Lens module control method and device, aircraft, flight system and medium

Abstract

This invention discloses a control method, device, aircraft, flight system, and storage medium for a lens module. The control method is applied to an aircraft equipped with a gimbal for mounting the lens module. The control method includes: acquiring the model data of the lens module when it is compatible with the aircraft; determining the lens model of the lens module based on the model data; and identifying the corresponding lens module based on the lens model to control the lens module. The control method provided by this invention acquires the model data of the lens module, thereby identifying the corresponding lens module compatible with the aircraft. This allows the control program for the corresponding lens module to be invoked to control the lens module, enabling the aircraft to automatically identify and drive the replaced lens module during disassembly and replacement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of driving control of lens modules, and in particular to a lens module control method and device, an aerial vehicle, a flight system and a medium. BACKGROUND

[0002] With the continuous development of unmanned aerial vehicles, the application fields of unmanned aerial vehicles are also becoming more and more extensive, and in most fields to which unmanned aerial vehicles are applied, it is relatively common to use unmanned aerial vehicles for shooting, also known as aerial photography.

[0003] In order to meet the shooting needs of different users, it is usually necessary to use unmanned aerial vehicles with different lens modules, resulting in an increase in user costs. Therefore, the lens module of the unmanned aerial vehicle needs to be disassembled and replaced to meet the shooting needs of different users, which has become the demand of many users. However, how to realize the driving control of the lens module by the unmanned aerial vehicle after the lens module is replaced has become a hot topic for researchers in the field. SUMMARY

[0004] The main purpose of the present application is to provide a lens module control method, device, aerial vehicle, flight system and medium.

[0005] To achieve the above purpose, the present application provides a lens module control method applied to an aerial vehicle, wherein the aerial vehicle is provided with a gimbal, and the gimbal is used to carry a lens module. The control method comprises the following steps:

[0006] When the lens module is adapted to the aerial vehicle, the model data of the lens module is acquired;

[0007] The lens model of the lens module is determined according to the model data;

[0008] The corresponding lens module is identified according to the lens model to control the lens module.

[0009] Preferably, the model data of the lens module is acquired, specifically including the following steps:

[0010] It is detected whether a communication interface in communication with the lens module is turned on;

[0011] When the communication interface is turned on, a model data request is sent to the lens module corresponding to the communication interface;

[0012] The model data sent by the lens module in response to the model data request is received.

[0013] Preferably, the method further comprises the following steps:

[0014] When the communication interface is not turned on, a prompt instruction is sent to a terminal device connected with the aerial vehicle in communication to make the terminal device generate corresponding prompt information.

[0015] Preferably, the prompt information at least includes one of voice prompt information, text prompt information or picture prompt information.

[0016] Preferably, the type data of the lens module is specifically obtained by:

[0017] receiving the type information sent by the lens module;

[0018] resolving the type information to obtain the type data of the lens module.

[0019] Preferably, the lens module corresponding to the lens type is identified according to the lens type to control the lens module, specifically including:

[0020] the lens module corresponding to the lens type is identified according to the lens type to call a driving control program corresponding to the lens module to control the lens module.

[0021] The application further provides a control device of a lens module, which is applied to an aerial vehicle, the aerial vehicle is provided with a holder, and the holder is used to carry a lens module.

[0022] a data acquisition module, which is used to acquire type data of the lens module when the lens module is adapted with the aerial vehicle;

[0023] a type confirmation module, which is used to determine a lens type of the lens module according to the type data;

[0024] a lens control module, which is used to identify the lens module corresponding to the lens type according to the lens type to control the lens module.

[0025] The application further provides an aerial vehicle, which comprises a fuselage, a machine arm connected with the fuselage, a power device arranged on the machine arm and a holder connected with the fuselage, wherein the holder is used to carry a lens module, and the aerial vehicle further comprises:

[0026] a memory and a processor;

[0027] The memory is used to store a computer executable control program.

[0028] The processor is used to call the computer executable control program to realize the control method.

[0029] The application further provides a flight system, which comprises a flight vehicle and a terminal device in communication connection with the flight vehicle, the flight vehicle comprises a fuselage, a wing connected with the fuselage, a power device arranged on the wing, and a holder connected with the fuselage, wherein the holder is used for carrying a lens module, and the flight vehicle further comprises:

[0030] a memory and a processor;

[0031] The memory is used for storing a computer-executable control program;

[0032] The processor is used for calling the computer-executable control program to realize the control method.

[0033] The application further provides a storage medium, which stores a computer-executable control program, and a processor can execute the control method when calling the control program.

[0034] Compared with the prior art, the control method of the lens module provided by the application is applied to a flight vehicle, the flight vehicle is provided with a holder, the holder is used for carrying a lens module, and the control method comprises the following steps: when the lens module is adapted to the flight vehicle, the model data of the lens module is acquired; the lens model of the lens module is determined according to the model data; and the corresponding lens module is identified according to the lens model to control the lens module.

[0035] That is, the control method provided by the application acquires the model data of the lens module, thereby identifying the corresponding lens module adapted to the flight vehicle according to the model data, so that the control program corresponding to the lens module can be called to realize the control of the lens module, and the flight vehicle can automatically identify the replaced lens module and perform driving control when the lens module is replaced. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The figure is a schematic structural diagram of a flight system provided by an embodiment of the application;

[0037] Figure 2 The figure is a schematic block diagram of a lens module carried by a holder of a flight vehicle in a flight system and in communication connection with the flight vehicle;

[0038] Figure 3 The figure is a schematic block diagram of a lens module in communication connection with a flight vehicle through multiple communication interfaces in an embodiment;

[0039] Figure 4 The figure is a step flowchart of a control method of a lens module provided by an embodiment of the application;

[0040] Figure 5 The figure is a step flowchart of a control method of a lens module provided by an embodiment of the application; Figure 4The step flow chart of step S1;

[0041] Figure 6 The structural block diagram of a lens module control device provided by the present application is shown in the figure;

[0042] Figure 7 The block diagram structural schematic diagram of an aircraft provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application is further described in detail below in combination with the figures and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0044] The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the above-mentioned figures are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0045] It should be noted that the description involving "first", "second" and the like in the present application is only for description purpose, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but must be based on the realization of those skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0046] The application provides a lens module control method and device, an aircraft, a flight system and a storage medium.

[0047] The control method provided by the application can obtain the model data of the lens module, identify the corresponding lens module matched with the aircraft according to the model data, and then call the control program corresponding to the lens module to control the lens module, so that the aircraft can automatically identify the replaced lens module and perform driving control when the lens module is replaced.

[0048] Please refer to Figures 1-3 , Figure 1 The application provides a flight system 100, which comprises an aircraft 10 and a terminal device 20 in communication connection with the aircraft 10.

[0049] The terminal device 20 can be a smart phone, a tablet computer, a computer, a remote controller and the like. A user can interact with the terminal device 20 through one or more input devices of any suitable type, which can be a mouse, a key, a touch screen and the like. The aircraft 10 and the terminal device 20 can be in communication connection through wireless communication modules, such as signal receivers and signal transmitters, arranged in the interiors of the aircraft 10 and the terminal device 20 respectively, to upload or issue data / instructions.

[0050] The aircraft 10 can be a rotary-wing aircraft, such as a four-rotor aircraft or a six-rotor aircraft, or a fixed-wing aircraft. The terminal device 20 is used to send control instructions to the aircraft 10 to control the aircraft 10. The terminal device 10 can be a remote controller or a smart phone.

[0051] The aircraft 10 comprises a fuselage 101, an arm 102 connected to the fuselage 101, a power device 103 arranged on the arm 102, a gimbal 104 connected to the fuselage 101 and a control system (not shown in the figure) arranged on the fuselage 101.

[0052] The gimbal 104 is used to carry a lens module 105. The lens module 105 can be a 1080P, 4K or 8K high-definition lens module or an infrared lens module.

[0053] The power unit 103 provides thrust and lift for the flight of the aircraft 10. The control system, the central nervous system of the aircraft 10, may include multiple functional modules, such as a flight control system, a tracking system, a path planning system, and other systems with specific functions. The flight control system includes various sensors, such as an IMU (Inertial Measurement Unit), gyroscopes, and accelerometers, and is used to control the flight attitude of the aircraft 10. The path planning system plans the flight path of the aircraft 10 based on the position of the target being tracked and instructs the flight control system to control the flight attitude of the aircraft 10 so that it flies along the specified path. The tracking system includes a vision chip mounted on the fuselage 101 and communicating with a lens module 105 mounted on the gimbal 104. The vision chip identifies the target to be tracked from the images or videos acquired by the lens module 105, generates corresponding tracking control commands, and controls the aircraft 10 to track the target.

[0054] In some embodiments, the lens module 105 can be positioned on the gimbal 104 at any suitable location for shooting.

[0055] In some embodiments, the lens module 105 can be directly mounted on the bottom of the body 101.

[0056] In some embodiments, the vision chip may also be disposed on the robotic arm 102.

[0057] In some embodiments, the vision chip can also control the corresponding lens module 105 to take pictures according to the shooting command of the user through the terminal device 20, and transmit the captured images or videos to the terminal device 20 for display on the display screen of the terminal device 20.

[0058] like Figure 2 As shown, the lens module 105 mounted on the gimbal 104 is connected to the aircraft 10 via a communication interface 1011 located on the fuselage 101. When the aircraft 10 receives a shooting command from the user via the control terminal device 20, it generates a corresponding control command for the lens module 105 based on the shooting command, thereby controlling the corresponding lens module 105 to take pictures or videos to obtain media data such as image or video data. The media data is transmitted to the image processing module 1012 located on the fuselage 101 via the communication interface 1011. The media data processed by the image processing module 1012 is used to generate two corresponding media data streams via the encoding module 1013 located on the fuselage 1011. One of the media data streams processed by the encoding module 1013 is output to the image storage module 1014 for local storage of the media data, and the other media data stream is output to the terminal device 20 via the image transmission module 1015 for display on the terminal device 20.

[0059] It can be understood that the gimbal 104 can carry one or more lens modules 105, each of which communicates with the aircraft 10 through a corresponding communication interface 1011 on the body 101, or the lens modules 105 share a communication interface 1011 to communicate with the aircraft 10.

[0060] When the aircraft 10 can be adapted to multiple lens modules 105, due to differences in manufacturers of lens modules 105 in actual production, the communication protocol of each communication interface 1011 and the corresponding lens module 105 is different, so different lens modules 105 need to communicate through different communication protocols, if the communication protocol is wrong, the aircraft 10 cannot drive and control the lens module 105, therefore, the aircraft 10 is also provided with a control device 1018 for acquiring model data of the lens module 105, to identify the corresponding lens module 105 according to the model data of the lens module 105, so as to call the corresponding communication protocol to control the corresponding lens module 105.

[0061] Figure 3 As shown, the lens module 105 includes an 8K lens module 105a, a dual optical lens module 105b, and a one-inch lens module 105c. The communication interface 1011 of the body 101 includes a first communication interface 1011a adapted to the 8K lens module 105a, a second communication interface 1011b adapted to the dual optical lens module 105b, and a third communication interface 1011c adapted to the one-inch lens module 105c.

[0062] The control device 1018 is in communication connection with the communication interface 1011, and can obtain the lens module 105 information adapted to the corresponding communication interface 1011 through the corresponding communication interface 1011, so as to realize the identification and control of the lens module 105.

[0063] Please refer to Figure 4 , Figure 4 A control method of a lens module is provided, the method is applied to an aircraft 10, and the method comprises the following steps:

[0064] Step S1: When the lens module is adapted to the aircraft, acquiring model data of the lens module.

[0065] When the aircraft 10 needs to replace the lens module 105, the user installs the corresponding lens module 105 to be replaced in the corresponding mounting position of the gimbal 104, the aircraft 10 receives a signal that the lens module 105 is adapted to the aircraft 10, and acquires model data of the lens module 105.

[0066] Please refer to Figure 5In some embodiments, the model data of the lens module is acquired, specifically including:

[0067] Step S11: detecting whether the communication interface in communication with the lens module is opened;

[0068] Step S12: when the communication interface is opened, sending a model data request to the lens module corresponding to the communication interface;

[0069] Step S13: receiving the model data sent by the lens module in response to the model data request.

[0070] The lens module 105 is a detachable lens module, and the lens module 105 includes lens modules of multiple models. Different lens modules 105 need to be adapted to the aerial vehicle 10 through different communication interfaces 1011. When the communication interface 1011 is adapted to the corresponding lens module 105, the corresponding communication interface 1011 is opened and can be connected to the outside for communication.

[0071] Exemplarily, the lens module 105 includes an 8K lens module 105a, a dual-optical lens module 105b, and a one-inch lens module 105c.

[0072] The communication interface 1011 includes a first communication interface 1011a adapted to the 8K lens module 105a, a second communication interface 1011b adapted to the dual-optical lens module 105b, and a third communication interface 1011c adapted to the one-inch lens module 105c.

[0073] If the 8K lens module 105a uses Mipi protocol to transmit images, the first communication interface 1011a is a Mipi interface; the dual-optical lens module 105b uses USB to transmit infrared thermal imaging images and uses Mipi to transmit visible light images, so the second communication interface 1011b is compatible with the Mipi interface and the USB interface; the one-inch lens module 105c uses SLVS-EC protocol to transmit images, so the third communication interface 1011c is a SLVS-EC interface. Therefore, the aerial vehicle 10 is compatible with and supports Mipi protocol, USB protocol, and SLVS-EC protocol.

[0074] The aerial vehicle 10 can know whether the corresponding external device is mounted on the corresponding communication interface 1011 by detecting whether the communication interface 1011 in communication with the lens module 105 is opened. When the communication interface is opened, a model data request is sent to the lens module 105 corresponding to the communication interface 1011, and the model data sent by the lens module 105 in response to the model data request is received, so that the corresponding lens module 105 is identified through the corresponding model data.

[0075] Taking the lens module 105 as a dual optical lens module 105b as an example for description:

[0076] The model data of the lens module can also be that the aircraft 10 first detects whether the dual optical lens module 105b exists, that is, whether the second communication interface 1011b can be opened, and if not, it is determined that the dual optical lens module 105b does not exist.

[0077] The second communication interface 1011b can be opened, which only indicates that there is an external device outside the second communication interface 1011b, and it cannot be completely confirmed that the dual optical lens module 105b is mounted on the gimbal 104. It is also necessary to obtain the model data of the dual optical lens module 105b, such as the serial number. If the model data acquisition fails or the obtained model data is incorrect, such as the serial number being empty, it is considered that the dual optical lens module 105b does not exist. If the model data matches the pre-stored model data, it indicates that the second communication interface 1011b is mounted with the dual optical lens module 105b.

[0078] Similarly, if the lens module 105 is an 8K lens module 105a, the model data of the lens module 105 can also be that the aircraft 10 first detects whether the 8K lens module 105a exists, that is, whether the first communication interface 1011a can be opened, and if not, it is determined that the 8K lens module 105a does not exist.

[0079] The first communication interface 1011a can be opened, which only indicates that there is an external device outside the first communication interface 1011a, and it cannot be completely confirmed that the 8K lens module 105a is mounted on the gimbal 104. It is also necessary to obtain the model data of the 8K lens module 105a, such as the serial number. If the model data acquisition fails or the obtained model data is incorrect, such as the serial number being empty, it is considered that the 8K lens module 105a does not exist. If the model data matches the pre-stored model data, it indicates that the first communication interface 1011a is mounted with the 8K lens module 105a.

[0080] Please refer to Figure 5 In some embodiments, the method further comprises:

[0081] Step S14: When the communication interface is not opened, sending a prompt instruction to a terminal device in communication connection with the aircraft to make the terminal device generate corresponding prompt information.

[0082] The prompt information at least includes one of voice prompt information, text prompt information, or picture prompt information.

[0083] For example, if the communication interface 1011 is not opened, it indicates that the gimbal 104 does not mount the corresponding lens module 105 or the lens module 105 does not work normally. At this time, the user needs to be prompted that the lens module 105 does not work normally.

[0084] The prompting manner can be that the aerial vehicle 10 generates corresponding prompting instructions and sends the instructions to the terminal device 20, so that the terminal device 20 generates corresponding prompting information, the prompting information at least including one of voice prompting information, text prompting information or picture prompting information, so as to prompt the user to make a response operation in time, such as replacing the lens module.

[0085] In some embodiments, the type data of the lens module is obtained, specifically including:

[0086] receiving type information sent by the lens module;

[0087] resolving the type information to obtain the type data of the lens module.

[0088] Exemplarily, when the lens module 105 is adapted with the aerial vehicle 10, the lens module 105 can actively send type information of the lens module 105 to the aerial vehicle 10, and the aerial vehicle 10 resolves the type information and searches for type data of the lens module corresponding to the signal information from a preset type database.

[0089] Step S2: determining a lens type of the lens module according to the type data.

[0090] The aerial vehicle 10 can obtain the lens type of the corresponding lens module according to the type data and the association between the type data and the lens type of the lens module, so that the aerial vehicle 10 can obtain the communication protocol or the driving control program of the corresponding lens module 105 according to the lens type, thereby achieving driving control of the lens module 105.

[0091] Step S3: identifying the corresponding lens module according to the lens type to control the lens module.

[0092] In some embodiments, the lens module is identified according to the lens type to control the lens module, specifically including:

[0093] The lens module is identified according to the lens type to call a driving control program corresponding to the lens module to control the lens module.

[0094] Please refer to Figure 6 The application also provides a lens module control device 30 applied to an aerial vehicle 10, the lens module control device 30 including:

[0095] A data acquisition module 301 is configured to acquire type data of the lens module when the lens module is adapted with the aerial vehicle;

[0096] A type confirmation module 302 is configured to determine a lens type of the lens module according to the type data.

[0097] a lens control module 303, configured to identify a corresponding lens module according to the lens type to control the lens module.

[0098] In some embodiments, the data acquisition module 301 is further configured to:

[0099] detect whether a communication interface for communicating with the lens module is turned on;

[0100] when the communication interface is turned on, send a type data request to the lens module corresponding to the communication interface;

[0101] In some embodiments, the data acquisition module 301 is further configured to:

[0102] when the communication interface is not turned on, send a prompt instruction to a terminal device connected in communication with the aerial vehicle to cause the terminal device to generate corresponding prompt information.

[0103] The prompt information includes at least one of voice prompt information, text prompt information, or picture prompt information.

[0104] In some embodiments, the data acquisition module 301 is further configured to:

[0105] receive type information sent by the lens module;

[0106] parse the type information to obtain type data of the lens module.

[0107] In some embodiments, the lens control module 303 is further configured to:

[0108] identify the corresponding lens module according to the lens type to call a driving control program corresponding to the lens module to control the lens module.

[0109] Please refer to Figure 7 In some embodiments, the aerial vehicle 10 further includes a processor 106 and a memory 107, the memory 107 being electrically connected to the processor 106.

[0110] The memory 107 includes at least one type of readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. The memory 107 can be an internal storage unit of the aerial vehicle 10, such as a hard disk of the aerial vehicle 10 in some embodiments. The memory 107 can also be an external storage device of the aerial vehicle 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the aerial vehicle 10 in other embodiments. The memory 107 can be used to store application software and various data installed on the aerial vehicle 10, such as a code of a computer-readable control method program, etc., and to temporarily store data that has been output or will be output.

[0111] The processor 106 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip in some embodiments. The processor 106 can invoke program codes or process data stored in the memory 107 to perform the following control method steps:

[0112] When the lens module is adapted to the aerial vehicle, model data of the lens module is acquired;

[0113] A lens model of the lens module is determined according to the model data;

[0114] The corresponding lens module is identified according to the lens model to control the lens module.

[0115] In some embodiments, the processor 106 is further configured to perform the following control method steps:

[0116] It is detected whether a communication interface in communication with the lens module is turned on;

[0117] When the communication interface is turned on, model data is sent to the lens module corresponding to the communication interface;

[0118] Model data sent by the lens module in response to the model data request is received.

[0119] In some embodiments, the processor 106 is further configured to perform the following control method steps:

[0120] When the communication interface is not turned on, a prompt instruction is sent to a terminal device in communication connection with the aerial vehicle to make the terminal device generate corresponding prompt information.

[0121] The prompt information at least includes one of voice prompt information, text prompt information or picture prompt information.

[0122] In some embodiments, the processor 106 is further configured to perform the following control method steps:

[0123] Receiving the model information sent by the lens module;

[0124] Resolving the model information to obtain the model data of the lens module.

[0125] In some embodiments, the processor 106 is further configured to perform the following control method steps:

[0126] According to the lens model, the corresponding lens module is identified to call the driving control program corresponding to the lens module to control the lens module.

[0127] The application also provides a storage medium, which stores a computer executable control program, and the processor can execute the foregoing control method when calling the control program.

[0128] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent flow transformation, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the application.

Claims

1. A control method of a lens module, applied to an aerial vehicle, the aerial vehicle being provided with a gimbal, the gimbal being used to carry a lens module, characterized in that, The control method comprises: When the lens module is adapted to the aerial vehicle, model data of the lens module is acquired; A lens model of the lens module is determined according to the model data; The corresponding lens module is identified according to the lens model to call a driving control program corresponding to the lens module to control the lens module; The lens module comprises a plurality of types of detachable lens modules; the lens module is adapted to the aerial vehicle through a communication interface; The model data of the lens module is acquired in particular as follows: When the communication interface is opened, a model data request is sent to the lens module corresponding to the communication interface; The model data sent by the lens module in response to the model data request is received; The method further comprises: It is detected whether the communication interface in communication with the lens module is opened; When the communication interface is not opened, a prompt instruction is sent to a terminal device in communication connection with the aerial vehicle to enable the terminal device to generate corresponding prompt information.

2. The control method according to claim 1, characterized by, The prompt information at least comprises one of voice prompt information, text prompt information or picture prompt information.

3. The control method according to claim 1 or 2, characterized by, The model data of the lens module is acquired in particular as follows: The model information sent by the lens module is received; The model data of the lens module is acquired by analyzing the model information.

4. A control device of a lens module, applied to an aircraft, the aircraft being provided with a holder, the holder being used to carry a lens module, characterized in that, The control device comprises: A data acquisition module is configured to acquire model data of the lens module when the lens module is adapted to the aerial vehicle; the lens module comprises a plurality of types of detachable lens modules; the lens module is adapted to the aerial vehicle through a communication interface; the data acquisition module is further configured to detect whether the communication interface in communication with the lens module is opened; when the communication interface is opened, a model data request is sent to the lens module corresponding to the communication interface; the model data sent by the lens module in response to the model data request is received; A model confirmation module is configured to determine a lens model of the lens module according to the model data; A lens control module is configured to identify the corresponding lens module according to the lens model to call a driving control program corresponding to the lens module to control the lens module.

5. An aircraft, comprising a fuselage, an arm connected to the fuselage, a power device arranged on the arm, and a gimbal connected to the fuselage, wherein, The gimbal is used to carry the lens module, and the aerial vehicle further comprises: A memory and a processor; The memory is configured to store a computer executable control program; The processor is configured to call the computer executable control program to implement the control method according to any one of claims 1-3.

6. A flight system comprising a flying vehicle and a terminal device in communication connection with the flying vehicle, the flying vehicle comprising a fuselage, an arm connected to the fuselage, a power device arranged on the arm, and a holder connected to the fuselage, wherein, The gimbal is used to carry the lens module, and the aerial vehicle further comprises: A memory and a processor; The memory is configured to store a computer executable control program; The processor is configured to call the computer executable control program to implement the control method according to any one of claims 1-3.

7. A storage medium, characterized by The storage medium stores a computer executable control program, and the processor can execute the control method according to any one of claims 1-3 when calling the control program.

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