Unmanned aerial vehicle control method and device and storage medium

Abstract

An unmanned aerial vehicle control method and device and a storage medium are applied to the field of control. The method comprises the following steps: when the unmanned aerial vehicle flies along a preset route, obtaining a first instruction; wherein the first instruction is generated according to a first operation for indicating a target object input by a user when the unmanned aerial vehicle flies along a preset route; in response to the first instruction, controlling the attitude of the unmanned aerial vehicle and / or the attitude of a shooting device carried on the unmanned aerial vehicle while controlling the unmanned aerial vehicle to continue to fly along a preset route, so as to continuously shoot the target object in the process that the unmanned aerial vehicle flies along the preset route; wherein the preset route comprises at least two preset waypoints.

Description

UAV control method, device and storage medium Technical Field

[0001] The present application relates to the field of control, and in particular to a drone control method, device, and storage medium. Background Art

[0002] Drones are widely used for aerial photography, inspections, forest protection, disaster investigations, and pesticide spraying. With increasing demand for drones, waypoint flight has emerged. In waypoint flight mode, a drone can fly along a preset route and perform corresponding photography or flight operations at preset waypoints or points of interest within the route.

[0003] Currently, to set a point of interest (POI), users must preset it when editing a route. During waypoint flight, the drone will fly along the preset route while shooting toward the pre-set POI. Users cannot adjust the POI during flight or adjust the shooting action or flight control at the POI, limiting their shooting freedom.

[0004] Summary of the Invention

[0005] Based on this, the embodiments of the present application provide a method, device, and storage medium for controlling a drone, aiming to solve the problem of low degree of freedom in shooting points of interest when the drone is in waypoint flight mode.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a drone, comprising: obtaining a first instruction while the drone is flying along a preset route; wherein the first instruction is generated based on a first operation of a user input indicating a target object while the drone is flying along the preset route;

[0007] In response to the first instruction, the drone is controlled to continue flying along the preset route while the posture of the drone and / or the posture of the shooting device carried by the drone is controlled to continuously shoot the target object while the drone flies along the preset route; wherein the preset route includes at least two preset waypoints.

[0008] In a second aspect, an embodiment of the present application provides a method for controlling a drone, including:

[0009] When the drone is flying along a preset route, a first operation indicating a target object is received from a user; wherein the first operation is used to generate a first instruction, and the first instruction is used to control the drone to continue flying along the preset route while controlling the posture of the drone and / or the posture of the shooting device carried by the drone, so as to continuously shoot the target object while the drone is flying along the preset route; the preset route includes at least two preset waypoints.

[0010] In a third aspect, an embodiment of the present application provides a method for controlling a drone, including:

[0011] When the drone flies along a preset route, controlling the drone to photograph a preset target object to generate a first image;

[0012] In the process of controlling the drone to photograph the target object, automatically controlling the posture of the drone or the posture of the photographing device carried by the drone so that the target object remains at a preset position in the first direction of the first image;

[0013] During the process of controlling the drone to continuously photograph the target object, the posture of the drone or the posture of the shooting device on the drone is controlled according to a second operation input by the user to adjust the position of the target object in the second direction of the first image; wherein the preset route includes at least two preset waypoints.

[0014] In a fourth aspect, an embodiment of the present application provides a method for controlling a drone, comprising:

[0015] When the drone flies along a preset route, obtaining a first image generated by the drone photographing a preset target object;

[0016] receiving a second operation input by the user on the first image;

[0017] The second operation is used to generate a second instruction, and the second instruction is used to:

[0018] In the process of controlling the drone to continuously photograph the target object, automatically controlling the posture of the drone or the posture of the photographing device carried by the drone so that the target object remains at a preset position in the first direction of the first image;

[0019] During the process of controlling the drone to continuously photograph the target object, the posture of the drone or the posture of the photographing device carried on the drone is controlled according to the second operation to adjust the position of the target object in the second direction of the first image; wherein the preset route includes at least two preset waypoints.

[0020] In a fifth aspect, an embodiment of the present application provides a control device for a drone, the control device comprising a memory and a processor;

[0021] The memory is used to store computer programs;

[0022] The processor is configured to execute the computer program and implement the method steps described in the first aspect or the third aspect when executing the computer program.

[0023] In a sixth aspect, an embodiment of the present application provides a control device for a drone, the control device comprising a memory and a processor;

[0024] The memory is used to store computer programs;

[0025] The processor is configured to execute the computer program and implement the method steps described in the second aspect or the fourth aspect when executing the computer program.

[0026] In a seventh aspect, an embodiment of the present application provides a drone, comprising the drone control device as described in the fifth aspect.

[0027] In an eighth aspect, an embodiment of the present application provides a control terminal, comprising the control device of the drone as described in the sixth aspect.

[0028] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method steps described in the first aspect or the third aspect.

[0029] In the tenth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the method steps described in the second aspect or the fourth aspect.

[0030] In an embodiment of the present application, a user can select a target object in real time through a first operation to generate a first instruction while the drone is flying along a preset route. The drone can control the drone's posture and / or the posture of the shooting device on the drone according to the first instruction to continue flying along the preset route, so as to continuously shoot the target object while the drone is flying along the preset route, which improves the shooting freedom in the waypoint flight mode.

[0031] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] FIG1 is a schematic diagram of an application scenario of a control system provided in an embodiment of the present application;

[0034] FIG2 is a schematic structural diagram of a photographing device provided in an embodiment of the present application;

[0035] FIG3 is a flowchart of one of the steps of the control method provided in an embodiment of the present application;

[0036] FIG4 is one of the schematic diagrams of the waypoint flight of the UAV provided in an embodiment of the present application;

[0037] FIG5 is a second schematic diagram of a UAV waypoint flight provided in an embodiment of the present application;

[0038] FIG6 is a third schematic diagram of a UAV waypoint flight provided in an embodiment of the present application;

[0039] FIG7 is a fourth schematic diagram of a UAV waypoint flight provided in an embodiment of the present application;

[0040] FIG8 is a schematic diagram of a shooting screen of a drone provided in an embodiment of the present application;

[0041] FIG9 is a second schematic diagram of a shooting screen of a drone provided in an embodiment of the present application;

[0042] FIG10 is a second flow chart of the steps of the control method provided in an embodiment of the present application;

[0043] FIG11 is one of the interactive scene diagrams of the control terminal provided in an embodiment of the present application;

[0044] FIG12 is a second diagram of an interaction scenario of a control terminal provided in an embodiment of the present application;

[0045] FIG13 is a flowchart of the third step of the control method provided in an embodiment of the present application;

[0046] FIG14 is a fourth flow chart of the steps of the control method provided in an embodiment of the present application;

[0047] FIG15 is a schematic structural diagram of a control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0050] Drones are widely used for aerial photography, inspections, forest protection, disaster investigations, and pesticide spraying. With increasing demand for drones, waypoint flight has emerged. In waypoint flight mode, a drone can fly along a preset route and perform corresponding photography or flight operations at preset waypoints or points of interest within the route.

[0051] Currently, to set a point of interest (POI), users must select it beforehand when editing a route. During waypoint flight, the drone will fly along the preset route while capturing images toward the POI. Users cannot adjust the POI during flight or adjust the shooting action or flight control for the POI, limiting their shooting freedom.

[0052] To solve the above technical problems, the embodiments of the present application provide a control method, device and storage medium for a drone, aiming to solve the problem that the drone has low shooting freedom in waypoint flight mode.

[0053] The following embodiments of the present application are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0054] It should be noted that the control method provided in the embodiment of the present application is applied to unmanned aerial vehicles, also known as drones. The drones may include rotor-type drones, such as quad-rotor drones, six-rotor drones, and eight-rotor drones, or fixed-wing drones, or a combination of rotor-type and fixed-wing drones. The embodiment of the present application does not make specific limitations on this.

[0055] The drone can respond to control commands sent by at least two control terminals (such as a remote control and a head-mounted display device) to control the drone to perform operations such as fuselage deflection and gimbal rotation.

[0056] Please refer to Figure 1, which is a schematic diagram of the structure of a control system provided by an embodiment of the present application. As shown in Figure 1, a control system includes a drone 100 and a control terminal 200, and the drone 100 can be communicatively connected to the control terminal 200. The control terminal 200 can be used to control the drone 100. The control terminal 200 can include at least one of a remote control, a smartphone, and a tablet computer, and can also include at least one of a remote control, a smartphone, and a wearable device. The wearable device includes a head-mounted display device, and the head-mounted display device can include a virtual reality (VR) display device or a first-person view (FPV) display device.

[0057] In some embodiments, drone 100 includes a fuselage 110, a power system 120, an imaging device 130, and a control device (not shown in FIG1 ). The fuselage 110 may include a nose. In some embodiments, drone 100 further includes an arm connected to the fuselage 110 and used to mount the power system. In some embodiments, the power system 120 may be mounted directly on the fuselage 110.

[0058] The power system 120 is used to provide flight power for the UAV. The power system 120 may include a motor and a propeller mounted on the motor and driven by the motor. The power system 120 can drive the fuselage 110 of the UAV 100 to rotate around one or more rotation axes. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system 120 drives the fuselage 110 to rotate around the yaw axis, the yaw direction of the nose of the fuselage will change, that is, the yaw rotation of the fuselage 110 can be controlled by controlling the power system 120. It should be understood that the motor can be a DC motor or an AC motor. In addition, the motor can be a brushless motor or a brushed motor.

[0059] The shooting device 130 is directly carried on the fuselage 110 or carried through the gimbal, and is used to shoot images, which can be pictures and / or videos. In some embodiments, as shown in Figure 1, the drone may include a gimbal 140, and the shooting device 130 is mounted on the gimbal 140, and the gimbal 140 is connected to the fuselage 110. In some embodiments, the gimbal 140 can control the yaw rotation of the shooting device 130 to adjust the yaw direction of the shooting device 130. Specifically, the gimbal 140 can include a yaw motor 141, and the yaw motor 141 is used to control the yaw rotation of the shooting device 130. In some embodiments, the gimbal 140 can control the pitch rotation of the shooting device 130 to adjust the pitch direction of the shooting device 130. Specifically, the gimbal 140 can include a pitch motor, and the pitch motor is used to control the pitch rotation of the shooting device 130. In some embodiments, the gimbal 140 can control the roll rotation of the camera 130 to adjust the roll direction of the camera 130. Specifically, the gimbal 140 may include a roll motor and a pitch motor for controlling the roll rotation of the camera 130.

[0060] In the yaw direction, the yaw rotation of the camera 130 and the yaw rotation of the body 110 may be associated. Further, the camera 130 may yaw and rotate following the yaw rotation of the body 110 , or the body 110 may yaw and rotate following the yaw rotation of the camera 130 .

[0061] The control terminal may include an input device, wherein the input device can detect control operations performed by a user of the control terminal, and the control terminal may generate control instructions for the drone based on the control operations detected by the input device. For example, the control terminal may generate a yaw control instruction based on a nose yaw control operation performed by the user of the control terminal detected by the input device, and the control terminal may send the nose yaw control instruction to the drone; the control terminal may generate a pitch control instruction based on a pan / tilt control operation performed by the user of the control terminal detected by the input device, and the control terminal may send the pan / tilt control instruction to the drone.

[0062] Referring to Figure 2 , in some embodiments, the control terminal 200 includes a remote control, which is equipped with an input device 210 and a communication device 220. The communication device 220 is a wireless communication device that may include at least one of a high-frequency radio transceiver, a Wi-Fi module, and a Bluetooth module. The input device 210 is used to generate corresponding control instructions in response to user manipulation, allowing the remote control to control the drone's flight attitude and / or flight speed through these control instructions. The input device 210 includes at least one of a button, a joystick, a dial, and a touchscreen display. For example, the input device 210 is a joystick mounted on the remote control body. The remote control senses the user's yaw control manipulation of the joystick, generates a corresponding control instruction, and transmits the first yaw control instruction to the drone 100 via the communication device 220.

[0063] In some embodiments, the control terminal 200 can receive images transmitted by the drone 100 and display them on the display device 230. The display device 230 can be integrated into the control terminal 200, or the display device 230 can be set separately from the control terminal 200 and communicated with the control terminal 200. The communication connection method can be a wired communication connection method or a wireless communication connection method. For example, the wireless communication connection method can be a WiFi connection, a Bluetooth connection, or a high-frequency wireless signal connection.

[0064] In some embodiments, the control terminal 200 includes a remote control, which is equipped with an input device 210 and a communication device 220. The communication device 220 is a wireless communication device that may include at least one of a high-frequency radio transceiver, a Wi-Fi module, and a Bluetooth module. The input device 210 is used to generate corresponding control commands in response to user control, so that the remote control can control the drone to adjust its flight attitude and / or flight speed through these control commands. The input device 210 includes at least one of a button, a joystick, a dial, and a touch screen. For example, the input device 210 is a joystick mounted on the main body of the remote control.

[0065] The user may generate control instructions by using buttons, joysticks, or dials, or by inputting operations on a touch screen display, which is not limited here.

[0066] The following will describe in detail the drone control method provided by the embodiment of the present application in conjunction with the scenario in Figure 1. It should be noted that the scenario in Figure 1 is only used to explain the drone control method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the drone control method provided by the embodiment of the present application.

[0067] Please refer to Figure 3, which is a flowchart of the steps of a control method provided in an embodiment of the present application. This control method can be applied to the aforementioned drone 100, or to a system consisting of the aforementioned drone 100 and a control terminal 200. The drone 100 can be in communication with the control terminal 200 to control the drone 100 to perform corresponding operations according to control commands sent by the control terminal 200.

[0068] The method includes steps S101 and S102:

[0069] S101. When the drone is flying along a preset route, a first instruction is obtained; wherein the first instruction is generated according to a first operation of indicating a target object input by a user when the drone is flying along the preset route.

[0070] S102: In response to the first instruction, control the drone to continue flying along the preset route while controlling the attitude of the drone and / or the attitude of the camera mounted on the drone to continuously photograph the target object while the drone is flying along the preset route. The preset route includes at least two preset waypoints.

[0071] In step 101, the preset route may be a route pre-set by the user, including at least two preset waypoints. The preset waypoints may be manually set by the user. Specifically, in some embodiments, the preset waypoints may be determined by the user by clicking on a map displayed on a control terminal; in some embodiments, the preset waypoints may be determined by the user by selecting a frame on a shooting interface displayed on the control terminal and then determining the preset waypoint based on image recognition; in some embodiments, the user may also control the drone to fly to a specified geographic location and then determine the specified geographic location as a preset waypoint by operating the control terminal.

[0072] It should be understood that the user can select the order of multiple preset waypoints so that the drone will pass through the preset waypoints in sequence when executing the preset route. In some embodiments, such as when the route is curved, the drone can also choose not to pass through the preset waypoints, but to fly around the preset waypoints within a specified radius.

[0073] The first instruction can be generated by the control terminal and sent to the drone. That is, the first operation input by the user to indicate the target object can be an operation input by the user to the control terminal. The step of obtaining the first instruction can be the step of receiving the first instruction while the drone is flying along a preset route. In some embodiments, the first instruction can be generated by the drone itself, and the step of obtaining the first instruction can also be the step of generating the first instruction by the drone.

[0074] The target object may be a geographical location or a range of geographical locations, or a photographic object appearing in a photographic image of a photographing device. The user may control the drone to continuously photograph the target object while flying along a preset route by indicating a first operation of the target object.

[0075] In step 102, the drone can perform corresponding operations according to the first instruction. In this way, the drone's posture and / or the posture of the camera mounted on the drone can be controlled without interrupting the drone's flight along the preset route, so that the drone can continue to photograph the target object while flying along the preset route.

[0076] While the drone is flying along a preset route, after the user inputs a first operation to indicate a target object, the drone can obtain a first instruction, and in response to the first instruction, control the drone to continue flying along the preset route while controlling the drone's posture and / or the posture of the shooting device carried on the drone. In this way, the user can control the drone's posture and / or the posture of the shooting device carried on the drone in real time through the first operation to indicate the target object while the drone is flying along the preset route, so as to continuously shoot the target object.

[0077] The attitude of the drone may include the orientation of the nose, such as the yaw angle of the nose. Correspondingly, the attitude of the camera may also include the attitude of the camera along the yaw axis, pitch axis, or roll axis, which is not further limited here.

[0078] Continuously photographing a target object can be understood as controlling the drone's posture and that of its camera to ensure that the target object is captured by the camera during at least a portion of a predetermined flight path. Specifically, to improve the quality of the resulting image, the target object can be positioned in a relatively fixed position within the camera's field of view.

[0079] In this way, the user can select a target object in real time through a first operation to generate a first instruction while the drone is flying along a preset route. The drone can control the drone to continue flying along the preset route according to the first instruction, while controlling the drone's posture and / or the posture of the camera mounted on the drone, so as to continuously shoot the target object while the drone is flying along the preset route, which improves the shooting freedom in the waypoint flight mode.

[0080] Optionally, controlling the posture of the drone and / or the posture of a camera mounted on the drone may be achieved by controlling the posture of the drone and / or the camera along the pitch axis and / or the yaw axis.

[0081] In some embodiments, step 102 may include at least one of the following:

[0082] Controlling the drone to change its nose posture so as to continuously photograph the target object while the drone is flying along the preset route;

[0083] Controlling the posture of the camera mounted on the drone along the pitch axis to continuously photograph the target object while the drone is flying along the preset route;

[0084] The posture of the shooting device carried by the UAV along the yaw axis is controlled to continuously shoot the target object while the UAV flies along the preset route.

[0085] The nose attitude may include the attitude of the nose along the yaw axis and the attitude along the pitch axis.

[0086] For ease of control, the yaw attitude of the drone's nose can be associated with the yaw attitude of the shooting device. Furthermore, in the case where the shooting device is carried by a gimbal, the yaw rotation of the gimbal can follow the yaw rotation of the nose. The drone can change the shooting angle of the shooting device by controlling the rotation of the nose along the yaw axis and the rotation of the gimbal along the pitch axis. Therefore, in some embodiments, the drone can continuously shoot the target object by controlling the direction of the nose along the yaw axis and the attitude of the shooting device along the pitch axis. In other optional embodiments, the drone can also simultaneously control the attitudes of the gimbal along the yaw axis and the pitch axis to continuously shoot the target object, which will not be listed one by one here.

[0087] In some embodiments, in order to ensure that the drone continuously captures the target object more smoothly while flying along a preset route, the maximum speed or maximum angular velocity of the drone head and / or camera device during rotation may be controlled.

[0088] In different shooting scenarios, users may need to shoot both static and dynamic targets, and the shooting strategies for these two targets may differ. Optionally, while flying along a preset route, the drone and / or control terminal can recognize the image of the target object and determine the type of the target object, thereby determining a corresponding control strategy based on the type of the target object.

[0089] In some embodiments, the above step 102 may specifically include:

[0090] When the target object is of a preset type, the drone is controlled to change the posture of the drone and / or the posture of the shooting device according to the status information of the target object collected in real time, so that when the target object is in motion, the drone and / or the shooting device carried by the drone can follow the target object and continue shooting.

[0091] The drone's onboard camera can capture an image of a target object and determine whether the target object belongs to a preset type by extracting image features and comparing them with preset type features. If the target object belongs to the preset type, it indicates that there is a high probability that the target object is a dynamic target. In order to enable the drone to lock onto the target object in real time and capture it while flying along a preset route, the drone can control the drone's posture and / or the posture of the drone's onboard camera based on the real-time status information of the target object to follow the target object and continuously capture it.

[0092] Specifically, the state information of the target object may include the position information and motion state information of the target object. In some embodiments, the state information of the target object may be at least partially acquired by a camera mounted on a drone. For example, the motion state information of the target object may be acquired based on the position information of the drone and the position information of the target object at two time points. The drone may capture images of the target object at two time points and calculate the motion speed of the target object through triangulation or other methods. Furthermore, the drone may control the rotation of the drone's nose and / or camera according to the motion state information and position information of the target object while continuing to fly along a preset route.

[0093] In this way, when the target object is a dynamic target, the drone can also continue to fly along the route and, based on the real-time collected status information of the target object, control the drone's posture and / or the posture of the shooting device to follow the target object for continuous shooting, thereby achieving dynamic tracking of the target object, further improving the shooting freedom in the waypoint flight scenario.

[0094] For example, referring to Figure 4 , the preset route includes preset waypoints A, B, C, and D. The drone must sequentially pass through preset waypoints A, B, C, and D as it flies along the preset route. If the target object is dynamic, the target object will move as the drone flies along the preset route. For example, when the drone is at waypoint B, the target object is at point X. When the drone is at waypoint C, the target object is at point Y. During the flight from waypoint B to waypoint C, the drone can control its nose and / or camera to shift its direction from point X to point Y, thereby continuously capturing the target object as it moves.

[0095] Accordingly, if the target object does not belong to the preset type, it indicates that the target object has a high probability of being a static target. In some embodiments, the above step 102 may specifically include:

[0096] When the target object does not belong to the preset type, the drone is controlled to change the posture of the drone and / or the posture of the shooting device according to the initial state information of the target object, so as to continuously shoot the target object while the drone flies along the preset route.

[0097] The initial state information may be information obtained by the drone when responding to the first command, or information obtained at some point after responding to the first command. For example, the initial state information may include the target object's position information obtained by the drone when responding to the first command. Since the target object's position information does not change when it is a static object, the drone can change its posture and / or the posture of its onboard camera based on the initial position information of the target object while continuing to fly along the preset route, in order to continuously photograph the target object.

[0098] In this way, when the target object is most likely a static target, the drone does not need to obtain the status information of the target object in real time, but only needs to obtain the initial status information of the target object, that is, the drone can continuously shoot the target object while flying along the preset route, reducing resource usage.

[0099] For example, referring to FIG. 5 , the target object in FIG. 5 is a static target, and the target object is always located at point X. In this case, the drone can continuously photograph the target object by controlling the nose of the drone and / or the camera mounted on the drone to face point X while flying along a preset route.

[0100] In an embodiment of the present application, by judging whether the target object belongs to a preset type, it is determined whether the target object is likely to be a dynamic target, and different control strategies are adopted for static targets and dynamic targets, so that the drone can reduce the resource usage when continuously shooting static targets while being able to track and lock dynamic targets in real time.

[0101] Optionally, the preset type can be a dynamic target that the user shoots in most shooting scenes. In some embodiments, the preset type can include cars, ships, and people, so as to improve the accuracy of judgment while covering most shooting scenes where dynamic targets are tracked and locked in real time.

[0102] Optionally, after responding to the first instruction, the drone may control the posture of the drone and / or the posture of the camera onboard the drone while continuing to fly along the preset route, so as to continuously photograph the target object until the flight of the preset route ends. Alternatively, the drone may control the posture of the drone and / or the posture of the camera onboard the drone while continuing to fly along the preset route, so as to continuously photograph the target object during a portion of the route.

[0103] In some embodiments, the above step 102 may specifically include:

[0104] Before the drone meets the first preset condition, the posture of the drone and / or the shooting device carried by the drone is controlled to continuously shoot the target object while the drone flies along the preset route.

[0105] The first preset condition includes the drone reaching a target preset waypoint among the preset waypoints, and the target preset waypoint includes one of the preset waypoints located after the position of the drone on the preset route.

[0106] That is, before the drone flies along the preset route to the target preset waypoint, the attitude of the drone and / or camera can be controlled to continuously capture the target object. The target preset waypoint can be one of the preset waypoints on the preset route that is located after the drone's current position. The drone's current position can be the position of the drone when the drone executes the corresponding control operation in response to the first instruction.

[0107] In some embodiments, the first preset condition may further include:

[0108] During the process of controlling the UAV to continue flying along the preset route, at least part of the target object is out of the field of view of the shooting device.

[0109] As can be seen from the above, the target object can be either static or dynamic. In the case of a dynamic target, the target object may move out of the field of view (FOV) of the camera while the drone is flying along the preset route, resulting in the drone being unable to continue tracking and locking onto the target object through the camera.

[0110] Therefore, the drone can control the posture of the drone and / or the posture of the shooting device on the drone before at least part of the target object leaves the field of view of the shooting device to continuously shoot the target object.

[0111] It is understood that the situation where at least part of the target object is out of the field of view of the camera can be determined based on the specific application scenario. For example, if the target object is a person, the target object can be determined through methods such as head-shoulder recognition. If the head or shoulders of the target object are out of the field of view of the camera, the target object cannot be identified and tracked.

[0112] Specifically, in some embodiments, in order to reduce the situation of stopping continuous shooting, the drone may stop continuously shooting the target object after at least part of the target object is out of the field of view of the shooting device for a duration greater than or equal to a preset time.

[0113] In other optional embodiments, the first preset condition may also include: the time for continuously photographing the target object is greater than or equal to the photographing time preset by the user; the user inputs an operation to stop continuously photographing the target object, etc., which are not listed here one by one.

[0114] Optionally, when the drone meets the first preset condition, the drone may no longer continuously photograph the target object.

[0115] In some embodiments, the control method may further include:

[0116] When the drone meets the first preset condition, the posture of the drone and / or the posture of the camera mounted on the drone is controlled according to the original preset parameters of the preset route.

[0117] The original preset parameters of the preset route may be the default control parameters of the preset route, or may be the control parameters preset by the user.

[0118] It should be understood that in some embodiments, the drone needs to meet all conditions of the first preset condition before performing continuous shooting of the target object; in other optional embodiments, the drone can perform continuous shooting of the target object when any one of the first preset conditions or one or more specific conditions are met, and the specific settings can be made according to actual needs.

[0119] For example, a user can pre-set a drone's shooting strategy after continuous shooting ends. When the drone meets one of the first preset conditions, the drone's attitude and / or the attitude of the camera can be adjusted based on the current flight direction along the preset route, so that the drone's nose and camera face the flight direction. Alternatively, the drone can adjust the drone's attitude and the camera's orientation based on user-preset nose attitude angles and camera orientation angles. Specific settings can be made based on actual needs and are not further limited here.

[0120] In this way, users can freely control the start and end conditions of continuous shooting of the target object, and can choose the shooting strategy after the continuous shooting ends, further improving the freedom of shooting during waypoint flight and enhancing the user experience.

[0121] For example, referring to Figure 6 , the drone can respond to the first command and control the drone's attitude and / or the attitude of its camera to continuously photograph the target object while flying along the preset route to point E. Assuming the target preset waypoint is point C, when the drone reaches point C, the first preset condition is satisfied. At this point, the drone can adjust the nose attitude and the orientation of the camera to align with the flight direction and continue flying along the route from C to point D.

[0122] When setting and editing a route, users can pre-set a target point of interest so that the drone can continuously capture the target point of interest while flying along the preset route. Furthermore, users can set the association between the target point of interest and the preset waypoint so that the drone can continuously capture the target point of interest when it reaches the preset waypoint.

[0123] During route editing or setting, users can also select the nose attitude angle, gimbal pitch angle, etc. corresponding to the preset waypoints. When the drone flies along the preset route and reaches the preset waypoint, the attitude of the nose and camera device can be controlled according to the nose attitude angle and gimbal pitch angle.

[0124] In order to avoid the drone's continuous shooting of the target object and the continuous shooting of the target point of interest, or conflicts with the user's preset shooting strategy, the drone can optionally fly along a preset route and continuously shoot the target object when its own posture and the posture of the shooting device can be manually controlled by the user.

[0125] In some embodiments, the above step 102 may specifically include:

[0126] If the drone meets the second preset condition, the posture of the drone and / or the posture of the shooting device on the drone is controlled to continuously shoot the target object while the drone flies along the preset route; the second preset condition includes that the posture of the drone and / or the posture of the shooting device can be manually controlled by the user.

[0127] Furthermore, in some embodiments, the second preset condition may include at least one of the following:

[0128] The control mode of the posture of the drone and / or the posture of the camera mounted on the drone is a manual control mode.

[0129] The preset route does not contain a preset target point of interest. If a target point of interest exists on the preset route, the drone controls the posture of the drone and / or the posture of the camera mounted on the drone during flight along the preset route to continuously photograph the target point of interest.

[0130] The control mode of the drone's attitude and / or the attitude of the camera mounted on the drone can be preset by the user. For example, the user can preset the drone's attitude and / or the attitude of the camera mounted on the drone to be manually controlled. Thus, when the drone flies along a preset route, the user can control the drone's attitude or the attitude of the camera by inputting operations on the joystick of the control terminal.

[0131] Target points of interest (POIs) can be set by the user during route configuration or editing. They can be associated with all or some of the preset waypoints in a given route. Target points of interest can be static objects, represented by their location information. In some cases, target objects can be considered "target points of interest" set in real time while the drone is flying along a preset route.

[0132] The drone can continuously photograph the target object if the second preset condition is met. In other words, while the drone is flying along the preset route, the drone can simultaneously continuously photograph the target object, continuously photograph the target point of interest, and photograph based on the user's preset photography strategy.

[0133] In this way, the user can pre-set the target point of interest and shooting strategy, and when the drone is flying along the preset route and there is no target point of interest and shooting strategy, the user can control the drone to continuously shoot the target object through the first operation, thereby avoiding conflicts between multiple shooting strategies and improving the user experience.

[0134] For example, refer to Figure 7. From point A to B, the user sets the drone's nose attitude and camera orientation to follow the route. From point B to C, the user sets the drone's nose attitude and camera orientation to manual control. From point C to D, the target point of interest, Y, is set. As the drone flies along the preset route, from point A to B, the drone's attitude and camera orientation are controlled to follow the route. From point B to E, the user manually controls the drone's attitude and camera orientation. If the user does not manually control the drone, the drone's attitude and camera orientation at point B can be maintained, or the default setting is to maintain control along the route. From point E to C, the drone responds to the first command and controls the drone's attitude and camera orientation to continuously capture point X. From point C to D, the drone's attitude and camera orientation are controlled to continuously capture point Y.

[0135] It should be understood that in some embodiments, the drone needs to meet all of the second preset conditions before performing continuous photography of the target object; in other optional embodiments, the drone may perform continuous photography of the target object only if any one of the second preset conditions, or one or more specific conditions, are met. Specific settings can be made based on actual needs.

[0136] Optionally, the drone's continuous photography of the target object while flying along a preset route may also overwrite previous target points of interest and other user settings.

[0137] In some embodiments, the above step 102 may specifically include:

[0138] If there is a preset target point of interest in the preset route, the posture of the drone and / or the posture of the shooting device on the drone is controlled to adjust the drone from continuously shooting the target point of interest to shooting the target object.

[0139] In this way, the user can cover the preset target point of interest with the target object through the first operation while the drone is flying along the preset route, and control the drone to adjust from continuous shooting of the target point of interest to shooting of the target object, further improving the user's shooting freedom while the drone is flying along the preset route.

[0140] Optionally, in order to meet the needs of more shooting scenes, the user can adjust the shooting picture through manual control while the drone is continuously shooting the target object.

[0141] In some embodiments, the control method may further include:

[0142] During the process of controlling the drone to continuously photograph the target object, automatically controlling the drone or a photographing device carried by the drone so that the target object remains at a preset position in a first direction of a first image captured by the photographing device;

[0143] During the process of controlling the drone to continuously photograph the target object, according to a second operation input by the user, the drone or a photographing device carried by the drone is controlled to adjust the position of the target object in the second direction of the first image.

[0144] The first image may be captured by a camera of the drone and may include multiple frames of images within a preset time period. The target object remains at a preset position in a first direction of the first image, which can be understood as the position of the target object in the first direction of the first image remaining substantially unchanged.

[0145] During this process, the user can also use a second operation to control the posture of the drone or the posture of the camera mounted on the drone to adjust the position of the target object in the second direction. The second operation is similar to the first operation and can be an operation input by the user on the control terminal, such as an input operation on a joystick, a dial, or a slide button.

[0146] In some embodiments, the second operation includes an operation input by a user on a joystick, and controlling the drone or a camera mounted on the drone according to the second operation input by the user includes:

[0147] The posture of the drone or the posture of the camera mounted on the drone is controlled according to the direction and amount of the operation input to the joystick.

[0148] For example, referring to Figures 8 and 9 together, Figures 8 and 9 may be first images of the drone at two time points when it is flying along a preset route. The first direction is the X-axis direction in the figure, that is, the horizontal direction, the second direction is the Y-axis direction in the figure, that is, the vertical direction, and the target object is the high-rise building shown in the figure. During the flight of the drone along the preset route, the attitude of the drone or the attitude of the camera mounted on the drone can be automatically controlled so that the position of the target object in the horizontal direction of Figures 8 and 9 remains approximately unchanged. During this process, the user can control the attitude of the drone or the attitude of the camera mounted on the drone by inputting operations on the control joystick of the control terminal to change the vertical position of the target object in the first image, as shown in Figures 8 and 9.

[0149] In this way, when the drone is flying along a preset route and continuously photographing the target object, the user can have the drone automatically control the target object to maintain the preset position in the first direction of the first image, and manually adjust the position of the target object in the second direction of the first image, thereby giving the user greater freedom in camera movement during the continuous photographing of the target object, further enhancing the user experience.

[0150] The first and second directions can be specifically set based on the actual application scenario. The control strategy can be determined based on the settings of the first and second directions. Optionally, to facilitate user control, the first and second directions can be mutually perpendicular directions, and the first and second directions can be associated with the yaw and pitch axis directions of the drone and / or camera.

[0151] In some embodiments, the first direction may be a vertical direction of the first image. The step of automatically controlling the posture of the drone or the posture of the camera mounted on the drone may specifically include automatically controlling the posture of the drone or the posture of the camera mounted on the drone along a yaw axis so that the target object remains at a preset position in the first direction of the first image captured by the camera.

[0152] The second direction may be a vertical direction of the first image. The step of controlling the posture of the drone or the posture of the camera mounted on the drone according to the second operation input by the user may specifically include:

[0153] According to the second operation input by the user, the posture of the drone or the shooting device carried by the drone along the pitch axis is controlled.

[0154] It should be understood that in order to avoid control conflicts and decouple the automatic drone control process from the control process based on the user's second operation, the control objects in the two control steps can be different. Since the drone's nose can rotate 360 ​​degrees along the yaw axis, in some embodiments, the above-mentioned step of automatically controlling the drone or the camera device on board the drone may specifically include:

[0155] The deflection of the drone's nose along the yaw axis is automatically controlled so that the target object remains at a preset position in the first direction of the first image acquired by the shooting device.

[0156] Accordingly, since it is difficult for a drone to adjust its posture on the pitch axis, in order to simplify the control, the step of controlling the posture of the drone or the posture of the camera mounted on the drone according to the second operation input by the user may specifically include:

[0157] According to the second operation input by the user, the posture of the shooting device carried by the drone along the pitch axis is controlled.

[0158] For example, if the target object is a tall building, in order to support more camera angles along the pitch axis during continuous filming of the building and capture different heights of the building, the drone can automatically control the nose posture during continuous filming of the building to keep the target object at a preset vertical position in the first image. At the same time, the user can adjust the pitch angle of the gimbal through a second input operation to control the posture of the camera along the pitch axis to capture images of different heights of the building.

[0159] In other optional embodiments, the first direction may also be the vertical direction of the first image, and the second direction may also be the horizontal direction of the first image, so as to support more camera angles in the yaw axis direction when the target object is a target with a longer length (such as a wall, a forest, etc.).

[0160] It is understood that, in order to prevent the target object from moving out of the camera's field of view due to manual control of the drone or its onboard camera by the user, thereby preventing the target object from being identified, tracked, and locked onto, the user's ability to manually adjust the captured image during continuous filming of the target object can be enabled even when the target object is static. In such cases, the drone can automatically control the drone or its onboard camera based on the target object's static position information to maintain the target object at a predetermined position in the first direction of the first image captured by the camera.

[0161] At the same time, in order to avoid user misoperation, during the continuous shooting of the target object, the function of the user adjusting the shooting picture through manual control can be preset to the on or off state when setting or editing the route.

[0162] Optionally, in some embodiments, the user can also set control parameters through a second operation so that the drone automatically controls the posture of the drone or the posture of the shooting device on the drone according to the control parameters corresponding to the second operation to adjust the position of the target object in the second direction of the first image.

[0163] For example, the interactive interface of the control terminal may have interactive controls for adjusting control parameters, such as controlling the nose posture, gimbal pitch, etc. The user can input operations on the interactive controls to enable the drone to automatically control the posture of the drone or the posture of the shooting device on the drone to adjust the position of the target object in the second direction of the first image.

[0164] The above control parameters can be set according to actual needs. In some embodiments, the control parameters may include at least one of the following:

[0165] The rotation direction of the camera and / or the drone's nose;

[0166] The rotation speed of the camera and / or the drone's nose;

[0167] The rotational acceleration of the camera and / or the nose of the drone;

[0168] The attitude of the camera and / or drone when the drone reaches one of the preset waypoints.

[0169] Furthermore, in order to simplify user operations, the user can pre-set the motion trajectory of the nose posture or the gimbal pitch, for example, rotating from angle A to angle B within a preset time period, and through a second operation, control the drone according to the pre-set motion trajectory of the nose posture or gimbal pitch, automatically controlling the posture of the drone or the posture of the shooting device on the drone to adjust the position of the target object in the second direction of the first image.

[0170] Referring to Figure 10, Figure 10 is a flowchart of the steps of a control method provided by an embodiment of the present application. The control method can be applied to the control terminal 200 described above, or to a system consisting of the drone 100 and the control terminal 200 described above. The control terminal 200 can be connected to the drone 100 in communication to control the drone 100 to perform corresponding operations according to the control instructions sent by the control terminal 200. The method includes:

[0171] S201: When the drone is flying along a preset route, a first operation of indicating a target object is received from a user.

[0172] The first operation is used to generate a first instruction, which is used to control the drone to continue flying along a preset route while controlling the drone's posture and / or the posture of a camera mounted on the drone, so as to continuously photograph the target object while the drone flies along the preset route. The preset route includes at least two preset waypoints. The first instruction can be used to control the drone to execute the method steps in the above-mentioned control method embodiment, which will not be detailed here to avoid repetition.

[0173] When the drone is flying along a preset route, the control terminal can receive a first operation input by the user indicating a target object. The first operation is used to generate a first instruction, which is used to control the attitude of the drone and / or the attitude of the camera onboard the drone while the drone continues to fly along the preset route, so as to continuously photograph the target object while the drone is flying along the preset route. In this way, the user can select the target object for continuous photography in real time by performing the first operation on the control terminal while the drone is flying along the preset route, thereby improving the degree of photography freedom.

[0174] It should be understood that the control terminal can generate the first instruction according to the user's first operation, or the control terminal can communicate with the drone according to the user's first operation and instruct the drone to generate the first instruction, which is not limited here.

[0175] In some embodiments, before step 201, the method may further include:

[0176] The first image captured by the camera of the UAV is displayed.

[0177] Receiving a first operation input by a user indicating a target object may specifically include:

[0178] A first operation on a first image region of a first image is received, where the first image region includes image content corresponding to a target object.

[0179] 11 and 12 , in some embodiments, the first operation may include a frame selection operation, and the first image area may be an image area determined by the frame selection operation. The frame selection operation can more easily determine the image area, simplifying the user's operation.

[0180] Optionally, while the drone is flying along a preset route, since the control terminal can obtain and display the first image collected by the drone in real time, in order to facilitate the user to select the target object, image recognition technology can be used to generate interactive controls corresponding to objects of a preset type on the first image.

[0181] In some embodiments, the first operation may include a click operation. Before step 201, the method may further include: displaying at least one interactive control on the first image, where the interactive control corresponds to at least a portion of an image area in the first image. Receiving the first operation on a first image area of ​​the first image includes: receiving a click operation on the interactive control corresponding to the first image area.

[0182] Specifically, to facilitate user selection of a target object, in some embodiments, displaying at least one interactive control in the first image may include: displaying at least one interactive control of a preset type in an image area corresponding to the first image, based on the preset type. The preset types may include a car, a boat, and a person.

[0183] In this way, by pre-identifying the first image and generating corresponding interactive controls for objects of a preset type in the first image, the user can determine the target object of the preset type by inputting operations on the interactive controls, thereby improving the convenience of user operations.

[0184] Referring to FIG. 13 , FIG. 13 is a flowchart of the steps of a control method provided by an embodiment of the present application. The control method can be applied to the aforementioned drone 100, or to a system consisting of the aforementioned drone 100 and a control terminal 200. The drone 100 can be in communication with the control terminal 200 to control the drone 100 to perform corresponding operations according to control instructions sent by the control terminal 200. The method includes:

[0185] S301 : When a drone flies along a preset route, the drone is controlled to shoot a preset target object to generate a first image.

[0186] S302: During the process of controlling the drone to photograph the target object, automatically control the drone or a photographing device carried by the drone so that the target object remains at a preset position in a first direction of the first image.

[0187] S303: During the process of controlling the drone to continuously photograph the target object, according to a second operation input by the user, controlling the drone or a photographing device mounted on the drone to adjust the position of the target object in a second direction of the first image. The preset route includes at least two preset waypoints.

[0188] In step 301, the target object can be pre-set by the user when setting or editing a route. For example, in some embodiments, the user can select the target object by clicking on a map displayed on the control terminal; in some embodiments, the target object can be determined by the user by selecting a frame on a shooting interface displayed on the control terminal and then determining the target object based on image recognition; in some embodiments, the user can control the drone to fly to a specified geographic location or geographic location range and then determine the specified geographic location or geographic location range as the target object by operating the control terminal.

[0189] In other optional embodiments, the target object may also be determined by user input while the drone is flying along a preset route. For details, please refer to the explanation of the above embodiment.

[0190] The specific implementation and beneficial effects of step 302 and step 303, as well as the following embodiments, can all refer to the explanation of the method steps in the above embodiment, and will not be described again here to avoid repetition.

[0191] In this way, when the drone is flying along a preset route and continuously photographing the target object, the user can have the drone automatically control the target object to maintain a preset position in the first direction of the first image, and by manually adjusting the position of the target object in the second direction of the first image, thereby giving the user greater freedom in camera movement during the process of continuously photographing the target object, further improving the user experience.

[0192] In some embodiments, the first direction can be the horizontal direction of the first image, and automatically controlling the posture of the drone or the posture of the shooting device carried on the drone can specifically include: automatically controlling the posture of the drone or the shooting device carried on the drone along the yaw axis.

[0193] In some embodiments, the second direction can be the vertical direction of the first image. According to the second operation, the posture of the drone or the posture of the shooting device carried on the drone is controlled. Specifically, it can include: according to the second operation, controlling the posture of the drone or the shooting device carried on the drone along the pitch axis.

[0194] In some embodiments, the second operation may include the user's operation on the control stick input, and according to the second operation, the posture of the drone or the posture of the shooting device carried on the drone is controlled. Specifically, it may include: controlling the posture of the drone or the posture of the shooting device carried on the drone according to the direction and stick amount of the operation on the control stick input.

[0195] In some embodiments, controlling the posture of the drone or the posture of the camera mounted on the drone according to the second operation may specifically include: automatically controlling the posture of the drone or the posture of the camera mounted on the drone according to preset control parameters.

[0196] In some embodiments, the control parameters may include at least one of the following:

[0197] The rotation direction of the camera and / or the drone's nose;

[0198] The rotation speed of the camera and / or the drone's nose;

[0199] The rotational acceleration of the camera and / or the nose of the drone;

[0200] The attitude of the camera and / or drone when the drone reaches one of the preset waypoints.

[0201] Referring to FIG. 14 , FIG. 14 is a flowchart of the steps of a control method provided in an embodiment of the present application. The control method can be applied to the control terminal 200 described above, or to a system consisting of the drone 100 and the control terminal 200 described above. The control terminal 200 can be in communication with the drone 100 to control the drone 100 to perform corresponding operations according to control instructions sent by the control terminal 200. The method includes:

[0202] S401: When a drone flies along a preset route, a first image generated by the drone photographing a preset target object is obtained.

[0203] S402: Receive a second operation input by the user.

[0204] The second operation is used to generate a second instruction, and the second instruction is used to:

[0205] During the process of controlling the drone to continuously photograph the target object, the posture of the drone or the posture of the photographing device carried by the drone is automatically controlled so that the target object remains at a preset position in the first direction of the first image.

[0206] During the process of controlling the drone to continuously photograph the target object, the posture of the drone or the posture of the photographing device onboard the drone is controlled according to the second operation to adjust the position of the target object in the second direction of the first image. The preset route includes at least two preset waypoints.

[0207] The second instruction can be specifically used to control the UAV to execute the method steps described in the above embodiment of the control method applied to the UAV, and will not be described again here to avoid repetition.

[0208] Please refer to Figure 15, which is a schematic block diagram of the structure of a control device provided in an embodiment of the present application. This control device can be applied to the aforementioned drone 100 or control terminal 200. The control device can be integrated into the aforementioned drone 100 or control terminal 200, or can be independently provided and communicatively connected to the drone 100 or control terminal 200. The aforementioned control method can also be applied to this control device.

[0209] As shown in FIG15 , the control device 500 includes a processor 501 and a memory 502 . The processor 501 and the memory 502 are connected via a bus 503 , which is, for example, an I 2 C (Inter-Integrated Circuit) bus.

[0210] Specifically, the processor 501 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0211] Specifically, the memory 502 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0212] The processor 501 is configured to run a computer program stored in the memory 502 and implement the following steps when executing the computer program:

[0213] When the drone flies along a preset route, a first instruction is obtained; wherein the first instruction is generated based on a first operation of indicating a target object obtained by a user input when the drone flies along the preset route; in response to the first instruction, the drone is controlled to continue flying along the preset route while the posture of the drone and / or the posture of the shooting device carried by the drone is controlled to continuously shoot the target object while the drone flies along the preset route; wherein the preset route includes at least two preset waypoints.

[0214] Alternatively, the following steps are implemented: while the drone is flying along a preset route, a first user input indicating a target object is received. The first operation is used to generate a first instruction, which is used to control the drone to continue flying along the preset route while controlling the drone's posture and / or the posture of a camera mounted on the drone, so as to continuously photograph the target object while the drone is flying along the preset route; the preset route includes at least two preset waypoints.

[0215] Alternatively, the following steps are implemented: when the drone flies along a preset route, the drone is controlled to shoot a preset target object to generate a first image; in the process of controlling the drone to shoot the target object, the posture of the drone or the posture of the shooting device carried on the drone is automatically controlled so that the target object remains at a preset position in a first direction of the first image; in the process of controlling the drone to continuously shoot the target object, the posture of the drone or the posture of the shooting device carried on the drone is controlled according to a second operation input by the user to adjust the position of the target object in a second direction of the first image; wherein, the preset route includes at least two preset waypoints.

[0216] Alternatively, the following steps are implemented: when the drone flies along a preset route, a first image generated by the drone photographing a preset target object is obtained; a second operation input by the user on the first image is received; wherein the second operation is used to generate a second instruction, and the second instruction is used to: in the process of controlling the drone to continuously photograph the target object, automatically control the posture of the drone or the posture of the shooting device carried on the drone, so that the target object remains at a preset position in the first direction of the first image; in the process of controlling the drone to continuously photograph the target object, according to the second operation, control the posture of the drone or the posture of the shooting device carried on the drone to adjust the position of the target object in the second direction of the first image; wherein the preset route includes at least two preset waypoints.

[0217] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control device described above can refer to the corresponding process in the aforementioned control method embodiment, and will not be repeated here.

[0218] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the control method provided in the above embodiment.

[0219] The computer-readable storage medium may be an internal storage unit of the drone or control terminal described in any of the aforementioned embodiments, such as a hard disk or memory of the drone or control terminal. The computer-readable storage medium may also be an external storage device of the drone or control terminal, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the drone or control terminal.

[0220] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0221] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0222] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a drone, characterized in that: include: When the drone is flying along a preset route, a first instruction is obtained; wherein the first instruction is generated according to a first operation of indicating a target object input by a user obtained when the drone is flying along the preset route; In response to the first instruction, the drone is controlled to continue flying along the preset route while the posture of the drone and / or the posture of the shooting device carried by the drone is controlled to continuously shoot the target object while the drone flies along the preset route; wherein the preset route includes at least two preset waypoints.

2. The method according to claim 1, characterized in that Controlling the posture of the drone and / or the posture of the camera mounted on the drone to continuously photograph the target object while the drone is flying along the preset route includes at least one of the following: Controlling the drone to change its nose posture so as to continuously photograph the target object while the drone is flying along the preset route; Controlling the posture of the camera mounted on the drone along the pitch axis to continuously photograph the target object while the drone is flying along the preset route; The posture of the shooting device carried by the UAV along the yaw axis is controlled to continuously shoot the target object while the UAV flies along the preset route.

3. The method according to claim 1, characterized in that The controlling the posture of the drone and / or the posture of the photographing device carried by the drone so as to continuously photograph the target object while the drone is flying along the preset route includes: When the target object belongs to a preset type, the drone is controlled to change the posture of the drone and / or the posture of the shooting device according to the status information of the target object collected in real time, so that when the target object is in motion, the drone and / or the shooting device can follow the target object and continue shooting.

4. The method according to claim 3, characterized in that The motion state information and position information of the target object are at least partially acquired by a shooting device carried by the drone.

5. The method according to claim 1, characterized in that The controlling the posture of the drone and / or the posture of the photographing device carried by the drone so as to continuously photograph the target object while the drone is flying along the preset route includes: When the target object does not belong to the preset type, the drone is controlled to change the posture of the drone and / or the posture of the shooting device according to the initial state information of the target object, so as to continuously shoot the target object while the drone flies along the preset route.

6. The method according to any one of claims 3 to 5, characterized in that The preset types include car, ship and person.

7. The method according to claim 1, characterized in that Controlling the posture of the drone and / or the posture of the camera mounted on the drone to continuously photograph the target object while the drone is flying along the preset route includes: Before the drone satisfies a first preset condition, controlling the posture of the drone and / or the posture of a camera mounted on the drone to continuously photograph the target object while the drone is flying along the preset route; The first preset condition includes the drone reaching a target preset waypoint among the preset waypoints, and the target preset waypoint includes one of the preset waypoints located after the position of the drone on the preset route.

8. The method according to claim 7, characterized in that The first preset condition also includes: During the process of controlling the UAV to continue flying along the preset route, at least part of the target object is out of the field of view of the shooting device.

9. The method according to claim 7 or 8, characterized in that The method further comprises: When the drone meets one of the first preset conditions, the posture of the drone and / or the posture of the shooting device carried by the drone is controlled according to the original preset parameters of the preset route.

10. The method according to claim 1, characterized in that Controlling the posture of the drone and / or the posture of the camera mounted on the drone to continuously photograph the target object while the drone is flying along the preset route includes: If the drone meets a second preset condition, the posture of the drone and / or the posture of the shooting device on the drone is controlled to continuously shoot the target object while the drone flies along the preset route; the second preset condition includes that the posture of the drone and / or the posture of the shooting device can be manually controlled by the user.

11. The method according to claim 10, characterized in that The second preset condition includes at least one of the following: The control mode of the posture of the drone and / or the posture of the camera mounted on the drone is a manual control mode; There is no preset target point of interest on the preset route; wherein, if the target point of interest exists on the preset route, the drone controls the posture of the drone and / or the posture of the shooting device carried on the drone during the flight according to the preset route to continuously shoot the target point of interest.

12. The method according to claim 1, characterized in that Controlling the posture of the drone and / or the posture of the camera mounted on the drone to continuously photograph the target object while the drone is flying along the preset route includes: If there is a preset target point of interest in the preset route, the posture of the drone and / or the posture of the shooting device on the drone is controlled to adjust the drone from continuously shooting the target point of interest to shooting the target object.

13. The method according to claim 1, wherein The method further comprises: During the process of controlling the drone to continuously photograph the target object, automatically controlling the posture of the drone or the posture of the photographing device carried by the drone so that the target object remains at a preset position in a first direction of a first image captured by the photographing device; During the process of controlling the drone to continuously photograph the target object, the posture of the drone or the posture of the photographing device carried on the drone is controlled according to a second operation input by the user to adjust the position of the target object in the second direction of the first image.

14. The method according to claim 13, characterized in that The first direction is a horizontal direction of the first image, and the automatically controlling the posture of the drone or the posture of the camera mounted on the drone includes: Automatically control the posture of a drone or a shooting device carried by the drone along the yaw axis.

15. The method according to claim 13, characterized in that The second direction is a vertical direction of the first image, and controlling the posture of the drone or the posture of the camera mounted on the drone according to the second operation input by the user includes: According to a second operation input by the user, the posture of the drone or the shooting device carried by the drone along the pitch axis is controlled.

16. The method according to claim 13, characterized in that The second operation includes an operation of a user inputting an input to a control stick, and the controlling of the posture of the drone or the posture of a camera mounted on the drone includes: The posture of the drone or the posture of the camera mounted on the drone is controlled according to the direction and amount of the operation input to the joystick.

17. The method according to claim 13, wherein The controlling the posture of the drone or the posture of the camera mounted on the drone according to the second operation input by the user includes: The posture of the drone or the posture of the camera mounted on the drone is automatically controlled according to the control parameter corresponding to the second operation.

18. The method according to claim 17, characterized in that The control parameters include at least one of the following: The camera and / or the UAV's nose rotation direction; the rotation speed of the camera and / or the drone; The rotational acceleration of the camera and / or the drone; The posture of the photographing device and / or the drone when the drone reaches one of the preset waypoints.

19. A method for controlling a drone, characterized in that: include: When the drone is flying along a preset route, receiving a first operation input by a user indicating a target object; Among them, the first operation is used to generate a first instruction, and the first instruction is used to control the drone to continue flying along the preset route while controlling the posture of the drone and / or the posture of the shooting device carried by the drone, so as to continuously shoot the target object while the drone flies along the preset route; the preset route includes at least two preset waypoints.

20. The method according to claim 19, wherein Before receiving the first operation indicating the target object input by the user, the method further includes: displaying a first image captured by a camera of the UAV; The receiving a first operation of indicating a target object input by a user includes: A first operation on a first image region of a first image is received, where the first image region includes image content corresponding to the target object.

21. The method according to claim 20, characterized in that The first operation includes a frame selection operation, and the first image area is an image area determined by the frame selection operation.

22. The method according to claim 20, characterized in that The first operation includes a click operation. Before receiving the first operation of indicating the target object input by the user, the method further includes: Displaying at least one interactive control in the first image, wherein the interactive control corresponds to at least a partial image area in the first image; The receiving a first operation on a first image area of ​​a first image includes: Receive a click operation on the interactive control corresponding to the first image area.

23. The method according to claim 22, characterized in that Displaying at least one interactive control on the first image includes: At least one interactive control corresponding to a preset type is displayed in an image area corresponding to the first image according to the preset type; the preset types include cars, ships and people.

24. A method for controlling a drone, characterized in that: include: When the drone flies along a preset route, controlling the drone to photograph a preset target object to generate a first image; In the process of controlling the drone to photograph the target object, automatically controlling the posture of the drone or the posture of the photographing device carried by the drone so that the target object remains at a preset position in the first direction of the first image; During the process of controlling the drone to continuously photograph the target object, the posture of the drone or the posture of the shooting device on the drone is controlled according to a second operation input by the user to adjust the position of the target object in the second direction of the first image; wherein the preset route includes at least two preset waypoints.

25. The method according to claim 24, characterized in that The first direction is a horizontal direction of the first image, and the automatically controlling the posture of the drone or the posture of the camera mounted on the drone includes: Automatically control the posture of a drone or a shooting device carried by the drone along the yaw axis.

26. The method according to claim 24, characterized in that The second direction is a vertical direction of the first image, and controlling the posture of the drone or the posture of the camera mounted on the drone according to the second operation includes: According to the second operation, the posture of the drone or the shooting device carried by the drone along the pitch axis is controlled.

27. The method according to claim 24, characterized in that The second operation includes an operation inputted by a user on a joystick, and controlling the posture of the drone or the posture of a camera mounted on the drone according to the second operation includes: The posture of the drone or the posture of a camera mounted on the drone is controlled according to the direction of the operation input to the joystick and the change in the stick amount.

28. The method according to claim 24, characterized in that Controlling the posture of the drone or the posture of a camera mounted on the drone according to the second operation includes: According to preset control parameters, the posture of the UAV or the posture of the shooting device carried by the UAV is automatically controlled.

29. The method according to claim 28, characterized in that The control parameters include at least one of the following: The rotation direction of the camera and / or the nose of the drone; The rotation speed of the camera and / or the nose of the drone; The rotational acceleration of the camera and / or the nose of the drone; The posture of the photographing device and / or the drone when the drone reaches one of the preset waypoints.

30. A method for controlling a drone, characterized in that: include: When the drone flies along a preset route, obtaining a first image generated by the drone photographing a preset target object; receiving a second operation input by the user on the first image; The second operation is used to generate a second instruction, and the second instruction is used to: In the process of controlling the drone to continuously photograph the target object, automatically controlling the posture of the drone or the posture of the photographing device carried by the drone so that the target object remains at a preset position in the first direction of the first image; During the process of controlling the drone to continuously photograph the target object, the posture of the drone or the posture of the photographing device carried on the drone is controlled according to the second operation to adjust the position of the target object in the second direction of the first image; wherein the preset route includes at least two preset waypoints.

31. A control device for a drone, characterized in that: The control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement the method steps according to any one of claims 1 to 18, or implement the method steps according to any one of claims 24 to 29.

32. A control device for a drone, characterized in that: The control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the method steps according to any one of claims 19 to 23, or implement the method steps according to claim 30 when executing the computer program.

33. A drone, characterized in that: Comprising a control device as claimed in claim 31.

34. A control terminal, characterized in that: Comprising a control device as claimed in claim 32.

35. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the method steps according to any one of claims 1 to 18, or to implement the method steps according to any one of claims 24 to 29.

36. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the method steps according to any one of claims 19 to 23, or the method steps according to claim 30.

Images