A flight control method of a drone and the drone

Abstract

A flight control method of a UAV and the UAV, the method comprising: obtaining position information of a wearable device worn by a target object; and controlling the UAV to track the target object by combining the obtained position information of the wearable device and position information of the target object obtained through visual recognition, so as to compensate for instability of visual recognition by using the position information of the wearable device and improve accuracy of target tracking.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) communication, and in particular to a flight control method for a UAV and the UAV itself. Background Technology

[0002] The consumer drone market is currently booming, and most consumer drones are used for aerial photography. Visual tracking technology is often used in aerial photography to control the drone to automatically follow the target object. However, existing visual tracking technologies struggle to determine the target object's position and are difficult to identify after the target object passes through obstacles, easily causing the drone to lose track of the target.

[0003] In addition, existing technologies often use remote controllers to control drones, but when users go outdoors to participate in activities such as skiing, mountain climbing, and mountain biking, carrying a relatively bulky remote controller is inconvenient. Summary of the Invention

[0004] The main technical problem solved by this invention is to provide a flight control method and a drone, which can solve the problems of drones using visual tracking technology easily losing track of target objects and the inconvenience of carrying a remote controller in the prior art.

[0005] To solve the above-mentioned technical problems, the first technical solution adopted by the present invention is: to provide a flight control method for a drone, comprising: acquiring position information and motion information of a wearable device worn by a target object; determining whether the motion information of the wearable device matches a preset first motion template; if it matches the first motion template, adjusting at least one or a combination of the drone's flight position, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone according to the position information of the wearable device, so that the drone is within a predetermined distance range of the wearable device and the target object is within a predetermined shooting range of the imaging device.

[0006] The wearable device is a bracelet or watch worn on the arm of the target object, and the first action template corresponds to the waving action of the target object.

[0007] The step of adjusting at least one or a combination of the following based on the location information of the wearable device: the flight position of the drone, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone: adjusting the horizontal flight position of the drone based on the horizontal position information of the wearable device and the drone to adjust the horizontal relative distance between the drone and the wearable device to a first predetermined distance range; adjusting the flight altitude of the drone based on the altitude information of the wearable device and the drone to adjust the relative altitude between the drone and the wearable device to a second predetermined distance range; calculating the angle between the line connecting the drone and the wearable device and the horizontal or vertical direction based on the horizontal relative distance and relative altitude, and adjusting the shooting angle of the imaging device based on the angle so that the optical axis direction of the imaging device is adjusted to be within a predetermined angle range relative to the line connecting the drone and the wearable device; and adjusting the focal length of the imaging device based on the horizontal relative distance and relative altitude of the drone and the wearable device so that the proportion of the image size of the target object in the imaging device to the entire captured image is within a predetermined proportion range.

[0008] The method further includes: visually recognizing the target object from the image captured by the imaging device.

[0009] The step of visually recognizing a target object from the image captured by the imaging device includes: performing motion recognition on at least two candidate objects in the image captured to obtain motion information of at least two candidate objects respectively; matching the motion information of at least two candidate objects with the motion information of the wearable device or a first motion template; and taking the matched candidate object as the target object.

[0010] The method further includes: controlling the drone to track the target object by combining the location information of the wearable device obtained subsequently and the location information of the target object obtained by visual recognition.

[0011] The steps of controlling the drone to track the target object by combining the location information of the wearable device and the location information of the target object obtained by visual recognition include: adjusting the drone's flight position according to the location information of the wearable device, and adjusting the drone's shooting angle according to the location information of the target object obtained by visual recognition.

[0012] The step of controlling the drone to track the target object by combining the location information of the wearable device and the location information of the target object obtained by visual recognition further includes: determining whether the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is greater than a preset threshold; if it is greater than the preset threshold, then readjusting at least one or a combination of the drone's flight position, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone according to the location information of the wearable device, so that the drone is within the predetermined distance range of the wearable device and the target object is within the predetermined shooting range of the imaging device.

[0013] The step of readjusting at least one or a combination of the drone's flight position, the shooting angle of the drone's imaging device, and the image size of the target object in the drone's imaging device based on the location information of the wearable device further includes: re-visualizing the target object.

[0014] The method further includes: determining whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template; if it matches the second action template, then adjusting the orientation of the drone.

[0015] The wearable device is a bracelet or watch worn on the arm of the target object, and the second action template corresponds to the wrist rotation action of the target object.

[0016] Before the step of determining whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template, the method further includes: acquiring the posture information of the wearable device; determining whether the posture information of the wearable device meets the preset orientation adjustment trigger condition; if the orientation adjustment trigger condition is met, then the step of determining whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template is executed.

[0017] The step of determining whether the attitude information of the wearable device meets the preset orientation adjustment triggering conditions includes: based on the attitude information of the wearable device and the relative positional relationship between the drone and the wearable device, determining whether the direction of the limb of the target object wearing the wearable device is within a preset angle range relative to the line connecting the drone and the wearable device; if it is within the preset angle range, the orientation adjustment triggering conditions are met.

[0018] The steps for adjusting the drone's orientation include: adjusting the relative position of the drone and the wearable device based on the attitude information subsequently obtained from the wearable device.

[0019] The step of adjusting the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device obtained subsequently includes: adjusting the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device obtained subsequently, so that the pointing of the limb of the target object wearing the wearable device relative to the line connecting the drone and the wearable device always remains within a preset angle range.

[0020] The step of adjusting the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device obtained subsequently includes: recording the angle between the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device; using this angle as a compensation value to adjust the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device obtained subsequently, so that the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device coincide with each other after adjustment.

[0021] To solve the above-mentioned technical problems, the second technical solution adopted by the present invention is: to provide a flight control method for a drone, including: acquiring the position information of a wearable device worn by a target object; and controlling the drone to track the target object by combining the acquired position information of the wearable device and the position information of the target object obtained by visual recognition.

[0022] The steps of controlling the drone to track the target object by combining the location information obtained from the wearable device and the location information of the target object obtained from visual recognition include: adjusting the drone's flight position according to the location information of the wearable device, and adjusting the drone's shooting angle according to the location information of the target object obtained from visual recognition.

[0023] The method further includes: determining whether the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is greater than a first preset threshold; if it is greater than the first preset threshold, adjusting the flight position of the drone according to the location information of the wearable device so that the drone is within a predetermined distance range of the wearable device.

[0024] The step of adjusting the drone's flight position based on the location information of the wearable device further includes adjusting the shooting angle of the imaging device carried by the drone so that the target object is within the predetermined shooting range of the imaging device.

[0025] The method further includes: visually recognizing the target object from the image captured by the imaging device.

[0026] The method further includes: adjusting the orientation of the drone, including: adjusting the relative positional relationship between the drone and the wearable device using attitude information from the wearable device.

[0027] The method further includes: determining whether the duration during which the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is no greater than a first preset threshold is greater than a second preset threshold; if the duration is greater than the second preset threshold, then controlling the drone to track the target object by combining the subsequently obtained location information of the wearable device and the location information of the target object obtained by visual recognition; otherwise, readjusting the flight position of the drone according to the location information of the wearable device.

[0028] The process of adjusting the relative position of the drone and the wearable device based on the obtained attitude information of the wearable device includes: adjusting the relative position of the drone and the wearable device based on the obtained attitude information of the wearable device so that the direction of the limb of the target object wearing the wearable device relative to the line connecting the drone and the wearable device is always kept within a preset angle range.

[0029] The process of adjusting the relative position of the drone and the wearable device based on the attitude information of the wearable device obtained subsequently includes: recording the angle between the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device; using the angle as a compensation value to adjust the relative position of the drone and the wearable device based on the attitude information of the wearable device obtained subsequently, so that the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device coincide with each other after adjustment.

[0030] The method further includes: acquiring the position information and motion information of the wearable device worn by the target object; adjusting at least one or a combination of the flight position of the drone, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone based on the position information of the wearable device, so that the drone is within a predetermined distance range of the wearable device and the target object is within a predetermined shooting range of the imaging device.

[0031] The adjustment of at least one or a combination of the following steps, based on the location information of the wearable device, includes adjusting the flight position of the drone, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone: adjusting the horizontal flight position of the drone based on the horizontal position information of the wearable device and the drone, so as to adjust the horizontal relative distance between the drone and the wearable device to a first predetermined distance range; adjusting the flight altitude of the drone based on the altitude information of the wearable device and the drone, so as to adjust the relative altitude between the drone and the wearable device to a second predetermined distance range; calculating the angle between the line connecting the drone and the wearable device and the horizontal or vertical direction based on the horizontal relative distance and relative altitude, and adjusting the shooting angle of the imaging device based on the angle, so that the optical axis direction of the imaging device is adjusted to be within a predetermined angle range relative to the line connecting the drone and the wearable device; and adjusting the focal length of the imaging device based on the horizontal relative distance and relative altitude of the drone and the wearable device, so that the image size of the target object in the imaging device occupies a predetermined proportion of the entire captured image.

[0032] To solve the above-mentioned technical problems, the third technical solution adopted by the present invention is to provide an unmanned aerial vehicle (UAV) system, which includes: a memory for storing instructions and data required for processor operation; and a processor coupled to the memory and configured to execute the method of the second technical solution adopted by the present invention.

[0033] To solve the above-mentioned technical problems, the fourth technical solution adopted by the present invention is: to provide a drone, including: a wireless communication circuit for acquiring the position information and motion information of a wearable device worn by a target object; and a processor coupled to the wireless communication circuit for determining whether the motion information of the wearable device matches a preset first motion template, and when the motion information of the wearable device matches the first motion template, adjusting at least one or a combination of the drone's flight position, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone according to the position information of the wearable device, so that the drone is within a predetermined distance range of the wearable device and the target object is within a predetermined shooting range of the imaging device.

[0034] The wearable device is a bracelet or watch worn on the arm of the target object, and the first action template corresponds to the waving action of the target object.

[0035] Specifically, the processor adjusts at least one or a combination of the following based on the wearable device's position information: the drone's flight position, the shooting angle of the drone's onboard imaging device, and the image size of the target object within the drone's onboard imaging device: adjusting the drone's horizontal flight position based on the wearable device's horizontal position information and the drone's horizontal position information to adjust the relative horizontal distance between the drone and the wearable device to a first predetermined distance range; adjusting the drone's flight altitude based on the wearable device's altitude information and the drone's altitude information to adjust the relative altitude between the drone and the wearable device to a second predetermined distance range; calculating the angle between the line connecting the drone and the wearable device and the horizontal or vertical direction based on the relative horizontal distance and relative altitude, and adjusting the shooting angle of the imaging device based on this angle so that the optical axis direction of the imaging device is within a predetermined angle range relative to the line connecting the drone and the wearable device; and adjusting the focal length of the imaging device based on the relative horizontal distance and relative altitude of the drone and the wearable device so that the image size of the target object within the proportion of the entire captured image is within a predetermined proportion range.

[0036] The processor is further used to: visually identify target objects from the images captured by the imaging device.

[0037] Specifically, the processor performs visual recognition of the target object from the image captured by the imaging device by: performing motion recognition on at least two candidate objects in the image captured to obtain motion information of at least two candidate objects respectively; matching the motion information of at least two candidate objects with the motion information of the wearable device or a first motion template; and using the matched candidate object as the target object.

[0038] The processor is further used to control the drone to track the target object by combining the location information of the wearable device and the location information of the target object obtained by visual recognition.

[0039] Specifically, the processor combines the location information of the wearable device and the location information of the target object obtained through visual recognition to control the drone to track the target object. This includes adjusting the drone's flight position based on the location information of the wearable device and adjusting the drone's shooting angle based on the location information of the target object obtained through visual recognition.

[0040] The step of the processor controlling the drone to track the target object by combining the location information of the wearable device and the location information of the target object obtained by visual recognition further includes: determining whether the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is greater than a preset threshold; if it is greater than the preset threshold, then readjusting at least one or a combination of the drone's flight position, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone based on the location information of the wearable device.

[0041] The processor, after readjusting at least one or a combination of the drone's flight position, the shooting angle of the drone's onboard imaging device, and the image size of the target object in the drone's onboard imaging device based on the location information of the wearable device, is further used to: re-perform visual recognition of the target object.

[0042] The processor is further used to: determine whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template, and adjust the position of the drone when the obtained action information matches the second action template.

[0043] The wearable device is a bracelet or watch worn on the arm of the target object, and the second action template corresponds to the wrist rotation action of the target object.

[0044] Before the processor determines whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template, the wireless communication circuit is further used to acquire the posture information of the wearable device; the processor is further used to determine whether the posture information of the wearable device meets the preset orientation adjustment trigger condition, and when the orientation adjustment trigger condition is met, the step of determining whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template is executed.

[0045] Specifically, the processor determines whether the attitude information of the wearable device meets the preset orientation adjustment trigger condition by: based on the attitude information of the wearable device and the relative positional relationship between the drone and the wearable device, determining whether the direction of the limb of the target object wearing the wearable device is within a preset angle range relative to the line connecting the drone and the wearable device, and if it is within the preset angle range, determining that the attitude information of the wearable device meets the orientation adjustment trigger condition.

[0046] Specifically, the processor adjusts the drone's orientation by adjusting the relative position between the drone and the wearable device based on the attitude information obtained from the wearable device.

[0047] Specifically, the processor adjusts the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device obtained subsequently, so that the direction of the limb of the target object wearing the wearable device relative to the line connecting the drone and the wearable device is always kept within a preset angle range.

[0048] Specifically, the processor adjusts the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device obtained subsequently. This includes: recording the angle between the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device; using this angle as a compensation value to adjust the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device obtained subsequently, so that the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device coincide with each other after adjustment.

[0049] To solve the above-mentioned technical problems, the fourth technical solution adopted by the present invention is: to provide a drone, including: a wireless communication circuit for acquiring the position information of a wearable device worn by a target object; and a processor coupled to the wireless communication circuit for controlling the drone to track the target object by combining the acquired position information of the wearable device and the position information of the target object obtained by visual recognition.

[0050] Specifically, the processor combines the location information obtained from the wearable device and the location information of the target object obtained from visual recognition to control the drone to track the target object. This includes adjusting the drone's flight position based on the location information from the wearable device and adjusting the drone's shooting angle based on the location information of the target object obtained from visual recognition.

[0051] The processor is further configured to: determine whether the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is greater than a first preset threshold, and if it is greater than the first preset threshold, adjust the flight position of the drone according to the location information of the wearable device so that the drone is within a predetermined distance range of the wearable device.

[0052] The processor adjusts the drone's flight position based on the wearable device's location information, and then further adjusts the shooting angle of the imaging device mounted on the drone so that the target object is within the predetermined shooting range of the imaging device.

[0053] The processor is further used to: visually identify target objects from the images captured by the imaging device.

[0054] The processor is further configured to: determine whether the duration during which the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is no greater than a first preset threshold is greater than a second preset threshold; and when the duration is greater than the second preset threshold, control the drone to track the target object by combining the location information of the wearable device obtained subsequently and the location information of the target object obtained by visual recognition; and when the duration is no greater than the second preset threshold, readjust the drone's flight position according to the location information of the wearable device.

[0055] The beneficial effects of the present invention are as follows: Unlike the prior art, the embodiments of the present invention obtain the position information and motion information of the wearable device worn by the target object, determine whether the motion information of the wearable device matches the preset first motion template, and when matching, adjust at least one or a combination of the flight position of the drone and the shooting angle of the imaging device carried by the drone according to the position information of the wearable device, so that the drone is within a predetermined distance range of the wearable device and the target object is within a predetermined shooting range of the imaging device, so that the user can control the drone flight through a portable wearable device without having to carry a bulky controller, thus improving the convenience of drone control;

[0056] In addition, embodiments of the present invention control a drone to track a target object by combining the location information of the wearable device and the location information of the target object obtained by visual recognition. This allows the location information of the wearable device to compensate for the instability of visual recognition and improve the accuracy of target tracking. Attached Figure Description

[0057] Figure 1 This is a flowchart illustrating the first embodiment of the flight control method for the UAV of the present invention;

[0058] Figure 2 yes Figure 1 A schematic diagram showing the change in the relative position between the UAV and the target object before and after step S14 is executed;

[0059] Figure 3 This is a flowchart illustrating the second embodiment of the flight control method for the UAV of the present invention;

[0060] Figure 4 This is a flowchart illustrating the third embodiment of the flight control method for the UAV of the present invention;

[0061] Figure 5 This is a schematic diagram illustrating the change in the relative position between the UAV and the target object before and after step S3211 is executed;

[0062] Figure 6 This is a schematic diagram illustrating the change in the relative position between the UAV and the target object before and after step S3213 is executed;

[0063] Figure 7 This is a schematic diagram of step S301, which determines whether the conditions for triggering the drone's orientation adjustment are met.

[0064] Figure 8 A schematic diagram of one embodiment of the UAV of the present invention. Detailed Implementation

[0065] To enable those skilled in the art to better understand the technical solution of the present invention, the flight control method for the UAV and the UAV provided by the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0066] Please see Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the flight control method for the UAV of the present invention. Figure 1 As shown, the flight control method for the UAV of the present invention includes:

[0067] Step S10: Obtain the location and motion information of the wearable device worn by the target object;

[0068] The wearable device is a bracelet or watch worn on the arm of the target object; the location information is the GPS location data of the wearable device; the motion information is the attitude data of the wearable device, including at least one type of data such as acceleration, angular velocity, or motion trajectory, which is detected by sensors such as the inertial measurement unit or magnetometer of the wearable device. Of course, in other embodiments, the wearable device can also be other types of devices such as a ring worn on the finger of the target object, and no specific limitation is made here.

[0069] Specifically, the wearable device worn by the target object is pre-attached to the drone and can communicate with the drone through wireless communication links, such as 4G networks, Wi-Fi, Bluetooth, etc.

[0070] Step S12: Determine whether the motion information of the wearable device matches the preset first motion template;

[0071] The first action template is pre-set attitude data and is pre-associated with one or more control commands of the UAV.

[0072] Specifically, in one application example, the first action template corresponds to the target object's waving gesture. That is, the first action template is the motion information generated by the wearable device worn by the target object when it waves. When the target object's motion information obtained by the drone, such as acceleration, is the same as the acceleration data of the first action template, or the deviation between the two is less than a certain range, the obtained motion information is determined to match the first action template; otherwise, it does not match. Of course, in other application examples, the first action template can correspond to other actions such as raising a hand, and the matching judgment process can also use other methods such as variance analysis; no specific limitations are made here.

[0073] Step S14: If it matches the first action template, then adjust at least one or a combination of the drone's flight position, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone according to the position information of the wearable device, so that the drone is within the predetermined distance range of the wearable device and the target object is within the predetermined shooting range of the imaging device.

[0074] Further, step S14 includes:

[0075] Step S141: Adjust the horizontal flight position of the drone according to the horizontal position information of the wearable device and the drone, so as to adjust the horizontal relative distance between the drone and the wearable device to a first predetermined distance range;

[0076] The first predetermined distance range is a pre-set first distance threshold range, which can be set according to specific needs and is not specifically limited here; the horizontal position information of the wearable device can be obtained through the GPS position data uploaded by the wearable device, and the horizontal position information of the drone can be obtained through the drone's GPS positioning device.

[0077] Specifically, such as Figure 2 As shown, in the above application example, when the drone 10 determines that the acquired motion information matches the first motion template, it calculates the horizontal relative distance between the drone 10 and the wearable device 20 based on the horizontal position information of the wearable device 20 and the drone 10, that is, based on the GPS position data of the wearable device 20 and the GPS position data of the drone 10, and then adjusts the horizontal flight position of the drone 10, for example from... Figure 2 The drone 10 flies from position A to position B, causing the horizontal relative distance between the drone 10 and the wearable device 20 to gradually decrease / increase to a first predetermined distance range (e.g., within 1-2 meters). Figure 2 The value of X1 is reduced to X2.

[0078] Step S142: Adjust the flight altitude of the drone according to the altitude information of the wearable device and the drone, so as to adjust the relative altitude between the drone and the wearable device to within the second predetermined distance range;

[0079] The second predetermined distance range is a pre-set second distance threshold range, which can be set according to specific needs, and is not specifically limited here.

[0080] For more details, please refer to [link / reference]. Figure 2 In one application example, the altitude information of the wearable device 20 can be assumed to be at the same altitude as the ground, while the altitude information of the drone 10 can be obtained through devices such as ultrasonic sensors or barometers of the drone 10. Based on the altitude information of the wearable device 20 and the drone 10, the altitude difference between the two devices can be calculated, thereby adjusting the flight altitude of the drone 10, for example, from... Figure 2 The drone 10 flies from position A to position B to gradually decrease / increase the relative altitude between the drone 10 and the wearable device 20 within a second predetermined distance range (e.g., within 3-4 meters). Figure 2 The altitude information is reduced from H1 to H2. Of course, in other application examples, the altitude information of the wearable device 20 can also be set to other default altitude values, or obtained through other sensors. The altitude information of the drone 10 can also be measured through a binocular vision system. No specific limitation is made here.

[0081] Step S143: Calculate the angle between the line connecting the drone and the wearable device and the horizontal or vertical direction based on the horizontal relative distance and relative height between the drone and the wearable device, and adjust the shooting angle of the imaging device according to the angle so that the optical axis direction of the imaging device is adjusted to be within a predetermined angle range relative to the line connecting the drone and the wearable device.

[0082] The predetermined angle range is a pre-set angle threshold range, which can be set according to specific needs, and is not specifically limited here.

[0083] Specifically, such as Figure 2 As shown, based on the horizontal relative distance X2 and relative height H2 between the drone 10 and the wearable device 20, the connection between the drone 10 and the wearable device 20 is calculated (e.g., ...). Figure 2 The angle θ1 or θ2 between the CD connection line and the horizontal or vertical direction is used to adjust the shooting angle of the imaging device 101 so that the optical axis direction of the imaging device 101 (e.g., the CD connection line) is adjusted to the horizontal or vertical direction. Figure 2 The DE connection direction is adjusted so that it is within a predetermined angle range (e.g., 0-10 degrees) relative to the connection between the drone 10 and the wearable device 20 (i.e., the CD connection). Figure 2 The angle α in the equation is no greater than 10 degrees.

[0084] Step S144: Adjust the focal length of the imaging device according to the horizontal relative distance and relative height between the drone and the wearable device, so that the size of the target object in the imaging device occupies a predetermined proportion of the entire captured image.

[0085] The predetermined scale range is a preset scale range for imaging the target object, which can be set according to specific needs and is not specifically limited here.

[0086] Specifically, in the above application examples, such as Figure 2 As shown, when the drone 10 is located at position B, after the above steps, the target object 30 is already within the shooting range of the imaging device 101 carried by the drone 10. At this time, based on the principle of optical imaging, the distance between the drone 10 and the wearable device 20 can be calculated according to the horizontal relative distance X2 and the relative height H2 between the drone 10 and the wearable device 20. The focal length of the imaging device 101 can be adjusted according to this distance to gradually enlarge / reduce the shooting range, so that the image size of the target object 30 occupies a proportion of the entire shooting screen within a predetermined proportion range, such as 25%-35%.

[0087] In this embodiment, steps S141-S144 can be performed in combination of one or more of them. For example, when it is determined that the acquired action information matches the first action template, the relative height between the drone and the wearable device is already within the second preset distance range. At this time, only steps S142 and S143 need to be performed.

[0088] Of course, in other embodiments, the flight position of the drone can be adjusted according to the size of the target object in the imaging device, so that the size of the target object in the imaging device carried by the drone occupies a proportion of the entire captured image within a predetermined range, while the horizontal relative distance and relative height between the drone and the wearable device gradually increase / decrease to a predetermined range. No specific limitations are made here.

[0089] In the above embodiments, by acquiring the position information and motion information of the wearable device worn by the target object, it is determined whether the motion information of the wearable device matches the preset first motion template. When matching, at least one or a combination of the following is adjusted according to the position information of the wearable device: the flight position of the drone, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone. This ensures that the drone is within a predetermined distance range of the wearable device and the target object is within a predetermined shooting range of the imaging device. As a result, the user can control the drone flight with a portable wearable device without having to carry a bulky controller, thus improving the convenience of drone control.

[0090] Please see Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the flight control method for the UAV of the present invention. Figure 3 As shown, the flight control method for the UAV of the present invention includes:

[0091] Step S21: Combine the location information obtained from the wearable device with the location information of the target object obtained from visual recognition to control the drone to track the target object.

[0092] Furthermore, step S21 specifically includes:

[0093] Step S211: Adjust the drone's flight position based on the location information of the wearable device, and adjust the drone's shooting angle based on the location information of the target object obtained by visual recognition.

[0094] Specifically, the wearable device is pre-attached to the drone. During the drone's flight, the drone's flight position is adjusted based on the location information uploaded by the wearable device, so that the drone is within a predetermined distance range of the wearable device. For example, the straight-line distance between the drone and the wearable device is within a predetermined distance range (e.g., within 4-5 meters). The drone's shooting angle is adjusted based on the position information of the target object obtained by visual recognition, so that the target object is within the predetermined shooting range of the imaging device. The predetermined distance range and the predetermined shooting range can be set according to actual needs and are not specifically limited here.

[0095] Furthermore, prior to step S21, the following steps are included:

[0096] Step S20: Visually identify the target object from the image captured by the imaging device.

[0097] The drone can trigger the visual recognition function through a predetermined action information, or it can trigger the visual recognition function automatically; no specific limitation is made here.

[0098] In one application example, step S20 includes:

[0099] Step S201: Perform motion recognition on at least two candidate objects in the captured image to obtain motion information of at least two candidate objects respectively;

[0100] Specifically, the drone can first perform contour recognition on the captured image, selecting at least two candidate objects that closely resemble the human body contour for motion recognition. Then, a visual recognition algorithm is used to obtain motion information for these two candidate objects, such as motion trajectory and acceleration. Of course, in other applications, at least two objects in the image can be randomly selected as candidate objects, or other selection methods can be used; no specific limitations are made here.

[0101] Step S202: Match the motion information of at least two candidate objects with the motion information of the wearable device or the first motion template;

[0102] Step S203: Select the matching candidate object as the target object.

[0103] The first action template is pre-set posture data, including at least one type of data such as the acceleration, angular velocity, and motion trajectory of the corresponding action.

[0104] Specifically, the motion information of at least two candidate objects is matched with the motion information uploaded by the wearable device or the first motion template. For example, it is determined whether the motion trajectory of the candidate object is the same as the motion trajectory uploaded by the wearable device, or whether the difference between the two is within an allowable range, where the allowable range is preset. Finally, the matching candidate object is taken as the target object.

[0105] Of course, in other implementations, when selecting candidate objects, only one candidate object may be selected for action matching, or one of the objects in the captured image may be randomly selected as the target object. No specific limitation is made here.

[0106] Further, step S21 includes:

[0107] Step S212: Determine whether the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is greater than a first preset threshold;

[0108] The first preset threshold is the maximum permissible error of visual ranging. If the error exceeds the first preset threshold, it indicates that the visual ranging is unreliable. The specific value can be set according to specific needs, and no specific limitation is made here.

[0109] Specifically, the drone can use visual ranging algorithms, such as binocular visual ranging, to obtain the distance 'a' between the target object and the drone. At the same time, the drone can also use the location information of the wearable device and the drone's location information to calculate the distance 'b' between the drone and the wearable device. Thus, the difference between 'a' and 'b' can be calculated, and then it can be determined whether the difference is greater than a preset threshold, such as 0.5 meters.

[0110] Step S213: If the value is greater than the first preset threshold, then adjust at least one or a combination of the drone's flight position, the shooting angle of the imaging device carried by the drone, and the image size of the target object in the imaging device carried by the drone according to the location information of the wearable device, so that the drone is within the predetermined distance range of the wearable device and the target object is within the predetermined shooting range of the imaging device.

[0111] Specifically, step S213 includes:

[0112] Step S2131: If the value is greater than the first preset threshold, the flight position of the drone is adjusted according to the location information of the wearable device so that the drone is within the predetermined distance range of the wearable device.

[0113] The specific execution process of this step can be referred to steps S141 and / or S142 above, and will not be repeated here. Through the above steps, when the drone loses track of the target object or the visual tracking fails, the drone's flight can be controlled based on the location information of the wearable device, so that the drone returns to the preset range of the wearable device, thereby preventing the drone from losing track of the target.

[0114] Step S2132: Adjust the shooting angle of the imaging device on the drone so that the target object is within the predetermined shooting range of the imaging device.

[0115] Step S2133: Adjust the focal length of the imaging device according to the horizontal relative distance and relative height between the drone and the wearable device, so that the size of the target object in the imaging device occupies a predetermined proportion of the entire captured image.

[0116] The specific execution process of this step can be referred to step S143 above, and will not be repeated here. In other embodiments, steps S2131, S2132 and S2133 may only be executed or any combination of two of them, and no specific limitation is made here.

[0117] Step S214: Re-perform visual recognition of the target object.

[0118] Specifically, the drone can use visual detection algorithms, such as feature extraction and identification, to identify target objects, or it can randomly select an object from the captured image as the target object. The specific process can be referred to step S20 above, and will not be repeated here.

[0119] Step S215: Determine whether the duration during which the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is no greater than a first preset threshold is greater than a second preset threshold;

[0120] The second preset threshold is a pre-set stability time threshold for visual ranging. Exceeding the second preset threshold indicates that the visual ranging is stable and reliable. Its specific value can be set according to specific needs, and no specific limitation is made here.

[0121] Step S216: If the duration is greater than the second preset threshold, then control the drone to track the target object by combining the location information of the wearable device obtained subsequently and the location information of the target object obtained by visual recognition; otherwise, readjust the drone's flight position according to the location information of the wearable device.

[0122] Specifically, the drone continuously determines whether the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is not greater than a first preset threshold, and records the duration for which the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is not greater than the first preset threshold. If the duration is greater than a second preset threshold (e.g., 1 minute), it indicates that the visual ranging is stable and reliable, that is, the visual tracking of the drone is stable and reliable. At this time, the drone can be controlled to track the target object by combining the location information of the wearable device obtained subsequently and the location information of the target object obtained by visual recognition. Otherwise, it indicates that the visual tracking of the drone is unstable, and the flight position of the drone is readjusted according to the location information of the wearable device.

[0123] In the above embodiments, the drone is controlled to track the target object by combining the location information of the wearable device and the location information of the target object obtained by visual recognition. In this way, the location information of the wearable device is used to make up for the instability of visual recognition and improve the accuracy of target tracking.

[0124] This embodiment can be combined with the first embodiment of the flight control method for the UAV of the present invention. The execution of the steps in this embodiment can be after step S10 or step S14.

[0125] Please see Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of the flight control method for the UAV of the present invention. Figure 4 As shown, the flight control method for the UAV of the present invention includes:

[0126] Step S31: Determine whether the acquired motion information of the wearable device or the motion information obtained by motion recognition of the target object matches the preset second motion template;

[0127] In this embodiment, the wearable device is a bracelet or watch worn on the target object's arm, and the second motion template corresponds to the target object's wrist rotation motion. The motion information is the wearable device's attitude data, including at least one data point such as acceleration, angular velocity, or motion trajectory. This motion information is obtained through sensors such as the wearable device's inertial measurement unit or magnetometer. Of course, in other embodiments, the wearable device can also be other types of devices such as a ring worn on the target object's finger, and the second motion template can also correspond to other actions such as raising the target object's hand; no specific limitation is made here.

[0128] Step S32: If it matches the second action template, adjust the orientation of the drone.

[0129] Specifically, the wearable device worn by the target object is pre-bound to the drone and uploads motion information to the drone via a wireless communication link. The drone determines whether the motion information obtained from the wearable device or the motion information obtained from the target object's motion recognition matches a preset second motion template. For example, it determines whether the motion trajectory of the wearable device or the motion trajectory of the target object obtained from visual recognition is the same as the motion trajectory of the preset second motion template, or whether the difference between the two is within an acceptable range, which is preset. If the motion trajectories are the same or the difference is within the acceptable range, it is determined that the motion information obtained from the wearable device or the motion information obtained from the target object's motion recognition matches the preset second motion template, and the drone's orientation can be adjusted. At the same time, the shooting angle of the imaging device on the drone can be adjusted synchronously so that the target object is always within the shooting range.

[0130] Furthermore, step S32 specifically includes:

[0131] Step S321: Adjust the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device obtained subsequently.

[0132] The attitude information is data such as the azimuth angle or Euler angle of the wearable device, obtained by detecting the magnetometer and / or inertial measurement unit of the wearable device.

[0133] Specifically, step S321 includes:

[0134] Step S3211: Adjust the relative position of the drone and the wearable device according to the attitude information of the wearable device obtained later, so that the pointing of the limb of the target object wearing the wearable device is always kept within the preset angle range relative to the line connecting the drone and the wearable device.

[0135] like Figure 5 As shown, in one application example, the drone 10 can determine the orientation of the limb 301 (e.g., arm) of the target object 30 wearing the wearable device 20 based on the subsequently obtained attitude information of the wearable device 20, such as Euler angles. Figure 5 The direction of line AB in the diagram; when the pointing direction of the limb 301 of the target object 30, which is wearing the wearable device 20, moves, such as... Figure 5The drone 10 moves from the direction of line AB to the direction of line DE, and the flight position of the drone 10 is adjusted synchronously. For example, based on the Euler angles of the wearable device 20 obtained later, the deflection angle δ of the wearable device 20 is obtained, and this deflection angle δ is used as the flight angle of the drone 10. On the horizontal plane where the drone 10 is located, and when the distance between the drone 10 and the target object 30 remains unchanged, the flight position of the drone 10 is adjusted synchronously, that is, from position M to position N, so that the angle difference β between the line AC / DF connecting the drone 10 and the wearable device 20 and the direction of the arm AB / DE is always kept within a preset angle range (e.g., within ±15 degrees). The direction of the line AC / DF connecting the drone 10 and the wearable device 20 can be calculated from the position information of the drone 10 and the wearable device 20. This preset angle range can be set according to actual needs and is not specifically limited here.

[0136] Alternatively, step S321 specifically includes:

[0137] Step S3212: Record the angle between the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device;

[0138] Specifically, such as Figure 6 As shown, in one application example, the drone 10 can determine the orientation of the limb 301 (e.g., arm) of the target object 30 wearing the wearable device 20 based on the subsequently obtained attitude information of the wearable device 20, such as Euler angles. Figure 6 The direction of the AB line in the diagram; the direction of the line connecting the drone 10 and the wearable device 20 can be calculated using the position information of the drone 10 and the wearable device 20, i.e. Figure 6 The direction of the AC line in the diagram can be used to obtain the angle β between the direction of the arm 301 (AB line direction) and the line connecting the drone 10 and the wearable device 20 (AC line direction).

[0139] Step S3213: Using the included angle as a compensation value, adjust the relative positional relationship between the drone and the wearable device according to the attitude information of the wearable device obtained subsequently, so that the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device coincide with each other.

[0140] Specifically, in the above application example, when the pointing direction of the limb 301 of the target object 30, which is wearing the wearable device 20, moves, such as Figure 5The drone 10 moves from the direction of line AB to the direction of line DE, using the included angle β as a compensation value, and synchronously adjusts its flight position. For example, based on the Euler angles of the wearable device 20 obtained later, the deflection angle δ of the wearable device 20 is obtained, and the deflection angle δ plus the compensation value β is used as the flight angle of the drone 10. On the horizontal plane where the drone 10 is located, and while the distance between the drone 10 and the target object 30 remains constant, the flight position of the drone 10 is synchronously adjusted, so that the limb 301 of the target object 30 wearing the wearable device 20 points in the same direction (e.g., ...). Figure 6 (e.g., the direction of the DE connection in the diagram) and the connection between the drone 10 and the wearable device 20 ... Figure 6 The directions of the DF lines in the diagram coincide with each other.

[0141] Furthermore, prior to step S31, the following steps are included:

[0142] Step S300: Obtain the posture information of the wearable device;

[0143] Step S301: Determine whether the posture information of the wearable device meets the preset orientation adjustment trigger condition;

[0144] Step S302: If the orientation adjustment trigger condition is met, then proceed to step S31.

[0145] Step S301 includes:

[0146] Step S3011: Based on the attitude information of the wearable device and the relative positional relationship between the drone and the wearable device, determine whether the direction of the limb of the target object wearing the wearable device is within a preset angle range relative to the line connecting the drone and the wearable device.

[0147] Step S3012: If it is within the preset angle range, the orientation adjustment trigger condition is met.

[0148] The preset angle range is the maximum angle deviation range set in advance. Its specific value can be set according to actual needs, and no specific limit is made here.

[0149] Specifically, such as Figure 7 As shown, in one application example, the drone 10 can determine the orientation of the limb 301 (e.g., arm) of the target object 30 wearing the wearable device 20 based on the attitude information obtained from the wearable device 20, such as Euler angles. Figure 7 The direction of the AB line can be calculated based on the position information of the drone 10 and the wearable device 20, such as... Figure 7The system determines whether the angle β between the direction of the AC line (i.e., the direction of the AB line) of the arm 301 and the direction of the line connecting the drone 10 and the wearable device 20 (i.e., the direction of the AC line) is within a preset angle range (e.g., within ±20 degrees). If it is within the preset angle range, it indicates that the arm 301 is pointing towards the drone 10, thus satisfying the orientation adjustment trigger condition, and step S31 can continue to be executed, so that the drone 10 adjusts its flight position synchronously with the movement of the arm 301; otherwise, orientation adjustment is not triggered, i.e., step S31 is not executed. During the orientation adjustment process, if the angle β between the direction of the arm 301 (i.e., the direction of the AB line) and the direction of the line connecting the drone 10 and the wearable device 20 (i.e., the direction of the AC line) exceeds the preset angle range, the orientation adjustment is determined to be over.

[0150] In the above embodiments, by determining whether the action information obtained from the wearable device or the action information obtained from the action recognition of the target object matches the preset second action template, and when they match, the drone's orientation is adjusted, thereby adjusting the relative position of the drone and the target object. At the same time, the shooting angle of the imaging device on the drone can also be adjusted simultaneously, so that the target object is always within the shooting range. Thus, the drone's flight control can be achieved through a portable wearable device, without the need to carry a bulky controller, improving the drone's control convenience.

[0151] This embodiment can be combined with the first and / or second embodiments of the flight control method for the UAV of the present invention, and the execution of the steps in this embodiment can be after step S14 or step S21.

[0152] Please see Figure 8 , Figure 8 This is a structural schematic diagram of one embodiment of the UAV of the present invention. (See diagram below.) Figure 8 As shown, the UAV 80 of the present invention includes:

[0153] The wireless communication circuit 801 is used to acquire the location information and motion information of the wearable device worn by the target object;

[0154] The processor 802, coupled to the wireless communication circuit 801, is used to determine whether the action information of the wearable device matches the preset first action template, and when the action information of the wearable device matches the first action template, adjusts at least one or a combination of the flight position of the drone 80, the shooting angle of the imaging device carried by the drone 80, and the imaging size of the target object in the imaging device carried by the drone 80 according to the position information of the wearable device, so that the drone 80 is within a predetermined distance range of the wearable device and the target object is within a predetermined shooting range of the imaging device.

[0155] In this embodiment, the wearable device is a bracelet or watch worn on the arm of the target object, and the first action template corresponds to the target object's waving gesture. Of course, in other embodiments, the wearable device can also be other types of devices such as a ring worn on the finger of the target object, and the first action template can also correspond to other actions such as shaking the arm up and down; no specific limitation is made here.

[0156] Furthermore, the drone 80 also includes:

[0157] The memory 803 is coupled to the processor 802 and is used to store instructions and data required for the processor 802 to run, such as the first action template.

[0158] Positioner 804, coupled to processor 802, is used to acquire the position information of UAV 80;

[0159] The specific process by which the processor 802 determines whether the action information of the wearable device matches the preset first action template, and adjusts at least one or a combination of the flight position of the drone 80, the shooting angle of the imaging device carried by the drone 80, and the image size of the target object in the imaging device carried by the drone 80 based on the position information of the wearable device, can be referred to the corresponding steps of the first embodiment of the drone flight control method of the present invention, and will not be repeated here.

[0160] Furthermore, the processor 802 is used to: visually identify the target object from the image captured by the imaging device; and control the drone 80 to track the target object by combining the subsequently obtained position information of the wearable device and the position information of the target object obtained by visual identification; the specific process can be referred to the corresponding steps of the second embodiment of the drone flight control method of the present invention, and will not be repeated here.

[0161] Furthermore, the processor 802 is also used to: determine whether the action information of the wearable device acquired subsequently or the action information obtained by action recognition of the target object matches the preset second action template, and when the acquired action information matches the second action template, adjust the orientation of the drone 80.

[0162] The second action template corresponds to the wrist rotation motion of the target object. Of course, in other embodiments, the second action template may also correspond to other actions such as raising the hand, and this is not specifically limited here.

[0163] Before determining whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template, the processor 802 further determines whether the posture information of the wearable device meets the preset orientation adjustment trigger condition. When the orientation adjustment trigger condition is met, the processor 802 executes the step of determining whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template.

[0164] The processor 802 determines whether the attitude information of the wearable device meets the preset orientation adjustment trigger condition, determines whether the action information of the wearable device or the action information obtained by action recognition of the target object matches the preset second action template, and the specific process of adjusting the orientation of the UAV 80 can be referred to the corresponding steps of the third embodiment of the UAV flight control method of the present invention, which will not be repeated here.

[0165] Of course, in other implementations, the drone may also include other components such as ultrasonic sensors and magnetometers, which are not specifically limited here.

[0166] In the above embodiments, the UAV acquires the position and motion information of the wearable device worn by the target object, determines whether the motion information of the wearable device matches a preset first motion template, and adjusts at least one or a combination of the UAV's flight position, the shooting angle of the imaging device on the UAV, and the image size of the target object in the imaging device on the UAV based on the position information of the wearable device, so that the UAV is within a predetermined distance range of the wearable device and the target object is within a predetermined shooting range of the imaging device. Thus, the user can control the UAV's flight with a portable wearable device without having to carry a bulky controller, improving the convenience of UAV control. In addition, by combining the obtained position information of the wearable device and the position information of the target object obtained by visual recognition, the UAV is controlled to track the target object, thereby using the position information of the wearable device to compensate for the instability of visual recognition and improving the accuracy of target tracking.

[0167] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A flight control method for an unmanned aerial vehicle (UAV), characterized in that, include: Obtain the location information of the wearable device worn by the target object; The drone is controlled to track the target object by combining the location information obtained from the wearable device and the location information of the target object obtained from visual recognition. Among them, it is determined whether the difference between the location information of the wearable device and the location information of the target object obtained by visual recognition is greater than a first preset threshold. If the value is greater than the first preset threshold, the flight position of the drone is adjusted according to the location information of the wearable device so that the drone is within a predetermined distance range of the wearable device.

2. The method according to claim 1, characterized in that, The method of controlling the drone to track the target object by combining the obtained location information of the wearable device and the location information of the target object obtained by visual recognition includes: The drone's flight position is adjusted based on the location information of the wearable device, and the drone's shooting angle is adjusted based on the location information of the target object obtained through visual recognition.

3. The method according to claim 1, characterized in that, The method further includes: The shooting angle of the imaging device mounted on the drone is adjusted so that the target object is within the predetermined shooting range of the imaging device.

4. The method according to claim 1, characterized in that, The method further includes: Visual recognition of the target object is performed from the image captured by the imaging device.

5. The method according to claim 1, characterized in that, The method further includes: adjusting the orientation of the drone, including: adjusting the relative positional relationship between the drone and the wearable device according to the attitude information of the wearable device.

6. The method according to claim 5, characterized in that, The step of adjusting the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device includes: The relative position of the drone and the wearable device is adjusted according to the posture information of the wearable device, so that the angle between the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device is always kept within a preset angle range.

7. The method according to claim 5, characterized in that, The step of adjusting the relative positional relationship between the drone and the wearable device based on the attitude information of the wearable device includes: Record the angle between the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device; Using the included angle as a compensation value, the relative positional relationship between the drone and the wearable device is adjusted according to the posture information of the wearable device, so that the pointing of the limb of the target object wearing the wearable device and the line connecting the drone and the wearable device coincide with each other.

8. The method according to claim 1, characterized in that, The method further includes: Obtain the location and motion information of the wearable device worn by the target object; Based on the location information of the wearable device, at least one or a combination of the flight position of the drone, the shooting angle of the imaging device on the drone, and the image size of the target object in the imaging device on the drone are adjusted so that the drone is within a predetermined distance range of the wearable device and the target object is within a predetermined shooting range of the imaging device.

9. The method according to claim 8, characterized in that, Adjustments are made to at least one or a combination of the following based on the location information from the wearable device: the drone's flight position, the shooting angle of the drone's onboard imaging device, and the image size of the target object in the drone's onboard imaging device. This includes one or more of the following specific execution steps: Adjust the drone's horizontal flight position based on the horizontal position information of the wearable device and the drone's horizontal position information, so as to adjust the horizontal relative distance between the drone and the wearable device to within a first predetermined distance range; The drone's flight altitude is adjusted based on the altitude information of the wearable device and the drone itself, so that the relative altitude between the drone and the wearable device is adjusted to within a second predetermined distance range. Calculate the angle between the line connecting the drone and the wearable device and the horizontal or vertical direction based on the horizontal relative distance and relative height between the drone and the wearable device, and adjust the shooting angle of the imaging device according to the angle so that the optical axis direction of the imaging device is adjusted to be within a predetermined angle range relative to the line connecting the drone and the wearable device. The focal length of the imaging device is adjusted according to the horizontal relative distance and relative height between the drone and the wearable device, so that the size of the target object in the imaging device occupies a predetermined proportion of the entire captured image.

10. An unmanned aerial vehicle (UAV) system, characterized in that, The unmanned aerial vehicle system includes: Memory is used to store the instructions and data required for the processor to run. The processor, coupled to the memory, is configured to perform the method according to any one of claims 1-9.

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