Unmanned aerial vehicle, following shooting method, wireless microphone and shooting system

Abstract

The embodiment of the invention provides an unmanned aerial vehicle, a following shooting method, a wireless microphone and a shooting system. The following shot method of the unmanned aerial vehicle is applied to the unmanned aerial vehicle. The unmanned aerial vehicle comprises a camera device and a wireless communication module. The unmanned aerial vehicle is in wireless communication connection with a wireless microphone through a wireless communication module, and the wireless microphone is used for being arranged at a shot object; the following shot method for the unmanned aerial vehicle comprises the following steps: measuring a target distance between the unmanned aerial vehicle and the wireless microphone through wireless communication connection with the wireless microphone; adjusting a configuration of the camera device based on the target distance; and controlling the camera device after the configuration adjustment to shoot the shooting object. The method can reduce the power consumption of the unmanned aerial vehicle and the requirement for the computing power of the processor.

Description

Technical Field

[0001] The present application relates to an unmanned aerial vehicle and a tracking method, a wireless microphone, and a shooting system, and relates to the field of wireless communications. Background Art

[0002] The image acquisition device can be configured with an automatic focusing algorithm to find the image with the highest clarity among the images taken by the image acquisition device under different focal length conditions through the automatic focusing algorithm, and determine the focal length for taking subsequent images based on the image with the highest clarity, so that the image acquisition device can take images with better effects.

[0003] When the UAV follows the subject, the relative distance between the UAV and the subject changes greatly during the flight. If the UAV needs to execute the auto-focus algorithm, the UAV needs to be able to quickly analyze and process the image to determine the image with the highest definition. This requires the processor of the UAV to have strong computing power, otherwise there may be problems such as slow focusing speed and inaccurate focusing. At the same time, the processor executing the auto-focus algorithm will also generate more power consumption, which is not conducive to the endurance of the UAV. Summary of the invention

[0004] In view of this, the present application aims to provide an unmanned aerial vehicle and a tracking method, a wireless microphone, and a shooting system to reduce the demand for processor computing power and power consumption of the unmanned aerial vehicle in a tracking scenario.

[0005] First, an embodiment of the present application provides a method for following an unmanned aerial vehicle, which is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a camera device and a wireless communication module; the unmanned aerial vehicle is wirelessly connected to a wireless microphone via the wireless communication module, and the wireless microphone is used to be set at a shooting object; the method for following an unmanned aerial vehicle includes: measuring the target distance between the unmanned aerial vehicle and the wireless microphone through a wireless communication connection with the wireless microphone; adjusting the configuration of the camera device based on the target distance; and controlling the camera device after the adjusted configuration to shoot the shooting object.

[0006] In the embodiment of the present application, the distance is measured through a wireless communication connection, and the configuration of the camera device is adjusted using the measured target distance, thereby achieving focus adjustment during the tracking and shooting process of the unmanned aerial vehicle. Compared with processing a large number of images, the amount of calculation required for distance measurement through a wireless communication connection is lower, and the requirements for processor processing efficiency are lower. At the same time, it helps to reduce the power consumption of the processor and improve the endurance of the unmanned aerial vehicle during the shooting process. On the other hand, in the process of the unmanned aerial vehicle tracking and shooting the object, compared with the method of identifying the object to be photographed through image recognition, since it is wirelessly connected to the wireless microphone and the target distance between the two has been measured, the unmanned aerial vehicle can determine the shooting object faster and more accurately through the wireless communication connection and the target distance, and reduce the time required to determine the shooting object.

[0007] In one embodiment, adjusting the configuration of the camera device based on the target distance includes: adjusting the focal length of the camera device according to a first relationship between the target distance, a preset shooting distance and a focal length.

[0008] In one embodiment, the camera device includes multiple optical elements, and adjusting the configuration of the camera device based on the target distance includes: adjusting the optical element configuration of the optical elements in the camera device according to a second relationship between the target distance, a preset shooting distance and the optical element configuration.

[0009] In one embodiment, the camera device includes multiple cameras of different types; adjusting the configuration of the camera device based on the target distance includes: determining the target camera type according to a third relationship between the target distance, a preset shooting distance and the camera type; and controlling the camera device to change to a camera of the target camera type.

[0010] In the embodiments of the present application, different methods of adjusting the configuration of the camera device are provided to adapt to different scenes, thereby achieving better shooting effects in different scenes.

[0011] In one embodiment, the unmanned aerial vehicle tracking method further includes: receiving voice information transmitted by the wireless microphone through wireless communication; and identifying and executing control instructions in the voice information.

[0012] In the embodiment of the present application, on the one hand, the voice information collected by the wireless microphone can be transmitted to the unmanned aerial vehicle through a wireless communication connection, so that the unmanned aerial vehicle can match the long-distance audio with the image collected by itself, and can obtain audio and video data including audio and image without flying near the subject to collect audio data. On the other hand, the unmanned aerial vehicle can also recognize the control instructions in the voice information, so that the subject can control the unmanned aerial vehicle, such as controlling the unmanned aerial vehicle to shoot without the user holding a control device, etc., effectively improving the user experience.

[0013] In one embodiment, the wireless communication module includes a Bluetooth module, and the unmanned aerial vehicle is connected to the wireless microphone via Bluetooth wireless communication; measuring the target distance between the unmanned aerial vehicle and the wireless microphone via the wireless communication connection with the wireless microphone includes: performing Bluetooth channel detection through the Bluetooth wireless communication connection between the unmanned aerial vehicle and the wireless microphone to obtain the target distance.

[0014] In the embodiment of the present application, Bluetooth channel detection is a high-precision distance measurement technology function in the Bluetooth standard. Bluetooth channel detection helps to improve the accuracy of target distance measurement, thereby improving the accuracy of the positioning and following of the unmanned aerial vehicle on the subject. At the same time, the Bluetooth module is a universal and low-cost module that can effectively reduce the difficulty and cost of implementation, and does not require personalized or customized upgrades to the unmanned aerial vehicle and the wireless microphone. In addition, compared with other modules that implement wireless communication, the power consumption of the Bluetooth module is lower, which helps to reduce the power consumption of the unmanned aerial vehicle.

[0015] In one embodiment, after measuring the target distance between the unmanned aerial vehicle and the wireless microphone through the wireless communication connection with the wireless microphone, the method further includes: determining the relative orientation between the unmanned aerial vehicle and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle and the wireless microphone; and adjusting the posture of the unmanned aerial vehicle based on the relative orientation.

[0016] The relative posture between the unmanned aerial vehicle and the wireless microphone will affect the shooting effect. Therefore, in an embodiment of the present application, the unmanned aerial vehicle can determine the relative position between the unmanned aerial vehicle and the wireless microphone through a wireless communication connection, so as to adjust the posture of the camera device according to the relative position, so that the unmanned aerial vehicle can accurately shoot the subject and obtain a better shooting effect.

[0017] In one embodiment, the wireless communication module includes multiple receiving antennas, and determining the relative position between the unmanned aerial vehicle and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle and the wireless microphone includes: acquiring target radio frequency signals emitted by the wireless microphone and received respectively by different receiving antennas; and determining the relative position between the unmanned aerial vehicle and the wireless microphone based on the phase difference between the target radio frequency signals received by the different receiving antennas.

[0018] In an embodiment of the present application, by setting up multiple RF antennas on the unmanned aerial vehicle, the relative direction can be determined by the phase difference of the target RF signals received by different RF antennas, without the need for other equipment to assist in determining the direction, effectively simplifying the difficulty of implementing relative direction measurement.

[0019] In one embodiment, the unmanned aerial vehicle is communicatively connected with a target wireless device; determining the relative position between the unmanned aerial vehicle and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle and the wireless microphone includes: obtaining the relative position relationship between the wireless microphone and the target wireless device; measuring a first relative distance between the unmanned aerial vehicle and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle and the wireless microphone; measuring a second relative distance between the unmanned aerial vehicle and the target wireless device based on the wireless communication connection between the unmanned aerial vehicle and the target wireless device; and determining the relative position between the unmanned aerial vehicle and the wireless microphone based on the relative position relationship, the first relative distance, and the second relative distance.

[0020] In an embodiment of the present application, the wireless microphone and the target wireless device are two different devices. The relative position between the unmanned aerial vehicle and the wireless microphone can be determined by the positional relationship between the two and the relative distance between the unmanned aerial vehicle and the two. Compared with using multiple RF antennas to receive RF signals, this method has lower power consumption and reduces the power consumption of RF signal reception.

[0021] In one embodiment, the unmanned aerial vehicle also includes an inertial measurement unit, and determining the relative position between the unmanned aerial vehicle and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle and the wireless microphone includes: measuring the initial relative position and / or initial relative distance between the unmanned aerial vehicle and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle and the wireless microphone; correcting the inertial measurement unit based on the initial relative position and / or the initial relative distance; and measuring the relative position based on the corrected inertial measurement unit.

[0022] Compared with the orientation measured by the wireless communication connection, the relative orientation and distance measured by the inertial measurement unit are more accurate, but the inertial measurement unit will be affected by the zero drift. Therefore, in an embodiment of the present application, the zero drift of the inertial measurement unit is corrected by the initial relative orientation and / or initial relative distance measured by the wireless communication connection, so that the inertial measurement unit can measure a more accurate relative orientation.

[0023] In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle, comprising: a processor and a wireless communication module; the wireless communication module is used to wirelessly connect to a wireless microphone, and the wireless microphone is used to be set at a shooting object; the processor is connected to the wireless communication module, and is used to execute the unmanned aerial vehicle tracking method as described in any one of the first aspects.

[0024] In a third aspect, an embodiment of the present application further provides a wireless microphone, comprising: a wireless communication unit for wirelessly connecting to the unmanned aerial vehicle of claim 11;

[0025] The wireless microphone is also used to collect voice information and transmit it to the unmanned aerial vehicle through the wireless communication unit.

[0026] In a fourth aspect, an embodiment of the present application provides a photographing system, comprising: an unmanned aerial vehicle as described in the second aspect; and a wireless microphone for being worn by a subject to be photographed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A structural block diagram of an unmanned aerial vehicle provided in one embodiment of the present application.

[0029] Figure 2 This is a flow chart of a UAV tracking method provided in one embodiment of the present application.

[0030] Icons: unmanned aerial vehicle 10 ; processor 11 ; camera device 12 ; wireless communication module 13 . DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present application more clear, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

[0032] First, the embodiment of the present application provides an unmanned aerial vehicle, which can execute the unmanned aerial vehicle tracking method provided in the embodiment of the present application. The specific content of the unmanned aerial vehicle tracking method will be expanded later.

[0033] See also Figure 1 , Figure 1 It is a structural block diagram of an unmanned aerial vehicle 10 provided in one embodiment of the present application.

[0034] In an embodiment of the present application, the unmanned aerial vehicle 10 includes a processor 11, a camera device 12 and a wireless communication module 13. The unmanned aerial vehicle 10 also includes other necessary structures, which can be specifically referred to in the prior art and will not be elaborated here.

[0035] In an embodiment of the present application, the processor 11 is used to execute the method for following the unmanned aerial vehicle 10 provided in the embodiment of the present application, and the camera device 12 is used to shoot images and videos. The camera device 12 may include one or more cameras, and the multiple cameras may include different types of cameras. When shooting, one camera may be used to shoot or multiple cameras may be used to shoot at the same time. In addition, the camera device in the present application may also be referred to as a camera device, which may be an image capture module integrated in the unmanned aerial vehicle equipment, generally including a lens, an imaging sensor, and an image processing module.

[0036] In the embodiment of the present application, the wireless communication module 13 may include at least one module such as a Bluetooth module, a WiFi (Wireless Fidelity) module, a UWB (Ultra Wide Band) module, a radio frequency module, etc., which is not limited here.

[0037] The wireless communication module 13 is used to connect to a wireless microphone, wherein the wireless microphone can be set at the object of shooting. The actual object of shooting can be the wearer of the wireless microphone, or the actual object of shooting can be the surrounding environment of the wireless microphone. For example, the wireless microphone is worn on the user, and the user can hold or wear the wireless microphone, and the unmanned aerial vehicle 10 can shoot the user, or shoot the environment within a certain range around the user.

[0038] In the embodiment of the present application, the camera device 12 and the wireless communication module 13 may each include one or more processors, which is not limited here.

[0039] In an embodiment of the present application, the wireless microphone can collect audio data and send the audio data to the unmanned aerial vehicle 10 via a wireless communication connection to be combined with the images and videos collected by the camera device 12. In this way, the unmanned aerial vehicle 10 can collect complete audio and video to facilitate user experience.

[0040] See also Figure 2 , Figure 2 This is a flow chart of a method for following a UAV 10 provided in an embodiment of the present application. The method for following a UAV 10 includes:

[0041] S110, measuring a target distance between the unmanned aerial vehicle and the wireless microphone through a wireless communication connection with the wireless microphone.

[0042] In the embodiment of the present application, the distance to the target can be obtained by measuring the distance through the wireless communication connection between the unmanned aerial vehicle 10 and the wireless microphone. The wireless communication module 13 includes different modules, and the wireless communication connection distance measurement method corresponding to each module can be configured.

[0043] In one embodiment of the present application, the wireless communication module 13 may include a Bluetooth module, and the unmanned aerial vehicle 10 is connected to the wireless microphone via Bluetooth wireless communication. The unmanned aerial vehicle 10 can perform Bluetooth channel detection through the Bluetooth wireless communication connection between the unmanned aerial vehicle 10 and the wireless microphone to obtain the target distance.

[0044] Bluetooth channel detection technology is a high-precision distance measurement technology in the Bluetooth standard. The characteristic of Bluetooth channel detection is that channel detection simultaneously estimates the distance through phase measurement and round-trip time measurement and corrects each other. It has higher accuracy and a safety protection mechanism, and can achieve a distance measurement accuracy of 10cm. The specific method of Bluetooth channel detection can refer to the existing technology and will not be explained here.

[0045] On the one hand, the Bluetooth channel detection has high accuracy and can obtain a relatively accurate target distance between the unmanned aerial vehicle 10 and the wireless microphone. On the other hand, the Bluetooth module is a universal and low-cost module. Using the Bluetooth module for distance measurement helps to reduce costs, making the method provided by the present application universal and does not require personalized or customized upgrades of the unmanned aerial vehicle 10 and the wireless microphone.

[0046] For another example, the wireless communication module 13 may include a WiFi module, and the unmanned aerial vehicle 10 may be configured with WiFi ranging technology. The method of performing ranging through wireless communication connection can refer to the existing technology, which will not be elaborated here.

[0047] S120, adjusting the configuration of the camera device based on the target distance.

[0048] In the embodiment of the present application, the relative distance between the unmanned aerial vehicle 10 and the photographed object may change during movement, so that the current configuration of the camera device 12 cannot capture the clearest image. Therefore, it is necessary to adjust the configuration of the camera device 12 to capture a clearer image.

[0049] In an embodiment of the present application, a correspondence between the target distance and the configuration adjustment method of the camera device 12 can be preset, so that after the target distance is determined, the configuration adjustment method of the camera device 12 can be determined through the correspondence, so that the camera device 12 can capture more accurate and clear images.

[0050] Different unmanned aerial vehicles 10 may be equipped with different camera devices 12, and the adjustable configuration items in the camera device 12 may be different. Therefore, in the embodiment of the present application, the corresponding relationship between the adjustment method of different configuration items and the target distance can be configured.

[0051] The camera device 12 includes a lens and an imaging sensor. The distance between the lens and the imaging sensor is used to affect the convergence of light on the imaging sensor, thereby affecting the shooting effect. The distance between the optical center of the lens and the imaging sensor is also called the focal length. The structure and principle of the camera device 12 can refer to the prior art and will not be elaborated here.

[0052] In an embodiment of the present application, the focal length of the camera device 12 may be adjusted according to a first relationship among the target distance, a preset shooting distance, and the focal length.

[0053] For example, the first relationship may include: when the target distance represents that the shooting distance between the unmanned aerial vehicle 10 and the object is getting shorter, the lens of the camera device 12 may be controlled to be away from the imaging sensor. On the contrary, when the target distance represents that the shooting distance between the unmanned aerial vehicle 10 and the object is getting longer, the lens of the camera device 12 may be controlled to be close to the imaging sensor. The above relationship can refer to the relationship between the focal length and imaging of the camera in the prior art, which will not be elaborated here.

[0054] The camera device 12 also includes different optical elements that affect the focal length, such as an aperture, a lens, etc. The configuration of the optical elements of some unmanned aerial vehicles 10 is adjustable, such as the size of the aperture is adjustable, the distance and position relationship between the lenses can be adjusted, etc.

[0055] Therefore, in an embodiment of the present application, the optical element configuration of the optical element in the camera device 12 can also be adjusted according to the second relationship between the target distance, the preset shooting distance and the optical element configuration. Thus, the focal length is affected by adjusting the configuration of the optical element, thereby changing the clarity of the camera device 12 shooting.

[0056] Current cameras may include multiple cameras, each with a different focal length (focal length range) to provide a wider range of shooting functions and higher image quality. For example, the cameras include wide-angle cameras, ultra-wide-angle cameras, telephoto cameras, macro cameras, etc. In an embodiment of the present application, the camera device 12 may also include multiple cameras of different types, and control the camera device 12 to change to a camera of the target camera type based on the target distance, the third relationship between the preset shooting distance and the camera type to determine the target camera type.

[0057] The embodiments of the present application provide different methods for adjusting the configuration of the camera device 12. One or more methods can be selected for implementation according to the camera device 12 actually configured on the unmanned aerial vehicle 10, so as to be suitable for different scenes, thereby achieving better shooting effects in different scenes.

[0058] It can be understood that the relationship between the shooting distance and the focal length, optical elements, and lens type of the camera device 12 in the above embodiment and the specific adjustment method can be specifically referred to the focusing method of the prior art, which will not be elaborated here.

[0059] S130, controlling the camera device after adjusting the configuration to shoot the object.

[0060] In an embodiment of the present application, compared with the method of adjusting the camera focal length by analyzing and processing images, using wireless communication connection to measure distance and then adjusting the focal length according to the measured target distance requires less calculation, thereby reducing the power consumption required to analyze and adjust the camera configuration, improving the endurance of the unmanned aerial vehicle 10, and reducing the computing power requirements of the processor 11.

[0061] In addition, the camera device 12 needs to focus and select the shooting object for shooting when shooting, so that the shooting effect at the shooting object is optimal. At present, it is usually determined by analyzing the image and the shooting relative position from the image. This method will generate large power consumption. In the embodiment of the present application, since the wireless microphone is set at the shooting object and the target distance between the wireless microphone and the shooting object is measured, when determining the shooting object, the position of the wireless microphone can be determined by the target distance, and then the shooting object can be determined by the position of the wireless microphone. Compared with analyzing the image and determining the shooting object from the image for shooting, the method provided by the present application requires lower power consumption, further improving the endurance of the unmanned aerial vehicle 10.

[0062] In addition, during the flight of the UAV 10, the posture of the camera device 12 will also affect the shooting effect. Therefore, in the embodiment of the present application, the posture of the camera device 12 can also be adjusted.

[0063] In the embodiment of the present application, the posture of the unmanned aerial vehicle 10 can also be adjusted, and then the posture of the camera device can be adjusted, so that the camera device can shoot in a better posture and improve the shooting effect. The process can include: determining the relative position between the unmanned aerial vehicle 10 and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle 10 and the wireless microphone; adjusting the posture of the unmanned aerial vehicle based on the relative position.

[0064] The unmanned aerial vehicle 10 may also include a gimbal, and the unmanned aerial vehicle may be preset with a relative position and relative posture between the gimbal and the camera, so that the unmanned aerial vehicle can adjust the posture of the camera device in the process of adjusting its own posture, so that the camera device can obtain a better shooting effect. The relative position and the posture of the camera device / the posture adjustment of the unmanned aerial vehicle can refer to the existing technology and will not be expanded here.

[0065] In one embodiment of the present application, the wireless communication module 13 may include multiple receiving antennas, and the RF antenna may receive RF signals. Determining the relative position between the UAV 10 and the wireless microphone based on the wireless communication connection between the UAV 10 and the wireless microphone may include: obtaining target RF signals emitted by the wireless microphone respectively received by different receiving antennas; determining the relative position between the UAV 10 and the wireless microphone based on the phase difference between the target RF signals respectively received by different receiving antennas. The method of determining the position based on the phase difference of multiple antennas can refer to the prior art and will not be elaborated here.

[0066] In this embodiment, by setting up multiple RF antennas on the unmanned aerial vehicle 10, the relative direction can be determined by the phase difference of the target RF signals received by different RF antennas, without the need for other equipment to assist in determining the direction, thereby simplifying the difficulty of implementing relative direction measurement.

[0067] In the embodiments of the present application, the method based on relative orientation and posture adjustment can refer to the prior art and will not be elaborated here.

[0068] In another embodiment, the UAV 10 can also be connected to a target wireless device for communication, and the target wireless device is another device other than a wireless microphone, such as a mobile phone, a tablet computer, a smart watch, etc. The target wireless device can also be a wireless microphone, that is, the UAV 10 is connected to two wireless microphones at the same time, one of which is a wireless microphone set at the object being photographed. In addition, the target wireless device can also include multiple devices, such as multiple wireless microphones, or a combination of multiple different devices.

[0069] The communication connection between the UAV 10 and the target wireless device can be a Bluetooth communication connection, a WiFi communication connection, etc., which is not limited here.

[0070] In this embodiment, determining the relative position between the unmanned aerial vehicle 10 and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle 10 and the wireless microphone may include: obtaining the relative position relationship between the wireless microphone and the target wireless device; measuring a first relative distance between the unmanned aerial vehicle 10 and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle 10 and the wireless microphone; measuring a second relative distance between the unmanned aerial vehicle 10 and the target wireless device based on the wireless communication connection between the unmanned aerial vehicle 10 and the target wireless device; and determining the relative position between the unmanned aerial vehicle 10 and the wireless microphone based on the relative position relationship, the first relative distance, and the second relative distance.

[0071] In the embodiment of the present application, the positional relationship between the wireless microphone and the target wireless device is predetermined, such as preset or measured between the two. The first relative distance and the second relative distance can be Bluetooth channel detection, WiFi wireless ranging, etc., which are not limited here. The relative orientation between the unmanned aerial vehicle 10 and the wireless microphone based on the relative positional relationship, the first relative distance and the second relative distance can refer to the existing technology, for example, trilateration or other methods, which are not limited here.

[0072] In this embodiment, the wireless communication module 13 does not need to receive radio frequency signals through multiple radio frequency signals at the same time, which can reduce the power consumption of the unmanned aerial vehicle 10.

[0073] In another embodiment, the UAV 10 may further include an inertial measurement unit. Determining the relative position between the UAV 10 and the wireless microphone based on the wireless communication connection between the UAV 10 and the wireless microphone may include: measuring the initial relative position and / or initial relative distance between the UAV 10 and the wireless microphone based on the wireless communication connection between the UAV 10 and the wireless microphone; calibrating the inertial measurement unit based on the initial relative position and / or initial relative distance; and measuring the relative position and / or relative distance based on the calibrated inertial measurement unit.

[0074] The inertial measurement unit measures azimuth and / or distance with high accuracy; however, the inertial measurement unit is susceptible to zero drift. In this embodiment, the azimuth and distance can be measured through a wireless communication connection to obtain an initial relative azimuth and / or an initial relative distance, and then the inertial measurement unit is calibrated based on the initial relative azimuth and / or the initial relative distance, so that the inertial measurement unit can measure a more accurate relative azimuth and / or relative distance, thereby improving the accuracy of the posture adjustment of the camera device 12 and thereby improving the shooting effect.

[0075] In an embodiment of the present application, the method for tracking the unmanned aerial vehicle 10 may further include: receiving voice information transmitted by a wireless microphone through wireless communication; and identifying and executing control instructions in the voice information.

[0076] In this embodiment, the unmanned aerial vehicle 10 collects the voice of the subject through a wireless microphone, and the unmanned aerial vehicle 10 and the wireless microphone are separated, so the unmanned aerial vehicle 10 can collect the voice from a long distance. Based on this, the unmanned aerial vehicle 10 can further recognize the control instructions in the voice information to achieve long-distance shooting control. Among them, the control instructions include but are not limited to taking a photo, starting shooting, stopping shooting, flying to the user, etc.

[0077] In this embodiment, the user does not need to use a handheld terminal to control the unmanned aerial vehicle 10, which is more convenient for the user to use. For example, the user can freely pose and use voice control to shoot the unmanned aerial vehicle 10 to achieve posing. This method can effectively improve the user experience and is convenient for some selfie enthusiasts to use.

[0078] Based on the same inventive concept, an embodiment of the present application further provides a wireless microphone, which includes: a wireless communication unit for wirelessly connecting to the unmanned aerial vehicle provided by the aforementioned embodiment.

[0079] In the embodiments of the present application, the wireless microphone may further include other structures, such as a processor, an audio acquisition device, etc., which will not be expanded here. For other structures, reference may be made to the prior art.

[0080] In an embodiment of the present application, the wireless microphone is also used to collect voice information and transmit it to the unmanned aerial vehicle through a wireless communication unit, so that the unmanned aerial vehicle configures corresponding audio for the collected image, or enables the unmanned aerial vehicle to execute control instructions in the corresponding voice information.

[0081] Based on the same inventive concept, an embodiment of the present application also provides a shooting system, including the unmanned aerial vehicle 10 and the wireless microphone provided in the aforementioned embodiment.

[0082] The wireless microphone is used to be arranged at the object to be photographed and wirelessly connected to the UAV 10. The UAV 10 can refer to the UAV 10 provided in the above embodiment or other UAVs 10 that perform the UAV 10 tracking method of the present application.

[0083] The wireless microphone is used to be set at the location of the photographed object and is connected to the unmanned aerial vehicle 10 for wireless communication.

[0084] The wireless microphone includes a wireless communication unit, and the wireless microphone is connected to the unmanned aerial vehicle 10 through the wireless communication unit. Other structures of the wireless microphone can refer to existing microphones, which will not be expanded here.

[0085] In the embodiments provided in the present application, it should be understood that the disclosed method can also be implemented in other ways. The functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0086] The above embodiments can be freely combined without conflict, and the embodiments obtained by the combination are included in the protection scope of this application.

[0087] The above detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0088] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0089] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0090] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for following and photographing an unmanned aerial vehicle, characterized in that: Applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises a camera device and a wireless communication module; the unmanned aerial vehicle is wirelessly connected to a wireless microphone via the wireless communication module, and the wireless microphone is used to be arranged at a location where a photographed object is to be photographed; The unmanned aerial vehicle tracking method comprises: measuring a target distance between the UAV and the wireless microphone via a wireless communication connection with the wireless microphone; adjusting a configuration of the camera device based on the target distance; The camera device after the adjustment and configuration is controlled to shoot the shooting object.

2. The unmanned aerial vehicle tracking method according to claim 1, characterized in that: The adjusting the configuration of the camera device based on the target distance comprises: The focal length of the camera device is adjusted according to a first relationship among the target distance, a preset shooting distance and a focal length.

3. The unmanned aerial vehicle tracking method according to claim 1, characterized in that: The camera device includes a plurality of optical elements, and adjusting the configuration of the camera device based on the target distance includes: The optical element configuration of the optical element in the camera device is adjusted according to a second relationship among the target distance, the preset shooting distance and the optical element configuration.

4. The unmanned aerial vehicle tracking method according to claim 1, characterized in that: The camera device includes a plurality of cameras of different types; and adjusting the configuration of the camera device based on the target distance includes: Determining the target camera type according to a third relationship among the target distance, the preset shooting distance and the camera type; The camera device is controlled to be replaced with a camera of a target camera type.

5. The unmanned aerial vehicle tracking method according to claim 1, characterized in that: The unmanned aerial vehicle tracking method further comprises: receiving voice information transmitted by the wireless microphone via wireless communication; The control instructions in the voice information are identified and executed.

6. The unmanned aerial vehicle tracking method according to claim 1, characterized in that: The wireless communication module includes a Bluetooth module, and the UAV is connected to the wireless microphone via Bluetooth wireless communication; The measuring of the target distance between the unmanned aerial vehicle and the wireless microphone through the wireless communication connection with the wireless microphone comprises: The target distance is obtained by performing Bluetooth channel detection through a Bluetooth wireless communication connection between the unmanned aerial vehicle and the wireless microphone.

7. The method for following and photographing an unmanned aerial vehicle according to any one of claims 1 to 6, characterized in that: After measuring the target distance between the UAV and the wireless microphone through the wireless communication connection with the wireless microphone, the method further includes: determining a relative position between the UAV and the wireless microphone based on a wireless communication connection between the UAV and the wireless microphone; The attitude of the UAV is adjusted based on the relative position.

8. The method for following and photographing an unmanned aerial vehicle according to claim 7, characterized in that: The wireless communication module includes a plurality of receiving antennas, and the determining the relative position between the unmanned aerial vehicle and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle and the wireless microphone includes: Acquire target radio frequency signals emitted by the wireless microphone and received respectively by different receiving antennas; The relative position of the UAV and the wireless microphone is determined based on the phase difference between the target radio frequency signals respectively received by the different receiving antennas.

9. The method for following and photographing an unmanned aerial vehicle according to claim 7, characterized in that: The unmanned aerial vehicle is communicatively connected with a target wireless device; The determining the relative position between the unmanned aerial vehicle and the wireless microphone based on the wireless communication connection between the unmanned aerial vehicle and the wireless microphone comprises: Acquire the relative position relationship between the wireless microphone and the target wireless device; measuring a first relative distance between the UAV and the wireless microphone based on a wireless communication connection between the UAV and the wireless microphone; measuring a second relative distance between the UAV and the target wireless device based on the wireless communication connection between the UAV and the target wireless device; The relative position between the UAV and the wireless microphone is determined based on the relative position relationship, the first relative distance and the second relative distance.

10. The unmanned aerial vehicle tracking method according to claim 7, characterized in that: The UAV further includes an inertial measurement unit, and the determining the relative position between the UAV and the wireless microphone based on the wireless communication connection between the UAV and the wireless microphone includes: measuring an initial relative orientation and / or an initial relative distance between the UAV and the wireless microphone based on a wireless communication connection between the UAV and the wireless microphone; calibrating the inertial measurement unit based on the initial relative orientation and / or the initial relative distance; The relative orientation is measured based on a calibrated inertial measurement unit.

11. An unmanned aerial vehicle, characterized in that: include: processor and wireless communication module; The wireless communication module is used for wireless communication connection with a wireless microphone, and the wireless microphone is used for being arranged at a location of a photographed object; The processor is connected to the wireless communication module and is used to execute the unmanned aerial vehicle tracking method as described in any one of claims 1-10.

12. A wireless microphone, characterized in that: include: A wireless communication unit for wirelessly connecting to the unmanned aerial vehicle according to claim 11; The wireless microphone is also used to collect voice information and transmit it to the unmanned aerial vehicle through the wireless communication unit.

13. A shooting system, characterized in that: include: The unmanned aerial vehicle as claimed in claim 11; The wireless microphone is used to be arranged at the location of the photographed object and is wirelessly connected with the unmanned aerial vehicle.

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