Automatic mirror shooting method of aircraft and aircraft

Abstract

An automatic lens shooting method of an aerial vehicle and the aerial vehicle, the aerial vehicle comprising a camera for shooting a video, the method comprising: the aerial vehicle starting and locking a shooting target by the camera; the aerial vehicle flying to a first key point and recording first key point information of the aerial vehicle at the first key point; the aerial vehicle flying to an Nth key point and recording Nth key point information of the aerial vehicle at the Nth key point, N being a positive integer greater than or equal to 2; a line connecting the first key point to the Nth key point forming an automatic flight path; and controlling the aerial vehicle to fly according to the automatic flight path and to fly and shoot at each key point according to the key point information, so as to realize convenient operation and improve shooting effect.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of aircraft, and particularly relates to an automatic lens movement shooting method of an aircraft and the aircraft. BACKGROUND

[0002] Nowadays, more and more video content creators prefer to use aircraft equipped with cameras for shooting. The existing aircraft usually needs to control multiple parameters such as the flight trajectory of the aircraft, the azimuth angle of the camera, the heading of the aircraft, etc. at the same time to shoot the lens movement picture with the fixed shooting subject as the theme. In actual shooting, it is difficult to simultaneously control the smooth flight of the aircraft and the stable shooting composition, and it is difficult to achieve smooth shooting lens movement, resulting in poor shooting effect. Therefore, the control of the aircraft and the shooting effect need to be comprehensively considered. SUMMARY

[0003] The embodiments of the present application provide an automatic lens movement shooting method of an aircraft and the aircraft to realize convenient operation and improve the shooting effect.

[0004] In a first aspect, the present application provides an automatic lens movement shooting method of an aircraft, the aircraft comprising a camera for shooting a video, the method comprising: starting the aircraft and locking a shooting target by the camera; flying the aircraft to a first key point and recording first key point information of the aircraft at the first key point; flying the aircraft to an Nth key point and recording Nth key point information of the aircraft at the Nth key point, N being a positive integer greater 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.

[0005] In the embodiments of the present application, the aircraft locks the shooting target by the camera and records a plurality of flight key points in sequence, forms an automatic flight path according to the recorded key points, so that the aircraft can fly and shoot according to the automatic flight path. In the process of automatic flight and shooting of the aircraft, the user does not need to operate, the aircraft can shoot according to the recorded key point information at each key point, realizes automatic lens movement shooting, so that the shooting target can be more focused on shooting, thereby realizing convenient operation and being conducive to improving the shooting effect.

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

[0007] In some embodiments, the method further comprises: synchronizing the first key point to the Nth key point on a map of the remote controller of the aerial vehicle according to the key point information; and selectively modifying the curvature of the curve or the polyline track on the map to adjust the automatic flight path.

[0008] In some embodiments, after the aerial vehicle flies to the second key point and records the second key point information of the aerial vehicle at the second key point, the method further comprises: the aerial vehicle continues to fly to the next key point and records the key point information of the aerial vehicle at the next key point; or, the aerial vehicle starts 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 aerial vehicle to fly according to the automatic flight path and fly and shoot according to the key point information at each key point, the method further comprises: setting the direction of the automatic flight path, setting the shooting parameters of the camera, and setting the maximum flight speed of the aerial vehicle; when the order of the automatic flight path is set, controlling the aerial vehicle to fly according to the automatic flight path from the first key point to the Nth key point and fly and shoot according to the key point information at each key point; when the reverse order of the automatic flight path is set, controlling the aerial vehicle to fly according to the automatic flight path from the Nth key point to the first key point and fly and shoot according to the key point information at each key point.

[0010] In some embodiments, before controlling the aerial vehicle to fly to the first key point or the Nth key point to start the automatic flight path, the method further comprises: the aerial vehicle locks the shooting target through the camera vision; displaying a countdown of starting the automatic flight path on the remote controller of the aerial vehicle, and after the countdown ends, controlling the aerial vehicle to start shooting and fly according to the automatic flight path to the next key point.

[0011] In some embodiments, the key point information comprises the spatial coordinates, the height, the heading angle, the camera azimuth angle, and the target perspective feature of the current perspective of the aerial vehicle at the key point.

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

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

[0014] In a second aspect, the present application provides a flying vehicle, the flying vehicle comprising a camera for shooting a video, and the flying vehicle is configured to perform the automatic lens operation shooting method according to the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a functional module schematic block diagram of a flying vehicle and a remote controller provided by an embodiment of the present application.

[0016] Figure 2 is a flow chart of an automatic lens operation shooting method of a flying vehicle provided by an embodiment of the present application.

[0017] Figure 3 is a flow chart of an automatic lens operation shooting method of a flying vehicle provided by another embodiment of the present application. DETAILED DESCRIPTION

[0018] It should be noted that the terms "first", "second" in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence. In the specification and claims of the present application and the drawings, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B. For example, A and / or B can represent three cases of A alone, A and B together, and B alone. In addition, the term "multiple" in the specification and claims of the present application and the drawings refers to two or more than two.

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

[0020] In addition, it should be noted that the method disclosed in the embodiments of the present application or the method shown in the flow chart includes one or more steps for implementing the method, and the execution order of the steps can be interchanged with each other without departing from the scope of the claims, and some steps can also be deleted.

[0021] Some embodiments will be described below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0022] Nowadays, more and more video content creators prefer to use aerial vehicles equipped with cameras for shooting. The existing aerial vehicles usually need to control multiple parameters such as flight trajectory, azimuth angle of the camera, and flight direction of the aerial vehicle for shooting a moving shot with a fixed shooting subject. In actual shooting, it is difficult to simultaneously control the smooth flight of the aerial vehicle and the stable shooting composition, and it is difficult to achieve a smooth moving shot, resulting in poor shooting effect. Therefore, the control of the aerial vehicle and the shooting effect need to be comprehensively considered.

[0023] In view of this, the embodiments of the present application provide an automatic moving shot shooting method of an aerial vehicle and an aerial vehicle to realize convenient operation and improve the shooting effect.

[0024] Please refer to Figure 1 The embodiments of the present application provide an aerial vehicle 100. The aerial vehicle 100 has a flight function. The aerial vehicle 100 can include a camera 110. The camera 110 can be installed at at least one end, for example, the front end, of the aerial vehicle 100. The camera 110 can shoot video or image of at least one end, for example, the front end, of the aerial vehicle 100. In some embodiments, the camera 110 can be connected to the body of the aerial vehicle 100 through a gimbal structure 120, so that the camera 110 has higher shooting stability during the flight of the aerial vehicle 100.

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

[0026] In some embodiments, the remote controller 200 can include a control component 210 and a display component 220. The control component 210 can control the flight of the aerial vehicle 100 and / or the shooting of the camera 110. For example, the control component 210 can include a plurality of function buttons and a joystick, and can control the flight of the aerial vehicle 100 and / or the shooting of the camera 110. The display component 220 can 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 timely watch the shooting effect and control the shooting of the camera, a display and control terminal such as a mobile phone or a tablet computer can also be loaded on the remote controller 200, and through the control terminal, the flight parameters of the aerial vehicle 100 and the shooting picture of the camera 110 can be synchronously displayed. In some embodiments, the remote controller 200 can display a map software through the display component 220 or the control terminal, and display the flight trajectory and flight parameters of the aerial vehicle 100 on the map software. It can be understood that the map software can be an application installed on the display component 220 or the control terminal.

[0027] Please refer to Figure 2 , Figure 2 The flowchart of the automatic lens operation shooting method of the aerial vehicle provided in the embodiments of the present application is shown in FIG. 2. For example, the automatic lens operation shooting method of the aerial vehicle shown in FIG. 2 can be executed by the aerial vehicle 100 shown in FIG. 1, and includes the following steps. Figure 2 Figure 1 The flowchart of the automatic lens operation shooting method of the aerial vehicle provided in the embodiments of the present application is shown in FIG. 2. For example, the automatic lens operation shooting method of the aerial vehicle shown in FIG. 2 can be executed by the aerial vehicle 100 shown in FIG. 1, and includes the following steps.

[0028] Step S201: The aerial vehicle starts and locks the shooting target through the camera vision.

[0029] In some embodiments, the aerial vehicle 100 starts to fly and turns on the camera 110, and during the flight of the aerial vehicle 100, the shooting target such as a target person or a target object can be visually locked in the shooting picture through the camera 110, so that the aerial vehicle 100 takes the locked shooting target as a calibration point during the flight shooting, and keeps the shooting target in the shooting picture or in a specific position of the shooting picture. For example, the aerial vehicle 100 provides an initial shooting picture through the camera 110, and through the visual recognition or selection operation of the aerial vehicle 100, a specific target such as a target person or a target object in the initial shooting picture is visually locked, so that the aerial vehicle 100 takes the locked shooting target as a calibration point during the subsequent flight shooting, and keeps the shooting target in the shooting picture or in a specific position of the shooting picture, for example, in the middle of the shooting picture, thereby forming the visual locking and tracking shooting of the shooting target. It can be understood that the initial shooting picture here can be a certain frame of shooting picture during the flight or hovering of the aerial vehicle 100. ​

[0030] Step S202: The aerial vehicle flies to a first key point, and records first key point information of the aerial vehicle at the first key point.

[0031] In some embodiments, the aerial vehicle 100 flies to a first key point, which can be understood as a position on the flight path, and the first key point can be the starting point or the ending point of the shooting, i.e., the camera 110 of the aerial vehicle 100 starts or ends shooting at the first key point. In some embodiments, when the aerial vehicle 100 flies to the first key point, the user or the operator can trigger the shooting through the keys of the remote controller 200 or the application on the mobile phone or the tablet computer of the remote controller 200, and take the current position of the aerial vehicle 100 as the first key point.

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

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

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

[0035] In some embodiments, the aerial vehicle 100 flies to the N key point, which can be understood as a position on the flight path, and the N key point can be the end or the start of the shooting, i.e. the camera 110 of the aerial vehicle 100 ends or starts shooting at the N key point. It can be understood that the N key point corresponds to the first key point, when the first key point is the start of the shooting, the N key point is the end of the shooting; when the N key point is the start of the shooting, the first key point is the end of the shooting.

[0036] In some embodiments, the aerial vehicle 100 flies from the first key point to the N key point in sequence and records the key point information of the aerial vehicle 100 at each key point passed, so that a total of N key point information can be recorded.

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

[0038] In some embodiments, when the aerial vehicle 100 records each key point information, the first key point to the N key point is synchronized on the map software of the remote controller 200 according to the key point information. It can be understood that each key point information includes the GNSS coordinates and height information of the position of the key point, and according to the GNSS coordinates and height information, these key points can be displayed on the map software.

[0039] In some embodiments, when the aerial vehicle 100 records 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 aerial vehicle 100, which can be used as an automatic flight path for the aerial vehicle 100 in the future. In some embodiments, when the aerial vehicle 100 records the second key point information, the aerial vehicle 100 can display the key point on the map software synchronously, and connect the key points to update the flight trajectory of the aerial vehicle 100 synchronously.

[0040] In some embodiments, when N is two, the connection between the first key point and the second key point can be a straight line, i.e., the automatic flight path formed by connecting the first key point and the second key point is a straight line, and the aerial vehicle 100 can fly in a straight line when flying along the automatic flight path. When N is greater than or equal to three, the connection between the first key point and the Nth key point can be a curve, i.e., the automatic flight path formed by connecting the first key point and the Nth key point in sequence is a curve, and the aerial vehicle 100 can fly in a curve when flying along the automatic flight path. In some embodiments, the curve between the first key point and the Nth key point can be a Bezier curve.

[0041] In some embodiments, the curve between the first key point and the Nth key point can be edited by editing the curvature or polyline trajectory of the curve. 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 aerial vehicle 100, and the connection between any two key points of the first key point and the Nth key point can be modified by editing the curvature or polyline trajectory of the curve, so that the user or operator can modify the automatic flight path of the aerial vehicle 100 according to subjective judgment. For example, the connection between the M-1th key point and the Mth key point can be modified by editing the curvature or polyline trajectory of the curve, so that the connection has a larger heading angle or a longer flight trajectory.

[0042] It can be understood that after the aerial vehicle 100 records the Nth key point information of the Nth key point and the connection between the first key point and the Nth key point is edited and saved, the final automatic flight path can be formed.

[0043] In some embodiments, during the recording of the first key point to the Nth key point, when the positioning coordinates (e.g., GNSS coordinates) or height difference of the two key points (or recording points) of the line are within a preset range, it will not be considered as a new key point, and a new key point will not be created, but the key point information of the current key point will be updated. In some embodiments, the preset range can be, but is not limited to, 3 meters. For example, after the first key point information of the aircraft 100 at the first key point is recorded, 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 as the first key point information, so as to avoid the adjacent key points being too dense, and to facilitate 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 be executed 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 shooting, the user or operator can trigger the start of the execution 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 shooting according to the automatic flight path. In some embodiments, the automatic flight path can be set in sequence or reverse sequence. When the automatic flight path is set in sequence, 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, and the aircraft 100 can be controlled to fly and shoot in the direction from the first key point to the Nth key point. When the automatic flight path is set in reverse sequence, 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, and the aircraft 100 can be controlled to fly and shoot in the direction from the Nth key point to the first key point.

[0047] In some embodiments, during the flight of the aircraft 100 along the automatic flight path, the aircraft 100 can be controlled to fly at a constant speed to ensure that the flight of the aircraft 100 is stable. When the aircraft 100 flies between any two key points along the automatic flight path, the camera 110 is controlled to capture the target in the middle of the shooting frame, so as to always maintain visual lock on the target and not lose the target during the shooting of the automatic flight path.

[0048] By controlling the aircraft 100 to fly along an automatic flight path and to fly and shoot at each key point according to the key point information, the automatic flight and shooting of the aircraft 100 can be achieved. During the automatic flight and shooting process 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, realizing automatic camera movement and shooting. This allows the shooting target to focus more on shooting without having to be distracted by the operation of the aircraft 100. Moreover, the shooting at each key point contains 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, thus making the operation convenient and improving the shooting effect.

[0049] Please see Figure 3 , Figure 3 A flowchart illustrating an automatic camera movement and shooting method for an aircraft, as provided in another embodiment of this application. Exemplarily, Figure 3 The automatic camera movement method of the aircraft shown can be achieved by... Figure 1 The aircraft 100 shown performs the following steps.

[0050] Step S301: The aircraft starts up and visually locks onto the target using the camera.

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

[0052] Step S302: The aircraft flies to the first key point and records the information of the first key point of the aircraft at the first key point.

[0053] For a detailed explanation of step S302, please refer to Figure 2 Step S202 and Figure 1 The relevant descriptions will not be repeated here.

[0054] Step S303: The aircraft flies to the second key point, records the information of 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, when the aerial vehicle 100 records 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 aerial vehicle 100, which can be used as an automatic flight path of the aerial vehicle 100. After the automatic flight path based on the first key point and the second key point is formed, it can be determined 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 perform step S304; when it is determined to start the automatic flight path, the method can perform step S306.

[0056] In some embodiments, after the second key point information is recorded, when the aerial vehicle 100 records each key point information, the key point is displayed on the map software synchronously, and the flight trajectory of the aerial vehicle 100 is updated synchronously by connecting the key points.

[0057] In some embodiments, after the second key point information is recorded, a trigger control for starting the automatic flight path can be displayed on the display component 220 of the remote controller 200, such as the displayed map software, or the user or operator can continue to fly to the next key point for recording by operating the control component 210 of the remote controller 200, or start the automatic flight path of the aerial vehicle 100 by the trigger control displayed on the display component 220 or the control component 210.

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

[0059] The detailed description of step S304 can refer to the related description of step S203 in the method 1000 and step S204 in the method 2000, which will not be repeated here. Figure 2 The detailed description of step S203 and Figure 1 The related description of step S204 and

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

[0061] The detailed description of step S305 can refer to the related description of step S204 in the method 1000 and step S204 in the method 2000, which will not be repeated here. Figure 2 The detailed description of step S204 and Figure 1 The related description of step S204 and

[0062] Step S306: Setting related parameters of the automatic flight of the aerial vehicle.

[0063] In some embodiments, after the automatic flight path of the first key point to the Nth key point is formed and before the aerial vehicle 100 starts the automatic flight path, the related parameters of the automatic flight of the aerial vehicle 100 can be set, which can include setting the direction of the automatic flight path, setting the shooting parameters of the camera 110, and setting the maximum flight speed of the aerial vehicle 100.

[0064] The direction of the automatic flight path can be set as a sequence or a reverse sequence. When the automatic flight path is set as the sequence, the first key point is the starting point of the automatic flight path, and the Nth key point is the ending point of the automatic flight path. The aerial vehicle 100 can be controlled to fly and take pictures in the direction from the first key point to the Nth key point in sequence. When the automatic flight path is set as the reverse sequence, the Nth key point is the starting point of the automatic flight path, and the first key point is the ending point of the automatic flight path. The aerial vehicle 100 can be controlled to fly and take pictures in the direction from the Nth key point to the first key point in sequence. The shooting parameters of the camera 110 can include, but are not limited to, exposure parameters, shooting frame rate, shooting resolution, and the like. The maximum flight speed of the aerial vehicle 100 can be the maximum flight speed of the aerial vehicle 100 when flying according to the automatic flight path, or can be a safe flight threshold.

[0065] Step S307: The aerial vehicle visually locks the shooting target through the camera and starts a countdown of the automatic flight path.

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

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

[0068] The detailed description of step S308 can refer to the related description of step S205 and Figure 2 The detailed description of step S308 can refer to the related description of step S205 and Figure 1 The detailed description of step S308 can refer to the related description of step S205 and

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

[0070] In some embodiments, after the aerial vehicle 100 completes the flight and the photographing according to the automatic flight path, the aerial vehicle 100 is controlled to hover at the end point of the automatic flight path, which can be the Nth key point or the first key point as set in step S306. After the aerial vehicle 100 flies to the last key point, i.e., the end point of the automatic flight path, and completes the photographing at the last key point, i.e., the flight and the photographing according to the automatic flight path are completed, the aerial vehicle 100 can be controlled to hover at the position of the last key point, waiting for further operation of the user or the operator.

[0071] In some embodiments, the aerial vehicle 100 can store a safety mechanism of the automatic flight path. When the aerial vehicle 100 is executing the automatic flight path, and any condition in the safety mechanism is triggered, the aerial vehicle 100 can immediately end the automatic flight path to ensure the safety of the aerial vehicle 100. In some embodiments, the safety mechanism of the automatic flight path can include the following conditions: losing a positioning signal (GNSS signal) or losing a photographing target, a higher priority function being triggered, triggering to cancel the execution of the automatic flight path, and / or the flight of the aerial vehicle 100 touching a no-fly zone, a restricted flight zone, or an electronic fence. The higher priority function can include but is not limited to a low-battery return function, a one-key return function, and / or a lost-return function of the aerial vehicle 100. Triggering to cancel the execution of the automatic flight path can be that the user or the operator triggers the canceling of the execution of the automatic flight path through the control component 210 or the display interface control of the display component 220 of the remote controller 200.

[0072] In the automatic camera movement photographing method of the aerial vehicle of the embodiments of the present application, the aerial vehicle 100 is controlled to record the key point information at each key point, and the automatic flight path of the plurality of key points is formed. The aerial vehicle 100 is controlled to fly according to the automatic flight path and perform the flight and the photographing according to the key point information at each key point, so that the automatic flight and the photographing of the aerial vehicle 100 can be realized. During the automatic flight and the photographing of the aerial vehicle 100, the user does not need to operate, the aerial vehicle 100 can perform the photographing according to the recorded key point information at each key point, the automatic camera movement photographing is realized, the photographing target can be more focused on the photographing, the operation of the aerial vehicle 100 is not distracted, and the photographing at each key point is the relevant parameter information that the user or the operator wants to photograph. When the automatic photographing is performed, the photographing effect that the user or the operator wants to obtain can be obtained, so that the operation is convenient and the photographing effect is improved.

[0073] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application and are not limiting. In actual application, the entire content of the technical solutions described in any embodiment of the present application can be implemented, or part of the content can be added, deleted or replaced. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. An automatic dolly shot photographing method of an aircraft including a video camera for photographing a video, characterized by, The method comprises: The aircraft starts and locks the shooting target by the camera visually; The aircraft flies to the first key point, records the first key point information of the aircraft at the first key point; The aircraft flies to the Nth key point from the first key point in sequence, records N key point information of the aircraft at the first key point to the Nth key point, N is a positive integer greater than or equal to 2; when the spatial coordinates or height difference of the next key point and the current key point is within a preset range, the next key point is not created, but the key point information of the current key point is updated; wherein the key point information comprises the spatial coordinates, height, heading angle, camera azimuth angle, target view characteristics of the current view of the aircraft at the key point; The first key point to the Nth key point forms an automatic flight path; and 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.

2. The method of claim 1, wherein, 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 according to 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 of claim 2, wherein, The method further comprises: Synchronize the first key point to the Nth key point on the map of the remote controller of the aircraft according to the key point information; Selectively modify the curvature or polyline trajectory of the curve on the map to adjust the automatic flight path.

4. The method of claim 1, wherein, 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 comprises: 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 of claim 1, wherein, Before controlling the aircraft to fly according to the automatic flight path and fly and shoot at each key point according to the key point information, the method further comprises: Set the direction of the automatic flight path, set the shooting parameters of the camera, and set the maximum flight speed of the aircraft; When setting the order of the automatic flight path, control the aircraft to fly from the first key point to the Nth key point in the direction according to the automatic flight path and fly and shoot at each key point according to the key point information; When setting the reverse order of the automatic flight path, control the aircraft to fly from the Nth key point to the first key point in the direction according to the automatic flight path and fly and shoot at each key point according to the key point information.

6. The method of claim 5, wherein, 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 comprises: The aircraft locks the shooting target by the camera visually; displaying a countdown of starting the automatic flight path on a remote controller of the aerial vehicle, and after the countdown ends, controlling the aerial vehicle to start shooting and flying to a next key point according to the automatic flight path.

7. The method of claim 1, wherein, The controlling the aerial vehicle to fly according to the automatic flight path and to fly and shoot at each key point according to the key point information comprises: controlling the aerial vehicle to fly at a constant speed according to the automatic flight path; controlling the aerial vehicle to fly at a constant speed according to the automatic flight path; 8. The method of claim 1, wherein, controlling the aerial vehicle to fly at a constant speed according to the automatic flight path; controlling the aerial vehicle to fly at a constant speed according to the automatic flight path; controlling the aerial vehicle to fly at a constant speed according to the automatic flight path; 9. An aircraft comprising a video camera for taking video, characterized in that, The aerial vehicle is used to execute the automatic camera movement shooting method as claimed in any one of claims 1 to 8.

Images