A method, device and readable storage medium for adjusting the frame rate of drone photography

Abstract

The present invention provides a method, device and readable storage medium for adjusting the shooting frame rate of a drone, the method comprising: calculating the length and width of the drone when shooting before the drone takes off; obtaining the flight status information of the drone after the drone takes off; calculating the interval time of the camera system shooting pictures when the drone is currently moving straight or turning according to the length and width of the drone when shooting and the flight status information; calculating the corresponding shooting frame rate according to the interval time; sending the shooting frame rate to the camera system so that the camera system adjusts the corresponding shooting frame rate. The method, device and readable storage medium can solve the problem that existing drones need to occupy a large amount of storage space and computing resources when shooting high-definition photos or videos.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for adjusting the shooting frame rate of an unmanned aerial vehicle, and a readable storage medium. Background Art

[0002] UAV (Unmanned Aerial Vehicle) is an unmanned aerial vehicle that can be widely used in national ecological and environmental protection, aerial photography, surveying and mapping, mineral resource exploration, disaster monitoring, traffic patrol, power line inspection, public security monitoring, emergency disaster reduction, emergency command, artificial rainfall, national defense security, land and resources exploration, urban planning, earthquake investigation, environmental monitoring, forest fire prevention, crop yield estimation, wildlife monitoring in protected areas, drug control reconnaissance, fire reconnaissance, ecological and environmental protection, marine environment monitoring, land use survey, water resource development, crop growth monitoring and yield estimation, agricultural operations, natural disaster monitoring and evaluation, urban planning and municipal management, forest pest protection and monitoring, digital cities and other fields. UAVs are used for aerial photography in most industries, both video and photos.

[0003] However, existing drones take up a lot of storage space when taking high-definition photos or videos, and they are also sampled during processing. In this case, a lot of storage resources and computing resources will be occupied. Summary of the invention

[0004] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the prior art and to provide a method, device and readable storage medium for adjusting the frame rate of drone shooting, so as to solve the problem that existing drones need to occupy a large amount of storage space and computing resources when shooting high-definition photos or videos.

[0005] In a first aspect, the present invention provides a method for adjusting a frame rate of a drone shooting, comprising:

[0006] Before the drone takes off, calculate the length and width of the drone footage;

[0007] After the drone takes off, obtain the flight status information of the drone;

[0008] Calculate the interval time of taking pictures by the camera system when the drone is currently moving straight or turning according to the length and width of the drone when taking pictures and the flight status information;

[0009] Calculate the corresponding shooting frame rate according to the interval time;

[0010] The shooting frame rate is sent to a camera system so that the camera system adjusts the corresponding shooting frame rate.

[0011] Furthermore, before the drone takes off, calculating the length and width of the drone during shooting specifically includes:

[0012] Before the drone takes off, obtain the length and width of the camera system;

[0013] The length and width of the drone during shooting are calculated according to the length shooting angle and the width shooting angle of the camera system.

[0014] Furthermore, the calculating of the length and width of the drone when photographing according to the length shooting angle and the width shooting angle of the camera system specifically includes:

[0015] Calculate the length when shooting with a drone according to the following formula:

[0016] 2l=2*h*tanα

[0017] Among them, 2l is the length of the drone when shooting, h is the preset height of the drone after stable flight, and α is half of the shooting angle of the camera system length;

[0018] Calculate the width when shooting with a drone according to the following formula:

[0019] 2s=2*h*tanθ

[0020] Among them, 2s is the width of the drone when shooting, and θ is half of the shooting angle of view of the camera system.

[0021] Furthermore, the flight status information includes flight speed, angular velocity and turning radius, and the interval time of taking pictures by the camera system when the drone is currently moving straight or turning is calculated according to the length and width of the drone when taking pictures and the flight status information, specifically including:

[0022] Determining whether the drone is currently moving straight or turning according to the turning radius;

[0023] If it is determined that the drone is currently moving straight, the interval time for the camera system to take pictures when the drone is currently moving straight is calculated based on the length and flight speed of the drone when taking pictures;

[0024] If it is determined that the drone is currently turning, the interval time for the camera system to take pictures when the drone is currently turning is calculated based on the length, width, turning radius and angular velocity of the drone when shooting.

[0025] Furthermore, the interval time for the camera system to take pictures when the drone is currently moving straight is calculated according to the length and flight speed of the drone when taking pictures, and is specifically calculated according to the following formula:

[0026] t=2l / v

[0027] Among them, t is the interval time, 2l is the length of the drone shooting, and v is the flight speed.

[0028] Furthermore, the interval time for the camera system to take pictures when the drone is currently turning is calculated according to the length, width, turning radius and angular velocity of the drone when shooting, and is specifically calculated according to the following formula:

[0029] t=2*arctan(l / (r+s)) / ω

[0030] Among them, t is the interval time, l is half of the length when the drone takes the photo, r is the turning radius, s is half of the width when the drone takes the photo, and ω is the angular velocity.

[0031] Furthermore, the corresponding shooting frame rate is calculated according to the interval time, and is specifically calculated according to the following formula:

[0032] f=a*1 / t

[0033] Among them, f is the shooting frame rate, a is the preset coefficient, 1 is half of the length of the drone shooting, and t is the interval time.

[0034] Furthermore, the preset coefficient a has a value range of 1.1 to 1.3.

[0035] In a second aspect, the present invention provides a device for adjusting the shooting frame rate of a drone, comprising:

[0036] The first calculation module is used to calculate the length and width of the drone when shooting before the drone takes off;

[0037] An information acquisition module, connected to the first computing module, for acquiring flight status information of the drone after the drone takes off;

[0038] A second calculation module, connected to the information acquisition module, is used to calculate the interval time of the camera system taking pictures when the drone is currently moving straight or turning according to the length and width of the drone when taking pictures and the flight status information;

[0039] A third calculation module, connected to the second calculation module, used to calculate the corresponding shooting frame rate according to the interval time;

[0040] The frame rate adjustment module is connected to the third calculation module and is used to send the shooting frame rate to the camera system so that the camera system adjusts the corresponding shooting frame rate.

[0041] In a third aspect, the present invention provides a device for adjusting the frame rate of drone photography, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the method for adjusting the frame rate of drone photography described in the first aspect.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for adjusting the shooting frame rate of a drone as described in the first aspect above is implemented.

[0043] The method, device and readable storage medium for adjusting the shooting frame rate of a drone provided by the present invention calculate the length and width of the drone when shooting before the drone takes off; obtain the flight status information of the drone after the drone takes off; then calculate the interval time of the camera system shooting pictures when the drone is currently moving straight or turning according to the length and width of the drone when shooting and the flight status information, and then calculate the corresponding shooting frame rate according to the interval time, and at the same time, send the shooting frame rate to the camera system so that the camera system adjusts the corresponding shooting frame rate. The present invention can ensure high-quality and full-coverage shooting results while achieving small capacity and fast calculation through the adjusted shooting frame rate, solving the problem that existing drones need to occupy a large amount of storage space and computing resources when shooting high-definition photos or videos. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a flow chart of a method for adjusting the shooting frame rate of a drone according to Embodiment 1 of the present invention;

[0045] Figure 2 This is a schematic diagram of a drone turning according to an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the structure of a device for adjusting the shooting frame rate of a drone according to Embodiment 2 of the present invention;

[0047] Figure 4 This is a structural schematic diagram of a device for adjusting the shooting frame rate of an unmanned aerial vehicle according to Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solution of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0049] It should be understood that the specific embodiments and drawings described herein are only used to explain the present invention rather than to limit the present invention.

[0050] It can be understood that, in the absence of conflict, the various embodiments of the present invention and the various features in the embodiments can be combined with each other.

[0051] It can be understood that, for the convenience of description, the drawings of the present invention only show the parts related to the present invention, while the parts irrelevant to the present invention are not shown in the drawings.

[0052] It can be understood that each unit and module involved in the embodiments of the present invention may correspond to only one physical structure, or may be composed of multiple physical structures, or multiple units and modules may be integrated into one physical structure.

[0053] It can be understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of the present invention may occur in an order different from that marked in the drawings.

[0054] It is understood that the flowcharts and block diagrams of the present invention illustrate the possible architectures, functions, and operations of the systems, devices, equipment, and methods according to the various embodiments of the present invention. Each box in the flowchart or block diagram may represent a unit, module, program segment, or code, which contains executable instructions for implementing the specified functions. Moreover, each box or combination of boxes in the block diagram and flowchart may be implemented by a hardware-based system that implements the specified functions, or may be implemented by a combination of hardware and computer instructions.

[0055] It can be understood that the units and modules involved in the embodiments of the present invention can be implemented by software or hardware. For example, the units and modules can be located in a processor.

[0056] Embodiment 1:

[0057] This embodiment provides a method for adjusting the frame rate of drone shooting, such as Figure 1 As shown, the method includes:

[0058] Step S101: Before the drone takes off, the length and width of the drone when shooting are calculated.

[0059] In this embodiment, before the drone takes off, the computing system can calculate the length and width of the drone when shooting, wherein the computing system is bidirectionally connected to the drone, and the drone is then unidirectionally or bidirectionally connected to the camera system to at least ensure that the drone can transmit the shooting frame rate unidirectionally to the camera system.

[0060] Optionally, before the drone takes off, calculating the length and width of the drone during shooting specifically includes:

[0061] Before the drone takes off, obtain the length and width of the camera system;

[0062] The length and width of the drone during shooting are calculated according to the length shooting angle and the width shooting angle of the camera system.

[0063] In this embodiment, since 1 / 2 of the angle of the drone camera in the xz plane when sweeping determines the length that can be covered perpendicular to the shooting direction of the camera system during shooting, the shooting angle of the camera system length is 2α, and since 1 / 2 of the angle of the drone camera in the yz plane when sweeping determines the length that can be covered parallel to the shooting direction of the camera system during shooting, the shooting angle of the camera system width is 2θ, then:

[0064] The length when the drone was filming was:

[0065] 2l=2*h*tanα

[0066] Among them, 2l is the length of the drone when taking pictures, l represents 1 / 2 of the length of the ground part covered by each photo, h is the preset height of the drone after stable flight, usually 200-500m, and α is 1 / 2 of the shooting angle of the camera system length;

[0067] The width when the drone was shooting was:

[0068] 2s=2*h*tanθ

[0069] Among them, 2s is the width of the drone when taking pictures, s represents 1 / 2 of the width of the ground part covered by each photo, h is the preset height of the drone after stable flight, usually 200-500m, and θ is 1 / 2 of the shooting angle of the camera system width.

[0070] Step S102: After the UAV takes off, the flight status information of the UAV is obtained.

[0071] In this embodiment, after the drone takes off, the posture information is transmitted to the computing system and the flight status is determined, where the flight status information includes the flight speed v (unit: m / s), the flight angular velocity ω (unit: ° / s), and the turning radius r.

[0072] Step S103: Calculate the interval time for the camera system to take pictures when the drone is currently moving straight or turning according to the length and width of the drone during shooting and the flight status information.

[0073] Optionally, the calculating, according to the length and width of the drone when shooting, and the flight status information, the interval time for the camera system to take pictures when the drone is currently moving straight or turning specifically includes:

[0074] Determining whether the drone is currently moving straight or turning according to the turning radius;

[0075] If it is determined that the drone is currently moving straight, the interval time for the camera system to take pictures when the drone is currently moving straight is calculated based on the length and flight speed of the drone when taking pictures;

[0076] If it is determined that the drone is currently turning, the interval time for the camera system to take pictures when the drone is currently turning is calculated based on the length, width, turning radius and angular velocity of the drone when shooting.

[0077] In this embodiment, if the turning radius r=0, it is determined that the drone is currently moving straight, and if the turning radius r≠0, it is determined that the drone is currently turning.

[0078] Optionally, the interval time for the camera system to take pictures when the drone is currently moving straight is calculated according to the length and flight speed of the drone when taking pictures, and is specifically calculated according to the following formula:

[0079] t=2l / v

[0080] Among them, t is the interval time, 2l is the length of the drone shooting, and v is the flight speed.

[0081] Optionally, the interval time for the camera system to take pictures when the drone is currently turning is calculated according to the length, width, turning radius and angular velocity of the drone when shooting, and is specifically calculated according to the following formula:

[0082] t=2*arctan(l / (r+s)) / ω

[0083] Among them, t is the interval time, l is half of the length when the drone takes the photo, r is the turning radius, s is half of the width when the drone takes the photo, and ω is the angular velocity.

[0084] Specifically, when turning, Figure 2 As shown in the figure, when the drone moves from point K to point L, the areas swept are rectangles EFIH and E'F'I'H'. Among them, OK=OL=r, HE=FI=H'E'=F'I'=l, HI=CG=EF=E'F'=C'G'=H'I'=2s, K and L are the midpoints of CG and E'F' respectively, then the drone can take pictures at points K and L to cover the farthest arc BC without loss, at this time, the two pictures are symmetrical about the OD axis, intersecting at D and OB=OC=OD=r+s.

[0085] Draw a perpendicular line EF through O that intersects it at A. It is easy to obtain that OAEC is a rectangle, and A, F, D, and E are collinear.

[0086] Given that OC = OD = r + s:

[0087] OA=CE=l, OC is parallel to AE, then ∠COD=∠ODA=arctan(l / (r+s))

[0088] The angle swept at this moment is 2∠COD=2*arctan(l / (r+s))

[0089] Time t=2*arctan(l / (r+s)) / ω

[0090] Step S104: Calculate the corresponding shooting frame rate according to the interval time.

[0091] In this embodiment, considering the disturbance margin of the camera system, every two images may not be perfectly connected. When calculating the shooting frame rate, a corresponding coefficient a is added. Specifically, the corresponding shooting frame rate can be calculated according to the following formula:

[0092] f=a*1 / t

[0093] Among them, f is the shooting frame rate, a is the preset coefficient, the value range is 1.1~1.3, 1 is half of the length of the drone shooting, and t is the interval time.

[0094] In a specific embodiment, the method for adjusting the shooting frame rate of the drone may include the following steps:

[0095] (1): Before the drone takes off: obtain the following parameters: the shooting angle of view of the length of the camera system is 2α, and the shooting angle of view of the width is 2θ. Then the length of the drone when shooting is 2l=2*h*tanα, and the width is 2s=2*h*tanθ (where h represents the height of the drone after stable flight).

[0096] (2) After the UAV takes off: The UAV transmits its position information to the computing system and determines the flight status. The flight status information includes the flight speed v (in m / s), the flight angular velocity ω (in ° / s), and the turning radius r:

[0097] (a) Go straight (judge r = 0)

[0098] At this time, a picture is taken every t seconds, where t = 2l / v

[0099] (b) Turn (judgment r≠0)

[0100] At this time, a picture is taken every t seconds, where t = 2*arctan(l / (r+s)) / ω

[0101] (3) Based on t and taking into account the disturbance margin of the camera system, the shooting frame rate f=a*1 / t, where a can be 1.1 to 1.3.

[0102] The method for adjusting the shooting frame rate of a drone provided in an embodiment of the present invention calculates the length and width of the drone when shooting before the drone takes off; obtains the flight status information of the drone after the drone takes off; then calculates the interval time of the camera system shooting pictures when the drone is currently moving straight or turning according to the length and width of the drone when shooting, and the flight status information, and then calculates the corresponding shooting frame rate according to the interval time, and at the same time, sends the shooting frame rate to the camera system so that the camera system adjusts the corresponding shooting frame rate. The present invention can ensure high-quality and full-coverage shooting results while achieving small capacity and fast calculation through the adjusted shooting frame rate, solving the problem that existing drones need to occupy a large amount of storage space and computing resources when shooting high-definition photos or videos.

[0103] Embodiment 2:

[0104] like Figure 3 As shown, this embodiment provides a device for adjusting the shooting frame rate of a drone, which is used to execute the above-mentioned method for adjusting the shooting frame rate of a drone, including:

[0105] The first calculation module 11 is used to calculate the length and width of the drone when shooting before the drone takes off;

[0106] An information acquisition module 12, connected to the first calculation module 11, is used to obtain the flight status information of the drone after the drone takes off;

[0107] A second calculation module 13, connected to the information acquisition module 12, is used to calculate the interval time of the camera system taking pictures when the drone is currently moving straight or turning according to the length and width of the drone when taking pictures and the flight status information;

[0108] A third calculation module 14, connected to the second calculation module 13, for calculating a corresponding shooting frame rate according to the interval time;

[0109] The frame rate adjustment module 15 is connected to the third calculation module 14 and is used to send the shooting frame rate to the camera system so that the camera system adjusts the corresponding shooting frame rate.

[0110] Optionally, the first calculation module 11 specifically includes:

[0111] A first acquisition unit is used to acquire the length and width of the camera system before the drone takes off;

[0112] A first calculation unit is used to calculate the length and width of the drone when shooting according to the length shooting angle and the width shooting angle of the camera system;

[0113] Optionally, the first computing unit specifically includes:

[0114] The length calculation unit is used to calculate the length of the drone shot according to the following formula:

[0115] 2l=2*h*tanα

[0116] Among them, 2l is the length of the drone when shooting, h is the preset height of the drone after stable flight, and α is half of the shooting angle of the camera system length;

[0117] The width calculation unit is used to calculate the width of the drone when shooting according to the following formula:

[0118] 2s=2*h*tanθ

[0119] Among them, 2s is the width of the drone when shooting, and θ is half of the shooting angle of view of the camera system.

[0120] Optionally, the flight status information includes flight speed, angular velocity and turning radius, and the second calculation module 13 specifically includes:

[0121] A judging unit, configured to judge whether the drone is currently moving straight or turning according to the turning radius;

[0122] A straight-moving calculation unit, for calculating the interval time for the camera system to take pictures when the drone is currently moving straight, based on the length and flight speed of the drone when taking pictures, if it is determined that the drone is currently moving straight;

[0123] The turning calculation unit is used to calculate the interval time for the camera system to take pictures when the drone is currently turning according to the length, width, turning radius and angular velocity of the drone when shooting if it is determined that the drone is currently turning.

[0124] Optionally, the straight-moving calculation unit calculates the interval time for the camera system to take pictures when the drone is currently moving straight according to the following formula:

[0125] t=2l / v

[0126] Among them, t is the interval time, 2l is the length of the drone shooting, and v is the flight speed.

[0127] Optionally, the turning calculation unit calculates the interval time of taking pictures by the camera system when the drone is currently turning according to the following formula:

[0128] t=2*arctan(l / (r+s)) / ω

[0129] Among them, t is the interval time, l is half of the length when the drone takes the photo, r is the turning radius, s is half of the width when the drone takes the photo, and ω is the angular velocity.

[0130] Optionally, the third calculation module 14 calculates the corresponding shooting frame rate according to the following formula:

[0131] f=a*1 / t

[0132] Among them, f is the shooting frame rate, a is the preset coefficient, 1 is half of the length of the drone shooting, and t is the interval time.

[0133] Optionally, the preset coefficient a ranges from 1.1 to 1.3.

[0134] Embodiment 3:

[0135] refer to Figure 4 This embodiment provides a device for adjusting the frame rate of drone shooting, including a memory 21 and a processor 22. The memory 21 stores a computer program, and the processor 22 is configured to run the computer program to execute the method for adjusting the frame rate of drone shooting in Example 1.

[0136] The memory 21 is connected to the processor 22. The memory 21 may be a flash memory, a read-only memory or other memory. The processor 22 may be a central processing unit or a single-chip microcomputer.

[0137] Embodiment 4:

[0138] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for adjusting the shooting frame rate of the drone in the above-mentioned embodiment 1 is implemented.

[0139] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable read only memory), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0140] The apparatus for adjusting the shooting frame rate of the drone and the readable storage medium provided in Examples 2 to 4 calculate the length and width of the drone when shooting before the drone takes off; obtain the flight status information of the drone after the drone takes off; then calculate the interval time of the camera system taking pictures when the drone is currently going straight or turning according to the length and width of the drone when shooting and the flight status information, and then calculate the corresponding shooting frame rate according to the interval time, and at the same time, send the shooting frame rate to the camera system so that the camera system adjusts the corresponding shooting frame rate. The present invention can ensure high-quality and full-coverage shooting results while achieving small capacity and fast calculation through the adjusted shooting frame rate, solving the problem that existing drones need to occupy a large amount of storage space and computing resources when shooting high-definition photos or videos.

[0141] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for adjusting the frame rate of drone photography, characterized in that: include: Before the drone takes off, calculate the length and width of the drone footage; After the drone takes off, obtain the flight status information of the drone; Calculate the interval time of taking pictures by the camera system when the drone is currently moving straight or turning according to the length and width of the drone when taking pictures and the flight status information; Calculate the corresponding shooting frame rate according to the interval time; Sending the shooting frame rate to a camera system so that the camera system adjusts the corresponding shooting frame rate; The flight status information includes flight speed, angular velocity and turning radius. The calculation of the interval time of the camera system taking pictures when the drone is currently moving straight or turning according to the length and width of the drone when taking pictures and the flight status information specifically includes: Determining whether the drone is currently moving straight or turning according to the turning radius; If it is determined that the drone is currently moving straight, the interval time for the camera system to take pictures when the drone is currently moving straight is calculated based on the length and flight speed of the drone when taking pictures; If it is determined that the drone is currently turning, the interval time for the camera system to take pictures when the drone is currently turning is calculated based on the length, width, turning radius and angular velocity of the drone when shooting; The interval time for the camera system to take pictures when the drone is currently moving straight is calculated based on the length and flight speed of the drone when taking pictures, and is specifically calculated according to the following formula: t=2l / v Among them, t is the interval time, 2l is the length of the drone shooting, and v is the flight speed; The interval time for the camera system to take pictures when the drone is currently turning is calculated according to the length, width, turning radius and angular velocity of the drone when shooting, and is specifically calculated according to the following formula: t=2*arctan(l / (r+s)) / ω Among them, t is the interval time, l is half of the length when the drone takes the photo, r is the turning radius, s is half of the width when the drone takes the photo, and ω is the angular velocity.

2. The method according to claim 1, characterized in that Before the drone takes off, the length and width of the drone when shooting are calculated, specifically including: Before the drone takes off, obtain the length and width of the camera system; The length and width of the drone during shooting are calculated according to the length shooting angle and the width shooting angle of the camera system.

3. The method according to claim 2, characterized in that The calculating the length and width of the drone when shooting according to the length shooting angle and the width shooting angle of the camera system specifically includes: Calculate the length when shooting with a drone according to the following formula: 2l=2*h*tanα Among them, 2l is the length of the drone when shooting, h is the preset height of the drone after stable flight, and α is half of the shooting angle of the camera system length; Calculate the width when shooting with a drone according to the following formula: 2s=2*h*tanθ Among them, 2s is the width of the drone when shooting, and θ is half of the shooting angle of view of the camera system.

4. The method according to claim 1, characterized in that: The corresponding shooting frame rate is calculated according to the interval time, and is specifically calculated according to the following formula: f=a*1 / t Among them, f is the shooting frame rate, a is the preset coefficient, 1 is half of the length of the drone shooting, and t is the interval time.

5. The method according to claim 4, characterized in that The preset coefficient a has a value range of 1.1 to 1.

3.

6. A device for adjusting the frame rate of drone photography, characterized in that: include: The first calculation module is used to calculate the length and width of the drone when shooting before the drone takes off; An information acquisition module, connected to the first computing module, for acquiring flight status information of the drone after the drone takes off; A second calculation module, connected to the information acquisition module, is used to calculate the interval time of the camera system taking pictures when the drone is currently moving straight or turning according to the length and width of the drone when taking pictures and the flight status information; A third calculation module, connected to the second calculation module, used to calculate the corresponding shooting frame rate according to the interval time; a frame rate adjustment module, connected to the third calculation module, and configured to send the shooting frame rate to the camera system so that the camera system adjusts the corresponding shooting frame rate; The flight status information includes flight speed, angular velocity and turning radius, and the second calculation module specifically includes: A judging unit, configured to judge whether the drone is currently moving straight or turning according to the turning radius; A straight-moving calculation unit, for calculating the interval time for the camera system to take pictures when the drone is currently moving straight, based on the length and flight speed of the drone when taking pictures, if it is determined that the drone is currently moving straight; A turning calculation unit, for calculating the interval time of the camera system taking pictures when the drone is currently turning according to the length, width, turning radius and angular velocity of the drone when shooting, if it is determined that the drone is currently turning; The straight-moving calculation unit specifically calculates the interval time of the camera system taking pictures when the drone is currently moving straight according to the following formula: t=2l / v Among them, t is the interval time, 2l is the length of the drone shooting, and v is the flight speed; The turning calculation unit specifically calculates the interval time of taking pictures by the camera system when the drone is currently turning according to the following formula: t=2*arctan(l / (r+s)) / ω Among them, t is the interval time, l is half of the length when the drone takes the photo, r is the turning radius, s is half of the width when the drone takes the photo, and ω is the angular velocity.

7. A device for adjusting the frame rate of drone photography, characterized in that: It includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the method for adjusting the shooting frame rate of a drone as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method for adjusting the shooting frame rate of a drone according to any one of claims 1 to 5 is implemented.

Images