Automatic mirror-moving shooting method of aircraft and aircraft

Abstract

The invention discloses an automatic mirror-moving shooting method of an aircraft and the aircraft, the aircraft comprises a camera used for shooting videos, and the method comprises the following steps: the aircraft is started and a shooting target is visually locked through the camera; when the aircraft flies to the first key point, recording first key point information of the aircraft at the first key point; the aircraft flies to the Nth key point, Nth key point information of the aircraft at the Nth key point is recorded, and N is a positive integer larger than or equal to 2; connecting the first key point to the Nth key point to form an automatic flight path; and controlling the aircraft to fly according to the automatic flight path and to fly and shoot at each key point according to the key point information, thereby realizing convenient operation and improving the shooting effect.

Description

Technical Field

[0001] The present application belongs to the technical field of aircraft, and in particular, relates to an automatic camera movement shooting method for an aircraft and an aircraft. Background Art

[0002] Nowadays, using drones equipped with cameras for filming is becoming more and more popular among video content creators. The existing drone shooting method of shooting moving scenes with fixed subjects usually requires simultaneous control of the drone's flight trajectory, the camera's azimuth angle, the drone's heading and other parameters. In actual shooting, it is difficult to simultaneously control the drone's stable flight and stable shooting composition, and it is difficult to achieve smooth shooting movement, resulting in poor shooting effects. Therefore, it is necessary to comprehensively consider the drone's control and shooting effects. Summary of the invention

[0003] The embodiments of the present application provide an automatic camera movement shooting method for an aircraft and an aircraft, so as to achieve convenient operation and improve shooting effects.

[0004] In a first aspect, the present application provides an automatic camera movement shooting method for an aircraft, wherein the aircraft includes a camera for shooting video, and the method includes: the aircraft is started and the shooting target is locked through the camera vision; the aircraft flies to a first key point and records the first key point information of the aircraft at the first key point; the aircraft flies to the Nth key point and records the Nth key point information of the aircraft at the Nth key point, where N is a positive integer greater than or equal to 2; the first key point to the Nth key point are connected to form an automatic flight path; and the aircraft is controlled to fly according to the automatic flight path and fly and shoot according to the key point information at each key point.

[0005] In the embodiment of the present application, the aircraft locks the shooting target through the camera angle and records multiple flight key points in sequence, and forms an automatic flight path based on the recorded key points, so that the aircraft can fly and shoot according to the automatic flight path. During the automatic flight and shooting of the aircraft, no user operation is required. The aircraft can shoot according to the recorded key point information at each key point to achieve automatic camera movement and shooting, so that the shooting target can focus more on shooting, thereby achieving convenient operation and helping to improve the shooting effect.

[0006] In some embodiments, when N is two, the line connecting the first key point to the second key point is a straight line, and the aircraft flies the automatic flight path along the straight line; when N is greater than or equal to three, the line connecting the first key point to the Nth key point is a curve, and the aircraft flies the automatic flight path along the curve.

[0007] In some embodiments, the method further includes: synchronizing the first key point to the Nth key point on a map of the remote controller of the aircraft according to the key point information; and selectively modifying the curvature of the curve or the broken line trajectory on the map to adjust the automatic flight path.

[0008] In some embodiments, after the aircraft flies to the second key point and records the second key point information of the aircraft at the second key point, the method also includes: the aircraft continues to fly to the next key point and records the key point information of the aircraft at the next key point; or, starts the aircraft to fly according to the automatic flight path, and flies and shoots according to the key point information at each key point.

[0009] In some embodiments, before controlling the aircraft to fly according to the automatic flight path and to fly and shoot according to the key point information at each key point, the method also includes: setting the direction of the automatic flight path, setting the shooting parameters of the camera, and setting the maximum flight speed of the aircraft; when setting the order of the automatic flight path, controlling the aircraft to fly according to the automatic flight path from the first key point to the Nth key point and to fly and shoot according to the key point information at each key point; when setting the reverse order of the automatic flight path, controlling the aircraft to fly according to the automatic flight path from the Nth key point to the first key point and to fly and shoot according to the key point information at each key point.

[0010] In some embodiments, before controlling the aircraft to fly to the first key point or the Nth key point to start the automatic flight path, the method also includes: the aircraft locks the shooting target through the camera vision; displays the countdown for starting the automatic flight path on the remote control of the aircraft, and after the countdown ends, controls the aircraft to start shooting and fly to the next key point according to the automatic flight path.

[0011] In some embodiments, the key point information includes the spatial coordinates, altitude, heading angle, camera azimuth angle, and target viewing angle characteristics of the current viewing angle of the aircraft at the key point.

[0012] In some embodiments, the aircraft is controlled to fly according to the automatic flight path and to fly and shoot according to the key point information at each key point, including: controlling the aircraft to fly at a constant speed according to the automatic flight path; when the aircraft flies between any two key points according to the automatic flight path, controlling the camera to shoot the target in the middle of the shooting picture.

[0013] In some embodiments, after controlling the aircraft to fly to the first key point or the Nth key point to start the automatic flight path, the method further includes: ending the camera shooting; and controlling the aircraft to hover.

[0014] In a second aspect, the present application provides an aircraft, the aircraft comprising a camera for shooting video, and the aircraft is used to execute the automatic camera movement shooting method as in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic block diagram of the functional modules of an aircraft and a remote controller provided in an embodiment of the present application.

[0016] Figure 2 This is a flow chart of an automatic camera movement shooting method for an aircraft provided in an embodiment of the present application.

[0017] Figure 3 This is a flow chart of an automatic camera movement shooting method for an aircraft provided in another embodiment of the present application. DETAILED DESCRIPTION

[0018] It should be noted that the terms "first" and "second" in the specification, claims and drawings of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. In the specification, claims and drawings of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "multiple" in the specification, claims and drawings of the present application refers to two or more than two.

[0019] It is understandable that the connection relationship described in the present application refers to direct or indirect connection. For example, A is connected to B or A is electrically connected to B, which can be either A and B are directly connected or A and B are indirectly connected through one or more other electrical components, for example, A and C are directly connected, and C and B are directly connected, so that A and B are connected through C.

[0020] It should also be noted that the method disclosed in the embodiments of the present application or the method shown in the flowchart includes one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchangeable with each other, and some of the steps can also be deleted.

[0021] Some embodiments will be described below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0022] Nowadays, using drones equipped with cameras for filming is becoming more and more popular among video content creators. The existing drone shooting method of shooting moving scenes with fixed subjects usually requires simultaneous control of the drone's flight trajectory, the camera's azimuth angle, the drone's heading and other parameters. In actual shooting, it is difficult to simultaneously control the drone's stable flight and stable shooting composition, and it is difficult to achieve smooth shooting movement, resulting in poor shooting effects. Therefore, it is necessary to comprehensively consider the drone's control and shooting effects.

[0023] In view of this, the embodiments of the present application provide an automatic camera movement shooting method for an aircraft and an aircraft, so as to achieve convenient operation and improve shooting effects.

[0024] See also Figure 1 The embodiment of the present application provides an aircraft 100, which has a flight function. The aircraft 100 may include a camera 110. The camera 110 may be installed at at least one end of the aircraft 100, such as the front end, and the camera 110 may shoot a video or image of at least one end of the aircraft 100, such as the front end. In some embodiments, the camera 110 may be connected to the fuselage of the aircraft 100 through a pan-tilt structure 120, so that the camera 110 has higher shooting stability during the flight of the aircraft 100.

[0025] In some embodiments, the aircraft 100 may also be paired with a remote controller 200, and the remote controller 200 may wirelessly communicate with the aircraft 100. The aircraft 100 may be, but is not limited to, an unmanned aircraft, a drone, an unmanned aircraft, etc. The remote controller 200 is a remote control device that matches the aircraft and can be used to remotely control the flight of the aircraft and the shooting of the camera. The remote controller 200 may be held by a user or operator and may send instructions to the aircraft by wireless transmission, thereby controlling the flight of the aircraft and the shooting of the camera.

[0026] In some embodiments, the remote controller 200 may include a control component 210 and a display component 220. The control component 210 may control the flight of the aircraft 100 and / or the shooting of the camera 110. Exemplarily, the control component 210 may include a plurality of function buttons and a rocker, which may control the flight of the aircraft 100 and / or the shooting of the camera 110. The display component 220 may synchronously display the shooting picture of the camera 110. In some embodiments, the display component 220 has a touch function or a display interface control, and provides a touch component to control the shooting of the camera 110. In other embodiments, during the use of the remote controller 200, in order to be able to view the shooting effect in time and control the shooting of the camera, a display and control terminal such as a mobile phone or a tablet computer may also be loaded on the remote controller 200, and the flight parameters of the aircraft 100 and the shooting picture of the camera 110 may be synchronously displayed through the control terminal. In some embodiments, the remote controller 200 may display the map software through the display component 220 or the control terminal, and display the flight trajectory and flight parameters of the aircraft 100 on the map software. It can be understood that the map software may be an application installed by the display component 220 or the control terminal.

[0027] See also Figure 2 , Figure 2 This is a flow chart of an automatic camera movement shooting method for an aircraft provided in an embodiment of the present application. For example, Figure 2 The automatic camera movement shooting method of the aircraft shown in the figure can be Figure 1 The aircraft 100 shown performs and includes the following steps.

[0028] Step S201: The aircraft starts and visually locks onto a target through a camera.

[0029] In some embodiments, the aircraft 100 starts flying and turns on the camera 110. During the flight of the aircraft 100, the camera 110 can visually lock the shooting target, such as the target person or the target object, in the shooting picture, so that the aircraft 100 uses the locked shooting target as a calibration point during the flight shooting process, and always places the shooting target in the shooting picture or in a specific position of the shooting picture. For example, the aircraft 100 provides the camera 110 to provide an initial shooting picture, and through the visual recognition or selection operation of the aircraft 100, the specific target, such as the target person or the target object, in the initial shooting picture is visually locked, so that the aircraft 100 uses the locked shooting target as a calibration point during the subsequent flight shooting process, and always places the shooting target in the shooting picture or in a specific position of the shooting picture, such as the middle of the shooting picture, thereby forming a visual lock and tracking shooting of the shooting target. It can be understood that the initial shooting picture here can be a frame of the shooting picture of the aircraft 100 during the flight or hovering.

[0030] Step S202: the aircraft flies to a first key point, and first key point information of the aircraft at the first key point is recorded.

[0031] In some embodiments, the aircraft 100 flies to a first key point. It can be understood that the first key point is a certain position of the flight path, and the first key point can be the starting point or end point of shooting, that is, the camera 110 of the aircraft 100 starts or ends shooting at the first key point. In some embodiments, when the aircraft 100 flies to the first key point, the user or operator can trigger shooting through the buttons of the remote controller 200 or the application of the mobile phone or tablet computer on the remote controller 200, and the current position of the aircraft 100 is used as the first key point.

[0032] In some embodiments, the first key point information of recording the aircraft 100 at the first key point may be a state of recording the aircraft 100 at the current position, including but not limited to the spatial coordinates, altitude, heading angle, camera azimuth angle, target viewing angle features of the current viewing angle, etc. of the key point. The spatial coordinates of the key point may be global navigation satellite system (GNSS) coordinates, the altitude may be the altitude or the height above the ground, the heading angle may be the current flight heading angle of the aircraft 100, the camera azimuth angle may be the current shooting angle of the camera 110, the pitch angle of the camera, or the pitch angle of the pan-tilt structure 120, and the target viewing angle features of the current viewing angle may be the color features, edge features, texture features, and shape features captured by the camera 110 on the shooting target, etc. It can be understood that, according to the key point information, when the aircraft 100 flies to the key point again, the state of the aircraft 100 at the key point can be reproduced.

[0033] Step S203: The aircraft flies from the first key point to the Nth key point in sequence, and records N key point information of the aircraft from the first key point to the Nth key point, where N is a positive integer greater than or equal to 2.

[0034] In some embodiments, after completing recording the first key point information of the aircraft 100 at the first key point, the aircraft 100 continues to fly to the next key point and records the key point information of the aircraft 100 at the next key point. The aircraft 100 flies through N key points in sequence and records the key point information of the aircraft 100 at the N key points. For example, the aircraft 100 flies through the first key point, the second key point, ..., the N-1th key point, and the Nth key point in sequence, and records the first key point information, the second key point information, ..., the N-1th key point information, and the Nth key point information of the aircraft 100 at the N key points. For example, when N is two, the aircraft 100 flies through the first key point and the second key point in sequence, and records the first key point information of the aircraft 100 at the first key point and the second key point information at the second key point; when N is five, the aircraft 100 flies through the first key point, the second key point, ..., the fifth key point in sequence, and records the first key point information, the second key point information, ..., the fifth key point information of the aircraft 100 at the five key points. It can be understood that there are N-2 key points between the first key point and the Nth key point.

[0035] In some embodiments, the aircraft 100 flies to the Nth key point. It can be understood that the Nth key point is a certain position of the flight path, and the Nth key point can be the end point or the starting point of the shooting, that is, the camera 110 of the aircraft 100 ends or starts shooting at the Nth key point. It can be understood that the Nth key point corresponds to the first key point. When the first key point is the starting point of the shooting, the Nth key point is the end point of the shooting; when the Nth key point is the starting point of the shooting, the first key point is the end point of the shooting.

[0036] In some embodiments, the aircraft 100 flies from the first key point to the Nth key point in sequence, and records the key point information of each key point that the aircraft 100 passes through, so that a total of N key point information can be recorded.

[0037] Step S204: Connect the first key point to the Nth key point to form an automatic flight path.

[0038] In some embodiments, when the aircraft 100 records each key point information, the first key point to the Nth key point are synchronized according to the key point information on the map software of the remote controller 200. It can be understood that each key point information includes the GNSS coordinates and altitude information of the location of the key point, and these key points can be displayed on the map software according to the GNSS coordinates and altitude information.

[0039] In some embodiments, after the aircraft 100 completes recording the second key point information, the first key point and the second key point displayed on the map software can be connected to form a flight trajectory of the aircraft 100, and the flight trajectory can be used as the subsequent automatic flight path of the aircraft 100. In some embodiments, after the second key point information is completed, when the aircraft 100 completes recording each key point information, the key point is synchronously displayed on the map software, and these key points are continuously connected to synchronously update the flight trajectory of the aircraft 100.

[0040] In some embodiments, when N is two, the line connecting the first key point to the second key point may be a straight line, that is, the automatic flight path formed by the line connecting the first key point to the second key point is a straight line, and the aircraft 100 may fly along the automatic flight path in a straight line. When N is greater than or equal to three, the line connecting the first key point to the Nth key point may be a curve, that is, the automatic flight path formed by the lines connecting the first key point to the Nth key point in sequence is a curve, and the aircraft 100 may fly along the automatic flight path in a curved line. In some embodiments, the curve between the first key point and the Nth key point may be a Bezier curve.

[0041] In some embodiments, the curve between the first key point and the Nth key point can be edited to have a curvature or a broken line track, and the user or operator can edit the curve between the first key point and the Nth key point displayed on the map software of the aircraft 100, and the connection line between any two key points between the first key point and the Nth key point can be edited to modify the curvature or broken line track of the curve, so that the user or operator can modify and adjust the automatic flight path of the aircraft 100 according to subjective judgment. Exemplarily, the connection line between the M-1th key point and the Mth key point can have the curvature or broken line track of the curve modified according to the editing of the user or operator, so that the connection line has a larger heading angle or a longer flight track.

[0042] It can be understood that after the Nth key point information of the aircraft 100 at the Nth key point is recorded and the connection line from the first key point to the Nth key point is edited and saved, the final automatic flight path can be formed.

[0043] In some embodiments, in the process of recording the first key point to the Nth key point, when the positioning coordinates (e.g., GNSS coordinates) or the height difference of the two key points (or recorded points) of the connection line are within a preset range, it will not be considered as a new key point, and no new key point will be created, but the key point information of the current key point will be updated. In some embodiments, the preset range may be, but is not limited to, 3 meters. Exemplarily, after recording the first key point information of the aircraft 100 at the first key point, the aircraft 100 flies to the next key point position, but when the positioning coordinates or height difference of the next key point position and the first key point are within the preset range (e.g., less than or equal to 3 meters), it is considered that the two consecutive key points are relatively close, and the aircraft 100 does not create a second key point at the key point position, but updates the information at the current key point position to the first key point information, thereby avoiding the adjacent key points from being too densely distributed, which is more conducive to the clear planning of the automatic flight path.

[0044] Step S205: Control the aircraft to fly according to the automatic flight path and fly and shoot at each key point according to the key point information.

[0045] In some embodiments, after the automatic flight path is formed, when the aircraft 100 needs to perform automatic flight shooting, the automatic flight path can be started to control the aircraft 100 to fly according to the automatic flight path and fly and shoot at each key point according to the key point information.

[0046] In some embodiments, after the automatic flight path is formed, when the aircraft 100 needs to perform automatic flight photography, the user or operator can trigger the start of the automatic flight path through the control component 210 of the remote controller 200 or the display interface control of the display component 220 to control the aircraft 100 to fly to the starting point of the automatic flight path and start flying and photographing according to the automatic flight path. In some embodiments, the automatic flight path can be set to be sequential or reverse order. When the automatic flight path is set to be sequential, the first key point is the starting point of the automatic flight path, and the Nth key point is the end point of the automatic flight path. The aircraft 100 can be controlled to fly and photograph in the direction from the first key point to the Nth key point in sequence; when the automatic flight path is set to be reverse order, the Nth key point is the starting point of the automatic flight path, and the first key point is the end point of the automatic flight path. The aircraft 100 can be controlled to fly and photograph in the direction from the Nth key point to the first key point in sequence.

[0047] In some embodiments, when the aircraft 100 is flying along the automatic flight path, the aircraft 100 can be controlled to fly at a constant speed to ensure that the aircraft 100 flies smoothly, and when the aircraft 100 is flying between any two key points along the automatic flight path, the camera 110 is controlled to shoot the target in the middle of the shooting screen, so as to always maintain a visual lock on the target and avoid losing the target during the shooting of the automatic flight path.

[0048] By controlling the aircraft 100 to fly according to the automatic flight path and flying and shooting according to the key point information at each key point, the automatic flight and shooting of the aircraft 100 can be realized. During the automatic flight and shooting of the aircraft 100, no user operation is required. The aircraft 100 can shoot according to the recorded key point information at each key point to realize automatic camera movement shooting, so that the shooting target can focus more on shooting without being distracted by the control of the aircraft 100. Moreover, the shooting at each key point is the relevant parameter information that the user or operator wants to shoot. During automatic shooting, the shooting effect that the user or operator wants can be obtained, thereby achieving convenient operation and helping to improve the shooting effect.

[0049] See also Figure 3 , Figure 3 This is a flow chart of an automatic camera movement shooting method for an aircraft provided by another embodiment of the present application. For example, Figure 3 The automatic camera movement shooting method of the aircraft shown in the figure can be Figure 1 The aircraft 100 shown performs and includes the following steps.

[0050] Step S301: The aircraft starts and visually locks onto a target through a camera.

[0051] For detailed description of step S301, please refer to Figure 2 Step S201 and Figure 1 The relevant description will not be repeated here.

[0052] Step S302: the aircraft flies to a first key point, and first key point information of the aircraft at the first key point is recorded.

[0053] The detailed description of step S302 can be found in Figure 2 Step S202 and Figure 1 The relevant description will not be repeated here.

[0054] Step S303, the aircraft flies to the second key point, records the second key point information of the aircraft at the second key point, and determines whether to start the automatic flight path or continue to record the next key point.

[0055] In some embodiments, after the aircraft 100 completes recording the second key point information, the first key point and the second key point displayed on the map software of the remote controller 200 can be connected to form a flight trajectory of the aircraft 100, and the flight trajectory can be used as a subsequent automatic flight path of the aircraft 100. Since the automatic flight path based on the first key point and the second key point has been formed, it can be determined whether to start the automatic flight or continue to record the next key point. When it is determined to continue to record the next key point, the method can execute step S304; when it is determined to start the automatic flight path, the method can execute step S306.

[0056] In some embodiments, after completing the second key point information, each time the aircraft 100 completes recording of a key point information, the key point is synchronously displayed on the map software, and these key points are continuously connected to synchronously update the flight trajectory of the aircraft 100.

[0057] In some embodiments, after completing the second key point information, a trigger control for starting the automatic flight path may be displayed on the display component 220 of the remote controller 200, such as the displayed map software, or on the control component 210 of the remote controller 200. The user or operator may continue to operate the flight to the next key point for recording, or start the automatic flight path of the aircraft 100 through the trigger control displayed on the display component 220 or the control component 210.

[0058] Step S304: the aircraft flies from the first key point to the Nth key point in sequence, and records N key point information of the aircraft from the first key point to the Nth key point, where N is a positive integer greater than or equal to 2.

[0059] The detailed description of step S304 can be found in Figure 2 Step S203 and Figure 1 The relevant description will not be repeated here.

[0060] Step S305: Connect the first key point to the Nth key point to form an automatic flight path.

[0061] The detailed description of step S305 can be found in Figure 2 Step S204 and Figure 1 The relevant description will not be repeated here.

[0062] Step S306: Setting relevant parameters for the automatic flight of the aircraft.

[0063] In some embodiments, after forming an automatic flight path connecting the first key point to the Nth key point and before the aircraft 100 starts the automatic flight path, relevant parameters for the automatic flight of the aircraft 100 can be set, for example, including setting the direction of the automatic flight path, setting the shooting parameters of the camera 110, and setting the maximum flight speed of the aircraft 100.

[0064] The direction of the automatic flight path can be set to sequential or reverse order. When the automatic flight path is set to sequential order, the first key point is the starting point of the automatic flight path, and the Nth key point is the end point of the automatic flight path. The aircraft 100 can be controlled to fly and shoot from the first key point to the Nth key point in sequence; when the automatic flight path is set to reverse order, the Nth key point is the starting point of the automatic flight path, and the first key point is the end point of the automatic flight path. The aircraft 100 can be controlled to fly and shoot from the Nth key point to the first key point in sequence. The shooting parameters of the camera 110 may include but are not limited to the exposure parameters, shooting frame rate, shooting resolution and other parameters of the camera 110. The maximum flight speed of the aircraft 100 may be the maximum flight speed of the aircraft 100 when flying according to the automatic flight path, and may also be a safe flight threshold.

[0065] Step S307: The aircraft locks onto the target through the camera vision and starts the countdown of the automatic flight path.

[0066] In some embodiments, the aircraft 100 visually locks the shooting target through the camera 110. It is understandable that after the aircraft 100 forms the automatic flight path, the aircraft 100 may no longer visually lock the shooting target, so before starting the automatic flight path, the aircraft 100 re-visually locks the shooting target through the camera 110 and starts the countdown of the automatic flight path. In some embodiments, the countdown for starting the automatic flight path is displayed on the display interface of the display component 210 of the remote controller 200, and after the countdown ends, the aircraft 100 is started to fly and shoot according to the automatic flight path. In some embodiments, after the user or operator triggers the start of the execution of the automatic flight path through the display interface control of the control component 210 or the display component 220 of the remote controller 200, the countdown for starting the automatic flight path is displayed on the display interface of the display component 210 of the remote controller 200, and after the countdown ends, the aircraft 100 is controlled to start flying to the starting point of the automatic flight path, as set in step S306, and the starting point of the automatic flight path can be the first key point or the Nth key point. In some embodiments, the countdown can be but not limited to 3 seconds, 5 seconds or 10 seconds, etc.

[0067] Step S308: Control the aircraft to fly according to the automatic flight path and fly and shoot at each key point according to the key point information.

[0068] For detailed description of step S308, please refer to Figure 2 Step S205 and Figure 1 The relevant description will not be repeated here.

[0069] Step S309: End the flight and shooting of the automatic flight path and control the aircraft to hover.

[0070] In some embodiments, after the aircraft 100 completes the flight and shooting according to the automatic flight path, the aircraft 100 is controlled to hover at the end point of the automatic flight path. As set in step S306, the end point of the automatic flight path may be the Nth key point or the first key point. After the aircraft 100 flies to the last key point, i.e., the end point of the automatic flight path, according to the automatic flight path, and completes shooting at the last key point, the flight and shooting of the automatic flight path are ended. At this time, the aircraft 100 may be controlled to hover at the position of the last key point to wait for further operation by the user or operator.

[0071] In some embodiments, the aircraft 100 may store a safety mechanism for an automatic flight path. When the aircraft 100 is executing the automatic flight path and any condition in the safety mechanism is triggered, the aircraft 100 may immediately end the automatic flight path to ensure the safety of the aircraft 100. In some embodiments, the safety mechanism for the automatic flight path may include the following conditions: loss of positioning signal (GNSS signal) or loss of shooting target, higher priority function is triggered, cancellation of the automatic flight path is triggered, and / or the flight of the aircraft 100 touches a no-fly zone, a restricted flying zone or an electronic fence. Among them, the higher priority function may include but is not limited to a low-battery return function, a one-key return function, and / or a lost connection return function set by the aircraft 100. The cancellation of the automatic flight path can be triggered by the user or operator through the control component 210 of the remote controller 200 or the display interface control of the display component 220 to cancel the execution of the automatic flight path.

[0072] In the automatic camera movement shooting method of the aircraft in the embodiment of the present application, the aircraft 100 is controlled to record key point information at each key point and an automatic flight path of multiple key points is formed. The aircraft 100 is controlled to fly according to the automatic flight path and to fly and shoot according to the key point information at each key point, so that the automatic flight and shooting of the aircraft 100 can be realized. During the automatic flight and shooting of the aircraft 100, no user operation is required. The aircraft 100 can shoot according to the recorded key point information at each key point to realize automatic camera movement shooting, so that the shooting target can focus more on shooting without being distracted by the control of the aircraft 100. Moreover, the shooting at each key point is the relevant parameter information that the user or operator wants to shoot. During the automatic shooting, the shooting effect that the user or operator wants can be obtained, thereby achieving convenient operation and helping to improve the shooting effect.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. In the actual application process, the entire content of the technical solutions described in any embodiment of the present application can be implemented, or some content can be added, or some content can be deleted, or some content can be changed / replaced. Although the present application is described in detail with reference to the preferred embodiments, it should be understood by those of ordinary skill in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. An automatic camera shooting method for an aircraft, wherein the aircraft includes a camera for shooting a video, characterized in that: The method comprises: The aircraft is started and the target is visually locked by the camera; The aircraft flies to a first key point, and records first key point information of the aircraft at the first key point; The aircraft flies from the first key point to the Nth key point in sequence, and records N key point information of the aircraft from the first key point to the Nth key point, where N is a positive integer greater than or equal to 2; A line is connected from the first key point to the Nth key point to form an automatic flight path; and The aircraft is controlled to fly according to the automatic flight path and to fly and shoot at each key point according to the key point information.

2. The method according to claim 1, characterized in that When N is 2, the line connecting the first key point to the second key point is a straight line, and the aircraft flies the automatic flight path along the straight line; When N is greater than or equal to three, the line connecting the first key point to the Nth key point is a curve, and the aircraft flies the automatic flight path according to the curve.

3. The method according to claim 2, characterized in that The method further comprises: Synchronizing the first key point to the Nth key point on a map of the remote controller of the aircraft according to the key point information; The curvature of the curve or the broken line trajectory is selectively modified on the map to adjust the automated flight path.

4. The method according to claim 1, characterized in that After the aircraft flies to the second key point and records the second key point information of the aircraft at the second key point, the method further includes: The aircraft continues to fly to the next key point, and records the key point information of the aircraft at the next key point; Or, start the aircraft to fly according to the automatic flight path, and fly and shoot at each key point according to the key point information.

5. The method according to claim 1, characterized in that Before controlling the aircraft to fly according to the automatic flight path and flying and photographing according to the key point information at each key point, the method further includes: Setting the direction of the automatic flight path, setting the shooting parameters of the camera and setting the maximum flight speed of the aircraft; When setting the sequence of the automatic flight path, controlling the aircraft to fly from the first key point to the Nth key point according to the automatic flight path and flying and photographing according to the key point information at each key point; When setting the reverse order of the automatic flight path, the aircraft is controlled to fly from the Nth key point to the first key point according to the automatic flight path and to fly and shoot at each key point according to the key point information.

6. The method according to claim 5, characterized in that Before controlling the aircraft to fly to the first key point or the Nth key point to start the automatic flight path, the method further includes: The aircraft visually locks the shooting target through the camera; A countdown for starting the automatic flight path is displayed on the remote controller of the aircraft, and after the countdown ends, the aircraft is controlled to start shooting and fly to the next key point according to the automatic flight path.

7. The method according to claim 1, characterized in that The key point information includes the spatial coordinates, altitude, heading angle, camera azimuth angle, and target viewing angle features of the current viewing angle of the aircraft at the key point.

8. The method according to claim 1, characterized in that The controlling the aircraft to fly according to the automatic flight path and to fly and shoot according to the key point information at each key point includes: Controlling the aircraft to fly at a constant speed along the automatic flight path; When the aircraft flies between any two of the key points according to the automatic flight path, the camera is controlled to shoot the target in the middle of the shooting picture.

9. The method according to claim 1, characterized in that After controlling the aircraft to fly to the first key point or the Nth key point to start the automatic flight path, the method further includes: End the filming of the camera; and The aircraft is controlled to hover.

10. An aircraft, comprising a camera for shooting video, characterized in that: The aircraft is used to execute the automatic camera movement shooting method as described in any one of claims 1 to 9.

Images