。另外，如图4所示，当用户选择跟拍模式之后，可以将跟拍模式控件与开始拍摄按键211对齐，并将跟拍模式控件加粗显示，以提示用户当前所选的模式。
S13、控制所述飞行器锁定所述跟拍目标进行跟拍，并向用户展示跟拍方位控件。
具体的，在确定了跟拍目标之后，即可控制飞行器锁定跟拍目标进行跟拍，即控制飞行器随跟拍目标移动进行拍摄，并录制视频。也可以使飞行器保持跟拍模式实时获取拍摄画面并传输到手机上进行展示，用户可以在指定的时刻按下开始拍摄按键以开始实际的视频录制。在录制开始后，可以提示用户已开始拍摄，并实时显示拍摄进度，如当前拍摄时长等。在控制飞行器锁定跟拍目标进行跟拍之后，如图5所示，可以在拍摄画面展示界面22中显示跟拍方位控件500，其中以前后左右四种方位为例进行示出，在跟拍的过程中，可以将跟拍目标保持在跟拍方位控件500的方框中，以便于用户及时观察到跟拍目标，并根据整体画面使用跟拍方位控件500对跟拍方位进行调整。其中，跟拍方位即相 对于跟拍目标的位置，如前方即为保持在跟拍目标的前方进行跟拍。
可选的，所述控制所述飞行器锁定所述跟拍目标进行跟拍，包括：控制所述飞行器从默认跟拍方位对所述跟拍目标进行跟拍，并向用户提示所述默认跟拍方位。具体的，默认跟拍方位可以是前方，即在控制飞行器进行跟拍之后，无需用户选择或操作，即保持在跟拍目标的前方进行跟拍。同时，如图5所示，可以在拍摄画面展示界面22中间靠上的位置以文字提示用户具体的默认跟拍方位，示例性的，该文字可以是“飞行器默认跟拍方位为前方”。或者，可以将跟拍方位控件500中的“前”按键显示为选中状态，如填充与其他方位按键不同的颜色，以使用户知晓当前所处于的跟拍方位，从而便于用户进行调整。
可选的，在所述获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标之后，还包括：确定所述飞行器相对于所述跟拍目标的当前跟拍方位并向用户展示，以使用户根据所述当前跟拍方位确定所需的目标跟拍方位。具体的，在确定了跟拍目标之后，并不调整跟拍方位，而是可以控制飞行器保持当前的跟拍方位进行跟拍，同时，可以自动判断飞行器相对于跟拍目标的当前跟拍方位，并也可以通过文字或者使方位按键显示为选中状态等方式提示给用户，以使用户根据当前跟拍方位确定需要调整到的目标跟拍方位，从而减少用户过多的判断和选择过程。以跟拍目标为行人为例，具体方位的判断过程可以通过深度学习加入Face ID和人体骨骼的框架来实现，跟拍方位即可以是相对于人脸方向的位置。其中，方位按键不限于图5中的“前、后、左、右”四种，还可以包括更多方位，如左斜前、左斜后、右斜前和右斜后等等，以提供更精确的方位表示。
S14、根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行 切换。
具体的，如图5所示，用户可以通过点击跟拍方位控件500中的各个方位按键来实现跟拍方位的切换，如当前跟拍方位为前方，当用户点击“左”按键时，即可控制飞行器将跟拍方位切换至左方。可选的，在所述根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换之后，还包括：将切换后的跟拍方位反馈给用户。即当跟拍方位完成切换之后，可以通过文字或者使切换后的方位按键显示为选中状态等方式反馈给用户，以使用户知晓当前已完成切换。在使用跟拍方位控件进行跟拍方位切换的同时，还可以通过传统的遥控器打杆来进行调整，以为用户提供多样化的方式，满足用户的各种需求。在完成跟拍视频的录制后，用户可以通过再次点击开始拍摄按键来结束录制，并可将录制的跟拍视频保存至手机的相册中。
本发明实施例所提供的技术方案，首先接收用户的跟拍指令，并根据该跟拍指令控制飞行器进入跟拍模式，然后获取飞行器的当前拍摄画面，并将当前拍摄画面展示给用户，从而用户可以从当前拍摄画面中选择跟拍目标，在确定了跟拍目标之后，即可控制飞行器锁定该跟拍目标进行跟拍，同时可以向用户展示跟拍方位控件，从而可以根据用户对跟拍方位控件的操作控制飞行器切换跟拍方位。通过向用户提供跟拍方位控件，使得用户可以通过跟拍方位控件来实现对飞行器的跟拍方位的调整，从而解决了传统跟拍方式中由于需要用户通过遥控器手动进行调整而导致的不及时的问题，使得跟拍方位可以简单快速准确的进行切换，为用户的使用提供了极大的便利。
实施例二
图6为本发明实施例二提供的控制飞行器跟拍的装置的结构示意图，该装置可以由硬件和/或软件的方式来实现，一般可集成于电子设备中，用于执行本发明任意实施例所提供的控制飞行器跟拍的方法。如图6所示，该装置包括：
跟拍指令接收模块61，用于接收用户的跟拍指令，并根据所述跟拍指令控制飞行器进入跟拍模式；
跟拍目标确定模块62，用于获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标；
方位控件展示模块63，用于控制所述飞行器锁定所述跟拍目标进行跟拍，并向用户展示跟拍方位控件；
跟拍方位切换模块64，用于根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换。
本发明实施例所提供的技术方案，首先接收用户的跟拍指令，并根据该跟拍指令控制飞行器进入跟拍模式，然后获取飞行器的当前拍摄画面，并将当前拍摄画面展示给用户，从而用户可以从当前拍摄画面中选择跟拍目标，在确定了跟拍目标之后，即可控制飞行器锁定该跟拍目标进行跟拍，同时可以向用户展示跟拍方位控件，从而可以根据用户对跟拍方位控件的操作控制飞行器切换跟拍方位。通过向用户提供跟拍方位控件，使得用户可以通过跟拍方位控件来实现对飞行器的跟拍方位的调整，从而解决了传统跟拍方式中由于需要用户通过遥控器手动进行调整而导致的不及时的问题，使得跟拍方位可以简单快速准确的进行切换，为用户的使用提供了极大的便利。
在上述技术方案的基础上，可选的，该控制飞行器跟拍的装置，还包括：
可跟拍对象识别模块，用于在所述获取所述飞行器的当前拍摄画面之后， 在所述当前拍摄画面中自动识别出可跟拍对象并进行标识；
用户选择模块，用于将用户选择的所述可跟拍对象确定为所述跟拍目标。
在上述技术方案的基础上，可选的，该控制飞行器跟拍的装置，还包括：
当前跟拍方位确定模块，用于在所述获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标之后，确定所述飞行器相对于所述跟拍目标的当前跟拍方位并向用户展示，以使用户根据所述当前跟拍方位确定所需的目标跟拍方位。
在上述技术方案的基础上，可选的，方位控件展示模块63，包括：
默认方位跟拍单元，用于控制所述飞行器从默认跟拍方位对所述跟拍目标进行跟拍，并向用户提示所述默认跟拍方位。
在上述技术方案的基础上，可选的，该控制飞行器跟拍的装置，还包括：
跟拍方位切换反馈模块，用于在所述根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换之后，将切换后的跟拍方位反馈给用户。
在上述技术方案的基础上，可选的，该控制飞行器跟拍的装置，还包括：
起飞判断模块，用于在所述根据所述跟拍指令控制飞行器进入跟拍模式之前，判断所述飞行器当前是否完成起飞，若否，则提示用户先进行起飞。
在上述技术方案的基础上，可选的，该控制飞行器跟拍的装置，还包括：
视频展示模块，用于在所述根据所述跟拍指令控制飞行器进入跟拍模式之后，向用户展示跟拍操作指引视频和/或拍摄效果视频。
本发明实施例所提供的控制飞行器跟拍的装置可执行本发明任意实施例所提供的控制飞行器跟拍的方法，具备执行方法相应的功能模块和有益效果。
值得注意的是，在上述控制飞行器跟拍的装置的实施例中，所包括的各个 单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。
实施例三
图7为本发明实施例三提供的电子设备的结构示意图，示出了适于用来实现本发明实施方式的示例性电子设备的框图。图7显示的电子设备仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。如图7所示，该电子设备包括处理器71、存储器72、输入装置73及输出装置74；电子设备中处理器71的数量可以是一个或多个，图7中以一个处理器71为例，电子设备中的处理器71、存储器72、输入装置73及输出装置74可以通过总线或其他方式连接，图7中以通过总线连接为例。
存储器72作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的控制飞行器跟拍的方法对应的程序指令/模块(例如，控制飞行器跟拍的装置中的跟拍指令接收模块61、跟拍目标确定模块62、方位控件展示模块63及跟拍方位切换模块64)。处理器71通过运行存储在存储器72中的软件程序、指令以及模块，从而执行电子设备的各种功能应用以及数据处理，即实现上述的控制飞行器跟拍的方法。
存储器72可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据电子设备的使用所创建的数据等。此外，存储器72可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失 性固态存储器件。在一些实例中，存储器72可进一步包括相对于处理器71远程设置的存储器，这些远程存储器可以通过网络连接至电子设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置73可用于接收用户的跟拍指令和对跟拍方位控件的操作，以及产生与电子设备的用户设置和功能控制有关的键信号输入等。输出装置74可包括显示屏等设备，可用于向用户提供人机交互界面，以向用户展示拍摄画面及指引内容等。
实施例四
本发明实施例四还提供一种包含计算机可执行指令的存储介质，该计算机可执行指令在由计算机处理器执行时用于执行一种控制飞行器跟拍的方法，该方法包括：
接收用户的跟拍指令，并根据所述跟拍指令控制飞行器进入跟拍模式；
获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标；
控制所述飞行器锁定所述跟拍目标进行跟拍，并向用户展示跟拍方位控件；
根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换。
存储介质可以是任何的各种类型的存储器设备或存储设备。术语“存储介质”旨在包括：安装介质，例如CD-ROM、软盘或磁带装置；计算机系统存储器或随机存取存储器，诸如DRAM、DDR RAM、SRAM、EDO RAM、兰巴斯(Rambus)RAM等；非易失性存储器，诸如闪存、磁介质(例如硬盘或光存储)；寄存器或其它相似类型的存储器元件等。存储介质可以还包括其它类型的存储 器或其组合。另外，存储介质可以位于程序在其中被执行的计算机系统中，或者可以位于不同的第二计算机系统中，第二计算机系统通过网络(诸如因特网)连接到计算机系统。第二计算机系统可以提供程序指令给计算机用于执行。术语“存储介质”可以包括可以驻留在不同位置中(例如在通过网络连接的不同计算机系统中)的两个或更多存储介质。存储介质可以存储可由一个或多个处理器执行的程序指令(例如具体实现为计算机程序)。
当然，本发明实施例所提供的一种包含计算机可执行指令的存储介质，其计算机可执行指令不限于如上所述的方法操作，还可以执行本发明任意实施例所提供的控制飞行器跟拍的方法中的相关操作。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于无线、电线、光缆、RF等等，或者上述的任意合适的组合。
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器 (Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台电子设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种控制飞行器跟拍的方法，其特征在于，包括：
    接收用户的跟拍指令，并根据所述跟拍指令控制飞行器进入跟拍模式；
    获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标；
    控制所述飞行器锁定所述跟拍目标进行跟拍，并向用户展示跟拍方位控件；
    根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换。
  2. 根据权利要求1所述的控制飞行器跟拍的方法，其特征在于，在所述获取所述飞行器的当前拍摄画面之后，还包括：
    在所述当前拍摄画面中自动识别出可跟拍对象并进行标识；
    将用户选择的所述可跟拍对象确定为所述跟拍目标。
  3. 根据权利要求1所述的控制飞行器跟拍的方法，其特征在于，在所述获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标之后，还包括：
    确定所述飞行器相对于所述跟拍目标的当前跟拍方位并向用户展示，以使用户根据所述当前跟拍方位确定所需的目标跟拍方位。
  4. 根据权利要求1所述的控制飞行器跟拍的方法，其特征在于，所述控制所述飞行器锁定所述跟拍目标进行跟拍，包括：
    控制所述飞行器从默认跟拍方位对所述跟拍目标进行跟拍，并向用户提示所述默认跟拍方位。
  5. 根据权利要求1所述的控制飞行器跟拍的方法，其特征在于，在所述根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换之后，还包括：
    将切换后的跟拍方位反馈给用户。
  6. 根据权利要求1所述的控制飞行器跟拍的方法，其特征在于，在所述根据所述跟拍指令控制飞行器进入跟拍模式之前，还包括：
    判断所述飞行器当前是否完成起飞，若否，则提示用户先进行起飞。
  7. 根据权利要求1所述的控制飞行器跟拍的方法，其特征在于，在所述根据所述跟拍指令控制飞行器进入跟拍模式之后，还包括：
    向用户展示跟拍操作指引视频和/或拍摄效果视频。
  8. 一种控制飞行器跟拍的装置，其特征在于，包括：
    跟拍指令接收模块，用于接收用户的跟拍指令，并根据所述跟拍指令控制飞行器进入跟拍模式；
    跟拍目标确定模块，用于获取所述飞行器的当前拍摄画面，并将所述当前拍摄画面展示给用户，以使用户从所述当前拍摄画面中选择跟拍目标；
    方位控件展示模块，用于控制所述飞行器锁定所述跟拍目标进行跟拍，并向用户展示跟拍方位控件；
    跟拍方位切换模块，用于根据用户对所述跟拍方位控件的操作控制所述飞行器对跟拍方位进行切换。
  9. 一种电子设备，其特征在于，包括：
    一个或多个处理器；
    存储器，用于存储一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-7中任一所述的控制飞行器跟拍的方法。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该 程序被处理器执行时实现如权利要求1-7中任一所述的控制飞行器跟拍的方法。
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