Shooting control method and apparatus

Abstract

A photographing control method and device, the method comprising: obtaining first position information of a region to be photographed and second position information of an expanded photographing region, the expanded photographing region being obtained by expanding the region to be photographed, the second position information being determined according to the first position information; determining third position information of effective photographing regions in different photographing directions according to the first position information and the second position information; determining a plurality of photographing sequences on a flight route of a preset unmanned aerial vehicle according to the third position information and the flight route, the plurality of photographing sequences being arranged in order, wherein the order of each photographing sequence is consistent with the order of positions on the flight route passed through by the unmanned aerial vehicle when flying along the flight route; and each photographing sequence comprising one or more photographing points, the photographing points being located in the effective photographing regions. In each photographing sequence of the present application, the photographing points in different photographing directions are located in the effective photographing regions in the different photographing directions, thereby preventing invalid image data from being generated.

Description

Technical Field

[0001] This application relates to the field of photography, and more particularly to a photography control method and apparatus. Background Technology

[0002] Oblique photogrammetry involves mounting multiple cameras on a drone to simultaneously capture images from one vertical angle and four side views. Compared to traditional photography, it offers four additional oblique shooting angles, allowing for the acquisition of richer information such as side textures. This makes it suitable for surveying and mapping, fields requiring multi-directional feature information of the subject. In related technologies, one approach to achieve multi-directional shooting is to mount a multi-panel shooting device (such as a 5-panel device) on the drone to capture images from multiple directions simultaneously. However, multi-panel shooting devices are costly and heavy, typically mounted directly on the drone's fuselage via a vibration damping system, lacking a mechanical gimbal for stabilization, resulting in poor image quality. To reduce the size of the multi-panel shooting device, rolling shutters or electronic global shutters are used. Rolling shutters exhibit a "jelly effect" in fast-moving photography, reducing modeling accuracy, while electronic global shutters produce poor image quality, similarly affecting modeling results. Another approach is to mount a single-lens camera on the drone and use it in conjunction with multiple flight paths to capture images from multiple directions. Compared to multi-lens camera devices, single-lens camera devices are less expensive and lighter, and can be mounted on the drone body via a gimbal, resulting in better image quality.

[0003] To ensure that images of the area to be photographed are captured in all directions, the flight path is first expanded outwards during flight path planning. Then, flight path planning is performed on the expanded area (i.e., the expanded area to be photographed). The drone flies along the planned flight path and collects images in each direction when it reaches each shooting point. This results in a large amount of invalid image data on the expanded flight path of the area to be photographed, which not only wastes storage space but also causes inconvenience to modeling and processing. Summary of the Invention

[0004] This application provides a shooting control method and apparatus, an unmanned aerial vehicle (UAV), and a computer-readable storage medium.

[0005] In a first aspect, embodiments of this application provide a shooting control method, the method comprising:

[0006] The first location information of the area to be photographed and the second location information of the expanded shooting area are obtained, wherein the expanded shooting area is obtained by enlarging the area to be photographed, and the second location information is determined based on the first location information;

[0007] Based on the first location information and the second location information, determine the third location information of the effective shooting area for different shooting directions;

[0008] Based on the third location information and the preset flight path of the UAV, multiple shooting sequences are determined on the flight path. The multiple shooting sequences are arranged in sequence, wherein the order of each shooting sequence is consistent with the order in which the UAV passes the position of the shooting sequence on the flight path when flying along the flight path.

[0009] The shooting sequence includes one or more shooting points located within the effective shooting area.

[0010] Secondly, embodiments of this application provide a shooting control device, the device comprising:

[0011] Storage device for storing program instructions; and

[0012] One or more processors invoke program instructions stored in the storage device, wherein when the program instructions are executed, the one or more processors are individually or jointly configured to perform the following operations:

[0013] The first location information of the area to be photographed and the second location information of the expanded shooting area are obtained, wherein the expanded shooting area is obtained by enlarging the area to be photographed, and the second location information is determined based on the first location information;

[0014] Based on the first location information and the second location information, determine the third location information of the effective shooting area for different shooting directions;

[0015] Based on the third location information and the preset flight path of the UAV, multiple shooting sequences are determined on the flight path. The multiple shooting sequences are arranged in sequence, wherein the order of each shooting sequence is consistent with the order in which the UAV passes the position of the shooting sequence on the flight path when flying along the flight path.

[0016] The shooting sequence includes one or more shooting points located within the effective shooting area.

[0017] Thirdly, embodiments of this application provide a drone, including:

[0018] Organism;

[0019] A gimbal, mounted on the main body, is used to mount the shooting device; and

[0020] The shooting control device described in the second aspect is supported by the body and is electrically connected to the gimbal.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the shooting control method described in the first aspect.

[0022] Fifthly, embodiments of this application provide a shooting control method, the method comprising:

[0023] Receive the flight path and the shooting sequence along the flight path sent by the control device of the UAV;

[0024] Based on the flight path and the shooting sequence, the shooting device mounted on the UAV is controlled to shoot;

[0025] Each shooting sequence includes one or more shooting points, all of which are located within the effective shooting area. The effective shooting area is determined based on a first location information of the area to be shot and a second location information of the extended shooting area. The extended shooting area is obtained by expanding the area to be shot, and the second location information is determined based on the first location information.

[0026] Sixthly, embodiments of this application provide a shooting control device, the device comprising:

[0027] Storage device for storing program instructions; and

[0028] One or more processors invoke program instructions stored in the storage device, wherein when the program instructions are executed, the one or more processors are individually or jointly configured to perform the following operations:

[0029] Receive the flight path and the shooting sequence along the flight path sent by the control device of the UAV;

[0030] Based on the flight path and the shooting sequence, the shooting device mounted on the UAV is controlled to shoot;

[0031] Each shooting sequence includes one or more shooting points, and all shooting points are located in the effective shooting area. The effective shooting area is determined based on the first position information of the area to be shot and the second position information of the extended shooting area. The extended shooting area is obtained by expanding the area to be shot, and the second position information is determined based on the first position information.

[0032] Seventhly, embodiments of this application provide an unmanned aerial vehicle (UAV), including:

[0033] Organism;

[0034] A gimbal, mounted on the main body, is used to mount the shooting device; and

[0035] The shooting control device described in the sixth aspect is supported by the body and is electrically connected to the gimbal.

[0036] Eighthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the shooting control method described in the fifth aspect.

[0037] According to the technical solution provided in the embodiments of this application, when planning the shooting sequence, this application ensures that the shooting points in each shooting direction in the shooting sequence are located in the effective shooting area. In this way, not only can invalid image data be prevented, but also the number of shooting points can be reduced, the shooting time can be reduced, and the efficiency of multi-directional shooting can be improved. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of a drone according to one embodiment of this application;

[0040] Figure 2 This is a schematic flowchart of the shooting control method in one embodiment of this application;

[0041] Figure 3 This is a schematic diagram showing the positional relationship between the area to be photographed and the extended shooting area in one embodiment of this application;

[0042] Figure 4A This is a schematic diagram of a flight path in one embodiment of this application;

[0043] Figure 4B This is a schematic diagram of a flight path in another embodiment of this application;

[0044] Figure 5A This is a schematic diagram showing the positional relationship between the effective shooting area and the area to be shot in one of the shooting directions in an embodiment of this application;

[0045] Figure 5B This is a schematic diagram showing the positional relationship between the effective shooting area and the area to be shot from another shooting direction in one embodiment of this application;

[0046] Figure 5C This is a schematic diagram showing the positional relationship between the effective shooting area and the area to be shot from another shooting direction in one embodiment of this application;

[0047] Figure 5DThis is a schematic diagram showing the positional relationship between the effective shooting area and the area to be shot from another shooting direction in one embodiment of this application;

[0048] Figure 6A This is a comparison image of images taken by a drone from different shooting points in the same shooting direction according to one embodiment of this application;

[0049] Figure 6B This is a schematic diagram of a flight path in another embodiment of this application;

[0050] Figure 7 This is a schematic diagram illustrating a method for controlling a camera mounted on a drone to take pictures based on a flight path and shooting sequence, according to one embodiment of this application.

[0051] Figure 8 This is a schematic diagram showing the positional relationship between images of shooting points with the same shooting direction in two adjacent shooting sequences in one embodiment of this application;

[0052] Figure 9 This is a schematic diagram illustrating the process of a gimbal executing a certain shooting sequence in one embodiment of this application;

[0053] Figure 10 This is a schematic flowchart of the shooting control method in another embodiment of this application;

[0054] Figure 11 This is a structural block diagram of the shooting control device in one embodiment of this application;

[0055] Figure 12 This is a structural block diagram of a drone according to one embodiment of this application. Detailed Implementation

[0056] Traditional surveying uses total stations or handheld GNSS (Global Navigation Satellite System) devices to measure points. Its disadvantages include low efficiency, high operational difficulty, and high operating costs. For large-area, high-precision, high-resolution surveying, traditional surveying cannot meet the requirements and has been gradually replaced by manned and unmanned aerial vehicle (UAV) surveying. Manned or UAV surveying can also be used to create 3D models of the measurement area. Oblique photogrammetry is used to capture images of the area from multiple directions, and 3D modeling algorithms are combined to process and solve the images from multiple directions to obtain a model containing 3D spatial information.

[0057] To ensure that images of the area to be photographed are captured in all directions, the flight path for oblique photography is first expanded outwards, and then the flight path is planned for the expanded area (i.e., the expanded area to be photographed). The drone flies along the planned flight path, collecting images in each direction as it reaches each shooting point. This results in a large amount of invalid image data along the expanded flight path of the area to be photographed, which not only wastes storage space but also causes inconvenience for modeling and processing.

[0058] To address the aforementioned issues, this application embodiment ensures that, when planning the shooting sequence, the shooting points in each shooting direction are located within the effective shooting area of ​​that shooting direction. This not only prevents the generation of invalid image data but also reduces the number of shooting points, shortens the shooting time, and improves the efficiency of multi-directional shooting.

[0059] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0060] It should be noted that, unless otherwise specified, the features in the following embodiments and implementation methods can be combined with each other.

[0061] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0062] Figure 1 This is a schematic diagram of the structure of a drone according to one embodiment of this application; please refer to [link / reference]. Figure 1 The drone in this embodiment may include a body 100, a shooting device 200, and a gimbal 300, wherein the shooting device 200 is mounted on the body 100 via the gimbal 300. The drone can be a fixed-wing drone or a multi-rotor drone, and the type of drone can be selected according to actual needs. For example, when the gimbal 300 and shooting device 200 are heavy, a larger fixed-wing drone can be selected to carry them; when the gimbal 300 and shooting device 200 are light, a smaller multi-rotor drone can be selected.

[0063] The number of shooting devices in this embodiment is one. When using a drone for oblique photography, only one shooting device is needed. Although this shooting device has a large pixel count, its size and weight are significantly reduced compared to multi-camera shooting devices, thereby greatly reducing the weight and size of the drone. The shooting device 200 can be an integrated camera or a device composed of an image sensor and a lens. It should be noted that the shooting device 200 in this embodiment is a shooting device with a single lens. In addition, the gimbal 300 in this embodiment can be a single-axis gimbal, a two-axis gimbal, a three-axis gimbal, or other multi-axis gimbals.

[0064] This drone can be applied in surveying and mapping. Taking the ground as an example, the drone, equipped with a camera device 200, collects ground images. Software then reconstructs 3D or 2D maps from these images. The resulting maps can be used in various industries. For instance, in power line inspection, the reconstructed maps can be used to check for line faults; in road planning, they can be used for road site selection; and anti-drug police can use the reconstructed 3D maps to inspect poppy cultivation in remote mountains. Of course, this drone is not limited to surveying and mapping; it can also be used in other fields requiring multi-dimensional information about the subject. The subject is not limited to the ground; it can also include large buildings, mountains, and other similar features.

[0065] Figure 2 This is a schematic flowchart of the shooting control method in one embodiment of this application; please refer to... Figure 2 The shooting control method in this application embodiment may include steps S201 to S203.

[0066] In step S201, the first location information of the area to be photographed and the second location information of the expanded shooting area are obtained. The expanded shooting area is obtained by enlarging the area to be photographed, and the second location information is determined based on the first location information.

[0067] Users can define the area to be photographed in different ways, such as by manually marking points or importing external files. Correspondingly, different strategies can be used to obtain the first location information. For example, in some embodiments, the first location information is set by the user, such as by manually marking points; in other embodiments, the area to be photographed is determined by importing an external file containing the first location information. Optionally, before executing S201, a prompt message can be output to remind the user to define the area to be photographed.

[0068] The area to be photographed in this embodiment can be a square area or an area of ​​other shapes, such as a circular area, a pentagonal area, etc.

[0069] For example, the area to be photographed is a square area, and the first position information may include the position information of the four corners of the square area. Of course, the first position information may also include the position information of other positions in the square area.

[0070] In addition, in some embodiments, if a trigger command indicating to enter the tilt shooting mode is obtained before acquiring the first location information of the area to be shot and the second location information of the extended shooting area, then the tilt shooting mode is entered. That is, after entering the tilt shooting mode, the shooting sequence is planned.

[0071] It should be understood that the planning of the shooting sequence can be performed by the drone's control device or by the drone itself, while the process of shooting using the planned shooting sequence is performed by the drone. Therefore, if the shooting sequence planning process is performed by the control device, the control device can be triggered to enter the tilt shooting mode before planning the shooting sequence; if the shooting sequence planning process is performed by the drone, the drone must be triggered to enter the tilt shooting mode before planning the shooting sequence. Furthermore, the drone shoots using the shooting sequence planned by the control device in tilt shooting mode.

[0072] In this embodiment, the control device for the drone can be a remote controller or other terminal device capable of controlling the drone, such as a mobile phone, tablet computer, laptop computer, desktop computer, smart wearable device, etc.

[0073] The second location information is also related to the strategy used when expanding the area to be photographed. For example, when the expanded shooting area is obtained by expanding the area to be photographed by the same size in all directions, the second location information can be determined based on the first location information and the expansion factor of the expanded shooting area relative to the area to be photographed; alternatively, the second location information can be determined based on the first location information and the distance between the edge of the expanded shooting area and the edge of the area to be photographed. When the expanded shooting area is obtained by expanding the area to be photographed by different sizes in at least some directions, the second location information can be determined based on the first location information and the distance between the edges of the expanded shooting area in different directions and the edges of the area to be photographed in the corresponding directions.

[0074] For example, the extended shooting area is the area obtained by expanding the area to be shot in different directions by a first preset distance. For an example, please refer to [link to example]. Figure 3 The area to be photographed is a rectangular area 10. The rectangular area 10 is expanded by a first preset distance D in different directions. ext The size of the area is determined by the size of the extended shooting area, which is 20.

[0075] Optionally, the first preset distance is determined based on the drone's flight altitude and the installation angle of the camera device mounted on the drone. This setting takes into account factors such as the resolution of the images captured by the camera device and the requirements for flight path planning. For example, the first preset distance D... ext The calculation formula is as follows:

[0076]

[0077] In formula (1), H is the flight altitude and α is the installation angle of the shooting device. For example, α is the angle between the optical axis of the lens of the shooting device and the ground plane.

[0078] It should be understood that the first preset distance can also be determined using other strategies.

[0079] Flight altitude can also be determined using different strategies. For example, in some embodiments, the flight altitude is set by the user; exemplarily, the flight altitude is input by the user through the drone's control device. This method of determining flight altitude can meet different user needs and is highly flexible. In other embodiments, the flight altitude is determined based on the parameters of the camera device mounted on the drone and a preset ground resolution. For example, the parameters of the camera device include the focal length of the camera device and the side length of a single pixel of the image sensor of the camera device. The formula for calculating the flight altitude can be:

[0080]

[0081] In formula (2), H is the flight altitude, f is the focal length of the imaging device, GSD (Ground Sampling Distance) is the preset ground resolution, and pix is ​​the side length of a single pixel of the image sensor of the imaging device. It should be understood that the parameters of the imaging device are not limited to those listed above, and may include others. The formula for calculating the flight altitude is not limited to formula (1) above, and may also be others.

[0082] In S202, based on the first position information and the second position information, the third position information of the effective shooting area for different shooting directions is determined.

[0083] The shooting direction in this application embodiment may include at least two of the following: a forward shooting direction that is tilted relative to the vertical direction and faces forward of the drone; a rear shooting direction that is tilted relative to the vertical direction and faces backward of the drone; a left shooting direction that is tilted relative to the vertical direction and faces left of the drone; a right shooting direction that is tilted relative to the vertical direction and faces right of the drone; or a shooting direction that is vertically downward. It should be noted that when the drone is upright, the nose points forward and the tail points backward.

[0084] At least two of the above-mentioned shooting directions can be selected according to actual needs. For example, during surveying, the shooting directions include a forward shooting direction (the shooting device is used to capture a forward image of the object), a rear shooting direction (the shooting device is used to capture a rear image of the object), a left shooting direction (the shooting device is used to capture a left-facing image of the object), and a right shooting direction (the shooting device is used to capture a right-facing image of the object); or, the shooting directions include a forward shooting direction, a rear shooting direction, a left shooting direction, a right shooting direction, and a frontal shooting direction (the shooting device is used to capture an orthophoto image of the object). It is understood that in other usage scenarios, the shooting direction can be selected in other ways to meet the corresponding requirements.

[0085] The effective shooting areas for the forward, rear, left, right, and front shooting directions are respectively: the area obtained by moving the area to be shot a second preset distance in the first direction; the area obtained by moving the area to be shot a second preset distance in the second direction; the area obtained by moving the area to be shot a second preset distance in the third direction; the area obtained by moving the area to be shot a second preset distance in the fourth direction; and the area to be shot. In other words, the effective shooting area for the forward direction is the area obtained by moving the area to be shot a second preset distance in the first direction; the effective shooting area for the rear direction is the area obtained by moving the area to be shot a second preset distance in the second direction; the effective shooting area for the left direction is the area obtained by moving the area to be shot a second preset distance in the third direction; the effective shooting area for the right direction is the area obtained by moving the area to be shot a second preset distance in the fourth direction; and the effective shooting area for the front shooting direction is the area to be shot. The second preset distance and the first preset distance may be equal or unequal. It is understood that the effective areas for each shooting direction are located within the extended shooting area; therefore, the second preset distance is less than or equal to the first preset distance.

[0086] It should be noted that when the area to be tested is expanded outward by different distances in each direction to obtain the expanded shooting area, the distances moved in each direction may not be equal. For example, the effective area in the forward shooting direction is the area obtained after the area to be shot is moved a second preset distance in the first direction, where the second preset distance is less than or equal to the distance the expanded shooting area is moved from the area to the first direction. Similarly, the effective shooting area in the backward shooting direction is the area obtained after the area to be shot is moved a third preset distance in the second direction, where the third preset distance is less than or equal to the distance the expanded shooting area is moved from the area to the second direction.

[0087] In this embodiment of the application, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction. Specifically, the first direction, the second direction, the third direction, or the fourth direction is related to the shape of the UAV's flight path.

[0088] For example, a flight path may include multiple parallel sub-paths, with adjacent sub-paths connected on one side to form a single flight path. (Continued) Figure 3 In the illustrated embodiment, the area to be photographed and the extended photographing area can optionally have their starting waypoint at any corner of the extended photographing area, and the sub-path parallel to one of the edges of the extended photographing area. For an example, please refer to [link to example]. Figure 4A The starting waypoint A of flight path 30 is the lower left corner of the extended shooting area, and the ending point B of flight path 30 is the upper right corner of the extended shooting area; for example, please refer to Figure 4B The starting waypoint C of flight path 40 is the upper left corner of the extended shooting area, and the ending point D of flight path 40 is the lower right corner of the extended shooting area. Of course, the starting waypoint can also be the upper right or lower right corner of the extended shooting area, and the ending point can be the lower left or upper left corner accordingly. Additionally, Figure 4A as well as Figure 4B In the illustrated embodiment, the sub-paths are all parallel to the short side of the extended shooting area. It can be understood that the sub-paths can also be parallel to the long side of the extended shooting area.

[0089] For example, for Figure 4A The flight path shown is... Figure 4A Using the displayed up, down, left, and right directions as a reference, the first direction is the down direction, the second direction is the up direction, the third direction is the right direction, and the fourth direction is the left direction. Thus, the effective shooting area in the forward shooting direction is... Figure 5A The area shown is 51. Figure 5A The area obtained by removing area 51 from the outer-center shooting area 20 is the invalid shooting area in the forward shooting direction; the valid shooting area in the backward shooting direction is area 52 as shown in 5B. Figure 5B The area obtained by removing area 52 from the center-outer-wide shooting area is the invalid shooting area in the rear shooting direction; the valid shooting area in the left shooting direction is... Figure 5C The area shown is 53. Figure 5C The area obtained by removing area 53 from the center-outer-wide shooting area is the invalid shooting area in the left shooting direction; the valid shooting area in the right shooting direction is... Figure 5D The area shown is 54. Figure 5D The area obtained by removing area 54 from the outer-center shooting area 20 is the invalid shooting area in the right shooting direction.

[0090] For example, for Figure 4B The flight path shown is... Figure 4B Using the displayed up, down, left, and right directions as a reference, the first direction is up, the second direction is down, the third direction is left, and the fourth direction is right. Thus, the effective shooting area in the forward shooting direction is... Figure 5B The area shown is 52. Figure 5B The area obtained by removing area 52 from the outer-center shooting area 20 is the invalid shooting area in the forward shooting direction; the valid shooting area in the rear shooting direction is area 51 as shown in 5A. Figure 5A The area obtained by removing area 51 from the center-outer-wide shooting area is the invalid shooting area in the rear shooting direction; the valid shooting area in the left shooting direction is... Figure 5D The area shown is 54. Figure 5D The area obtained by removing area 54 from the center-outer-wide shooting area is the invalid shooting area in the left shooting direction; the valid shooting area in the right shooting direction is... Figure 5C The area shown is 53. Figure 5C The area obtained by removing area 53 from the outer-center shooting area 20 is the invalid shooting area in the right shooting direction.

[0091] for Figure 4A and Figure 4B The flight path shown indicates that the effective shooting area in the forward direction is area 10 to be shot. Figure 4A and Figure 4B The area obtained by removing the area to be photographed (10) from the outer-center shooting area (20) is the invalid shooting area in the front shooting direction. Additionally, Figures 5A to 5D D1 represents the second preset distance, which is equal to the first preset distance. It's understandable that the flight path is not limited to... Figure 4A and Figure 4B The flight path shown can also be set to other paths.

[0092] The method for determining the flight route can be selected as needed. For example, the process of determining the flight route includes, but is not limited to, the following steps:

[0093] (1) Determine the lateral spacing between two adjacent sub-lines in the flight path based on the preset ground resolution, the preset lateral overlap rate and the number of pixels of the shooting device mounted on the UAV perpendicular to the flight direction of the UAV (i.e. the number of pixels of the image sensor of the shooting device perpendicular to the flight direction of the UAV).

[0094] For example, the lateral spacing D route The calculation formula is as follows:

[0095] D route =GSD(1-γ) lateral )n H (3);

[0096] In formula (3), GSD is the ground resolution, γ lateral n represents the lateral overlap rate. H The number of pixels of the camera mounted on the drone, perpendicular to the drone's flight direction.

[0097] It is understandable that the lateral spacing D route The calculation method is not limited to formula (3), and can also be other.

[0098] Taking an orthophoto image captured (with the shooting direction of the imaging device being the orthophoto direction) as an example, such as Figure 6A As shown, since shooting points 1 and 2 are on the same sub-flight path, the overlap ratio of the images captured by the shooting device at shooting point 1 and shooting point 2 in the flight direction is called the forward overlap ratio. Since shooting points 1 and 12 are on two adjacent sub-flight paths, the overlap ratio of the images captured by the shooting device at shooting point 1 and shooting point 12 in the vertical direction of the flight direction is called the lateral overlap ratio.

[0099] (2) Determine the flight path based on the second position information and the lateral distance.

[0100] That is, flight path planning is carried out in the extended shooting area, and the lateral distance between adjacent sub-flight paths in the flight path is the lateral distance determined in step (1).

[0101] During drone photography, the images captured along the drone's flight path need to maintain a certain overlap rate to be applicable in fields such as surveying and mapping. The lateral overlap rate can be a default value or set by the user. For example, the lateral overlap rate can be set by the user, such as by inputting it through the drone's control device. This method of determining the lateral overlap rate can meet different user needs and offers high flexibility. Optionally, the lateral overlap rate can be greater than or equal to 65% and less than or equal to 80%. For example, the lateral overlap rate can be 65%, 70%, 75%, 80%, or other values ​​greater than 65% and less than 80%.

[0102] It is understood that flight routes can also be planned in other ways; for example, please refer to [link to relevant documentation]. Figure 6B Flight routes can be in a tic-tac-toe pattern, which includes two routes. Figure 6B Flight routes 60 and 70 are shown in the diagram. The sub-routes of these two routes are perpendicular to each other. One route needs to acquire tilted images from two or three shooting directions. One route acquires left-facing and right-facing images, or left-facing, right-facing, and orthophoto images. The other route acquires forward-facing and backward-facing images, or forward-facing, backward-facing, and orthophoto images. If only left-facing and right-facing images, or only left-facing, right-facing, and orthophoto images, or only forward-facing and backward-facing images, or only forward-facing, backward-facing, and orthophoto images need to be captured, the flight route can be planned as a tic-tac-toe pattern. The lateral spacing of the tic-tac-toe pattern is the same as the lateral spacing D in the above embodiment. route They are all the same size.

[0103] In this embodiment of the application, a shooting direction corresponds to a preset target posture of a gimbal, that is, when the gimbal reaches the preset target posture, the shooting device is in the corresponding shooting direction.

[0104] In S203, based on the third location information and the preset flight path of the UAV, the shooting sequence corresponding to each waypoint on the flight path is determined. Each shooting sequence includes one or more consecutive shooting points. The shooting directions of the one or more shooting points in each shooting sequence are different, and the shooting points in each shooting direction are all located in the effective shooting area of ​​that shooting direction.

[0105] For example, the shooting directions include the forward shooting direction, the backward shooting direction, the left shooting direction, the right shooting direction, and the front shooting direction. If the shooting sequence is located on a flight path outside the effective shooting area of ​​the forward shooting direction, then there are no shooting points in the forward shooting direction within the shooting sequence; if the shooting sequence is located on a flight path outside the effective shooting area of ​​the backward shooting direction, then there are no shooting points in the backward shooting direction within the shooting sequence; if the shooting sequence is located on a flight path outside the effective shooting area of ​​the left shooting direction, then there are no shooting points in the left shooting direction; if the shooting sequence is located on a flight path outside the effective shooting area of ​​the right shooting direction, then there are no shooting points in the right shooting direction; if the shooting sequence is located on a flight path outside the effective shooting area of ​​the front shooting direction, then there are no shooting points in the front shooting direction. It is understood that in this embodiment, each shooting sequence is located on a flight path within the effective area of ​​at least one of the forward, backward, left, right, and front shooting directions. That is, each shooting sequence is located within at least one effective shooting area on the flight path, and each shooting sequence includes shooting points in at least one shooting direction.

[0106] In this embodiment, the number of shooting points in each shooting sequence is positively correlated with the number of effective shooting areas where the shooting sequence is located on the flight path, following the... Figure 4A and Figure 4B In the embodiment shown, the position of the shooting sequence on the flight path can be in at least one of region 1, region 2, region 3 and region 4.

[0107] Among them, Region 1 is the overlapping area of ​​the effective shooting areas from five shooting directions, namely, the overlapping area of ​​the effective shooting areas from the front shooting direction, the rear shooting direction, the left shooting direction, the right shooting direction, and the front shooting direction. Region 2 is the overlapping area of ​​the effective shooting areas from four shooting directions, namely: the overlapping area of ​​the effective shooting areas from the front shooting direction, the left shooting direction, the right shooting direction, and the front shooting direction; the overlapping area of ​​the effective shooting areas from the rear shooting direction, the left shooting direction, the right shooting direction, and the front shooting direction; and the overlapping area of ​​the effective shooting areas from the front shooting direction, the rear shooting direction, the left shooting direction, and the front shooting direction. Region 3 is the overlapping area of ​​the effective shooting areas from three shooting directions. The effective shooting areas overlap, so area 3 includes 4 overlapping areas: the overlapping areas of the effective shooting areas in the front shooting direction, left shooting direction, and front shooting direction; the overlapping areas of the effective shooting areas in the front shooting direction, right shooting direction, and front shooting direction; the overlapping areas of the effective shooting areas in the rear shooting direction, left shooting direction, and front shooting direction; and the overlapping areas of the effective shooting areas in the rear shooting direction, right shooting direction, and front shooting direction. Area 4 is the effective shooting area for a single shooting direction, so area 4 includes 4 independent effective shooting areas (not overlapping with the effective shooting areas of other shooting directions): the effective shooting area in the front shooting direction, the effective shooting area in the rear shooting direction, the effective shooting area in the left shooting direction, and the effective shooting area in the right shooting direction.

[0108] If the location of the shooting sequence on the flight path is within area 1, then the number of shooting points in the shooting sequence is 5; if the location of the shooting sequence on the flight path is within area 2, then the number of shooting points in the shooting sequence is 4; if the location of the shooting sequence on the flight path is within area 3, then the number of shooting points in the shooting sequence is 3; if the location of the shooting sequence on the flight path is within area 4, then the number of shooting points in the shooting sequence is 1.

[0109] It is understood that in the embodiments of this application, multiple shooting sequences are arranged in sequence, wherein the order of each shooting sequence is consistent with the order in which the UAV passes through the position of the shooting sequence on the flight path when flying along the flight path.

[0110] Subsequently, when the drone performs oblique photography according to the planned shooting sequence, it can trigger the gimbal and shooting device to complete the shooting process using timed shooting or fixed-distance shooting. Optionally, the duration required for the shooting device to complete each shooting sequence is fixed, or the spacing between adjacent shooting sequences is fixed, thereby making the shooting interval or spacing between two shooting sequences more stable. For example, in some embodiments, the duration required for the shooting device to complete each shooting sequence is a first fixed duration. In this way, the drone can trigger the gimbal and shooting device to complete the shooting process using timed shooting. Optionally, when the drone performs oblique photography according to the planned shooting sequence, it can send a timed shooting trigger signal to the gimbal before the gimbal controls the shooting device to complete the shooting of the first shooting point of the first shooting sequence. After receiving the timed shooting trigger signal, the gimbal will trigger the shooting device to complete the shooting of each shooting sequence sequentially based on the first fixed duration. Using this timed shooting triggering method, the drone only needs to send a timed shooting trigger signal once, making the drone control relatively simple. Of course, the duration required for the shooting device to complete each shooting sequence does not have to be a fixed duration.

[0111] Optionally, the time required for the imaging device to complete the imaging of adjacent shooting points in the same shooting sequence is a second fixed time, so that the shooting interval between adjacent shooting points in each shooting sequence is stable. Of course, the time required for the imaging device to complete the imaging of adjacent shooting points in the same shooting sequence may not be a fixed time.

[0112] Understandably, for the same shooting sequence, the first fixed duration is longer than the second fixed duration. The first and second fixed durations can be set as needed; for example, the first fixed duration is 10 seconds and the second fixed duration is 2 seconds. Of course, the first and second fixed durations can also be set to other values.

[0113] In some embodiments, the spacing between adjacent shooting sequences is a first fixed spacing. In this way, the UAV can use a fixed-distance shooting method to trigger the gimbal and shooting device to complete the shooting process. Optionally, when the UAV is performing oblique photography according to the planned shooting sequence, it can send a fixed-distance shooting trigger signal to the gimbal before controlling the shooting device through the gimbal to complete the shooting of the first shooting point of each shooting sequence. After receiving the fixed-distance shooting trigger signal each time, the gimbal first performs an attitude switch so that the shooting device on the gimbal is in the corresponding shooting direction when the UAV reaches each shooting point of the corresponding shooting sequence. Then, when the shooting device is in the corresponding shooting direction, the shooting device is triggered to shoot. This fixed-distance shooting triggering method can make the distance between two shooting sequences more stable.

[0114] Optionally, the distance between adjacent shooting points in the same shooting sequence is a second fixed distance. Before the drone controls the shooting device to complete the shooting at each shooting point, it can send a fixed-distance shooting trigger signal to the gimbal. After receiving the fixed-distance shooting trigger signal each time, the gimbal first performs an attitude switch so that the shooting device on the gimbal is in the shooting direction corresponding to the shooting point when the drone reaches the corresponding shooting point. Then, when the shooting device is in the shooting direction corresponding to the shooting point, the shooting device is triggered to shoot, thereby making the distance between two adjacent shooting points in each shooting sequence more stable.

[0115] The sizes of the first fixed spacing and the second fixed spacing can be set as needed. For example, the first fixed spacing is 10 meters and the second fixed spacing is 2 meters. Of course, the first fixed spacing and the second fixed spacing can also be set to other values.

[0116] In some embodiments, the UAV uses a fixed-distance shooting method to trigger the gimbal and shooting device to complete the shooting process. During the shooting process of the gimbal and shooting device, the gimbal completes a set shooting sequence at regular intervals. That is, when the UAV reaches each waypoint, it triggers the gimbal to enter the shooting program. After entering the shooting program, the gimbal triggers the shooting device to shoot at each shooting point at regular intervals. For example, the distance between adjacent shooting sequences (i.e., the distance between adjacent waypoints) is a third fixed distance, and the time required for the shooting device to complete the shooting of adjacent shooting points in the same shooting sequence is a third fixed duration. The size of the third fixed distance and the third fixed duration can be set as needed. For example, the third fixed distance is 10 meters and the third fixed duration is 2 seconds.

[0117] Optionally, the initial shooting point (i.e., the first shooting point in the first shooting sequence) is: the starting flight position of the UAV when flying along the flight path; alternatively, the initial shooting point is: the initial waypoint of the flight path. The starting flight position and the initial waypoint can be the same location or different locations; one of the methods described in the above embodiments can be selected to determine the initial shooting point as needed. It is understood that the method for determining the initial shooting point is not limited to the methods listed above, and other methods can also be used.

[0118] Unless otherwise specified, the execution subject of the shooting control method in the above embodiments can be a drone control device, which can be a device capable of controlling a drone, such as a remote control, mobile phone, computer, or smart wearable device; the execution subject of the shooting control method in the above embodiments can also be a drone, such as the drone's flight controller or other controllers located on the drone, or a combination of a flight controller and other controllers located on the drone; the execution subject of the shooting control method in the above embodiments can also be a combination of a drone control device and a drone, for example, the acquisition of the first position information and the second position information, as well as the planning of the flight route, are performed by the drone control device, while the determination of the effective shooting area and the determination of the shooting sequence are performed by the drone; or, for example, the acquisition of the first position information and the second position information, as well as the planning of the flight route, are performed by the drone control device, while the determination of the effective shooting area and the shooting sequence are performed by the drone; Information acquisition is performed by the drone's control device, while flight path planning, effective shooting area determination, and shooting sequence determination are performed by the drone itself. Alternatively, the acquisition of first location information can be performed by the drone's control device, while the determination of second location information, flight path planning, effective shooting area determination, and shooting sequence determination are performed by the drone. Furthermore, all four functions—acquiring first location information, determining second location information, planning flight path, determining effective shooting area, and determining shooting sequence—can be performed by the drone. Of course, the execution entity of the shooting control method in the above embodiments is not limited to the drone's control device and / or the drone itself; it can also be other control devices independent of the drone or drone electronic devices, such as gimbal or shooting device control devices.

[0119] For example, in some embodiments, the execution entity of the method in the above embodiments is the control device of the UAV. Specifically, when the control device acquires the second location information of the extended shooting area, it determines the second location information of the extended shooting area based on the first location information. Optionally, the flight path planning is performed in the control device. For example, the UAV's flight path is planned based on the second location information. The flight path planning can be found in the description of the corresponding parts in the above embodiments, and will not be repeated here. Further, the shooting control method also includes: sending the flight path to the UAV, and after determining the shooting sequence corresponding to each waypoint on the flight path based on the third location information and the preset UAV flight path, sending the shooting sequence corresponding to each waypoint to the UAV, so that the UAV controls the shooting device mounted on the UAV to shoot based on the flight path and the shooting sequence corresponding to each waypoint. Thus, before the UAV performs oblique photography, the flight path is sent to the UAV through the UAV's control device, and the UAV performs oblique photography during the execution of the flight path. It is understood that the flight path planning process can also be performed in the UAV.

[0120] In some embodiments, the subject executing the shooting control method of the above embodiments is a drone. For example, the drone can plan the above shooting sequence before performing oblique photography. The shooting points in each shooting direction in the planned shooting sequence are all located in the effective shooting area of ​​that shooting direction. For example, each shooting sequence includes shooting points in all shooting directions. During the oblique photography process, the drone removes shooting points located in the invalid shooting area in the current shooting sequence based on the drone's real-time position information and the shooting points of the currently executed shooting sequence.

[0121] The following section will further explain the shooting control method using a drone as an example.

[0122] The first location information can be sent by the drone's control device. For example, the user inputs the first location information through the drone's control device, which then sends the information to the drone. The user can input the first location information into the drone's control device manually or via an external file, as described in the relevant sections of the above embodiments, and will not be repeated here. It is understood that if the drone has its own input module, the first location information can also be directly input by the user using the input module.

[0123] Different strategies can be used to obtain the second location information. For example, in some embodiments, the second location information is sent by the drone's control device. Optionally, the drone's control device determines the second location information of the extended shooting area based on the first location information and then sends the second location information to the drone. In some embodiments, the drone itself determines the second location information, specifically, it determines the second location information of the extended shooting area based on the first location information. The process of determining the second location information of the extended shooting area based on the first location information can be found in the description of the corresponding part in the above embodiments, and will not be repeated here.

[0124] Flight path planning can be performed by the UAV's control device or by the UAV itself. For example, in some embodiments, the flight path is planned by the UAV's control device based on the second location information, and then the control device sends the flight path to the UAV; in other embodiments, the flight path is planned by the UAV based on the second location information. The details of flight path planning can be found in the descriptions of the corresponding sections in the above embodiments, and will not be repeated here.

[0125] The shooting control method in this application embodiment may further include: controlling the shooting device mounted on the UAV to shoot based on the flight route and the shooting sequence corresponding to each waypoint.

[0126] The following is a detailed description of the process by which the drone controls the camera mounted on the drone to take pictures based on the flight path and shooting sequence.

[0127] Figure 7 This is a schematic diagram illustrating an implementation method of a camera mounted on a drone, based on flight path and shooting sequence control, according to one embodiment of this application. Please refer to... Figure 7 The process of controlling the shooting device mounted on the drone to shoot based on the flight path and shooting sequence may include steps S701 to S703.

[0128] In the S701, the drone is controlled to fly along the flight path;

[0129] In S702, according to the shooting sequence, as the drone flies from the current shooting point to the next shooting point, the gimbal on the drone is controlled to switch attitudes so that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point.

[0130] In S703, images captured by the imaging device at each shooting point are acquired.

[0131] In this embodiment, as the drone flies from the current shooting point to the next shooting point, the gimbal carrying the shooting device is controlled to switch attitudes, so that the shooting device is in the corresponding shooting direction when the drone arrives at each shooting point. The shooting process does not require stopping the drone's flight, thereby improving shooting efficiency, which is particularly suitable for map surveying. Furthermore, this embodiment controls a single shooting device to asynchronously complete the shooting of images from multiple shooting directions through the gimbal. Compared with traditional multi-slice shooting devices, the weight of the drone in this application is greatly reduced, so a lighter drone can be selected to carry the shooting device, reducing the cost of use.

[0132] In this embodiment of the application, the shooting device does not affect the flight of the drone. That is, when the shooting device is shooting, the drone continues to execute the flight path and the drone will not hover because of the shooting action of the shooting device, thereby further improving the shooting efficiency.

[0133] The flight path in this embodiment may include multiple waypoints. The flight path can be preset by the user. Optionally, the user inputs the location information of each waypoint into the drone through the drone's control device. The drone can then connect the waypoints sequentially according to the input order to form the aforementioned flight path. When the user updates the location of some waypoints in the preset flight path, the location information of some waypoints in the preset flight path can be modified by operating the drone's control device. The step of modifying the location information of some waypoints in the preset flight path can be performed before the drone takes off or during the drone's flight. It is understood that the flight path can also be a default flight path.

[0134] The positional relationship between waypoints and shooting points can be selected as needed. For example, in some embodiments, shooting points are set between adjacent waypoints. This allows for the insertion of multiple shooting directions between waypoints, taking advantage of the fact that the flight time between waypoints is greater than the time required for the shooting device to capture images, resulting in higher shooting efficiency. In other embodiments, some of the multiple waypoints are used as shooting points, and shooting points may or may not be set between adjacent waypoints. In still other embodiments, all of the multiple waypoints are used as shooting points, and shooting points may or may not be set between adjacent waypoints. It is understood that each shooting point corresponds to one shooting direction and a preset target attitude of the gimbal, resulting in one captured image.

[0135] In related technologies, whether it's a fixed-wing or rotary-wing UAV, when using a single imaging device to capture images from multiple angles, due to speed or efficiency control reasons, the flight path is generally designed as multiple flight paths, such as five paths. Each flight path corresponds to a shooting direction, respectively acquiring forward, backward, left, right, and orthophoto images of the area to be captured. Therefore, it is necessary to control the UAV to fly along five separate paths, which is detrimental to the UAV's endurance. In this application embodiment, the flight path is designed as a single path, which can be, for example... Figure 4A and Figure 4B The flight path shown can also be other. During a single flight of the drone, the gimbal on the drone can be controlled to switch attitudes to achieve shooting from multiple angles, thus eliminating the need for repeated patrols of the flight path. This not only improves shooting efficiency but also reduces the energy consumption of the drone.

[0136] The process of controlling a drone to fly along a flight path may include: maintaining the real-time altitude between the camera lens and the area to be photographed within a preset range. When using a drone for surveying, the undulating terrain can cause uneven ground surface depth (GSD). Therefore, controlling the altitude between the camera lens and the ground helps maintain GSD uniformity; for example, the drone ascends when the terrain rises and descends when the terrain falls, ensuring that the GSD remains approximately equal throughout the surveying process. For fixed-wing drones, which have limited ascent and descent altitudes, the drone's ascent and descent can only be controlled within its limited range to maintain consistent GSD as much as possible.

[0137] This embodiment does not require the drone to hover at the shooting point. To ensure that the gimbal has completed the previous shooting sequence when each shooting sequence is triggered, the flight speed needs to be controlled within the maximum allowable flight speed of the drone. The maximum flight speed can be calculated based on the gimbal rotation performance. Optionally, the maximum allowable flight speed of the drone is determined based on the heading spacing of each shooting direction and the time required for the shooting device to complete a shooting sequence and return to the initial shooting direction. The heading spacing of each shooting direction is equal, and the heading spacing is determined based on a preset ground resolution, a preset heading overlap rate, and the number of pixels of the shooting device parallel to the drone's flight direction (i.e., the number of pixels of the image sensor of the shooting device parallel to the drone's flight direction).

[0138] For example, the maximum flight speed V max The calculation formula is as follows:

[0139]

[0140] In formula (4), D2 is the heading distance between each shooting direction, and T Gim The time required for the imaging device to complete a shooting sequence and return to the initial shooting direction. It should be understood that the maximum flight speed V... max The calculation method is not limited to formula (4), and can also be other.

[0141] For example, the relative positional relationship of each shooting direction between two shooting sequences is as follows: Figure 8 As shown, F1 and F2 are the effective shooting areas in the forward shooting direction, D1 and D2 are the effective shooting areas in the frontal shooting direction, B1 and B2 are the effective shooting areas in the rear shooting direction, R1 and R2 are the effective shooting areas in the right shooting direction, L1 and L2 are the effective shooting areas in the left shooting direction, and D... F D D D B D R D LThese are the directional spacings for the forward shooting direction, the front shooting direction, the rear shooting direction, the right shooting direction, and the left shooting direction, respectively. In this embodiment, D2 = D F =D D =D B =D R =D L .

[0142] For example, the heading spacing D in the forward shooting direction F The calculation formula is as follows:

[0143] D F =GSD(1-γ) course )n V (5);

[0144] In formula (5), γ course n is the preset heading overlap rate. V This refers to the number of pixels in the direction the camera is positioned parallel to the drone's flight path. It should be understood that the directional spacing D in the forward-facing direction... F The calculation method is not limited to formula (5), and can also be other.

[0145] The forward overlap rate can be a default value or set by the user. For example, the forward overlap rate can be set by the user, such as by inputting it through the drone's control device. This method of determining the forward overlap rate can meet different user needs and offers high flexibility. To ensure that images from each shooting direction meet modeling requirements, optionally, the forward overlap rate can be greater than or equal to 65% and less than or equal to 80%. For example, the forward overlap rate can be 65%, 70%, 75%, 80%, or other values ​​greater than 65% and less than 80%.

[0146] Below, we will analyze the impact of systematic errors on heading overlap rate using the forward image as an example.

[0147] Assuming a ground resolution GSD of 2.5 cm and a forward overlap rate γ course The percentage is 70%, and the number of pixels n where the imaging device is parallel to the drone's flight direction is 70%. V Given a value of 5460 and a flight speed of 10 m / s, the theoretical distance between the two forward images is determined according to formula (5):

[0148] 2.5cm*(1-70%)*5460=40.95m;

[0149] Due to fluctuations in gimbal rotation speed and system delay, the actual capture time of the second forward-facing image deviates from the theoretical capture time by 0.5 seconds (delay). Therefore, the actual distance between the two forward-facing images is:

[0150] 40.95m + 10m / s * 0.5 = 45.95m;

[0151] Then D F =45.95m, GSD=2.5cm, n V Substituting 5460 into formula (5), we can determine that the actual heading overlap rate of the forward image is 66%, which still meets the modeling requirements.

[0152] Because the effective shooting areas in the forward and backward directions have longer sides parallel to the flight path than those in the front, right, and left directions, the error between the actual and theoretical shooting times has a smaller impact on the directional overlap rate in the forward and backward directions. By controlling parameters such as flight speed, flight direction, and gimbal rotation speed (which requires system optimization), or by increasing the directional overlap rate (which will affect overall operational efficiency), it is possible to ensure that the directional overlap rate of images from each shooting direction meets the modeling requirements.

[0153] The initial shooting direction can be the shooting direction corresponding to one of the shooting points in the shooting sequence. For example, the initial shooting direction is the shooting direction of the first shooting point in the shooting sequence. Optionally, the shooting direction of the first shooting point in each shooting sequence is the same, such as the shooting direction of the first shooting point in each shooting sequence being the frontal shooting direction; alternatively, the shooting directions of the first shooting points in multiple shooting sequences are at least partially different, such as the shooting direction of the first shooting point in shooting sequence 1 being the left shooting direction, the shooting direction of the first shooting point in shooting sequence 2 being the right shooting direction, the shooting direction of the first shooting point in shooting sequence 3 being the left shooting direction, and so on. Where T Gim This refers to the time required for the shooting device to complete the current shooting sequence and resume the initial shooting direction for the next shooting sequence. This is applicable to scenarios where the shooting direction of the first shooting point in each shooting sequence is the same, or where the shooting directions of the first shooting points in multiple shooting sequences are at least partially different; of course, T Gim It can also complete the shooting of the current shooting sequence and restore the shooting direction of the current shooting sequence. This is applicable to scenarios where the shooting direction of the first shooting point of each shooting sequence is the same.

[0154] In this embodiment, when controlling the gimbal on the drone to switch attitudes so that the shooting device on the gimbal is in the corresponding shooting direction at each shooting point, optionally, the real-time attitude of the drone is acquired; the deviation between the real-time attitude of the drone and the shooting direction of the next shooting point is determined; and the attitude of the gimbal on the drone is switched according to the deviation so that the shooting device on the gimbal is in the corresponding shooting direction at each shooting point. The shooting device in this embodiment is mounted on the drone body via a gimbal. When the attitude of the drone body changes significantly, the attitude of the gimbal can be controlled to ensure that shooting in the same direction at different waypoints (shooting sequences) is performed. Gimbal attitude control ensures that the angle of the gimbal to the ground remains consistent (or the deviation is very small), thus ensuring that the overlap rate of the photo sequence in the same direction remains uniform.

[0155] The drone and gimbal can cooperate in different ways to complete multi-direction shooting. For example, according to the shooting sequence, as the drone flies from the current shooting point to the next, controlling the gimbal on the drone to switch its attitude so that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point may include: sending a shooting trigger signal to the gimbal according to the shooting sequence, so that the gimbal switches its attitude as the drone flies from the current shooting point to the next, ensuring that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point. Furthermore, the shooting trigger signal also instructs the gimbal to trigger shooting when the shooting device is in the corresponding shooting direction. In this embodiment, the drone triggers the gimbal to enter the shooting sequence program, which includes two steps: attitude switching and shooting triggering. Both attitude switching and shooting triggering are completed by the gimbal, thereby reducing the impact of the delay in the drone's trigger signal processing on operational efficiency. The attitude switching is to ensure that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point. Of course, the drone can also directly control the gimbal to switch attitudes and / or the drone can directly trigger the shooting device to take pictures.

[0156] In this embodiment of the application, the gimbal and the shooting device completing the shooting process may include: the gimbal controlling the shooting device to complete the shooting of each shooting sequence. Specifically, the gimbal switches attitudes according to the shooting sequence, so that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point of each shooting sequence, and the gimbal triggers the shooting device to shoot when the shooting device is in the corresponding shooting direction.

[0157] The shooting trigger signal can be a timed shooting trigger signal or a distance shooting trigger signal. That is, the drone can use timed shooting or distance shooting trigger methods to trigger the gimbal and shooting device to complete the shooting process.

[0158] For example, in some embodiments, the shooting trigger signal is a timed shooting trigger signal, which instructs the gimbal to trigger the shooting device to shoot based on a first timing strategy. The first timing strategy may include: the time required for the shooting device to complete each shooting sequence is a first fixed duration, thus stabilizing the time required for the shooting device to complete each shooting sequence. Optionally, the timed shooting trigger signal is sent to the gimbal only once. For example, the timed shooting trigger signal can be sent to the gimbal before the gimbal controls the shooting device to complete the shooting at the first shooting point of the first shooting sequence. After receiving the timed trigger signal, the gimbal rotates sequentially to each shooting direction of each shooting sequence and triggers the shooting device to shoot at regular intervals. This method only requires the drone to send a timed shooting trigger signal once, making the drone control relatively simple. Understandably, the drone can send timed shooting trigger signals to the gimbal multiple times. For example, before the gimbal-controlled shooting device completes the shooting at the first shooting point of each shooting sequence, a timed shooting trigger signal can be sent to the gimbal. After receiving the timed shooting trigger signal, the gimbal rotates sequentially to each shooting direction of the corresponding shooting sequence and triggers the shooting device at regular intervals to complete the shooting in each shooting direction of the corresponding shooting sequence. Understandably, the first timing strategy can also be other.

[0159] Furthermore, the timed shooting trigger signal can also be used to instruct the gimbal to trigger the shooting device to shoot based on the second timing strategy. The second timing strategy includes: the time required for the shooting device to complete shooting of adjacent shooting points in the same shooting sequence is a second fixed duration, thus stabilizing the time required for the shooting device to complete shooting of adjacent shooting points in the same shooting sequence. It is understood that the second timing strategy can also be other than this.

[0160] In the timed shooting trigger mode, different strategies can be used to send shooting sequences to the gimbal. For example, there are multiple shooting sequences. In some embodiments, before the gimbal controls the shooting device to complete the shooting of the first shooting point of the first shooting sequence, all shooting sequences are sent to the gimbal at once. During the subsequent shooting process in cooperation between the gimbal and the shooting device, the drone does not need to send shooting sequences to the gimbal again. In other embodiments, after the shooting device completes the shooting of the current shooting sequence, the next shooting sequence is sent to the gimbal. That is, after the gimbal controls the shooting device to complete the shooting of each shooting sequence, the next shooting sequence of that shooting sequence is sent to the gimbal to instruct the gimbal to execute the shooting of the next shooting sequence.

[0161] In some embodiments, the shooting trigger signal is a fixed-distance shooting trigger signal, which can be used to instruct the gimbal-controlled shooting device to shoot based on a first fixed-distance strategy. The first fixed-distance strategy includes: the spacing between adjacent shooting sequences is a first fixed spacing, thus stabilizing the spacing between adjacent shooting sequences. Optionally, the fixed-distance trigger signal is sent to the gimbal multiple times. For example, before the gimbal-controlled shooting device completes shooting at the first shooting point of each shooting sequence, the fixed-distance shooting trigger signal is sent to the gimbal. After receiving each fixed-distance shooting trigger signal, the gimbal first performs an attitude switch, ensuring that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point of the corresponding shooting sequence. Then, when the shooting device is in the corresponding shooting direction, the shooting device is triggered to shoot. Since there is a delay in the drone triggering the gimbal, using the first fixed-distance strategy to trigger the gimbal-controlled shooting device can reduce the impact of the drone trigger delay on operational efficiency.

[0162] Furthermore, optionally, the fixed-distance shooting trigger signal can also be used to instruct the gimbal-controlled shooting device to shoot based on a second fixed-distance strategy. The second fixed-distance strategy includes: the distance between adjacent shooting points in the same shooting sequence is a second fixed distance, thus stabilizing the distance between adjacent shooting points in the same shooting sequence. Additionally, since the shooting directions in each shooting sequence may not be exactly the same, a fixed-distance shooting trigger signal can be sent to the gimbal before the gimbal-controlled shooting device completes shooting at each shooting point, thereby triggering the gimbal to complete shooting at each shooting point. Optionally, the drone uses a fixed-distance shooting trigger method to trigger the gimbal and shooting device to complete the shooting process. During the shooting process of the gimbal and shooting device, the gimbal completes a set shooting sequence at regular intervals. That is, when the drone reaches each waypoint, it triggers the gimbal to enter the shooting program. After entering the shooting program, the gimbal triggers the shooting device at each shooting point at regular intervals. The distance between adjacent shooting sequences (i.e., the distance between adjacent waypoints) is the first fixed distance. The time required for the shooting device to complete the shooting of adjacent shooting points in the same shooting sequence is the third fixed time. The size of the third fixed time can be set as needed. For example, the third fixed time is 2 seconds.

[0163] In the fixed-distance shooting trigger mode, different strategies can be used to send the shooting sequence to the gimbal. For example, in some embodiments, the shooting sequence is sent to the gimbal before the gimbal-controlled shooting device completes the shooting of the first shooting point of each shooting sequence. That is, after the gimbal-controlled shooting device completes the shooting of each shooting sequence, and before the gimbal-controlled shooting device executes the shooting of the next shooting sequence, the next shooting sequence of the shooting sequence is sent to the gimbal to instruct the gimbal to execute the shooting of the next shooting sequence. In other embodiments, before the gimbal-controlled shooting device completes the shooting of each shooting point, an indication signal is sent to the gimbal. The indication signal is used to indicate the target posture of the gimbal or the shooting direction of the shooting device corresponding to the shooting point. That is, the gimbal is triggered to execute the shooting of the shooting point at each shooting point.

[0164] Furthermore, in this embodiment, the control method for gimbal attitude switching can be selected according to the type of gimbal. Taking a three-axis gimbal as an example, the gimbal is configured to move around the yaw axis, roll axis, and pitch axis. Optionally, the gimbal attitude can be switched by controlling one or more of the roll axis attitude, pitch axis attitude, and yaw axis attitude. Typically, the yaw axis of the gimbal cannot rotate a full circle, so controlling the yaw axis attitude is not used to control the shooting direction of the shooting device at different shooting points in each shooting sequence. Therefore, in this embodiment, any two of the yaw attitude, roll axis attitude, and pitch axis attitude of the gimbal are controlled to control the gimbal attitude switching.

[0165] For example, the yaw attitude and pitch axis attitude are controlled to control the gimbal attitude switching. Optionally, the target attitude of the gimbal is represented as (pitch attitude, roll attitude, yaw attitude). The target attitudes of the gimbal corresponding to the forward shooting direction, the front shooting direction, the rear shooting direction, the right shooting direction, and the left shooting direction are (-60°, 0°, 0°), (-90°, 0°, 0°), (-120°, 0°, 0°), (-60°, 0°, 90°), and (-120°, 0°, 90°).

[0166] For example, the yaw attitude and roll axis attitude are controlled to control the gimbal attitude switching. Optionally, the gimbal target attitude is represented as (pitch attitude, roll attitude, yaw attitude). The gimbal target attitudes corresponding to the forward shooting direction, the front shooting direction, the rear shooting direction, the right shooting direction, and the left shooting direction are (-90°, 30°, 0°), (-90°, 0°, 0°), (-90°, -30°, 0°), (-90°, -30°, 90°), and (-90°, 30°, 90°).

[0167] It is understandable that the pan-tilt target postures corresponding to the above-listed forward shooting direction, front shooting direction, rear shooting direction, right shooting direction, and left shooting direction are only two of them. Similar shooting directions can also be achieved by adjusting the rotation angle of each axis and the forward and backward rotation sequence of each axis, but there will be differences in work efficiency.

[0168] For example, please see Figure 9 The drone flies along a flight path of 80 degrees. When the drone reaches the first shooting point of a certain shooting sequence (e.g., Figure 9 When the shooting direction of the first shooting point in this shooting sequence is the forward shooting direction, the gimbal is triggered to execute the shooting of this shooting sequence. For ease of description, this shooting sequence is referred to as shooting sequence A. The shooting directions of shooting sequence A include the forward shooting direction, the front shooting direction, the rear shooting direction, the right shooting direction, and the left shooting direction. The process of the gimbal executing shooting sequence A is as follows:

[0169] (1) After the gimbal detects that the shooting device has completed the shooting of the last shooting point of the previous shooting sequence, it rotates to the first target posture of the gimbal corresponding to the forward shooting direction of shooting sequence A, and then triggers the shooting device to shoot and obtain the forward image.

[0170] (2) After the shooting device completes the shooting of the forward image of the shooting sequence A, it continues to rotate to the second target posture of the gimbal corresponding to the shooting direction of the shooting sequence A, and then triggers the shooting device to shoot to obtain the orthophoto image;

[0171] (3) After the shooting device completes the shooting of the orthophoto image of the shooting sequence A, it continues to rotate to the third target posture of the gimbal corresponding to the rear shooting direction of the shooting sequence A, and then triggers the shooting device to shoot and obtain the rear image;

[0172] (4) After the shooting device completes the shooting of the rear image of the shooting sequence A, it continues to rotate to the fourth target posture of the gimbal corresponding to the right shooting direction of the shooting sequence A, and then triggers the shooting device to shoot and obtain the right image;

[0173] (5) After the shooting device completes the shooting of the right-facing image of shooting sequence A, it continues to rotate to the fifth target posture of the gimbal corresponding to the left-facing shooting direction of shooting sequence A, and then triggers the shooting device to shoot and obtain the left-facing image.

[0174] At this point, the gimbal has completed the shooting sequence A.

[0175] Understandably, the first target pose, second target pose, third target pose, fourth target pose, and fifth target pose are all preset target poses. Optionally, the first target pose, second target pose, third target pose, fourth target pose, and fifth target pose are respectively: (-60°, 0°, 0°), (-90°, 0°, 0°), (-120°, 0°, 0°), (-60°, 0°, 90°), (-120°, 0°, 90°), or the first target pose, second target pose, third target pose, fourth target pose, and fifth target pose are respectively: (-90°, 30°, 0°), (-90°, 0°, 0°), (-90°, -30°, 0°), (-90°, -30°, 90°), (-90°, 30°, 90°).

[0176] The gimbal triggers the shooting device to capture images when it reaches a preset target posture and is in a stable state. A stable state for the gimbal can include: the angle of the gimbal relative to a preset direction (such as the angle of the gimbal relative to the ground) fluctuating within a preset angle range, meaning the fluctuation of the gimbal's angle relative to the preset direction is small.

[0177] In addition, before the gimbal triggers the shooting device to take a picture, the shooting device must be in a shooting-ready state. Optionally, the shooting device being in a shooting-ready state includes: the control unit of the shooting device being in a triggerable state, for example, the shooting device is a camera, and the control unit is the camera's shutter; optionally, the shooting device being in a shooting-ready state includes: the shooting device's buffer is greater than a preset capacity, that is, the shooting device's buffer is large enough to store at least one image.

[0178] Optionally, each shooting sequence corresponds to an image queue, and the image of each shooting point in each shooting sequence can be saved in the corresponding image queue; alternatively, images from the same shooting direction can be saved in the same image queue, and images from different shooting directions can be saved in different image queues. The specific image saving method can be selected as needed.

[0179] Furthermore, it should be noted that the shooting control method in this application does not rely on a dual-axis or three-axis gimbal. A drone can also perform multi-direction shooting with a single-axis gimbal. For example, a gimbal with variable pitch attitude + tic-tac-toe path planning can achieve shooting in three directions; a gimbal with variable roll attitude + tic-tac-toe path planning can achieve shooting in three directions; and a gimbal with variable yaw attitude + such as... Figure 4A or Figure 4B The flight path shown allows for shooting from three or four directions.

[0180] In addition, this application embodiment may also provide a shooting control method. The shooting control method of this application embodiment is executed by a drone. For example, the executing entity may be the flight controller of the drone, or other controllers provided on the drone, or a combination of the flight controller and other controllers provided on the drone.

[0181] Please see Figure 10 The shooting control method in this application embodiment may include S1001 to S1002:

[0182] In S1001, the flight path and the shooting sequence corresponding to each waypoint on the flight path are received from the control device of the UAV. Each shooting sequence includes one or more consecutive shooting points. The shooting directions of the one or more shooting points in each shooting sequence are different, and the shooting points in each shooting direction are located in the effective shooting area of ​​that shooting direction. The effective shooting area is determined based on the first position information of the area to be shot and the second position information of the extended shooting area. The extended shooting area is obtained by expanding the area to be shot. The second position information is determined based on the first position information.

[0183] In S1002, the camera mounted on the UAV is controlled to take pictures based on the flight path and the shooting sequence corresponding to each waypoint.

[0184] for Figure 10 For a detailed description of the embodiments shown, please refer to the above. Figures 2 to 9 The content of the illustrated embodiments is not specifically limited here.

[0185] Corresponding to the shooting control method in the above embodiments, this application also provides a shooting control device. Please refer to [link to relevant documentation]. Figure 11 The shooting control device in this application embodiment may include a storage device and a processor, wherein the processor may include one or more.

[0186] A storage device is used to store program instructions. The storage device stores the executable instruction computer program of the shooting control method. The storage device may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. Furthermore, the shooting control device can cooperate with a network storage device that performs the storage function of the memory via a network connection. The memory can be an internal storage unit of the shooting control device, such as the hard disk or RAM of the shooting control device. The memory can also be an external storage device of the shooting control device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the shooting control device. Further, the memory may include both internal storage units and external storage devices of the shooting control device. The memory is used to store computer programs and other programs and data required by the device. The memory can also be used to temporarily store data that has been output or will be output.

[0187] In some embodiments, one or more processors invoke program instructions stored in a storage device. When the program instructions are executed, the one or more processors are individually or jointly configured to perform the following operations: acquiring first location information of a region to be photographed and second location information of an expanded photographing region, wherein the expanded photographing region is obtained by expanding the region to be photographed, and the second location information is determined based on the first location information; determining third location information of effective photographing regions for different photographing directions based on the first and second location information; and determining a photographing sequence corresponding to each waypoint on the flight path based on the third location information and a preset flight path of the UAV; wherein each photographing sequence includes one or more consecutive photographing points forming a photographing sequence, the photographing directions of one or more photographing points in each photographing sequence are different, and the photographing points in each photographing direction are all located within the effective photographing region of that photographing direction. The processor in this embodiment can implement the functionality described in this application. Figure 2 or Figure 7 The shooting control method of the illustrated embodiment can be found in the above description. Figure 2 or Figure 7 The shooting control method of the illustrated embodiment will be used to describe the shooting control device of this embodiment.

[0188] In some embodiments, one or more processors invoke program instructions stored in a storage device. When the program instructions are executed, the one or more processors are individually or jointly configured to perform the following operations: receiving a flight path and a shooting sequence corresponding to each waypoint on the flight path sent by the control device of the UAV; controlling a shooting device mounted on the UAV to take pictures based on the flight path and the shooting sequence corresponding to each waypoint; wherein each shooting sequence includes one or more consecutive shooting points, the shooting directions of the one or more shooting points in each shooting sequence are different, and the shooting points in each shooting direction are all located in the effective shooting area of ​​that shooting direction. The effective shooting area is determined according to a first position information of the area to be shot and a second position information of the extended shooting area. The extended shooting area is obtained by expanding the area to be shot, and the second position information is determined according to the first position information. The processor in this embodiment can implement the functions described in this application. Figure 10 The shooting control method of the illustrated embodiment can be found in the above description. Figure 10 The shooting control method of the illustrated embodiment will be used to describe the shooting control device of this embodiment.

[0189] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0190] It should be noted that the communication processes such as "sending" and "receiving" involved in the above-mentioned physical device can be executed using the transceiver or communication interface on the device, while other data processing processes besides "sending" and "receiving" can be executed by the processor on the device.

[0191] Furthermore, this application also provides an unmanned aerial vehicle (UAV), please refer to [link to relevant documentation]. Figure 1 and Figure 12 The drone may include a body 100, a gimbal 300, and a shooting control device as described in the above embodiment. The gimbal 300 is mounted on the body, and in this embodiment, the gimbal 300 is used to mount the shooting device 200. The shooting control device is supported by the body 100 and is electrically connected to the gimbal 300.

[0192] Furthermore, this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the shooting control method described above.

[0193] The computer-readable storage medium can be an internal storage unit of the shooting control device described in any of the foregoing embodiments, such as a hard disk or memory. The computer-readable storage medium can also be an external storage device of the shooting control device, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc., equipped on the device. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the shooting control device. The computer-readable storage medium is used to store the computer program and other programs and data required by the shooting control device, and can also be used to temporarily store data that has been output or will be output.

[0194] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0195] The above-disclosed embodiments are only some of the embodiments of this application, and should not be construed as limiting the scope of this application. Therefore, any equivalent changes made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A shooting control method, characterized in that, The method includes: The first location information of the area to be photographed and the second location information of the expanded shooting area are obtained, wherein the expanded shooting area is obtained by enlarging the area to be photographed, and the second location information is determined based on the first location information; Based on the first location information and the second location information, determine the third location information of the effective shooting area for different shooting directions; Based on the third location information and the preset flight path of the UAV, multiple shooting sequences are determined on the flight path. The multiple shooting sequences are arranged in sequence, wherein the order of each shooting sequence is consistent with the order in which the UAV passes the position of the shooting sequence on the flight path when flying along the flight path. At least a portion of the multiple shooting sequences include multiple shooting points, each shooting point having a different shooting direction, and the shooting point in each shooting direction is located within the effective shooting area of ​​that shooting direction.

2. The method according to claim 1, characterized in that, The extended shooting area is the area obtained by expanding the area to be shot in different directions by a first preset distance.

3. The method according to claim 2, characterized in that, The effective shooting area is the area obtained after moving the area to be shot a second preset distance in a preset direction.

4. The method according to claim 3, characterized in that, The shooting direction includes at least two of the following: A forward shot that is tilted relative to the vertical direction and faces forward; a backward shot that is tilted relative to the vertical direction and faces backward; a left shot that is tilted relative to the vertical direction and faces left; a right shot that is tilted relative to the vertical direction and faces right; or a shot that is vertically downward.

5. The method according to claim 4, characterized in that, The preset directions include a first direction, a second direction, a third direction, and a fourth direction. The effective shooting areas for the forward shooting direction, the rear shooting direction, the left shooting direction, and the right shooting direction are respectively: The area obtained after the area to be photographed is moved a second preset distance in the first direction, the area obtained after the area to be photographed is moved a second preset distance in the second direction, the area obtained after the area to be photographed is moved a second preset distance in the third direction, and the area obtained after the area to be photographed is moved a second preset distance in the fourth direction; The effective shooting area in the forward shooting direction is the area to be shot, wherein the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.

6. The method according to claim 3, characterized in that, The first preset distance is equal to the second preset distance.

7. The method according to claim 2, characterized in that, The first preset distance is determined based on the flight altitude of the drone and the installation angle of the camera device mounted on the drone.

8. The method according to any one of claims 1 to 7, characterized in that, The flight path includes multiple parallel sub-paths, with one side of adjacent sub-paths connected to form a single flight path. The process of determining the flight route includes: Based on the preset ground resolution, the preset lateral overlap rate, and the number of pixels of the shooting device mounted on the UAV perpendicular to the flight direction of the UAV, the lateral spacing between two adjacent sub-lines in the flight path is determined. The flight path is determined based on the second location information and the lateral distance.

9. The method according to claim 8, characterized in that, The extended shooting area is square, the starting waypoint of the flight path is any corner of the extended shooting area, and the sub-path is parallel to one of the sides of the extended shooting area.

10. The method according to any one of claims 1 to 7, characterized in that, The first location information is set by the user; or, The area to be photographed is determined by importing an external file, which contains the first location information.

11. The method according to any one of claims 1 to 7, characterized in that, Also includes: Control the drone to fly along the stated flight path; According to the shooting sequence, as the drone flies from the current shooting point to the next shooting point, the gimbal on the drone is controlled to switch attitudes so that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point. The image captured by the shooting device at each shooting point is obtained.

12. The method according to claim 11, characterized in that, The filming device does not affect the flight of the drone.

13. The method according to claim 11, characterized in that, According to the shooting sequence, as the drone flies from the current shooting point to the next shooting point, the gimbal on the drone is controlled to switch attitudes so that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point, including: According to the shooting sequence, a shooting trigger signal is sent to the gimbal so that the gimbal can switch attitudes as the drone flies from the current shooting point to the next shooting point, so that the shooting device on the gimbal is in the corresponding shooting direction when the drone reaches each shooting point. The shooting trigger signal is also used to instruct the gimbal to trigger shooting when the shooting device is in the corresponding shooting direction.

14. The method according to claim 11, characterized in that, The maximum allowable flight speed of the UAV is determined based on the heading distance between each shooting direction and the time required for the shooting device to complete one shooting sequence and return to the initial shooting direction.

15. The method according to claim 14, characterized in that, The heading spacing in each shooting direction is equal, and the heading spacing is determined based on a preset ground resolution, a preset heading overlap rate, and the number of pixels of the shooting device parallel to the flight direction of the UAV.

16. The method according to claim 11, characterized in that, The control of the gimbal on the drone to switch attitudes, so that the shooting device on the gimbal is in the corresponding shooting direction at each shooting point, specifically includes: Obtain the real-time attitude of the drone; Determine the deviation between the real-time attitude of the drone and the shooting direction of the next shooting point; The gimbal on the UAV is controlled to switch attitudes based on the deviation, so that the shooting device on the gimbal is in the corresponding shooting direction at each shooting point.

17. The method according to claim 11, characterized in that, The gimbal is a three-axis gimbal, and the gimbal is configured to move around the yaw axis, roll axis and pitch axis. The control of the gimbal on the drone to switch attitudes includes: Control any two of the gimbal's yaw attitude, roll axis attitude, and pitch axis attitude to control the gimbal's attitude switching.

18. A shooting control device, characterized in that, The device includes: Storage device for storing program instructions; and One or more processors invoke program instructions stored in the storage device, wherein when the program instructions are executed, the one or more processors are individually or jointly configured to perform the following operations: The first location information of the area to be photographed and the second location information of the expanded shooting area are obtained, wherein the expanded shooting area is obtained by enlarging the area to be photographed, and the second location information is determined based on the first location information; Based on the first location information and the second location information, determine the third location information of the effective shooting area for different shooting directions; Based on the third location information and the preset flight path of the UAV, multiple shooting sequences are determined on the flight path. The multiple shooting sequences are arranged in sequence, wherein the order of each shooting sequence is consistent with the order in which the UAV passes the position of the shooting sequence on the flight path when flying along the flight path. At least a portion of the multiple shooting sequences include multiple shooting points, each shooting point having a different shooting direction, and the shooting point in each shooting direction is located within the effective shooting area of ​​that shooting direction.

Images