WO2023123254A1

WO2023123254A1 - Control method and device for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium

Info

Publication number: WO2023123254A1
Application number: PCT/CN2021/143273
Authority: WO
Inventors: 张伟; 邬奇峰; 秦罗霄
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-07-06
Also published as: CN117751580A

Abstract

A control method for an unmanned aerial vehicle, comprising: controlling an unmanned aerial vehicle (100) to follow a first target object, and controlling a photographing device (130) to face and photograph the first target object (S101); and if a second target object is recognized from an image captured by the photographing device (130) which faces and photographs the first target object or if it is detected that the position of a second target object of a preset category relative to the unmanned aerial vehicle (100) or the first target object satisfies a preset condition, controlling the photographing device (130) to shift from facing and photographing the first target object to facing and photographing the second target object, the second target object being different from the first target object (S102). The invention improves the simplicity and convenience of video photographing.

Description

Control method and device of unmanned aerial vehicle, unmanned aerial vehicle and storage medium

technical field

The present application relates to the technical field of drones, and in particular to a control method and device for drones, drones and storage media.

Background technique

At present, more and more users like to share their own videos on social platforms. In order to capture interesting videos to attract the attention of netizens, some users will use drones to shoot videos. However, in order to shoot shocking and more expressive videos through drones, professional videographers need to skillfully control the drones and make a reasonable layout to shoot, but it is difficult for novice users to shoot with drones easily. Shocking and more expressive videos with poor user experience.

Contents of the invention

Based on this, embodiments of the present application provide a method and device for controlling a drone, a drone and a storage medium, aiming at improving the convenience of video shooting.

In the first aspect, the embodiment of the present application provides a method for controlling a drone, the drone is equipped with a shooting device, and the method includes:

controlling the UAV to follow the first target object, and controlling the shooting device to shoot towards the first target object;

If a second target object of a preset category is identified in the image captured by the shooting device towards the first target object, or a second target object of a preset category is detected relative to the UAV or the The position of the first target object satisfies the preset condition, and the shooting device is controlled to switch from shooting toward the first target object to shooting toward the second target object, and the second target object is different from the first target object. a target object.

In the second aspect, the embodiment of the present application also provides a method for controlling a drone, the drone is equipped with a shooting device, and the method includes:

Controlling the UAV to follow the target object, and controlling the shooting device to shoot towards the target object;

Increase the focal length of the photographing device and adjust the posture of the photographing device, so that the photographing device switches from photographing towards the target object to photographing towards a target area of the target object.

In a third aspect, the embodiment of the present application also provides a method for controlling an unmanned aerial vehicle, wherein the unmanned aerial vehicle is equipped with a photographing device, and the method includes:

controlling the shooting device to take time-lapse shooting of the target object;

During the end time period of the time-lapse shooting, the orientation of the shooting device is adjusted so that the image area of the target object in the time-lapse shooting image moves from the center of the frame to the edge of the frame.

In the fourth aspect, the embodiment of the present application also provides a method for controlling a drone, the drone is equipped with a shooting device, and the method includes:

Acquiring relative position information between the first target object and the second target object;

According to the relative position information, determine the target circle angle and/or target circle direction of the UAV;

Controlling the UAV to fly around the first target object according to the target circling angle and/or the target circling direction, and controlling the photographing device to take pictures of the first target object and the second target object shoot;

Wherein, the relative orientation of the first target object and the second target object in the image captured by the photographing device changes as the UAV flies around the first target object.

In the fifth aspect, the embodiment of the present application also provides a control device for an unmanned aerial vehicle, wherein the unmanned aerial vehicle is equipped with a shooting device, and the control device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

In the sixth aspect, the embodiment of the present application also provides a control device for a drone, wherein the drone is equipped with a shooting device, and the control device includes a memory and a processor;

The memory is used to store computer programs;

In the seventh aspect, a control device for a drone, characterized in that the drone is equipped with a shooting device, and the control device includes a memory and a processor;

The memory is used to store computer programs;

In an eighth aspect, a control device for a drone, characterized in that the drone is equipped with a shooting device, and the control device includes a memory and a processor;

The memory is used to store computer programs;

In the ninth aspect, the embodiment of the present application also provides a drone, including:

body;

The power system is arranged on the body and is used to provide flight power for the unmanned aerial vehicle;

A photographing device, the photographing device is fixedly or detachably connected to the body;

The control device of the drone as described in the fifth aspect, the sixth aspect, the seventh aspect or the eighth aspect.

In the tenth aspect, the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above first aspect , the steps of the control method of the drone described in the second aspect, the third aspect or the fourth aspect.

The embodiment of the present application provides a method and device for controlling a drone, a drone and a storage medium. By controlling the drone to follow the first target object and controlling the shooting device to shoot toward the first target object, if the shooting The device recognizes a second target object of a preset category in the image taken by the device towards the first target object, or detects that the position of a second target object of a preset category relative to the drone or the first target object satisfies a preset condition, Then control the shooting device to shoot towards the second target object to realize automatic mirror movement, so that the captured video can show the effect of the subject gradually transitioning from the first target object to the second target object, and the entire shooting process does not require manual control by the user Drones and shooting devices have greatly improved the simplicity of video shooting.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

FIG. 1 is a schematic diagram of a scene implementing a method for controlling a drone provided in an embodiment of the present application;

Fig. 2 is a schematic diagram of a scene in which a UAV performs in-camera shooting in the embodiment of the present application;

Fig. 3 is a schematic diagram of a scene of a close-up shot by a drone in the embodiment of the present application;

Fig. 4 is a schematic diagram of a scene where the drone performs automatic mirror movement in the embodiment of the present application;

Fig. 5 is a schematic diagram of a scene of time-lapse shooting by a UAV in the embodiment of the present application;

FIG. 6 is a schematic flow chart of the steps of a method for controlling a drone provided in an embodiment of the present application;

Fig. 7 is a schematic flowchart of the sub-steps of the control method of the UAV in Fig. 6;

Fig. 8 is a schematic diagram of a scene where the UAV in the embodiment of the present application performs automatic mirror movement and surround shooting;

FIG. 9 is a schematic flowchart of steps of another method for controlling a drone provided in an embodiment of the present application;

FIG. 10 is a schematic diagram of another scene of close-up shooting by a drone in the embodiment of the present application;

Fig. 11 is a schematic flowchart of the steps of another method for controlling a drone provided in the embodiment of the present application;

FIG. 12 is a schematic diagram of another scene of time-lapse shooting by a UAV in the embodiment of the present application;

Fig. 13 is a schematic flowchart of the steps of another method for controlling a drone provided in the embodiment of the present application;

Fig. 14 is a schematic diagram of a scene where the UAV in the embodiment of the present application performs surround shooting;

Fig. 15 is a schematic structural block diagram of a control device for an unmanned aerial vehicle provided by an embodiment of the present application;

Fig. 16 is a schematic structural block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1 . FIG. 1 is a schematic diagram of a scene for implementing a control method for a drone provided by an embodiment of the present application. As shown in Figure 1, the scene includes a drone 100 and a remote control device 200, the remote control device 200 is connected to the drone 100 in communication, the remote control device 200 is used to control the drone 100, and the drone 100 is used to transfer the photographed The image is sent to the remote control device 200 for display.

In one embodiment, the UAV 100 includes a body 110, a power system 120, a camera 130 and a control system (not shown in FIG. Provide flight power for the UAV 100 , the camera 130 is used to take images, and the control system is set in the body 110 . Wherein, the photographing device 130 is fixedly connected or detachably connected to the body 110, that is, the photographing device 130 can be coupled and mounted on the pan/tilt of the UAV 100, or can be integrated on the body 110 of the UAV 100 for image collection. Specifically, the photographing device 130 may include one camera, that is, a monocular photographing solution, or may include two cameras, that is, a binocular photographing solution. Of course, the number of shooting devices 130 can also be one or more. When there are multiple shooting devices 130, they can be distributed in multiple positions of the body 110, and multiple shooting devices 130 can work independently or in linkage.

Wherein, the power system 120 may include one or more propellers 121 , one or more motors 122 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short). The motor 122 is connected between the electronic governor and the propeller 121, and the motor 122 and the propeller 121 are arranged on the body 110 of the UAV 100; the electronic governor is used to receive the driving signal generated by the control device, and provide a driving current according to the driving signal to the motor 122 to control the speed of the motor 122.

The motor 122 is used to drive the propeller 121 to rotate, so as to provide power for the flight of the UAV 100 , and the power enables the UAV 100 to realize movement of one or more degrees of freedom. In some embodiments, drone 100 may rotate about one or more axes of rotation. For example, the aforementioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor.

Wherein, the control system may include a controller and a sensing system. The sensing system can be used to measure the pose information and motion information of the movable platform, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity, etc. Among them, the pose information is the position information of the UAV 100 in space and attitude information. The sensing system may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The controller is used to control the flight of the UAV 100, for example, the flight of the UAV 100 can be controlled according to the pose information and/or the pose information measured by the sensor system. It should be understood that the controller can automatically control the UAV 100 according to pre-programmed instructions.

In one embodiment, the remote control device 200 is in communication connection with the display device 210 , and the display device 210 is used to display the image collected by the camera device 130 sent by the UAV 100 . It should be noted that the display device 210 includes a display screen arranged on the remote control device 200 or a display independent of the remote control device 200. The display independent of the remote control device 200 may include a mobile phone, a tablet computer or a personal computer, etc., or may also be a Other electronic devices with display screens. Wherein, the display screen includes an LED display screen, an OLED display screen, an LCD display screen and the like.

In an embodiment, the display device 210 displays the image collected by the shooting device 130, and the user selects a first target object in the displayed image, and the remote control device 200 obtains the position information of the first target object in the image, and The position information of a target object in the image is sent to the UAV 100, and the UAV 100 controls the shooting device 130 to perform in-camera shooting, close-up shooting, automatic mirror movement and/or according to the position information of the first target object in the image. Timelapse. Or, through the equipment that includes the GPS positioning device carried by the first target object itself, the position information of the first target object collected by the GPS positioning device is sent to the UAV 100, and the UAV controls the shooting device according to the position information 130 for in-frame shooting, close-up shooting, automatic mirror movement and/or time-lapse shooting.

In-camera shooting: the UAV 100 follows the first target object according to the position information of the first target object, and controls the photographing device 130 to shoot toward the first target object. Further, as shown in FIG. 2 , the position of the drone 100 can be adjusted so that the drone 100 is at a side front position 20 relative to the first target object, and the shooting device 130 is controlled to shoot toward the first target object, so that The captured video can present the effect of the first target object entering the mirror.

Close-up shooting: after the in-camera shooting is finished, the UAV 100 keeps track of the first target object in a side-to-front relative orientation relative to the first target object. Include some close-ups during the in-shot, or during tracking after the in-shot. For example, the UAV 100 increases the focal length of the shooting device 130 and adjusts the posture of the shooting device so that the shooting device 130 shoots towards the head and shoulders area of the first target object to shoot the first target object at a close distance, so that the captured video can Embodies facial expressions and local details of the first target object. As shown in FIG. 3, before the focal length of the photographing device 130 is increased, the image 31 collected by the photographing device 130 may include the whole body of the first target object 10. After increasing the focal length of the photographing device 130, the image 31 collected by the photographing device 32 includes only the head and shoulders region of the first target object 10 .

Automatic mirror movement: during the process of the UAV 100 tracking the first target object and controlling the photographing device 130 to shoot towards the first target object, if a predetermined Assuming that the second target object of the category, or detecting that the position of the second target object of the preset category relative to the UAV 100 or the first target object satisfies the preset condition, then the shooting device 130 is controlled to shoot towards the first target object Switch to shooting toward the second target object, control the UAV 100 to surround the first target object, and control the shooting device 130 to shoot the first target object and the second target object.

As shown in FIG. 4 , the second target object 40 of the preset category is recognized in the image taken by the shooting device towards the first target object 10, and the drone is at the position point 21, then the drone gradually moves from the position point 21 to The location point 22 is moved so that the UAV is gradually moving away from the first target object 10. In the process, the orientation of the photographing device 130 is changed from facing the first target object 10 to facing the second target object 40, so as to realize automatic mirror movement , and then the UAV takes the position point 22 as the starting point to fly around the first target object 10 at 45°, so that the UAV is located at the position point 23. The image includes the first target object 10 and the second target object 40 , which can reflect the changes of the second target object 40 at different viewing angles of the first target object 10 .

Time-lapse shooting: After the UAV surrounds the first target object with a preset orbit angle, control the UAV to keep the relative orientation to the first target object at the end of the orbit and follow the first target object; after the UAV follows the first target object During the process, the shooting device is controlled to take time-lapse shooting of the first target object. As shown in Figure 5, the UAV starts to follow the first target object 10 starting from the position point 23, and controls the shooting device to take time-lapse photography of the first target object 10, and stops when the UAV is at the position point 24 Time-lapse shooting, thereby recording the scene from sunset to evening, and at the end of the time-lapse shooting, the image area of the first target object 10 in the time-lapse shooting image moves from the center of the screen to the edge of the screen, presenting The effect of the end of shooting.

It should be noted that the UAV 100 can use at least one of the shooting methods of entering the camera, close-up shooting, automatic mirror movement and time-lapse shooting. The machine can use different shooting methods to shoot according to the sequence set by the user. For example, use the camera-in shooting, close-up shooting, automatic mirror movement or time-lapse shooting alone, or for example, the drone first performs the camera-in shooting and then automatically moves the mirror, or first performs the camera-in shooting and then automatically moves the mirror, Then take a time-lapse shot.

By taking into-camera shooting, close-up shooting, automatic mirror movement and/or time-lapse shooting, the first video segment corresponding to in-camera shooting, the second video segment corresponding to close-up shooting, the third video segment corresponding to automatic mirror movement, and/or can be obtained Or time-lapse shooting of the corresponding fourth video clip, the UAV 100 can edit and edit the first video clip, the second video clip, the third video clip and/or the fourth video clip to obtain one or more presentations effect, and then send the edited video to the remote control device 200. Or, the UAV 100 can also send the first video clip, the second video clip, the third video clip and/or the fourth video clip to the remote control device 200, and the first video clip, the second video clip by the remote control device 200 , the third video segment and/or the fourth video segment are edited and edited to obtain one or more videos with presentation effects.

Exemplarily, the remote control device 200 displays a video editing page through the display device 210, and the video editing page includes a plurality of video editing templates; acquires the video editing template selected by the user on the video editing page, and uses the selected video editing template as the target The video editing template is sent to the drone 100; the drone 100 selects one or more video clips from the first video clip, the second video clip, the third video clip and the fourth video clip based on the target video editing template; according to The target video editing template edits and clips one or more video clips to obtain one or more video presentation effects, and sends the edited video to the remote control device 200 .

Exemplarily, the remote control device 200 displays a video editing page through the display device 210, and the video editing page includes a plurality of video editing templates; acquires the video editing template selected by the user on the video editing page, and uses the selected video editing template as the target Video editing template; based on the target video editing template, select one or more video clips from the stored first video clip, the second video clip, the third video clip and the fourth video clip; according to the target video editing template, one or Multiple video clips are edited and clipped to obtain a video with one or more presentation effects.

The UAV 100 can be, for example, a quadrotor UAV, a hexacopter UAV, or an octorotor UAV. Of course, it can also be a fixed-wing UAV, or a combination of a rotary-wing UAV and a fixed-wing UAV, which is not limited here. The remote control device 200 may include, but is not limited to: smart phone/mobile phone, tablet computer, remote control with screen, and wearable device. The remote control device 200 may be a handheld terminal, and the remote control device 200 may be portable. The remote control device 200 may be carried by a human user. In some cases, remote control device 200 may be remote from a human user, and the user may control drone 100 using wireless and/or wired communications.

Hereinafter, the method for controlling the drone provided by the embodiments of the present application will be described in detail in conjunction with the scenarios in Figures 1-5. It should be noted that the scenarios in Figures 1-5 are only used to explain the control method of the drone provided in the embodiment of the present application, but do not constitute a limitation on the application scenarios of the control method of the drone provided in the embodiment of the present application.

Please refer to FIG. 6 . FIG. 6 is a schematic flowchart of steps of a method for controlling a drone provided in an embodiment of the present application.

As shown in FIG. 6 , the method for controlling the drone includes steps S101 to S102.

Step S101 , controlling the drone to follow the first target object, and controlling the photographing device to shoot toward the first target object.

Exemplarily, the remote control device displays the real-time image collected by the shooting device of the drone, and determines the object selected by the user in the real-time image as the first target object; obtains the position information of the first target object in the real-time image , and send the location information to the UAV; the UAV controls the UAV to follow the first target object according to the location information of the first target object in the real-time image, and controls the attitude of the shooting device, so that the shooting device Shoot towards the first target object.

Exemplarily, controlling the photographing device to shoot toward the first target object may include: controlling the photographing device to face toward the first target object, so that the first target object is located at a preset position of the image captured by the photographing device. Wherein, the preset position may include the center position of the image captured by the shooting device, and may also include a position determined in the image captured by the shooting device based on a preset composition method. The preset composition method includes but is not limited to horizontal line composition, three Divisional composition, central composition, symmetrical composition, diagonal composition, leading line composition, frame composition, nine-square composition, cross-shaped composition, and triangle composition.

In one embodiment, before controlling the UAV to follow the first target object and controlling the photographing device to shoot towards the first target object, the position of the UAV is adjusted so that the UAV is in a predetermined position relative to the first target object. Set a relative orientation; when the drone is at a preset relative orientation relative to the first target object, control the drone to follow the first target object, and control the photographing device to shoot towards the first target object. Wherein, when the UAV follows the first target object, it maintains a preset relative orientation. The preset relative orientation includes: the UAV is in front of the first target object, and the UAV and the first target object have a preset angle and a preset angle. The preset distance, the preset angle and the preset distance can be set based on actual conditions, which are not specifically limited in this embodiment.

Exemplarily, the manner of adjusting the position of the drone may be: acquiring the relative positional relationship between the drone and the first target object; adjusting the position of the drone according to the relative positional relationship between the drone and the first target object The location of the drone, so that the drone is in a preset relative orientation relative to the first target object.

In an embodiment, during the process of controlling the photographing device to shoot towards the first target object, the focal length of the photographing device is increased and the posture of the photographing device is adjusted so that the photographing device is directed towards the first target object. The shooting of the target object switches to the shooting towards the target area of the first target object. For example, the photographing device includes a zoom lens, and the focal length of the zoom lens is increased, so that the zoom lens shoots toward the target area of the first target object.

Wherein, the first target object is a person, and the target area includes the head and shoulder area of the person. By shooting the head and shoulder area of the person, the shooting device can better capture the facial expression of the person, and then highlight the person in the captured video. or, the first target object is a car, and the target area includes the driver's area in the car, and by shooting the driver's area in the car, the camera can better capture the driver's facial expression , and then highlight the facial expressions and local details of the driver in the captured video.

In one embodiment, the photographing device includes a first lens and a second lens, and acquires position information of the first target object in the image captured by the first lens; according to the position information of the first target object in the image captured by the first lens The location information controls the UAV to follow the first target object, and controls the second lens to shoot the first target object. Wherein, the first lens may include a wide-angle lens or a zoom lens, and the second lens may include a zoom lens.

In one embodiment, during the process of following and photographing the first target object, the flight distance and/or flight duration of the UAV following the first target object are acquired, and when the flight distance is greater than or equal to the first distance threshold and/or When the flight duration is greater than or equal to the preset duration threshold, increase the focal length of the photographing device and adjust the posture of the photographing device, so that the photographing device switches from shooting toward the first target object to toward the first target object The target area is photographed, or the photographing device is controlled to zoom, so as to change the size of the first target object in the image captured by the photographing device.

Step S102, if the second target object of the preset category is identified in the image captured by the shooting device towards the first target object, or the distance between the second target object of the preset category relative to the drone or the first target object is detected When the position satisfies the preset condition, the shooting device is controlled to switch from shooting toward the first target object to shooting toward the second target object.

Exemplarily, controlling the shooting device to shoot toward the second target object may include: controlling the shooting device to move toward the second target object, so that the second target object is located at a preset position of the image captured by the shooting device. Wherein, the preset position may include the center position of the image captured by the shooting device, and may also include a position determined in the image captured by the shooting device based on a preset composition method. The preset composition method includes but is not limited to horizontal line composition, three Divisional composition, central composition, symmetrical composition, diagonal composition, leading line composition, frame composition, nine-square composition, cross-shaped composition, and triangle composition.

In one embodiment, during the process of following and photographing the first target object, target recognition is performed on the image captured by the photographing device toward the first target object; For the second target object of the preset category, the shooting device is controlled to switch from shooting towards the first target object to shooting towards the second target object. Wherein, the first target object is different from the second target object. For example, the first target object is a person, and the second target object is a landmark building. The preset category can be set based on the actual situation, which is not specifically limited in this embodiment. For example, preset categories include mountains, lakes, seas, trees, landmarks, and more. It should be noted that identifying a second target object of a preset category in the image captured by the photographing device toward the first target object may be a complete second target object or a part of the second target object. Taking the second target object as a landmark building as an example, the landmark building may be detected based on local features of the landmark building.

In one embodiment, during the process of following and photographing the first target object, if it is detected that the position of the second target object of the preset category relative to the drone or the first target object satisfies the preset condition, the shooting device is controlled Switching from shooting toward the first target object to shooting toward the second target object. For example, the UAV stores the position information of the second target object of the preset category, and the UAV will calculate the position information of the first target object in real time during the process of tracking the first target object. Assuming that the position of the second target object of the category relative to the drone or the first target object satisfies a preset condition, the photographing device is controlled to shoot towards the second target object. In another example, the UAV will send its real-time position information and/or the position information of the first target object to the remote control device, and the position information of the second target object of the preset category is stored in the remote control device, if the remote control device detects When the position of the second target object of the preset category relative to the drone or the first target object satisfies the preset condition, the remote control device sends a corresponding control instruction to the drone to control the shooting device to shoot toward the second target object.

In one embodiment, during the process of following and photographing the first target object, target recognition is performed on the image captured by the photographing device toward the first target object; The second target object of the preset category, then detect whether the position of the second target object of the preset category relative to the drone or the first target object meets the preset condition, if the second target object of the preset category is detected relative to When the position of the UAV or the first target object satisfies the preset condition, the shooting device is controlled to switch from shooting toward the first target object to shooting toward the second target object.

Wherein, the preset condition may be set in actual conditions, which is not specifically limited in this embodiment. For example, the preset conditions include that the distance between the second target object of the preset category and the drone or the first target object is less than or equal to the second distance threshold, the first target object is located in the central area of the second target object, the second target object The object is located behind the first target object.

Exemplarily, the shooting device includes a wide-angle lens. During the process of following and shooting the first target object, a wider range of images can be captured through the wide-angle lens. Therefore, target recognition is performed on images captured by the wide-angle lens toward the first target object, which facilitates identification. out of the preset category of the second target audience.

In an embodiment, if a second target object of a preset category is identified in the image captured by the shooting device towards the first target object, or it is detected that the second target object of the preset category is relatively If the position of the target object satisfies the preset condition, then the flight distance, flight duration, or gesture of the first target object in the image collected by the drone to follow the first target object is obtained; the flight distance reaches the preset distance . When the flight duration reaches a preset duration or the gesture action is a preset gesture action, control the shooting device to switch from shooting toward the first target object to shooting toward the second target object. After recognizing that the second target object or the position of the second target object relative to the drone or the first target object satisfies the preset condition, it is further judged whether the condition for switching the subject is met, and after the condition for switching the subject is met, Control the shooting device to shoot towards the second target object, so that the captured video can present the effect that the shooting subject gradually transitions from the first target object to the second target object.

In one embodiment, multiple wide-angle lenses and one main lens are installed on the drone, the wide-angle lens is, for example, a fisheye lens, and the main lens is, for example, a zoom lens. Optionally, multiple wide-angle lenses are fixedly installed on the drone, and the orientations of the multiple wide-angle lenses are different. The main lens is mounted on the drone through the gimbal, and the orientation of the main lens can be changed by adjusting the attitude of the gimbal. During the process of the UAV following the first target object, the attitude of the gimbal is controlled so that the main lens is directed towards the first target object. For the target object, the attitude of the pan/tilt is controlled so that the main lens is switched from shooting towards the first target object to shooting towards the second target object, and the second target object is different from the first target object. In this embodiment, the recognition of the second target object can be performed based on the image captured by the wide-angle lens with a wider field of view, and the video capture is performed by the main lens with higher image quality, which can achieve more efficient recognition and higher quality video capture.

In an embodiment, as shown in FIG. 7 , step S102 may include: substeps S1021 to S1022.

Sub-step S1021, controlling the UAV to stay away from the first target object or reducing the focal length of the photographing device.

By controlling the UAV to stay away from the first target object or reducing the focal length of the shooting device, the frame ratio of the second target object in the image captured by the shooting device can be changed, so that the captured video can show the continuous changes of the second target object Effect.

Exemplarily, according to the frame ratio of the second target object in the image captured by the shooting device, the flight distance of the UAV flying away from the first target object is determined; the UAV is controlled to stay away from the first target object according to the flight distance. Alternatively, the UAV is controlled to stay away from the first target object according to a preset flying distance.

Exemplarily, determine the difference between the frame ratio of the second target object in the image captured by the shooting device and the preset frame ratio; according to the difference between the frame ratio and the preset ratio, determine the UAV Flight distance when flying away from the first target object.

Exemplarily, according to the frame ratio of the second target object in the image captured by the photographing device, determine a focus adjustment value of the photographing device; according to the focal length adjustment value, reduce the focal length of the photographing device. For example, determine the difference between the frame ratio of the second target object in the image captured by the shooting device and the preset ratio; determine the focus adjustment value of the shooting device according to the difference between the frame ratio and the preset ratio.

Sub-step S1022, when the UAV moves away from the first target object or the focal length of the shooting device decreases, control the shooting device to switch from shooting toward the first target object to shooting toward the second target object.

Exemplarily, when the drone is far away from the first target object or the focal length of the shooting device is reduced, if it is detected that the second target object is completely present in the image captured by the shooting device, the shooting device is controlled to move towards the first target The shooting of the object is switched to shooting towards the second target object; if it is detected that the second target object is only partly presented in the image captured by the shooting device, the drone is controlled to continue to stay away from the first target object or continue to reduce the focal length of the shooting device .

In an embodiment, after controlling the photographing device to shoot towards the second target object, the drone is controlled to surround the first target object, and the photographing device is controlled to photograph the first target object and the second target object. Wherein, in the image captured by the photographing device of the first target object and the second target object, the first target object is located at the center of the image. By controlling the shooting device to shoot the first target object and the second target object during the process of controlling the UAV to surround the first target object, the distance between the first target object and the second target object in the image collected by the shooting device There is an effect of position conversion between them, and the video of the first target object in the second target object at different viewing angles can also be obtained.

Exemplarily, the target circle angle and target circle direction are determined according to the relative orientation of the first target object and the second target object, or the target circle angle and target circle direction are determined according to the relative orientation of the first target object and the UAV, or the target circle angle and target circle direction are determined according to the relative orientation of the unmanned aerial vehicle. The relative orientation of the UAV and the second target object determines the target circling angle and target circling direction; the UAV is controlled to circle the first target object according to the target circling angle and target circling direction. Wherein, the relative orientations of the first target object and the second target object in the images collected by the photographing device change as the drone flies around the first target object.

For example, as shown in FIG. 8 , the UAV gradually moves away from the first target object 10 along the track 51 from the position point 21. When the UAV is at the position 21, the second target object 40 only partially appears in the image taken by the shooting device. , during the flight of the UAV from position 21 to position point 22, the second target object 40 gradually tends to be complete in the image captured by the shooting device, and then the control shooting device switches from shooting towards the first target object 10 to towards the second target object 10. The second target object 40 is photographed, and then the drone starts from the position point 22 along the trajectory 52 to circle the first target object 10 at 45° to reach the position point 23, that is, the drone starts from the position point 22 and moves clockwise to the first target object 10. A target object 10 travels around 45° to the location point 23 .

In one embodiment, after the UAV is controlled to circle the first target object according to a preset circling angle or a target circling angle, the shooting device is controlled to take time-lapse shots of the first target object. By controlling the shooting device to take time-lapse shots of the first target object after the drone surrounds the first target object, a video with a time-lapse effect can be shot.

Exemplarily, the duration of the time-lapse shooting is related to the remaining power of the drone and/or the sunset time of the area where the drone is located. The duration of the time-lapse shooting can be determined by the remaining power of the drone. On the premise of ensuring the safety of the drone, a video with a time-lapse effect can be shot, and the time of the time-lapse shooting can be determined by the sunset time of the area where the drone is located. The duration allows the captured video to show the changes of the sunset.

In one embodiment, after the UAV is controlled to surround the first target object according to the preset circling angle or the target circling angle, the UAV is controlled to follow the first target object at the relative orientation with the first target object at the end of the circling; During the process of the man-machine following the first target object, the shooting device is controlled to take a time-lapse shot of the first target object. By controlling the UAV to keep the relative orientation with the first target object at the end of the circle to follow the first target object, and controlling the shooting device to take time-lapse shots of the first target object, the time-lapse effect of following the first target object can be obtained by shooting video.

In an embodiment, during the end time period of the time-lapse shooting, the orientation of the shooting device is adjusted so that the image area of the first target object in the time-lapse shooting image moves from the center of the frame to the edge of the frame. By adjusting the orientation of the shooting device during the end time period of the time-lapse shooting, the captured image can show the effect that the first target object moves from the center of the frame to the edge of the frame to indicate the end of the shooting.

Exemplarily, the duration of the time-lapse shooting and the estimated time-lapse shooting time are obtained, and when the difference between the duration and the estimated time-lapse shooting time is less than or equal to the preset difference, it is determined that the time-lapse shooting enters the end time part. Wherein, the estimated time-lapse shooting time is related to the remaining power of the drone and/or the sunset time of the area where the drone is located.

Exemplarily, the manner of adjusting the orientation of the shooting device may be: according to the distance between the image area of the first target object in the time-lapse captured image and the edge of the image, determining the amount of change in the posture of the shooting device; Adjust the orientation of the shooting device so that the image area of the first target object in the time-lapse captured image moves from the center of the frame to the edge of the frame.

The method for controlling the UAV provided by the above-mentioned embodiment is to control the UAV to follow the first target object and control the shooting device to shoot toward the first target object. If the second target object of the preset category is detected, or the position of the second target object of the preset category relative to the UAV or the first target object is detected to meet the preset condition, then the shooting device is controlled to shoot towards the first target object Switch to shooting towards the second target object to realize automatic mirror movement, so that the captured video can show the effect of the subject gradually transitioning from the first target object to the second target object. The entire shooting process does not require the user to manually control the unmanned camera and shooting device, which greatly improves the convenience of video shooting.

Please refer to FIG. 9 . FIG. 9 is a schematic flowchart of steps of another method for controlling a drone provided in an embodiment of the present application.

As shown in FIG. 9 , the control method of the drone includes steps S201 to S202.

Step S201, controlling the drone to follow the target object, and controlling the photographing device to shoot towards the target object.

Exemplarily, the remote control device displays the real-time image collected by the shooting device of the drone, and determines the object selected by the user in the real-time image as the target object; obtains the position information of the target object in the real-time image, and The location information is sent to the UAV; the UAV controls the UAV to follow the target object according to the location information of the target object in the real-time image, and controls the shooting device to shoot towards the target object.

Exemplarily, controlling the photographing device to shoot toward the target object may include: controlling the photographing device to face the target object, so that the target object is located at a preset position of the image captured by the photographing device. Wherein, the preset position may include the center position of the image captured by the shooting device, and may also include a position determined in the image captured by the shooting device based on a preset composition method. The preset composition method includes but is not limited to horizontal line composition, three Divisional composition, central composition, symmetrical composition, diagonal composition, leading line composition, frame composition, nine-square composition, cross-shaped composition, and triangle composition.

In one embodiment, before controlling the drone to follow the target object and controlling the shooting device to shoot towards the target object, the position of the drone is adjusted so that the drone is in a preset relative orientation relative to the target object; When the man-machine is at a preset relative position relative to the target object, the drone is controlled to follow the target object, and the shooting device is controlled to shoot toward the target object. Wherein, the UAV maintains a preset relative orientation when following the target object, and the preset relative orientation includes: the UAV is in front of the target object, and the UAV and the target object have a preset angle and a preset distance, and the preset angle and the preset distance can be set based on actual conditions, which is not specifically limited in this embodiment.

Exemplarily, the manner of adjusting the position of the UAV may be: acquiring the relative positional relationship between the UAV and the target object; adjusting the position of the UAV according to the relative positional relationship between the UAV and the target object, So that the UAV is in a preset relative position relative to the target object.

Step S202 , increasing the focal length of the photographing device and adjusting the posture of the photographing device, so that the photographing device switches from photographing towards the target object to photographing towards a target area of the target object.

Wherein, the target object is a person, and the target area includes the head and shoulder area of the person. By shooting the head and shoulder area of the person, the shooting device can better capture the facial expression of the person, and then highlight the face of the person in the captured video. expressions and local details; or, the target object is a car, and the target area includes the driver’s area in the car. By shooting the driver’s area in the car, the camera can better capture the driver’s facial expressions, thereby highlighting the The facial expressions and local details of the driver in the captured video.

In one embodiment, during the process of following and photographing the target object, the flight distance, flight duration, and gestures of the target object that the UAV follows are acquired. When the flight distance is greater than or equal to the preset distance threshold, the When the flight duration is greater than or equal to the preset duration threshold or the gesture action is a preset gesture action, increase the focal length of the shooting device and adjust the posture of the shooting device so that the shooting device moves towards the target object The shot transitions to shooting towards the target area of the target object.

In one embodiment, the shooting device includes a first lens and a second lens, and acquires position information of the target object in the image captured by the first lens; according to the position information of the target object in the image captured by the first lens, control The drone follows the target object and controls the second camera to shoot towards the target object. Wherein, the first lens may include a wide-angle lens or a zoom lens, and the second lens may include a zoom lens.

As shown in Figure 10, before the focal length of the photographing device is increased, the image 61 collected by the photographing device may include the whole body of the target object; when the focal length of the photographing device is increased, the image 62 collected by the photographing device only includes the body of the target object. head and shoulders area.

The control method of the drone provided by the above-mentioned embodiments controls the drone to follow the target object, and controls the shooting device to shoot toward the target object, and then increases the focal length of the shooting device and adjusts the posture of the shooting device, so that the The shooting device switches from shooting towards the target object to shooting towards the target area of the target object, so that the captured video can reflect the facial expressions and local details of the target object.

Please refer to FIG. 11 . FIG. 11 is a schematic flowchart of the steps of another method for controlling a drone provided in an embodiment of the present application.

As shown in FIG. 11 , the method for controlling the drone includes steps S301 to S302.

Step S301 , controlling the shooting device to take time-lapse shooting of the target object.

Exemplarily, the remote control device displays the real-time image collected by the shooting device of the drone, and determines the object selected by the user in the real-time image as the target object; obtains the position information of the target object in the real-time image, and The location information is sent to the drone; the drone controls the drone to follow the target object according to the location information of the target object in the real-time image, and controls the shooting device to take time-lapse shots of the target object.

Step S302. During the end time period of the time-lapse shooting, adjust the orientation of the shooting device so that the image area of the target object in the time-lapse shooting image moves from the center of the frame to the edge of the frame.

As shown in FIG. 12 , the UAV begins to follow the target object 73 starting from the position point 71, and controls the shooting device to perform delayed shooting of the target object 73, and stops the time-lapse shooting when the UAV is at the position point 72, Thus, the scene from the setting sun to the evening is recorded, and the image area of the target object 73 in the time-lapse shooting image moves from the center of the screen to the edge of the screen at the end of the time-lapse shooting period, presenting the effect of the shooting end .

In the control method of the drone provided in the above embodiment, the shooting device is controlled to take time-lapse shooting of the target object, and then during the end time period of the time-lapse shooting, the orientation of the shooting device is adjusted so that the image of the target object in the time-lapse shooting The image area in the image moves from the center of the screen to the edge of the screen, so that a video based on the time-lapse effect and the effect of showing the end of shooting can be shot.

Please refer to FIG. 13 . FIG. 13 is a schematic flowchart of the steps of another method for controlling a drone provided by an embodiment of the present application.

As shown in FIG. 13 , the method for controlling the drone includes steps S401 to S406.

Step S401, acquiring relative position information between a first target object and a second target object.

Exemplarily, the remote control device displays the real-time image collected by the shooting device of the drone, and obtains the first target object and the second target object selected by the user in the real-time image; obtains the first target object in the real-time image The first position information and the second position information of the second target object in the real-time image, and send the first position information and the second position information to the drone; the drone according to the first position information and the second position information , to determine relative position information between the first target object and the second target object. Wherein, the first target object is different from the second target object.

Exemplarily, the image captured by the shooting device is acquired, and target recognition is performed on the image; when the first target object of the first preset category and the second target object of the second preset category are recognized in the image captured by the shooting device When the target object is used, the relative position information between the first target object and the second target object is obtained. Wherein, the first preset category includes vehicles and people, and the second preset category includes mountains, lakes, seas, trees, landmark buildings, and the like.

Step S402, according to the relative position information, determine the target circle angle and/or target circle direction of the UAV.

Wherein, the relative position information between the first target object and the second target object includes the relative distance between the first target object and the second target object and/or the relative angle between the first target object and the second target object, Target wrapping directions include clockwise or counterclockwise.

Exemplarily, the first mapping relationship between the pre-stored relative position information and the circling angle is acquired, and according to the relative position information and the first mapping relationship between the first target object and the second target object, determine the UAV's The angle around the target. And/or, obtain the second mapping relationship between the pre-stored relative position information and the surrounding direction, and determine the target of the drone according to the relative position information and the second mapping relationship between the first target object and the second target object Orientation around.

Step S403, controlling the UAV to fly around the first target object according to the target circling angle and/or target circling direction, and controlling the photographing device to photograph the first target object and the second target object.

Wherein, the first target object is different from the second target object, and the relative orientations of the first target object and the second target object in the images collected by the photographing device change as the drone flies around the first target object. For example, as shown in FIG. 14 , the drone takes the position point 83 as a starting point to circle the first target object 81 for 40° clockwise, and when the drone circles the first target object 81, the camera is controlled to The first target object 81 and the second target object 82 are photographed.

In the control method of the UAV provided in the above-mentioned embodiments, based on the relative position information between the first target object and the second target object, the target circling angle and/or target circling direction of the UAV are determined, and the UAV is controlled. Fly around the first target object according to the target circling angle and/or target circling direction, and control the shooting device to shoot the first target object and the second target object, so that the first target object and the second target object are captured by the shooting device The relative orientation in the image changes as the UAV flies around the first target object, so that there is a position conversion effect between the first target object and the second target object in the image, and the first target object can also be obtained Video of the second target object at a different viewpoint.

Please refer to Fig. 15, Fig. 15 is a structural schematic block diagram of a control device for a drone provided by an embodiment of the present application.

As shown in Figure 15, the control device 600 of the drone includes a processor 610 and a memory 620, and the processor 610 and the memory 620 are connected by a bus 630, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 610 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 620 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 610 is configured to run a computer program stored in the memory 620, and implement the following steps when executing the computer program:

Optionally, before realizing controlling the UAV to follow the first target object, the processor is further configured to:

adjusting the position of the UAV so that the UAV is in a preset relative orientation relative to the first target object;

Wherein, the UAV following the first target object maintains the preset relative orientation when following the first target object.

Optionally, the preset relative orientation includes: the UAV is in front of the first target object, and the UAV has a preset angle and a preset distance from the first target object.

Optionally, when the processor realizes controlling the shooting device to shoot toward the first target object, it is used to realize:

Increase the focal length of the photographing device and adjust the posture of the photographing device, so that the photographing device switches from photographing towards the first target object to photographing towards a target area of the first target object.

Optionally, the first target object is a person, and the target area includes a head and shoulder area of the person; or, the first target object is a car, and the target area includes a driver area in the car.

Optionally, the photographing device includes a zoom lens, and the processor is configured to implement: when increasing the focal length of the photographing device:

Increase the focal length of the zoom lens and adjust the posture of the zoom lens, so that the zoom lens switches from shooting toward the first target object to shooting toward a target area of the first target object.

Optionally, the photographing device includes a wide-angle lens, and identifying a second target object of a preset category in an image captured by the photographing device towards the first target object includes:

A second target object of a preset category is identified in an image captured by the wide-angle lens towards the first target object.

Optionally, before realizing controlling the photographing device to switch from photographing towards the first target object to photographing towards the second target object, the processor is further configured to implement:

Acquiring the flight distance and flight duration of the UAV following the first target object, or the gesture action of the first target object in the image collected by the shooting device;

When the flight distance reaches a preset distance, the flight duration reaches a preset duration, or the gesture action is a preset gesture action, the shooting device is controlled to switch from shooting toward the first target object to toward the first target object. The second target object is photographed.

Optionally, when the processor realizes controlling the shooting device to switch from shooting toward the first target object to shooting toward the second target object, it is used to realize:

controlling the UAV to stay away from the first target object or reducing the focal length of the photographing device;

When the UAV moves away from the first target object or the focal length of the shooting device decreases, control the shooting device to switch from shooting towards the first target object to towards the second target object to shoot.

Optionally, the processor is also used to implement the following steps:

In the process that the UAV is far away from the first target object or the focal length of the shooting device is reduced, if it is detected that the second target object is completely present in the image captured by the shooting device, control the The photographing device switches from photographing towards the first target object to photographing towards the second target object.

Optionally, the processor is also used to implement the following steps:

According to the frame ratio of the second target object in the image captured by the photographing device, the flight distance of the UAV when flying away from the first target object is determined.

Optionally, after the processor controls the shooting device to switch from shooting toward the first target object to shooting toward the second target object, it is further configured to:

Controlling the UAV to surround the first target object, and controlling the photographing device to photograph the first target object and the second target object.

Optionally, the controlling the UAV to surround the first target object includes:

determining a target circling angle and a target circling direction according to the relative orientations of the first target object and the second target object;

controlling the UAV to circle the first target object according to the target circle angle and the target circle direction;

Wherein, the relative orientation of the first target object and the second target object in the image captured by the photographing device changes as the drone flies around the first target object.

Optionally, the processor is also used to implement the following steps:

After the UAV is controlled to surround the first target object according to a preset angle of rotation, the photographing device is controlled to take time-lapse photographs of the first target object.

Optionally, the processor is also used to implement the following steps:

controlling the UAV to follow the first target object relative to the first target object at the end of the circle;

During the process of the UAV following the first target object, the photographing device is controlled to take time-lapse photographs of the first target object.

Optionally, the processor is also used to implement the following steps:

During the end time period of the time-lapse shooting, the orientation of the shooting device is adjusted so that the image area of the first target object in the time-lapse shooting image moves from the center of the frame to the edge of the frame.

Optionally, the duration of the time-lapse shooting is related to the remaining power of the drone and/or the sunset time of the area where the drone is located.

Optionally, when the processor adjusts the orientation of the shooting device, it is configured to:

determining the amount of posture change of the shooting device according to the distance between the image area of the first target object in the time-lapse captured image and the frame edge of the image;

According to the amount of posture change, the orientation of the photographing device is adjusted so that the image area of the first target object in the time-lapse photographed image moves from the center of the frame to the edge of the frame.

In one embodiment, the processor 610 is configured to run a computer program stored in the memory 620, and implement the following steps when executing the computer program:

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the control device of the drone described above can be referred to in the above-mentioned embodiment of the control method of the drone The corresponding process will not be repeated here.

Please refer to FIG. 16 . FIG. 16 is a schematic structural block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

As shown in Figure 16, the UAV 700 includes a body 710, a power system 720, a camera 730 and a control device 740 of the UAV, and the power system 720 is arranged on the body 710 to provide flight power for the UAV 700, The photographing device 730 is fixedly connected or detachably connected with the body 710 for capturing images, and the control device 740 of the UAV is installed in the body 710 for controlling the UAV 700 . Wherein, the control device 740 of the drone may be the control device 600 of the drone as shown in FIG. 15 .

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the drone described above can refer to the corresponding process in the aforementioned embodiment of the control method of the drone. I won't repeat them here.

The embodiment of the present application also provides a storage medium, the storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to realize the control of the drone provided by the above-mentioned embodiments method steps.

Wherein, the storage medium may be an internal storage unit of the control device of the drone described in any of the foregoing embodiments, such as a hard disk or a memory of the control device of the drone. The storage medium can also be an external storage device of the control device of the drone, such as a plug-in hard disk equipped on the control device of the drone, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

It should be understood that the terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A method for controlling an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a shooting device, and the method comprises:

controlling the UAV to follow the first target object, and controlling the shooting device to shoot towards the first target object;

If a second target object of a preset category is identified in the image captured by the shooting device towards the first target object, or a second target object of a preset category is detected relative to the UAV or the The position of the first target object satisfies the preset condition, and the shooting device is controlled to switch from shooting toward the first target object to shooting toward the second target object, and the second target object is different from the first target object. a target object.
The method for controlling an unmanned aerial vehicle according to claim 1, wherein before controlling the unmanned aerial vehicle to follow the first target object, the method further comprises:

adjusting the position of the UAV so that the UAV is in a preset relative orientation relative to the first target object;

Wherein, the drone maintains the preset relative orientation when following the first target object.
The method for controlling an unmanned aerial vehicle according to claim 2, wherein the preset relative orientation comprises: the unmanned aerial vehicle is in front of the first target object, and the unmanned aerial vehicle is in front of the first target object, and the unmanned aerial vehicle and the The first target object has a preset angle and a preset distance.
The control method of the unmanned aerial vehicle according to any one of claims 1-3, wherein the controlling the shooting device to shoot toward the first target object includes:

Increase the focal length of the photographing device and adjust the posture of the photographing device, so that the photographing device switches from photographing towards the first target object to photographing towards a target area of the first target object.
The method for controlling an unmanned aerial vehicle according to claim 4, wherein the first target object is a person, and the target area includes a head and shoulder area of a person; or, the first target object is a car, and the The target area includes the driver's area in the car.
The control method of the unmanned aerial vehicle according to claim 4, wherein the shooting device includes a zoom lens, and the increasing the focal length of the shooting device includes:

Increase the focal length of the zoom lens and adjust the posture of the zoom lens, so that the zoom lens switches from shooting toward the first target object to shooting toward a target area of the first target object.
The control method of the unmanned aerial vehicle according to claim 1, wherein the shooting device includes a wide-angle lens, and the preset category is identified in the image taken by the shooting device towards the first target object. Secondary target audience, including:

A second target object of a preset category is identified in an image captured by the wide-angle lens toward the first target object.
The control method of the unmanned aerial vehicle according to claim 1, characterized in that, before the control of the shooting device is switched from shooting toward the first target object to shooting toward the second target object, it also includes :

Acquiring the flight distance and flight duration of the UAV following the first target object, or the gesture action of the first target object in the image collected by the shooting device;

When the flight distance reaches a preset distance, the flight duration reaches a preset duration, or the gesture action is a preset gesture action, the shooting device is controlled to switch from shooting toward the first target object to toward the first target object. The second target object is photographed.
According to the control method of the drone according to any one of claims 1-8, it is characterized in that the control of the shooting device is switched from shooting toward the first target object to toward the second target object Take photos, including:

controlling the UAV to stay away from the first target object or reducing the focal length of the photographing device;

In the process that the UAV moves away from the first target object or the focal length of the shooting device decreases, control the shooting device to switch from shooting towards the first target object to facing the second target object to shoot.
The control method of unmanned aerial vehicle according to claim 9, is characterized in that, described method also comprises:

When the UAV is far away from the first target object or the focal length of the photographing device is reduced, if it is detected that the second target object is completely present in the image captured by the photographing device, control the The photographing device switches from photographing towards the first target object to photographing towards the second target object.
The method for controlling an unmanned aerial vehicle according to claim 9 or 10, wherein the method further comprises:

According to the frame ratio of the second target object in the image captured by the photographing device, the flight distance of the UAV when flying away from the first target object is determined.
The control method of the drone according to any one of claims 1-11, characterized in that, the control of the shooting device is switched from shooting toward the first target object to toward the second target object After shooting, the method also includes:

Controlling the UAV to surround the first target object, and controlling the photographing device to photograph the first target object and the second target object.
The method for controlling an unmanned aerial vehicle according to claim 12, wherein the controlling the unmanned aerial vehicle to surround the first target object comprises:

determining a target circling angle and a target circling direction according to the relative orientations of the first target object and the second target object;

controlling the UAV to circle the first target object according to the target circle angle and the target circle direction;

Wherein, the relative orientation of the first target object and the second target object in the image captured by the photographing device changes as the drone flies around the first target object.
The method for controlling an unmanned aerial vehicle according to claim 12, wherein after controlling the unmanned aerial vehicle to surround the first target object according to a preset angle of rotation, the method further comprises:

and controlling the photographing device to perform time-lapse photographing of the first target object.
The method for controlling an unmanned aerial vehicle according to claim 14, wherein after controlling the unmanned aerial vehicle to surround the first target object according to a preset angle of rotation, the method further comprises:

controlling the UAV to follow the first target object relative to the first target object at the end of the circle;

During the process of the UAV following the first target object, the photographing device is controlled to take time-lapse photographs of the first target object.
The control method of unmanned aerial vehicle according to claim 14, is characterized in that, described method also comprises:

During the end time period of the time-lapse shooting, the orientation of the shooting device is adjusted so that the image area of the first target object in the time-lapse shooting image moves from the center of the frame to the edge of the frame.
The method for controlling a UAV according to claim 14, wherein the duration of the time-lapse shooting is related to the remaining power of the UAV and/or the sunset time of the area where the UAV is located.
The control method of the unmanned aerial vehicle according to claim 16, wherein said adjusting the orientation of said photographing device comprises:

determining the amount of posture change of the shooting device according to the distance between the image area of the first target object in the time-lapse captured image and the frame edge of the image;

According to the amount of posture change, the orientation of the photographing device is adjusted so that the image area of the first target object in the time-lapse photographed image moves from the center of the frame to the edge of the frame.
A method for controlling an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a shooting device, and the method comprises:

Controlling the UAV to follow the target object, and controlling the shooting device to shoot towards the target object;

Increase the focal length of the photographing device and adjust the posture of the photographing device, so that the photographing device switches from photographing towards the target object to photographing towards a target area of the target object.
A method for controlling an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a shooting device, and the method comprises:

controlling the shooting device to take time-lapse shooting of the target object;

During the end time period of the time-lapse shooting, the orientation of the shooting device is adjusted so that the image area of the target object in the time-lapse shooting image moves from the center of the frame to the edge of the frame.
A method for controlling an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a shooting device, and the method comprises:

Acquiring relative position information between the first target object and the second target object;

According to the relative position information, determine the target circle angle and/or target circle direction of the UAV;

Controlling the UAV to fly around the first target object according to the target circling angle and/or the target circling direction, and controlling the photographing device to take pictures of the first target object and the second target object shoot;

Wherein, the relative orientation of the first target object and the second target object in the image captured by the photographing device changes as the UAV flies around the first target object.
A control device for an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a shooting device, and the control device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

controlling the UAV to follow the first target object, and controlling the shooting device to shoot towards the first target object;

If a second target object of a preset category is identified in the image captured by the shooting device towards the first target object, or a second target object of a preset category is detected relative to the UAV or the The position of the first target object satisfies the preset condition, and the shooting device is controlled to switch from shooting toward the first target object to shooting toward the second target object, and the second target object is different from the first target object. a target object.
The control device of the unmanned aerial vehicle according to claim 22, wherein the processor is further configured to realize: before controlling the unmanned aerial vehicle to follow the first target object:

adjusting the position of the UAV so that the UAV is in a preset relative orientation relative to the first target object;

Wherein, the drone maintains the preset relative orientation when following the first target object.
The control device of the drone according to claim 23, wherein the preset relative orientation comprises: the drone is in front of the first target object, and the drone is in front of the first target object, and the drone and the The first target object has a preset angle and a preset distance.
The control device of the unmanned aerial vehicle according to any one of claims 22-24, wherein the processor is configured to realize:

Increase the focal length of the photographing device and adjust the posture of the photographing device, so that the photographing device switches from photographing towards the first target object to photographing towards a target area of the first target object.
The control device of unmanned aerial vehicle according to claim 25, it is characterized in that, the first target object is a person, and the target area includes the head and shoulder area of the person; or, the first target object is a car, and the The target area includes the driver's area in the car.
The control device of the unmanned aerial vehicle according to claim 25, wherein the shooting device includes a zoom lens, and when the processor increases the focal length of the shooting device, it is used to realize:

Increase the focal length of the zoom lens and adjust the posture of the zoom lens, so that the zoom lens switches from shooting toward the first target object to shooting toward a target area of the first target object.
The control device of the unmanned aerial vehicle according to claim 22, wherein the shooting device includes a wide-angle lens, and the preset category is identified in the image taken by the shooting device towards the first target object. Secondary target audience, including:

A second target object of a preset category is identified in an image captured by the wide-angle lens towards the first target object.
The control device of the unmanned aerial vehicle according to claim 22, characterized in that, the processor controls the shooting device to switch from shooting toward the first target object to shooting toward the second target object Previously, it was also used to implement:

Acquiring the flight distance and flight duration of the UAV following the first target object, or the gesture action of the first target object in the image collected by the shooting device;

When the flight distance reaches a preset distance, the flight duration reaches a preset duration, or the gesture action is a preset gesture action, the shooting device is controlled to switch from shooting toward the first target object to toward the first target object. The second target object is photographed.
According to the control device of any one of claims 22-29, it is characterized in that, the processor controls the shooting device to switch from shooting toward the first target object to toward the first target object. When shooting with the second target object, it is used to achieve:

controlling the UAV to stay away from the first target object or reducing the focal length of the photographing device;

When the UAV moves away from the first target object or the focal length of the shooting device decreases, control the shooting device to switch from shooting towards the first target object to towards the second target object to shoot.
The control device of the unmanned aerial vehicle according to claim 30, wherein the processor is also used to implement the following steps:

In the process that the UAV is far away from the first target object or the focal length of the shooting device is reduced, if it is detected that the second target object is completely present in the image captured by the shooting device, control the The photographing device switches from photographing towards the first target object to photographing towards the second target object.
The control device of the unmanned aerial vehicle according to claim 30 or 31, wherein the processor is also used to implement the following steps:

According to the frame ratio of the second target object in the image captured by the photographing device, the flight distance of the UAV when flying away from the first target object is determined.
According to the control device of any one of claims 22-32, it is characterized in that, the processor realizes controlling the shooting device to switch from shooting toward the first target object to toward the first target object. After the second target object is photographed, it is also used to achieve:

Controlling the UAV to surround the first target object, and controlling the photographing device to photograph the first target object and the second target object.
The control device of the drone according to claim 33, wherein the controlling the drone to surround the first target object comprises:

determining a target circling angle and a target circling direction according to the relative orientations of the first target object and the second target object;

controlling the UAV to circle the first target object according to the target circle angle and the target circle direction;

Wherein, the relative orientation of the first target object and the second target object in the image collected by the photographing device changes as the UAV flies around the first target object.
The control device of the unmanned aerial vehicle according to claim 33, wherein the processor is also used to implement the following steps:

After the UAV is controlled to surround the first target object according to a preset angle of rotation, the photographing device is controlled to take time-lapse photographs of the first target object.
The control device of the unmanned aerial vehicle according to claim 35, wherein the processor is also used to implement the following steps:

controlling the UAV to follow the first target object relative to the first target object at the end of the circle;

During the process of the UAV following the first target object, the photographing device is controlled to take time-lapse photographs of the first target object.
The control device of the unmanned aerial vehicle according to claim 35, wherein the processor is also used to implement the following steps:

During the end time period of the time-lapse shooting, the orientation of the shooting device is adjusted so that the image area of the first target object in the time-lapse shooting image moves from the center of the frame to the edge of the frame.
The control device for the drone according to claim 35, wherein the duration of the time-lapse shooting is related to the remaining power of the drone and/or the sunset time of the area where the drone is located.
The control device of the unmanned aerial vehicle according to claim 37, wherein, when the processor adjusts the orientation of the shooting device, it is used to realize:

determining the amount of posture change of the shooting device according to the distance between the image area of the first target object in the time-lapse captured image and the frame edge of the image;

According to the amount of posture change, the orientation of the photographing device is adjusted so that the image area of the first target object in the time-lapse photographed image moves from the center of the frame to the edge of the frame.
A control device for an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a shooting device, and the control device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Controlling the UAV to follow the target object, and controlling the shooting device to shoot towards the target object;

Increase the focal length of the photographing device and adjust the posture of the photographing device, so that the photographing device switches from photographing towards the target object to photographing towards a target area of the target object.
A control device for an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a shooting device, and the control device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

controlling the shooting device to take time-lapse shooting of the target object;

During the end time period of the time-lapse shooting, the orientation of the shooting device is adjusted so that the image area of the target object in the time-lapse shooting image moves from the center of the frame to the edge of the frame.
A control device for an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a shooting device, and the control device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Acquiring relative position information between the first target object and the second target object;

According to the relative position information, determine the target circle angle and/or target circle direction of the UAV;

Controlling the UAV to fly around the first target object according to the target circling angle and/or the target circling direction, and controlling the photographing device to take pictures of the first target object and the second target object shoot;

Wherein, the relative orientation of the first target object and the second target object in the image captured by the photographing device changes as the UAV flies around the first target object.
A kind of unmanned aerial vehicle, is characterized in that, comprises:

body;

The power system is arranged on the body and is used to provide flight power for the unmanned aerial vehicle;

A photographing device, the photographing device is fixedly or detachably connected to the body;

The control device of the drone according to any one of claims 22-42.
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 processor implements the process described in any one of claims 1-21. The steps of the control method of the unmanned aerial vehicle described above.