Control method, control equipment and control system of unmanned aerial vehicle

Abstract

The invention discloses a control method, control equipment and a control system of an unmanned aerial vehicle. The control method of the unmanned aerial vehicle comprises the steps of determining a target trajectory pattern of the unmanned aerial vehicle; determining a flight route of the unmanned aerial vehicle based on the target trajectory pattern; and controlling the unmanned aerial vehicle to fly according to the flight route, and shooting the flight trajectory of the unmanned aerial vehicle during the flight period of the unmanned aerial vehicle according to the flight route to obtain a flight trajectory image matched with the target trajectory pattern.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a control method, control device and control system for unmanned aerial vehicles (UAVs). Background Technology

[0002] Capturing the flight path of a drone can yield complex and aesthetically pleasing flight trajectory patterns. For example, drone light mapping involves using a light source mounted on the drone and other photographic equipment, such as long-exposure photography, to capture the drone's flight path. Currently, related technologies only allow for the creation of drone flight paths through manual remote control or manual marking of flight paths, which is time-consuming, labor-intensive, and rarely produces complex and aesthetically pleasing patterns. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a control method, control device and control system for an unmanned aerial vehicle (UAV).

[0004] The technical solution of this invention is implemented as follows:

[0005] On one hand, embodiments of the present invention provide a control method for an unmanned aerial vehicle (UAV), the method comprising:

[0006] Determine the target trajectory pattern of the drone;

[0007] The flight path of the UAV is determined based on the target trajectory pattern;

[0008] The drone is controlled to fly along the flight path, and during the flight of the drone along the flight path, the flight trajectory of the drone is photographed to obtain a flight trajectory image that matches the target trajectory pattern.

[0009] On the other hand, embodiments of the present invention provide a control device including a processor and a memory interconnected thereto, wherein the memory is used to store a computer program, the computer program including program instructions, and the processor is configured to invoke the program instructions to execute the steps of the control method for a drone provided in the first aspect of the present invention.

[0010] On the other hand, embodiments of the present invention provide a control system for an unmanned aerial vehicle (UAV), including the UAV and a control device, wherein the control device is used to execute the aforementioned control method for the UAV.

[0011] On the other hand, embodiments of the present invention provide a computer-readable storage medium, comprising: the computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the steps of the drone control method provided in the first aspect of the present invention.

[0012] On the other hand, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described drone control method.

[0013] This application embodiment determines a target trajectory pattern for a drone, determines the drone's flight path based on the target trajectory pattern, controls the drone to fly along the flight path, and captures images of the drone's flight path during flight to obtain a flight path image that matches the target trajectory pattern. This application embodiment can generate flight paths using the drone's target trajectory pattern, eliminating the need for manual point marking by the user, thus improving the efficiency and accuracy of flight path generation. Furthermore, the flight path generated based on the target trajectory pattern can capture flight path images that more closely match the target trajectory pattern, improving the efficiency of creating flight path images in various application scenarios, such as drone light painting and drone long-exposure photography. Attached Figure Description

[0014] Figure 1 This is a schematic diagram illustrating the implementation process of a control method for an unmanned aerial vehicle (UAV) provided in an embodiment of the present invention.

[0015] Figure 2 This is a schematic diagram of a user-drawn trajectory pattern provided in an embodiment of the present invention;

[0016] Figure 3 This is a schematic diagram of an image conversion provided by an embodiment of the present invention;

[0017] Figure 4 This is a schematic diagram of a target trajectory pattern and flight path provided in an embodiment of the present invention;

[0018] Figure 5 This is a schematic diagram of a test flight route provided in an embodiment of the present invention;

[0019] Figure 6 This is a flowchart illustrating a control method for an unmanned aerial vehicle (UAV) provided in an embodiment of the present invention.

[0020] Figure 7 This is a flowchart illustrating another control method for a drone provided in an embodiment of the present invention;

[0021] Figure 8 This is a schematic diagram of a control device provided in an embodiment of the present invention;

[0022] Figure 9 This is a schematic diagram of a control system for an unmanned aerial vehicle (UAV) provided in an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Existing technologies can only draw flight path patterns manually or by marking flight routes, which is time-consuming, labor-intensive, and makes it difficult to create complex and aesthetically pleasing patterns. Furthermore, these technologies lack pre-visualization of the captured pattern: the results from the ground-based equipment can only be seen after the shooting is complete, often resulting in incomplete or unsatisfactory patterns requiring multiple rework sessions. Real-time preview of the captured pattern is also lacking: existing solutions, due to the lack of linkage between the camera and the drone, cannot provide real-time preview of the captured pattern. Finally, ground-based shooting parameter recommendations are missing: because capturing flight path patterns requires precise parameter settings from the ground equipment, users previously had to rely on their own experience to make these settings.

[0025] To address the shortcomings of the aforementioned related technologies, embodiments of the present invention provide a control method for unmanned aerial vehicles (UAVs) that can efficiently and portablely draw the flight trajectory patterns of UAVs. To illustrate the technical solution described in this invention, specific embodiments are described below.

[0026] Figure 1 This is a schematic diagram illustrating the implementation flow of a drone control method according to an embodiment of the present invention. The execution subject of the drone control method is the drone control device, which can be a mobile phone, tablet computer, head-mounted display device, etc. (Reference) Figure 1 The control methods for drones may include:

[0027] S101, determine the target trajectory pattern of the drone.

[0028] Here, the trajectory pattern is a pattern that indicates the flight path of the drone. For example, the trajectory pattern may include trajectory information indicating the flight path, which may be presented in the form of lines and / or waypoints. Here, the target trajectory pattern refers to the trajectory pattern used to confirm the actual flight path of the drone.

[0029] In this application, there are several ways to determine the target trajectory pattern of a drone. For example, a large number of pre-stored candidate trajectory patterns can be stored in a trajectory pattern template library, from which the user can select the target trajectory pattern. Another example is that the user can determine the target trajectory pattern by drawing on the electronic canvas or interactive interface of the control device. Yet another example is that the user can input a preferred image so that the target trajectory pattern can be confirmed based on that image through image processing.

[0030] S102 determines the flight path of the UAV based on the target trajectory pattern.

[0031] In this embodiment, the target trajectory pattern can be determined first, and then the flight path of the UAV can be determined based on the target trajectory pattern, so that the flight path of the UAV when flying according to the flight path matches the target trajectory pattern.

[0032] For example, waypoints can be determined on a map based on the target trajectory pattern, thereby determining the UAV's flight path, such that the flight path includes at least some or all of the previously determined waypoints. Alternatively, the target trajectory pattern can be first converted into a reference flight path for the UAV, and then the waypoints required to constitute the UAV's flight path can be generated based on this reference flight path. Here, waypoints refer to the coordinates that the UAV will fly through, and the UAV can fly through all waypoints in sequence.

[0033] As an example, the target trajectory pattern can be understood as a 3D curve. Based on the 3D curve, a flight path (flight route) can be set on the map. For example, dense positioning points can be marked in the Earth's inertial coordinate system based on the 3D curve, and the waypoints obtained by marking the points can be connected to obtain the flight route.

[0034] S103 controls the drone to fly along the flight path, and takes pictures of the drone's flight path during the flight, obtaining a flight path image that matches the target trajectory pattern.

[0035] The system allows setting the starting waypoint for the drone along its flight path. After the drone flies from the takeoff point to the starting waypoint, it continues to fly along the flight path. During this time, the camera simultaneously captures images of the drone's flight trajectory. Once the drone completes its flight along the flight path, the camera captures an image of the flight trajectory that matches the target trajectory pattern.

[0036] The device that captures images of the flight path can be the control device itself or a camera connected to the control device. If the control device is used, it can be used through its native camera or the camera function of a companion application (APP). Optionally, the shooting parameters and shooting location need to be set before shooting.

[0037] During flight, the drone's control equipment can support functions such as pausing, terminating, returning to the starting point, and returning to home.

[0038] There are various shooting methods, including but not limited to: long exposure shooting, time-lapse shooting, etc.

[0039] As an example, in a well-lit environment, a drone can be controlled to fly along a flight path, and during this time, long exposure photography can be used to photograph the drone body (for example, the drone body can have features such as colors that are different from the environment) during flight. In this way, by photographing the drone body during flight, a flight trajectory image indicating the drone's movement path in the air can be obtained.

[0040] As another example, a drone can be equipped with a light source. In environments with insufficient light, the drone can be controlled to fly along a flight path, and during this time, long-exposure photography can be used to photograph the light source carried by the drone. In this way, since the light source is mounted on the drone, a flight trajectory image indicating the drone's movement path in the air can be obtained by photographing the light source during flight.

[0041] This application embodiment determines a target trajectory pattern for a drone, determines the drone's flight path based on the target trajectory pattern, controls the drone to fly along the flight path, and captures images of the drone's flight path during flight to obtain a flight path image that matches the target trajectory pattern. This application embodiment can generate flight paths using the drone's target trajectory pattern, eliminating the need for manual point marking by the user, thus improving the efficiency and accuracy of flight path generation. Furthermore, the flight path generated based on the target trajectory pattern can capture flight path images that more closely match the target trajectory pattern, improving the efficiency of creating flight path images in various application scenarios, such as drone light painting and drone long-exposure photography.

[0042] In one embodiment, the drone is equipped with a light source, and the target trajectory pattern includes a target light plotting pattern;

[0043] The step "While the drone is flying along its flight path, take pictures of the drone's flight trajectory to obtain a flight trajectory image that matches the target trajectory pattern" may include:

[0044] During the flight of the UAV along the stated flight path, images are taken of the UAV's flight trajectory to obtain flight trajectory images that match the target light plot pattern.

[0045] It should be understood that light painting requires the drone to carry a light source, which can be either a factory-installed light source or an addition by the user in compliance with relevant regulations.

[0046] Light painting photography utilizes a camera's long exposure function to record the movement of light sources, leveraging this characteristic to expand creative possibilities in photography. Drone light painting, on the other hand, uses the onboard lights of a drone or related lighting accessories to create luminous paths. Its key feature is that the paths are not limited by distance, allowing for the creation of large-scale patterns and lines in the sky.

[0047] The application scenarios of this application include UAV light painting scenarios. Therefore, the trajectory patterns in this scenario can include light painting patterns, specifically, the light painting patterns are trajectory patterns in UAV light painting scenarios. Here, the target light painting pattern refers to the light painting pattern used to confirm the actual flight path of the UAV. The flight trajectory image captured in the UAV light painting scenario reflects the UAV's flight trajectory through the captured UAV light source information. Therefore, the flight trajectory in the captured flight trajectory image matches the target light painting pattern.

[0048] In one embodiment, the step of "determining the flight path of the UAV based on the target trajectory pattern" may include:

[0049] Based on the target trajectory pattern, determine at least one flight waypoint of the UAV;

[0050] The flight path of the UAV is determined based on the flight waypoints.

[0051] For example, waypoints can be marked on a preset map based on the target trajectory pattern. The preset map can be an electronic map in the control device, such as the electronic map in the accompanying APP. As an example, the target trajectory pattern can be overlaid on the electronic map, waypoints can be marked on the electronic map, and a flight path can be generated based on the waypoints. The drone will then fly along the flight path.

[0052] Flight routes can be generated using 3D Geographic Information System (GIS) software or common map software. For example, using 3D GIS software: in the 3D display window, the flight route can be set via the "Flight Route Settings" option in the toolbar. Additionally, the flight altitude, view angle, and the drone's flight mode (such as round-trip or repeating flight mode) can be set. Using common map software: find the "Tour Settings" in the tools menu, click the "Fly Along Route" option, and confirm to complete the settings. In this way, the drone can fly along the set route within the common map software.

[0053] The aforementioned software allows for setting flight paths on maps as needed. Whether using professional 3D GIS software or general-purpose map software, flight routes can be set based on target trajectory patterns.

[0054] In one embodiment, the step "determining the target trajectory pattern of the UAV" may include one or more of the following:

[0055] The target trajectory pattern of the UAV is determined based on the trajectory pattern selected by the user from the preset trajectory pattern library, wherein the preset trajectory pattern library includes at least one trajectory pattern of the UAV.

[0056] Determine the target trajectory pattern of the drone based on the trajectory pattern drawn by the user;

[0057] The image provided by the user is transformed to determine the target trajectory pattern of the drone.

[0058] The preset trajectory pattern library can store at least one trajectory pattern of the drone. Users can select a target trajectory pattern from it according to their needs, and users can also add trajectory patterns to the preset trajectory pattern library to enrich the content of the preset trajectory pattern library.

[0059] Users can also draw trajectory patterns on the electronic canvas or electronic map of the control device, or other interactive interfaces, for example... Figure 2 The top image is a heart-shaped trajectory drawn by the user on the electronic map. The bottom image is a flight path generated based on this trajectory.

[0060] Users can also input or select images with special patterns and perform image conversion, transforming the special patterns into trajectory patterns. For example, the image-to-2D line drawing method can be used to convert the patterns in the image into trajectory patterns. Image-to-2D line drawing can be achieved using image editing software or through contour extraction. Figure 3 As shown, Figure 3 The pattern on the left is a special pattern from the image input or selected by the user, while the pattern on the right is a trajectory pattern obtained by image transformation of the pattern on the left.

[0061] like Figure 4 The kangaroo-shaped pattern shown has the target trajectory pattern on the top and the corresponding flight path pattern on the bottom, where the flight path includes the starting waypoint and the ending waypoint.

[0062] In one embodiment, the step "controlling the drone to fly along the flight path" may include:

[0063] The UAV is controlled to fly based on the starting waypoint of the flight path and the flight path itself.

[0064] The drone first flies to the starting waypoint, and then flies along the flight path. The filming equipment can be located on the ground or in the air.

[0065] In one embodiment, the step of "determining the flight path of the UAV based on the target trajectory pattern" may include:

[0066] Obtain the orientation adjustment information input by the user. The orientation adjustment information is used to adjust the relative orientation of the target trajectory pattern in the reference coordinate system.

[0067] The flight path of the UAV is determined based on the target trajectory pattern and orientation adjustment information.

[0068] Among them, orientation adjustment information refers to relevant information used to adjust the relative orientation of the target trajectory pattern in the reference coordinate system. By obtaining the orientation adjustment information input by the user, the user's preference for adjusting the relative orientation of the target trajectory pattern can be determined, so that the flight trajectory images subsequently captured will also match the user's adjustment preference.

[0069] There are several ways to obtain orientation adjustment information input by the user. For example, the drone's control equipment can provide an interactive interface through which the user can input orientation adjustment information. As an example, this interface can display map data and / or a reference coordinate system, allowing the user to determine the orientation adjustment information for the target trajectory pattern by adjusting its relative position on the map and / or in the reference coordinate system.

[0070] This application embodiment can adjust the relative orientation of the target trajectory pattern in a reference coordinate system based on the orientation adjustment information input by the user. The reference coordinate system can be the camera coordinate system of the shooting device, the world coordinate system, or a coordinate system that serves as a reference when adjusting the orientation of the target trajectory pattern. The relative orientation of the target trajectory pattern in the reference coordinate system can be, for example, with the horizon as a reference point. The relative orientation can be the orientation relative to the horizon, and different relative orientations affect the shooting effect of the captured flight trajectory image. The flight path of the UAV is determined based on the target trajectory pattern and the orientation adjustment information. The UAV flies along this flight path, which can make the shooting effect of the flight trajectory image meet the user's orientation adjustment needs. For example, it is possible to capture an image of the flight trajectory image perpendicular to the ground at 90 degrees, or an image of the flight trajectory image showing other angles.

[0071] In one embodiment, the step of "determining the flight path of the UAV based on the target trajectory pattern" may include:

[0072] Determine at least one initial waypoint that matches the target trajectory pattern;

[0073] Obtain waypoint adjustment information from the user regarding the initial waypoint;

[0074] Based on the waypoint adjustment information, the initial waypoint is adjusted to determine the flight path of the UAV, wherein the flight path includes at least one adjusted initial waypoint.

[0075] For example, after determining the target trajectory pattern, the system can automatically generate an initial flight path, which includes at least one initial waypoint. Users can adjust these waypoints; for instance, they can drag the waypoints on an electronic map to adjust their coordinates, or they can directly input new coordinates to adjust them. Based on at least one adjusted initial waypoint, the system can generate a flight path. The drone flies along this path and captures flight path images that match the target trajectory pattern. By adjusting the initial waypoints, the size and / or position of the captured flight path images can be adjusted, making the captured images more closely match the user's needs.

[0076] In one embodiment, after the step of "determining the flight path of the UAV based on the target trajectory pattern", the method may further include:

[0077] Determine the flight distance information of the drone based on the flight path;

[0078] The shooting parameters of the shooting device are determined based on the flight distance information, and the shooting device is used to capture the flight trajectory pattern of the drone based on the shooting parameters.

[0079] Based on the map scale, the flight distance corresponding to the flight path can be calculated. Different distance ranges correspond to different shooting parameters, including but not limited to ISO, shutter speed, and aperture. Using different shooting parameters for different distances is to obtain better shooting results.

[0080] In one embodiment, the step "capturing images of the drone's flight path while the drone is flying along its flight route" may include:

[0081] Based on the correspondence between the flight trajectory range of the drone and the target trajectory pattern, the recommended location of the shooting equipment is determined;

[0082] By referencing the recommended location and the filming equipment, the drone's flight path is filmed while it is flying along its flight route.

[0083] Here, the correspondence between the flight path range and the target trajectory pattern refers to the scaling ratio of the flight path range and the target trajectory pattern. Camera intrinsics determine the scale at which 3D objects in the real world are projected onto the 2D plane of the camera sensor. For the flight path pattern, it is desirable for the flight path pattern to fill the 2D image captured by the sensor as much as possible. For the same 3D flight path, the farther the distance, the smaller the corresponding 2D image; conversely, if the 2D image size is appropriate, and it is also necessary to avoid the drone flying for too long, the 3D flight path should be as close to the camera as possible.

[0084] Based on the user-set flight path range and target trajectory pattern scaling ratio, as well as the preset internal parameters of the shooting device, the distance between the shooting device and the drone's starting waypoint after takeoff can be determined. Based on this distance, the shooting position of the shooting device (recommended position) can be determined to capture a better flight path pattern.

[0085] In one embodiment, before the step of "controlling the drone to fly along the flight path", the method may further include:

[0086] The drone is controlled to conduct test flights based on the target trajectory pattern, and during the test flights, the drone's flight trajectory is photographed to obtain test flight trajectory images of the drone;

[0087] Based on the distribution of flight trajectories in the test flight trajectory images, the starting waypoint of the flight route and / or the shooting parameters of the shooting equipment are adjusted. The shooting equipment is used to capture flight trajectory images based on the adjusted shooting parameters.

[0088] To obtain better results in capturing flight trajectory patterns, test flights can be conducted before the actual shooting. Specifically, during the test flights, the drone can fly along a test flight route, which may include the flight route corresponding to the target trajectory pattern, or other routes generated based on the target trajectory pattern. For example, Figure 5 Waypoints E, F, G, I, H, and L can be connected to form a flight path that matches the target trajectory pattern. Figure 5 (connected by dashed lines in the diagram). Based on the maximum boundary positions of the flight path in the upper, lower, left, and right directions, a rectangular test flight path can be generated. For example, a rectangular route composed of waypoints A, B, C, and D can be used as a test flight path for the UAV.

[0089] It is worth noting that the flight path of the UAV during test flights can be flexibly adjusted, as long as the target trajectory pattern can be quickly and efficiently pre-evaluated using test flight trajectory images. For example, an "L-shaped" flight path formed by connecting waypoints A, B, and C can also be used as the UAV's test flight path. After the UAV completes this flight path, the system can automatically complete it to obtain a rectangular (ABCD) test flight result. Similarly, a "V-shaped" flight path formed by connecting waypoints A, E, and D can also be used as the UAV's test flight path. After the UAV completes this flight path, the system can automatically complete it to obtain a rectangular (ABCD) test flight result. It can be seen that, compared to the aforementioned rectangular flight path, the "L-shaped" and "V-shaped" flight paths can effectively shorten the UAV's test flight time and resource consumption, improve test flight efficiency, and thus improve the efficiency of flight trajectory image capture.

[0090] During the test flight along the designated flight path, the camera captures images of the flight trajectory. These images, including the flight path itself, can be used to pre-evaluate the test flight performance (e.g., by analyzing the distribution of the flight path in the test flight trajectory image, predicting the final position of the flight path pattern in the final image) to see if it meets expectations. If the test flight performance does not meet expectations, for example, if the flight path is not in the center of the test flight trajectory image or in another preferred area, the starting waypoint of the flight path and / or the camera parameters can be adjusted. This allows the drone to be controlled to fly along the adjusted flight path, and during this flight, the camera can capture images of the drone's flight path based on the adjusted parameters, obtaining flight path images that match the target trajectory pattern and meet expectations.

[0091] Based on the target trajectory pattern, the system can quickly generate a test flight plan, allowing users to rehearse before actual shooting, ensuring the accuracy and aesthetics of the flight trajectory pattern, and improving the efficiency of flight trajectory image shooting.

[0092] In one embodiment, before the step of "controlling the drone to fly along the flight path", the method may further include:

[0093] Preview the shooting effect of the target trajectory pattern on the preview page.

[0094] For example, by controlling the preview page of the accompanying APP on the control device, after selecting the target trajectory pattern, the shooting effect of the flight trajectory pattern can be previewed by opening the APP preview page at the shooting location. Based on this shooting effect, the starting waypoint of the flight route and / or the shooting parameters of the shooting device can be deduced so that the flight trajectory pattern can be located in the center area of ​​the shooting image, which can reduce the time of repeated test shooting and debugging.

[0095] This embodiment can automatically recommend optimal shooting and flight parameters to optimize shooting results. Users can preview the shooting effect of the flight trajectory pattern before shooting and preview it in real time during the shooting process. This preview function can help users adjust the flight trajectory and shooting parameters in a timely manner to ensure the quality of each captured image.

[0096] In one embodiment, during the step of "controlling the UAV to fly along the flight path", the method may further include:

[0097] Display the drone's flight path in real time.

[0098] During flight, the control equipment can display the horizontal distance from the takeoff point to the starting waypoint. If the horizontal distance is greater than a threshold, it can prompt the user to choose a closer takeoff location.

[0099] After the drone takes off, the control equipment can also display the drone's flight path to the starting waypoint.

[0100] In one embodiment, the method may further include:

[0101] During the drone's flight along its flight path, real-time flight progress information and / or flight trajectory image capture progress information are displayed. The capture progress information may include one or more of the following:

[0102] The shooting progress information corresponding to the flight trajectory;

[0103] Shooting progress information corresponding to the shooting time;

[0104] Shooting progress information corresponding to shooting distance.

[0105] The shooting progress information can be displayed using progress bars of different colors. For example, routes that have been flown are displayed in the color selected by the user, while routes that have not been flown are displayed in other colors selected by the user.

[0106] The shooting time can be divided into the current flight time and the estimated total shooting time.

[0107] The shooting distance can be divided into the current flight distance and the estimated total flight distance.

[0108] During flight, the control equipment of the drone can support functions such as pausing, terminating, returning to the starting point, and returning home.

[0109] Figure 6 This is a flowchart illustrating a drone control method provided in an embodiment of the present invention. The method is specifically applied in drone light painting scenarios. The process involves the user capturing flight trajectory images using the native camera of their mobile phone. The process includes:

[0110] S601, Select a template pattern from the pattern template library.

[0111] S602 uses a hand-drawn route mode to create a two-dimensional route pattern.

[0112] Either S601 or S602 can be executed.

[0113] S603, 2D pattern to 3D conversion.

[0114] Users can generate light-mapped patterns by selecting preset patterns from the light-mapped pattern template library, hand-drawn patterns, or by inputting images and converting them into 2D line art, using their mobile phones or smart glasses. The generated patterns are then converted into flight paths for the drone. After the flight path is generated, it is converted into waypoints, which users can manually adjust.

[0115] S604, preview of the effect.

[0116] For example, you can preview the shooting effect of light-mapped images on your mobile phone.

[0117] S605, recommended parameters for ground shooting.

[0118] Based on the selected light map pattern, the system recommends parameters and previews the effects for ground-based imaging equipment. According to the pattern, it generates a flight path for the drone and determines the estimated shooting time and distance. Based on the total distance of the drawn light map pattern, it maps corresponding shooting parameters for a ground-based imaging device to a preset distance range.

[0119] S606, Select the starting waypoint.

[0120] Users can manually select the starting waypoint for the light plotting pattern and specify the horizontal distance between the shooting device and the starting waypoint for the placement of ground shooting equipment.

[0121] S607, should we take a quick test shot?

[0122] If yes, execute S608 to begin test shooting; otherwise, execute S609 to begin formal shooting.

[0123] S610, obtained a light painting artwork.

[0124] S611, Post-production editing of the work.

[0125] Figure 7 This is a flowchart illustrating another drone control method provided in an embodiment of the present invention. This method is specifically applied to drone light painting applications. The process involves the user taking photos using the dedicated shooting function within a companion mobile app. The process includes:

[0126] S701, Select a template pattern from the pattern template library.

[0127] S702 uses a hand-drawn route mode to create a two-dimensional route pattern.

[0128] Either S701 or S702 can be executed.

[0129] S703, 2D pattern to 3D conversion.

[0130] S704, preview shooting effect with mobile APP.

[0131] The app previews the effect based on the selected light pattern and automatically sets the parameters for the ground-based shooting equipment.

[0132] S705, adjust the pattern size / position.

[0133] S706, determine the starting light plot waypoint in the preview interface.

[0134] S707, start shooting and preview in real time.

[0135] Through the app, users can preview the light pattern effect before shooting and preview it in real time during the shooting process. This preview function helps users adjust the flight path and shooting parameters in a timely manner to ensure the quality of each image.

[0136] S708, obtained a light painting artwork.

[0137] S709, Post-production editing of the work.

[0138] Figure 7 The process shown is the same as Figure 6 The difference in the process shown is that, Figure 7 The example utilizes a companion app to create light map patterns. The app automatically sets the shooting parameters for the user and optimizes the shooting effect.

[0139] This application embodiment, through an integrated light painting pattern template library, rapid test flight, shooting parameter recommendation and preview functions, makes the light painting process more efficient, reduces the time spent on repeated test shots and adjustments, and improves shooting efficiency and image quality.

[0140] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0141] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0142] It should be noted that the technical solutions described in the embodiments of the present invention can be combined arbitrarily without conflict.

[0143] In addition, in the embodiments of the present invention, "first," "second," etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0144] To implement the method of the embodiments of this application, the embodiments of this application also provide a control device. Figure 8 This is a schematic diagram of the hardware composition structure of the control device according to an embodiment of this application, such as... Figure 8 As shown, the control device includes:

[0145] A communication interface enables information exchange with other devices, such as network devices.

[0146] The processor is connected to the communication interface to enable information interaction with other devices;

[0147] The memory stores a computer program, which, when executed by the processor, is configured to determine a target trajectory pattern of the UAV; determine the flight path of the UAV based on the target trajectory pattern; control the UAV to fly along the flight path; and, while the UAV is flying along the flight path, take pictures of the UAV's flight path to obtain a flight path image that matches the target trajectory pattern.

[0148] In one embodiment, the drone is equipped with a light source, and the target trajectory pattern includes a target light plotting pattern;

[0149] The processor is configured to:

[0150] During the flight of the UAV along the flight path, images are taken of the UAV's flight trajectory to obtain a flight trajectory image that matches the target light map pattern.

[0151] In one embodiment, the processor is configured to:

[0152] The target trajectory pattern of the UAV is determined based on the trajectory pattern selected by the user from a preset trajectory pattern library, wherein the preset trajectory pattern library includes at least one trajectory pattern of the UAV.

[0153] The target trajectory pattern of the drone is determined based on the trajectory pattern drawn by the user;

[0154] The image provided by the user is transformed to determine the target trajectory pattern of the drone.

[0155] In one embodiment, the processor is configured to: acquire orientation adjustment information input by a user, the orientation adjustment information being used to adjust the relative orientation of the target trajectory pattern in a reference coordinate system; and determine the flight path of the UAV based on the target trajectory pattern and the orientation adjustment information.

[0156] In one embodiment, the processor is configured to: determine at least one initial waypoint matching the target trajectory pattern; acquire waypoint adjustment information from the user for the initial waypoint; and adjust the initial waypoint according to the waypoint adjustment information to determine the flight path of the UAV, wherein the flight path includes at least one adjusted initial waypoint.

[0157] In one embodiment, the processor is configured to: determine flight distance information of the UAV based on the flight path; and determine shooting parameters of a shooting device based on the flight distance information, wherein the shooting device is used to capture the flight trajectory pattern of the UAV based on the shooting parameters.

[0158] In one embodiment, the processor is configured to: determine a recommended location for the camera based on the correspondence between the flight trajectory range of the UAV and the target trajectory pattern; and, by referring to the camera at the recommended location, capture images of the UAV's flight trajectory while the UAV is flying along the flight path.

[0159] In one embodiment, the processor is configured to: control the UAV to conduct a test flight based on the target trajectory pattern, and during the test flight of the UAV, take pictures of the flight trajectory of the UAV to obtain a test flight trajectory image of the UAV; and adjust the starting waypoint of the flight route and / or the shooting parameters of the shooting device based on the distribution of the flight trajectory in the test flight trajectory image, wherein the shooting device is used to take flight trajectory images based on the adjusted shooting parameters.

[0160] In one embodiment, the processor is configured to preview the shooting effect of the target trajectory pattern via a preview page.

[0161] In one embodiment, the processor is configured to: display in real time the flight progress information of the UAV and / or the shooting progress information of the flight trajectory image during the flight of the UAV along the flight route, wherein the shooting progress information includes one or more of the following:

[0162] The shooting progress information corresponding to the flight trajectory;

[0163] Shooting progress information corresponding to the shooting time;

[0164] Shooting progress information corresponding to shooting distance.

[0165] Of course, in practical applications, the various components in the control device are coupled together through a bus system. It can be understood that the bus system is used to achieve communication and connection between these components. In addition to the data bus, the bus system also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in... Figure 8 The general will label all buses as bus systems.

[0166] like Figure 9 As shown in the figure, this application embodiment also provides a control system for an unmanned aerial vehicle (UAV), including the UAV and a control device, wherein the control device is used to execute the above-described control method for the UAV, and the control device can control the UAV to fly according to the flight path.

[0167] The memory in this application embodiment is used to store various types of data to support the operation of the control device. Examples of such data include any computer program used to operate on the control device.

[0168] It is understood that memory can be volatile or non-volatile, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memory.

[0169] The methods disclosed in the embodiments of this application can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory. The processor reads the program from the memory and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0170] Optionally, when the processor executes the program, it implements the corresponding processes implemented by the control device in the various methods of the embodiments of this application. For the sake of brevity, these will not be described in detail here.

[0171] In an exemplary embodiment, this application also provides a computer program product, including a computer program that can be executed by a processor of a control device to perform the steps described in the method of this application embodiment.

[0172] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a first memory storing a computer program, which can be executed by a processor of a control device to complete the steps described in the aforementioned method. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0173] In the several embodiments provided in this application, it should be understood that the disclosed apparatus, control devices, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0174] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0175] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0176] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0177] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0178] It should be noted that the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0179] In addition, in this application example, terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0180] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for an unmanned aerial vehicle (UAV), characterized in that, The method includes: Determine the target trajectory pattern of the drone; The flight path of the UAV is determined based on the target trajectory pattern; The drone is controlled to fly along the flight path, and during the flight of the drone along the flight path, the flight trajectory of the drone is photographed to obtain a flight trajectory image that matches the target trajectory pattern.

2. The method according to claim 1, characterized in that, The drone is equipped with a light source, and the target trajectory pattern includes a target light plotting pattern; The step of taking pictures of the drone's flight path during its flight along the flight route to obtain a flight path image that matches the target trajectory pattern includes: During the flight of the UAV along the flight path, images are taken of the UAV's flight trajectory to obtain a flight trajectory image that matches the target light map pattern.

3. The method according to claim 1, characterized in that, The determination of the target trajectory pattern of the UAV includes one or more of the following: The target trajectory pattern of the UAV is determined based on the trajectory pattern selected by the user from a preset trajectory pattern library, wherein the preset trajectory pattern library includes at least one trajectory pattern of the UAV. The target trajectory pattern of the drone is determined based on the trajectory pattern drawn by the user; The image provided by the user is transformed to determine the target trajectory pattern of the drone.

4. The method according to claim 1, characterized in that, Determining the flight path of the UAV based on the target trajectory pattern includes: Obtain the orientation adjustment information input by the user, which is used to adjust the relative orientation of the target trajectory pattern in the reference coordinate system; The flight path of the UAV is determined based on the target trajectory pattern and orientation adjustment information.

5. The method according to claim 1, characterized in that, Determining the flight path of the UAV based on the target trajectory pattern includes: Determine at least one initial waypoint that matches the target trajectory pattern; Obtain waypoint adjustment information from the user regarding the initial waypoint; Based on the waypoint adjustment information, the initial waypoint is adjusted to determine the flight path of the UAV, wherein the flight path includes at least one adjusted initial waypoint.

6. The method according to claim 1, characterized in that, After determining the flight path of the UAV based on the target trajectory pattern, the method further includes: The flight distance information of the UAV is determined based on the flight route; The shooting parameters of the shooting device are determined based on the flight distance information, and the shooting device is used to capture the flight trajectory pattern of the UAV based on the shooting parameters.

7. The method according to claim 1, characterized in that, The step of taking pictures of the flight path of the drone while it is flying along the flight route includes: Based on the correspondence between the flight trajectory range of the UAV and the target trajectory pattern, the recommended location of the shooting device is determined; By referencing the recommended location and the filming equipment, the flight path of the drone is filmed during its flight along the flight route.

8. The method according to claim 1, characterized in that, Before controlling the drone to fly along the flight path, the method further includes: The drone is controlled to conduct a test flight based on the target trajectory pattern, and during the test flight, the flight trajectory of the drone is photographed to obtain the test flight trajectory image of the drone; Based on the distribution of flight trajectories in the test flight trajectory images, the starting waypoint of the flight route and / or the shooting parameters of the shooting equipment are adjusted. The shooting equipment is used to capture flight trajectory images based on the adjusted shooting parameters.

9. The method according to claim 1, characterized in that, Before controlling the drone to fly along the flight path, the method further includes: Preview the shooting effect of the target trajectory pattern on the preview page.

10. The method according to claim 1, characterized in that, The method further includes: During the flight of the UAV along the flight path, the flight progress information of the UAV and / or the shooting progress information of the flight trajectory images are displayed in real time, wherein the shooting progress information includes one or more of the following: The shooting progress information corresponding to the flight trajectory; Shooting progress information corresponding to the shooting time; Shooting progress information corresponding to shooting distance.

11. A control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for the unmanned aerial vehicle as described in claims 1 to 10.

12. A control system for an unmanned aerial vehicle (UAV), comprising the UAV and a control device, the control device being configured to execute the control method for the UAV as described in claims 1 to 10, to control the UAV.

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