Photographing control method, device, and equipment of unmanned aerial vehicle, medium, and program product

Abstract

The application discloses a kind of unmanned aerial vehicle's shooting control method, device, equipment, medium and program product. Including: each waypoint in flight path is traversed;For any traversed waypoint, according to the position coordinates of waypoint, the ideal yaw angle of gimbal when unmanned aerial vehicle is at waypoint is determined;Traversal ends, according to the ideal yaw angle of gimbal corresponding to each waypoint and the yaw angle constraint interval of the gimbal of unmanned aerial vehicle, whether the ideal yaw angle of the gimbal of unmanned aerial vehicle is in the yaw angle constraint interval of gimbal is determined;If not, control unmanned aerial vehicle to fly according to the first target heading angle corresponding to each waypoint, control the gimbal of unmanned aerial vehicle to shoot target object according to the first target yaw angle and target pitch angle of each waypoint, first target heading angle represents the nose of unmanned aerial vehicle points to the center point of flight path when unmanned aerial vehicle reaches waypoint, and first target yaw angle represents that there is no yaw angle between the gimbal of unmanned aerial vehicle and the fuselage of unmanned aerial vehicle. The accuracy of image is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to UAV shooting control methods, devices, equipment, media, and program products. Background Technology

[0002] With the deepening development of fintech, commercial banks are accelerating the digital transformation of their lending business. Throughout the entire loan lifecycle—from pre-loan investigation to loan review and post-loan management—on-site verification is a crucial step in controlling credit risk. Traditional on-site verification mainly relies on staff taking photos with handheld cameras or manual visual inspection, which suffers from low efficiency, limited perspective, and difficulty in data retention.

[0003] In recent years, low-altitude remote sensing technology using unmanned aerial vehicles (UAVs) has been gradually introduced into the banking system due to its high mobility and wide field of view. It is widely used in scenarios such as large-scale fixed asset appraisal, real estate collateral verification, monitoring of construction progress, and non-performing asset disposal. The high-definition image data collected by UAVs can provide objective and accurate physical evidence for remote loan approval, risk warning, and digital record keeping.

[0004] Currently, drone-based surround photography of targets (such as buildings, factories, and fixed assets) mainly includes the following technical solutions: surround photography based on "tangential flight + gimbal lateral yaw", and semi-automatic surround acquisition based on fixed templates or human experience.

[0005] One approach to surround shooting, based on "tangential flight + gimbal lateral yaw," involves controlling the drone to fly along a pre-defined circular or polygonal path outside the target object. During flight, the drone's heading remains tangential to the flight path (i.e., the nose points towards the next waypoint). Dynamic adjustment of the gimbal yaw angle ensures the camera always faces the center of the target object or point of interest. The gimbal yaw angle typically needs to reach ±90° to achieve standard side-view shooting. However, many current consumer-grade, lightweight drones (such as the Mini series) have strict physical limits on their gimbal yaw angles due to weight, structural, and cost constraints, typically supporting only ±20° to ±30°. In this case, the standard ±90° side-view shooting command cannot be executed, easily leading to gimbal limit errors during mission execution.

[0006] Semi-automatic surround acquisition schemes based on fixed templates or human experience involve operators manually controlling the drone's flight and gimbal angle, or automating only the flight path while manually adjusting the gimbal angle. This approach, reliant on manual operation or semi-automatic methods, suffers from significant differences in flight habits among operators, a lack of standardized rules for gimbal angle adjustment, and inconsistent acquisition results, impacting the model's ability to recognize the acquired images. Therefore, a new drone shooting control method is urgently needed. Summary of the Invention

[0007] This invention provides a method, apparatus, device, medium, and program product for shooting control of unmanned aerial vehicles (UAVs). It is used to complete high-standard side-to-side surround shooting using existing low-cost UAV equipment without upgrading the expensive hardware of the UAV, ensuring that the image data of the target object produced meets the standardized input requirements of the risk control model, and improving the quality of the captured images.

[0008] According to a first aspect of the present invention, a shooting control method for a drone is provided, the method comprising: In response to a drone shooting command sent by a user, the drone's flight path is determined based on the target object in the drone shooting command; The waypoints in the flight path are traversed. For any waypoint traversed, determine the ideal yaw angle of the UAV's gimbal when the UAV is at the waypoint, based on the position coordinates of the waypoint. After the traversal is completed, based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the yaw angle constraint range of the UAV's gimbal, it is determined whether the ideal yaw angle of the UAV's gimbal is within the yaw angle constraint range. If not, the UAV is controlled to fly according to the first target heading angle corresponding to each waypoint, and the gimbal of the UAV is controlled to photograph the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle is used to indicate that the nose of the UAV is pointing to the center point of the flight path when the UAV reaches the waypoint, and the first target yaw angle is used to indicate that there is no yaw angle between the gimbal of the UAV and the fuselage of the UAV. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint.

[0009] According to another aspect of the present invention, a shooting control device for a drone is provided, the device comprising: The flight path determination module is used to respond to the drone shooting command sent by the user and determine the drone's flight path based on the target object in the drone shooting command; The traversal module is used to traverse each waypoint in the flight path; The ideal yaw angle determination module is used to determine the ideal yaw angle of the UAV's gimbal when the UAV is at any waypoint, based on the position coordinates of the waypoint. The judgment module is used to determine whether the ideal yaw angle of the UAV's gimbal is within the gimbal yaw angle constraint range after the traversal is completed, based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the yaw angle constraint range of the UAV's gimbal. The first control module is configured to, if not, control the UAV to fly according to the first target heading angle corresponding to each waypoint, and control the UAV's gimbal to photograph the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle is used to indicate that the UAV's nose points to the center point of the flight path when the UAV reaches the waypoint, and the first target yaw angle is used to indicate that there is no yaw angle between the UAV's gimbal and the UAV's fuselage. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint.

[0010] According to another aspect of the present invention, an electronic device is provided, the electronic device including at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the drone shooting control method described in the first aspect.

[0011] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the drone shooting control method according to any embodiment of the present invention.

[0012] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the drone shooting control method as described in any embodiment of the present invention.

[0013] The technical solution of this invention determines the flight path of the UAV based on the target object in the UAV shooting command. Then, it iterates through each waypoint along the flight path. For any waypoint reached, the ideal yaw angle of the UAV's gimbal is determined based on the waypoint's coordinates. After the traversal is complete, it is determined whether the ideal yaw angle of the UAV's gimbal is within the gimbal yaw angle constraint range, based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the gimbal yaw angle constraint range. If not, the UAV is controlled to fly according to the first target heading angle corresponding to each waypoint, and the UAV's gimbal is controlled to shoot the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle indicates that the UAV's nose points to the center point of the flight path when it reaches the waypoint, and the first target yaw angle indicates that there is no deflection angle between the UAV's gimbal and the UAV's fuselage. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint. Therefore, this embodiment of the application decouples the "route trajectory control" of the UAV from the "body / gimbal attitude control" of the UAV. When the "ideal yaw angle" is predicted to exceed the "physical yaw angle constraint range" of the hardware, it will automatically switch to the "nose-locked center" lateral flight mode. By forcing the body to physically face the center of the target object, the rotation of the body is used to compensate for the insufficient rotation capability of the gimbal (i.e., "body compensation"). Thus, without upgrading expensive hardware, high-standard lateral surround shooting can be completed using existing low-cost equipment, ensuring that the produced image data meets the standardized input requirements of the risk control model and improving the accuracy of the images.

[0014] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram illustrating an application scenario of a drone shooting control method provided by an embodiment of the present invention; Figure 2 This is a flowchart illustrating a shooting control method for an unmanned aerial vehicle (UAV) according to an embodiment of the present invention. Figure 3This is a flowchart illustrating the process of determining the ideal yaw angle of the UAV's gimbal when the UAV is at a waypoint, according to an embodiment of the present invention. Figure 4 This is a flowchart illustrating a method for determining the shooting control of a drone according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a drone shooting control device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] Before introducing the drone shooting control method provided in the embodiments of this application, the technical background of the embodiments of this application will be described in detail below for ease of understanding.

[0020] In existing technologies, drone-based surround photography of targets (such as buildings, factories, and fixed assets) mainly includes the following technical solutions: surround photography based on "tangential flight + gimbal lateral yaw", semi-automatic surround acquisition based on fixed templates or human experience, etc.

[0021] One approach to surround shooting, based on "tangential flight + gimbal lateral yaw," involves controlling the drone to fly along a pre-defined circular or polygonal path outside the target object. During flight, the drone's heading remains tangential to the flight path (i.e., the nose points towards the next waypoint). Dynamic adjustment of the gimbal yaw angle ensures the camera always faces the center of the target object or point of interest. The gimbal yaw angle typically needs to reach ±90° to achieve standard side-view shooting. However, many current consumer-grade, lightweight drones (such as the Mini series) have strict physical limits on their gimbal yaw angles due to weight, structural, and cost constraints, typically supporting only ±20° to ±30°. In this case, the standard ±90° side-view shooting command cannot be executed, easily leading to gimbal limit errors during mission execution.

[0022] Semi-automatic surround acquisition schemes based on fixed templates or human experience involve operators manually controlling the drone's flight and gimbal angle, or automating only the flight path while manually adjusting the gimbal angle. This approach, reliant on manual operation or semi-automatic methods, suffers from significant differences in flight habits among operators, a lack of standardized rules for gimbal angle adjustment, and inconsistent acquisition results, impacting the model's ability to recognize the acquired images. Therefore, a new drone shooting control method is urgently needed.

[0023] In view of this, this application provides a method for controlling the shooting of a UAV. The method determines the UAV's flight path based on the target object in the UAV shooting command. Then, it iterates through each waypoint along the flight path. For any waypoint reached, the ideal yaw angle of the UAV's gimbal is determined based on the waypoint's coordinates. After the traversal is complete, the method determines whether the ideal yaw angle of the UAV's gimbal is within the gimbal yaw angle constraint range, based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the gimbal yaw angle constraint range. If not, the UAV is controlled to fly according to the first target heading angle corresponding to each waypoint, and the UAV's gimbal is controlled to shoot the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle indicates that the UAV's nose points to the center point of the flight path when it reaches the waypoint, and the first target yaw angle indicates that there is no deflection angle between the UAV's gimbal and the UAV's fuselage. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint. Therefore, this embodiment of the application decouples the "route trajectory control" of the UAV from the "body / gimbal attitude control" of the UAV. When the "ideal yaw angle" is predicted to exceed the "physical yaw angle constraint range" of the hardware, it will automatically switch to the "nose-locked center" lateral flight mode. By forcing the body to physically face the center of the target object, the rotation of the body is used to compensate for the insufficient rotation capability of the gimbal (i.e., "body compensation"). Thus, without upgrading expensive hardware, high-standard lateral surround shooting can be completed using existing low-cost equipment, ensuring that the produced image data meets the standardized input requirements of the risk control model and improving the accuracy of the images.

[0024] Before introducing the drone shooting control method of this application, we will first introduce the application scenarios of the drone shooting control method of this application. Figure 1 This is a diagram illustrating the application scenario, from Figure 1 As can be seen from this, the application scenario includes server 110 and drone 120.

[0025] In one possible embodiment, server 110 responds to a drone shooting command sent by a user, determines the drone's flight path based on the target object in the drone shooting command, and then traverses each waypoint along the flight path. For any traversed waypoint, server 110 determines the ideal yaw angle of the drone's gimbal at that waypoint based on the waypoint's position coordinates. After the traversal is complete, server 110 determines whether the ideal yaw angle of the drone's gimbal is within the gimbal yaw angle constraint range based on the ideal yaw angle of the drone's gimbal corresponding to each waypoint and the gimbal yaw angle constraint range. If not, server 110 controls drone 120 to fly according to the first target heading angle corresponding to each waypoint, and controls the gimbal of drone 120 to shoot the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint.

[0026] The first target heading angle is used to characterize that the nose of the UAV 120 points to the center point of the flight path when the UAV 120 reaches the waypoint, and the first target yaw angle is used to characterize that there is no yaw angle between the gimbal of the UAV 120 and the fuselage of the UAV 120. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint.

[0027] in, Figure 1 The server 110 and the drone 120 can exchange information via a communication network, and the server 110 and the drone 120 can also exchange information via a communication network. The communication network can use either wireless or wired communication.

[0028] For example, the drone 120 can access the network and communicate with the server 110 through cellular mobile communication technology, such as 5th generation mobile networks (5G) technology.

[0029] Optionally, the drone 120 can access the network and communicate with the server 110 via short-range wireless communication, such as Wireless Fidelity (Wi-Fi) technology.

[0030] Furthermore, the description in this application focuses only on a single server 110 and a single drone 120. However, those skilled in the art should understand that the illustrated server 110 and drone 120 are intended to represent the operation of the server 110 and drone 120 involved in the technical solution of this application, and are not intended to imply any limitation on the number, type, or location of the server 110 and drone 120. It should be noted that adding additional modules to or removing individual modules from the illustrated environment will not change the underlying concept of the exemplary embodiments of this application.

[0031] The following describes an exemplary embodiment of the drone shooting control method of this application, in conjunction with the application scenarios described above and with reference to the accompanying drawings. It should be noted that the above application scenarios are only shown to facilitate understanding of the methods and principles of this application, and the implementation of this application is not limited in any way in this respect.

[0032] The following is a detailed description of the drone shooting control method in the embodiments of this application. Figure 2 This is a flowchart illustrating a drone shooting control method provided in an embodiment of the present invention. From... Figure 2 As can be seen from this, it may specifically include the following steps: S210: In response to a drone shooting command sent by the user, determine the drone's flight path based on the target object in the drone shooting command; The drone shooting instructions in this application embodiment include the latitude and longitude coordinates of the target object.

[0033] In one possible embodiment, the latitude and longitude coordinates of the center point of the target object are determined as the center of a circle, a preset value is determined as the radius, a circular path is generated, and the circular path is determined as the flight path of the UAV.

[0034] It should be noted that determining the flight path of the drone in this application embodiment is not the inventive point of this application. Therefore, this application embodiment does not limit the method of determining the flight path of the drone. The method of determining the flight path of the drone in this application embodiment can be set according to the specific actual situation.

[0035] S220: Traverse each waypoint in the flight path; S230: For any waypoint traversed, determine the ideal yaw angle of the UAV's gimbal when the UAV is at the waypoint, based on the position coordinates of the waypoint; It should be noted that all angles (yaw angle, heading angle, etc.) in the embodiments of this application are calculated clockwise with true north as 0 degrees.

[0036] The following describes the method for determining the ideal yaw angle of the UAV gimbal when the UAV is at a waypoint in the embodiments of this application. Figure 3 A flowchart illustrating the process of determining the ideal yaw angle of the drone's gimbal when it is at a waypoint may include the following steps: S310: Determine the heading angle of the UAV at the waypoint based on the position coordinates of the waypoint and the position coordinates of the next waypoint in the flight path. Based on the position coordinates of the waypoint and the position coordinates of the next waypoint in the flight path, the displacement vector from the waypoint to the next waypoint is obtained, and the angle between the displacement vector on the horizontal plane and the due north direction is determined as the heading angle. The displacement vector between the waypoint and the next waypoint can be obtained using formula (1): ...(1); in, Let be the displacement vector from the waypoint to the next waypoint. Let x be the x-coordinate of the displacement vector. Let be the ordinate of the displacement vector. Let be the vertical coordinate of the displacement vector. The x-coordinate of the next waypoint The ordinate of the next waypoint is... The vertical coordinates of the next waypoint The x-coordinate of the waypoint The ordinates of the waypoints are the longitudinal coordinates. The vertical coordinates of the waypoint.

[0037] The heading angle can be determined using formula (2): ...(2); in, Let be the heading angle corresponding to waypoint i.

[0038] S320: Determine the azimuth angle of the UAV based on the position coordinates of the waypoints and the position coordinates of the center point of the flight path; In one possible implementation, the displacement vector from the waypoint to the center point is obtained based on the location coordinates of the waypoint and the location coordinates of the center point of the flight path. The angle between the displacement vector from the waypoint to the center point and the due north direction is determined as the azimuth angle of the UAV. The azimuth angle of the UAV can be determined using formula (3): ... (3); in, Let be the azimuth angle of the UAV at waypoint i. Let x be the x-coordinate of the displacement vector from the waypoint to the center point. The ordinate of the displacement vector from the waypoint to the center point.

[0039] It should be noted that the method for determining the displacement vector from the waypoint to the center point in this embodiment is the same as the method for determining the displacement vector from the waypoint to the next waypoint described above, and will not be repeated here.

[0040] S330: Based on the heading angle and the azimuth angle, determine the ideal yaw angle of the UAV's gimbal at the waypoint.

[0041] In one possible implementation, S330 can be specifically implemented as follows: subtracting the heading angle from the azimuth angle to obtain the ideal yaw angle of the UAV's gimbal at the waypoint. The ideal heading angle can be determined using formula (4): ... (4); in, Let be the ideal heading angle of the UAV's gimbal when the UAV is at waypoint i.

[0042] Therefore, the ideal yaw angle of the gimbal can be accurately calculated using waypoint coordinates and the center point coordinates of the flight path. The calculation logic is simple and efficient, requiring no additional sensors or manual intervention, thus reducing system complexity and improving the degree of automation in operations.

[0043] S240: After the traversal is completed, based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the yaw angle constraint range of the UAV's gimbal, determine whether the ideal yaw angle of the UAV's gimbal is within the yaw angle constraint range; if not, execute S250; if yes, execute S260. The gimbal yaw angle constraint range in this embodiment is pre-stored in the UAV and can be directly obtained.

[0044] In one possible implementation, S240 can be specifically implemented as follows: comparing the ideal yaw angle with the largest value among the ideal yaw angles of the gimbals corresponding to each waypoint with the yaw angle constraint interval; if the ideal yaw angle with the largest value is within the yaw angle constraint interval, then it is determined that the ideal yaw angle of the UAV gimbal is within the yaw angle constraint interval; if the ideal yaw angle with the largest value is not within the yaw angle constraint interval, then it is determined that the ideal yaw angle of the UAV gimbal is not within the yaw angle constraint interval.

[0045] For example, if the gimbal yaw angle constraint range of the UAV is [-30°, 30°], and the determined ideal yaw angle is 90°, then it is determined that the ideal yaw angle of the UAV gimbal is not within the gimbal yaw angle constraint range.

[0046] S250: Control the UAV to fly according to the first target heading angle corresponding to each waypoint, and control the UAV's gimbal to photograph the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle is used to indicate that the UAV's nose is pointing to the center point of the flight path when the UAV reaches the waypoint, and the first target yaw angle is used to indicate that there is no yaw angle between the UAV's gimbal and the UAV's fuselage. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint. The first target heading angle corresponding to any waypoint can be determined by formula (5): ... (5); in, Let i be the heading angle of the first target corresponding to waypoint i. The x-coordinate (planar coordinates or longitude) of the center point of the flight path. Let x be the x-coordinate of waypoint i. The ordinate of the center point of the flight path. Let be the ordinate of waypoint i.

[0047] In one possible implementation, the target pitch angle is determined in the following manner: For any waypoint, subtract half the height of the target object from the target distance to obtain the distance difference, where the target distance is the distance between the waypoint and the ground; divide the distance difference by the horizontal distance to obtain an intermediate value, where the horizontal distance is the horizontal distance between the waypoint and the center point of the target object; input the intermediate value into the arctangent function to obtain the target pitch angle. The target pitch angle can be obtained using formula (6): …(6) in, Let be the target pitch angle corresponding to the UAV gimbal when the UAV is at waypoint i. For the target distance, The height of the target object.

[0048] The first target yaw angle in this embodiment is: .

[0049] S260: Control the UAV to fly according to the second target heading angle corresponding to each waypoint, and control the UAV's gimbal to take pictures of the target object according to the second target yaw angle corresponding to each waypoint. The second target heading angle is used to represent that the UAV's fuselage flies along the tangent of the flight path, and the second target turning angle is used to represent that the UAV's gimbal is facing the center point of the target object.

[0050] In this embodiment, the second target turning angle corresponding to each waypoint is the ideal yaw angle corresponding to each waypoint. Furthermore, the method for determining the second target heading angle is a method used in the prior art, and will not be described in detail here.

[0051] In this embodiment, when the ideal yaw angle of the UAV's gimbal is within the gimbal yaw angle constraint range, the dynamic yaw strategy in S260 is adopted. This strategy is applicable to UAVs with gimbals capable of omnidirectional or large-angle rotation. The fuselage adopts a "tangential flight along the flight path" mode. In this mode, the nose always faces the direction of velocity (i.e., forward), minimizing flight drag and energy consumption. The UAV's gimbal adopts a "dynamic yaw" mode. The system calculates the ideal yaw angle corresponding to each waypoint and generates a command to make the gimbal yaw 90° (or -90°) relative to the fuselage. At this time, the fuselage flies forward, and the gimbal looks to the side to photograph the target object.

[0052] In this embodiment, the server controls the drone's flight by sending a set of instructions to the drone. This abstract instruction set sent by the server is translated and serialized into a standardized file, primarily in KML / KMZ format, that the drone's flight control system can directly parse and execute. This embodiment determines that the KML / KMZ file includes all the drone's control parameters (i.e., waypoints and their corresponding heading, yaw, and pitch angles). When this file is transmitted and downloaded to the drone for execution, the drone is actually executing a series of very clear and unambiguous simple instructions. For example, the instruction could be "fly to point A, turn the nose to 174 degrees, keep the gimbal yaw at 0, and turn the gimbal pitch to -68," thus perfectly bypassing the hardware limitations on complex dynamic instructions. This embodiment centralizes complex attitude calculations and flight path optimization on the server side and outputs directly executable standardized flight path files, allowing frontline personnel to complete standardized image acquisition tasks without professional flight or photography experience.

[0053] Therefore, this embodiment of the application reconstructs the flight attitude and gimbal control method at the software level, enabling consumer-grade drones that were originally unable to complete standard lateral surround shooting due to gimbal yaw angle limitations to perform tasks that meet the requirements of credit image acquisition. Without adding or replacing high-end drone equipment, existing or low-cost terminal resources can be fully utilized to meet the needs of large-scale asset inspection, thereby effectively controlling equipment procurement and maintenance costs while ensuring business quality.

[0054] Furthermore, this embodiment reduces the impact of manual operation on image acquisition results by uniformly planning and fixing the flight attitude, shooting angle, and gimbal parameters. The resulting images exhibit better stability in terms of shooting angle, composition range, and viewpoint consistency, which helps meet the requirements of manual review for image standardization; provides a more consistent input data foundation for internal intelligent risk control models and image recognition algorithms; and improves the comparability of image data from different regions and batches.

[0055] To further understand the drone shooting control method in the embodiments of this application, such as Figure 4 The diagram shown illustrates the flowchart for determining the shooting control method of a drone, which may include the following steps: S410: In response to a drone shooting command sent by the user, determine the drone's flight path based on the target object in the drone shooting command; S420: Traverse each waypoint in the flight path; S430: For any waypoint traversed, determine the heading angle of the UAV at that waypoint based on the position coordinates of the waypoint and the position coordinates of the next waypoint in the flight path. S440: Determine the azimuth angle of the UAV based on the coordinates of the waypoints and the coordinates of the center point of the flight path; S450: Subtract the heading angle from the azimuth angle to obtain the ideal yaw angle of the UAV's gimbal at the waypoint; S460: After the traversal is completed, compare the ideal yaw angle with the largest value among the ideal yaw angles of the gimbals corresponding to each waypoint with the yaw angle constraint interval; S470: Determine whether the ideal yaw angle with the largest value is within the yaw angle constraint range. If yes, proceed to S480; otherwise, proceed to S490. S480: Control the UAV to fly according to the second target heading angle corresponding to each waypoint, and control the UAV's gimbal to photograph the target object according to the second target turning angle corresponding to each waypoint, wherein the second target heading angle is used to represent the UAV's fuselage flying along the tangent of the flight path, and the second target turning angle is used to represent the center point of the UAV's gimbal facing the target object; S490: Control the UAV to fly according to the first target heading angle corresponding to each waypoint, and control the UAV's gimbal to photograph the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle is used to indicate that the UAV's nose is pointing to the center point of the flight path when the UAV reaches the waypoint, and the first target yaw angle is used to indicate that there is no yaw angle between the UAV's gimbal and the UAV's fuselage. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint.

[0056] Based on the same inventive concept, this application also provides a drone shooting control device. Figure 5 This is a schematic diagram of the drone's shooting control device. Figure 5 As shown, the device 500 includes: The flight path determination module 510 is used to determine the flight path of the drone based on the target object in the drone shooting command sent by the user in response to the drone shooting command. The traversal module 520 is used to traverse each waypoint in the flight path; The ideal yaw angle determination module 530 is used to determine the ideal yaw angle of the UAV's gimbal when the UAV is at any traversed waypoint, based on the position coordinates of the waypoint. The judgment module 540 is used to determine whether the ideal yaw angle of the UAV's gimbal is within the gimbal yaw angle constraint range based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the yaw angle constraint range of the UAV's gimbal after the traversal is completed. The first control module 550 is used to, if not, control the UAV to fly according to the first target heading angle corresponding to each waypoint, and control the UAV's gimbal to photograph the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle is used to indicate that the UAV's nose is pointing to the center point of the flight path when the UAV reaches the waypoint, and the first target yaw angle is used to indicate that there is no yaw angle between the UAV's gimbal and the UAV's fuselage. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint.

[0057] In one possible embodiment, the ideal yaw angle determination module 530 is specifically used for: Based on the location coordinates of the waypoint and the location coordinates of the next waypoint on the flight path, the heading angle of the UAV at the waypoint is determined; and, The azimuth angle of the UAV is determined based on the location coordinates of the waypoints and the location coordinates of the center point of the flight path; Based on the heading angle and the azimuth angle, determine the ideal yaw angle of the UAV's gimbal at the waypoint.

[0058] In one possible embodiment, the ideal yaw angle determination module 530 is further configured to: Subtracting the heading angle from the azimuth angle yields the ideal yaw angle of the UAV's gimbal at the waypoint.

[0059] In one possible embodiment, the determining module 540 is specifically used for: The ideal yaw angle with the largest value among the ideal yaw angles of the gimbal corresponding to each waypoint is compared with the yaw angle constraint interval. If the ideal yaw angle with the largest value is within the yaw angle constraint range, then the ideal yaw angle of the UAV's gimbal is determined to be within the yaw angle constraint range; or, If the ideal yaw angle with the largest value is not within the yaw angle constraint range, then it is determined that the ideal yaw angle of the UAV's gimbal is not within the yaw angle constraint range.

[0060] In one possible embodiment, the device further includes: The second control module 560 is configured to control the UAV to fly according to the second target heading angle corresponding to each waypoint if the ideal yaw angle of the UAV's gimbal is within the yaw angle constraint range, and to control the UAV's gimbal to photograph the target object according to the second target turning angle corresponding to each waypoint. The second target heading angle is used to represent the UAV's fuselage flying along the tangent of the flight path, and the second target turning angle is used to represent the center point of the UAV's gimbal facing the target object.

[0061] In one possible embodiment, the device further includes: Target pitch angle determination module 570 is used to determine the target pitch angle in the following manner: For any waypoint, the distance difference is obtained by subtracting the target distance from half the height of the target object, where the target distance is the distance between the waypoint and the ground. Divide the distance difference by the horizontal distance to obtain the median value, where the horizontal distance is the horizontal distance between the waypoint and the center point of the target object; The intermediate value is input into the arctangent function to obtain the target pitch angle.

[0062] The data transmission device provided in the embodiments of the present invention can execute the data transmission method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0063] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0064] The information collected is information and data authorized by the user or fully authorized by all parties. The collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data all comply with the relevant laws, regulations and standards of the relevant countries and regions, necessary confidentiality measures have been taken, and they do not violate public order and good morals. Corresponding operation portals are provided for users to choose to authorize or refuse.

[0065] Provide users with corresponding operation entry points, allowing them to choose to agree to or reject the automated decision results; if the user chooses to reject, the process will proceed to the expert decision-making process.

[0066] Figure 6 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0067] like Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0068] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0069] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the shooting control methods of a drone.

[0070] In some embodiments, the drone's shooting control method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded into and / or installed on an electronic device via a ROM and / or communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the drone's shooting control method can be performed. Alternatively, in other embodiments, the processor can be configured to perform the drone's shooting control method by any other suitable means (e.g., by means of firmware).

[0071] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0072] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0073] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0074] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0075] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0076] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0077] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0078] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the shooting of a drone, characterized in that, The method includes: In response to a drone shooting command sent by a user, the drone's flight path is determined based on the target object in the drone shooting command; The waypoints in the flight path are traversed. For any waypoint traversed, determine the ideal yaw angle of the UAV's gimbal when the UAV is at the waypoint, based on the position coordinates of the waypoint. After the traversal is completed, based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the yaw angle constraint range of the UAV's gimbal, it is determined whether the ideal yaw angle of the UAV's gimbal is within the yaw angle constraint range. If not, the UAV is controlled to fly according to the first target heading angle corresponding to each waypoint, and the gimbal of the UAV is controlled to photograph the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle is used to indicate that the nose of the UAV is pointing to the center point of the flight path when the UAV reaches the waypoint, and the first target yaw angle is used to indicate that there is no yaw angle between the gimbal of the UAV and the fuselage of the UAV. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint.

2. The method according to claim 1, characterized in that, The step of determining the ideal yaw angle of the UAV's gimbal at the waypoint based on the waypoint's position coordinates includes: Based on the location coordinates of the waypoint and the location coordinates of the next waypoint on the flight path, the heading angle of the UAV at the waypoint is determined; and, The azimuth angle of the UAV is determined based on the location coordinates of the waypoints and the location coordinates of the center point of the flight path; Based on the heading angle and the azimuth angle, determine the ideal yaw angle of the UAV's gimbal at the waypoint.

3. The method according to claim 2, characterized in that, Determining the ideal yaw angle of the UAV's gimbal at the waypoint based on the heading angle and the azimuth angle includes: Subtracting the heading angle from the azimuth angle yields the ideal yaw angle of the UAV's gimbal at the waypoint.

4. The method according to claim 1, characterized in that, The step of determining whether the ideal yaw angle of the UAV's gimbal is within the gimbal yaw angle constraint range based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the UAV's gimbal yaw angle constraint range includes: The ideal yaw angle with the largest value among the ideal yaw angles of the gimbal corresponding to each waypoint is compared with the yaw angle constraint interval. If the ideal yaw angle with the largest value is within the yaw angle constraint range, then the ideal yaw angle of the UAV's gimbal is determined to be within the yaw angle constraint range; or, If the ideal yaw angle with the largest value is not within the yaw angle constraint range, then it is determined that the ideal yaw angle of the UAV's gimbal is not within the yaw angle constraint range.

5. The method according to claim 1, characterized in that, The method further includes: If the ideal yaw angle of the UAV's gimbal is within the yaw angle constraint range, then the UAV is controlled to fly according to the second target heading angle corresponding to each waypoint, and the UAV's gimbal is controlled to photograph the target object according to the second target turning angle corresponding to each waypoint. The second target heading angle is used to represent that the UAV's fuselage flies along the tangent of the flight path, and the second target turning angle is used to represent that the UAV's gimbal is facing the center point of the target object.

6. The method according to claim 1, characterized in that, The target pitch angle is determined in the following manner: For any waypoint, the distance difference is obtained by subtracting the target distance from half the height of the target object, where the target distance is the distance between the waypoint and the ground. Divide the distance difference by the horizontal distance to obtain the median value, where the horizontal distance is the horizontal distance between the waypoint and the center point of the target object; The intermediate value is input into the arctangent function to obtain the target pitch angle.

7. A shooting control device for a drone, characterized in that, The device includes: The flight path determination module is used to respond to the drone shooting command sent by the user and determine the drone's flight path based on the target object in the drone shooting command; The traversal module is used to traverse each waypoint in the flight path; The ideal yaw angle determination module is used to determine the ideal yaw angle of the UAV's gimbal when the UAV is at any waypoint, based on the position coordinates of the waypoint. The judgment module is used to determine whether the ideal yaw angle of the UAV's gimbal is within the gimbal yaw angle constraint range after the traversal is completed, based on the ideal yaw angle of the UAV's gimbal corresponding to each waypoint and the yaw angle constraint range of the UAV's gimbal. The first control module is configured to, if not, control the UAV to fly according to the first target heading angle corresponding to each waypoint, and control the UAV's gimbal to photograph the target object according to the first target yaw angle and target pitch angle corresponding to each waypoint. The first target heading angle is used to indicate that the UAV's nose points to the center point of the flight path when the UAV reaches the waypoint, and the first target yaw angle is used to indicate that there is no yaw angle between the UAV's gimbal and the UAV's fuselage. The target pitch angle corresponding to any waypoint is determined based on the altitude of the waypoint.

8. An electronic device, characterized in that, The electronic device includes at least one processor; and a memory communicatively connected to the at least one processor; wherein... The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the shooting control method of the UAV according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the shooting control method of the UAV according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the drone shooting control method according to any one of claims 1-6.

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