Unmanned aerial vehicle follow-up shooting system

Abstract

The application discloses an unmanned aerial vehicle following shooting system, which is used for being carried on a target unmanned aerial vehicle provided with a rotatable first imaging module and comprises a following control assembly and a rotatable second imaging module. The following control assembly comprises a master control module and a second sensor arranged on the second imaging module, and the master control module is respectively connected with the second sensor and a first sensor arranged on the first imaging module in signal connection. The first sensor is used for collecting first pose data of the first imaging module, and the second sensor is used for collecting second pose data of the second imaging module. The master control module is used for controlling the second imaging module to follow the first imaging module to move according to the first pose data and the second pose data, so as to complete synchronous shooting.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV follow-and-shoot system. Background Technology

[0002] The drone industry is currently developing rapidly under the support and promotion of national policies, with a variety of drone products and application scenarios emerging in the market. With the expansion of the drone industry, its supporting industries are also ushering in development opportunities, and aftermarket drone systems are becoming increasingly diverse, continuously optimizing the user experience. From the perspective of drone classification, consumer-grade and industrial-grade drones differ significantly in market positioning and technical characteristics. While industrial-grade drones possess open and abundant interfaces, they are more expensive and mainly used in industrial professional fields; while consumer-grade drones occupy the majority of the market space due to their diverse models and numerous brands, however, they generally suffer from insufficient interface openness. This makes it extremely difficult to integrate aftermarket products into the original drone system and achieve system-level integration. Taking a typical aftermarket vision system as an example, this system is usually equipped with an independent gimbal and image transmission system. To ensure functional integrity, a second system independent of the drone's original system must be used, which to some extent increases the user's operational complexity and impacts the user experience.

[0003] How to enable the aftermarket vision system to automatically follow the visual pointing motion of the drone in order to reduce the operational complexity of the second system and achieve a similar effect to the drone's native system has become an urgent problem to be solved in the industry. Utility Model Content

[0004] To address the existing technical problems, this application provides a drone following and shooting system capable of automatically following the visual pointing actions of a drone.

[0005] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0006] A drone follow-and-shoot system is used on a target drone equipped with a rotatable first imaging module. The system includes a follow-and-shoot control component and a rotatable second imaging module. The follow-and-shoot control component includes a main control module and a second sensor disposed on the second imaging module. The main control module is signal-connected to both the second sensor and the first sensor disposed on the first imaging module. The first sensor is used to acquire first pose data of the first imaging module, and the second sensor is used to acquire second pose data of the second imaging module. The main control module is used to control the second imaging module to follow the movements of the first imaging module based on the first pose data and the second pose data, thereby completing synchronous shooting.

[0007] Optionally, the first imaging module includes a first gimbal and a first camera, and the first sensor is disposed on the first gimbal or the first camera; the second imaging module includes a second gimbal and a second camera, and the second sensor is disposed on the second gimbal or the second camera.

[0008] Optionally, the first camera is a visible light camera, and the second camera is an infrared camera or a low-light camera.

[0009] Optionally, the first sensor is an IMU sensor, and the second sensor is an angle sensor or an IMU sensor.

[0010] Optionally, the follow control component further includes a third sensor, which is located in any one of the target drone, the bracket, and the main control module, and is used to collect third pose data of the target drone; the main control module is used to control the second imaging module to follow the movement of the first imaging module based on the first pose data, the second pose data, and the third pose data, so as to complete synchronous shooting.

[0011] Optionally, the first sensor is an IMU sensor, the second sensor is an angle sensor or an IMU sensor, and the third sensor is an IMU sensor.

[0012] Optionally, the drone follow-shooting system further includes a bracket for connecting to the body of the target drone and for mounting the follow control component and the rotatable second imaging module.

[0013] Optionally, the bracket includes a main body and a mounting part connected to the main body. The main body is used to connect to the fuselage of the target UAV, and the mounting part is used to mount the follow control component and the rotatable second imaging module.

[0014] Optionally, the main body includes a support portion and legs. The support portion is mounted on the bottom of the target UAV, and the legs are located at the bottom of the support portion to provide support for the take-off and landing of the target UAV.

[0015] Optionally, the mounting portion includes a first arm and a second arm disposed on both sides of the main body, wherein the first arm and the second arm are used to mount the rotatable second imaging module and the main control module, respectively.

[0016] The drone follow-shooting system provided in the above embodiments is used on a target drone equipped with a rotatable first imaging module. It enables native visual shooting capabilities. The system includes a complete follow-control assembly and a similarly rotatable second imaging module, which enables retrofitted extended shooting functionality. The follow-control assembly includes a main control module, a first sensor, and a second sensor. The first sensor is mounted on the first imaging module and is responsible for real-time acquisition of the first pose data of the first imaging module. The second sensor is correspondingly mounted on the second imaging module and is used to synchronously acquire the second pose data of the second imaging module. The main control module receives and analyzes the first and second pose data in real time. By comparing the differences between the two, it accurately outputs control commands to drive the second imaging module to adjust its own pose, thus following the pose state of the first imaging module in real time. Ultimately, this achieves synchronized shooting between the second and first imaging modules, improving the user's operating experience. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a drone follow-and-shoot system in one embodiment.

[0018] Figure 2 This is a schematic diagram of the structure of a drone follow-and-shoot system assembled and connected to the target drone in one embodiment.

[0019] Component Symbol Explanation

[0020] 10. Support frame; 11. Main body; 12. Support unit; 13. Support leg; 14. Base wall; 15. Side wall; 16. Target UAV; 17. Storage space; 20. Mounting unit; 21. First support arm; 22. Second support arm; 30. First imaging module; 31. First gimbal; 32. First camera; 40. Second imaging module; 41. Second gimbal; 42. Second camera; 50. Follow control component; 51. Main control module; 52. First sensor; 53. Second sensor; 54. Third sensor. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the ways in which the invention may be implemented. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] In the following description, the phrase "some embodiments" refers to a subset of all possible embodiments. It should be noted that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0026] In the following description, the terms "first, second, and third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, and third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0027] Please see Figure 1 and Figure 2This is a schematic diagram of the drone follow-shooting system provided in this application embodiment. The drone follow-shooting system provided in this application is used on a target drone 16 equipped with a rotatable first imaging module 30, and mainly includes a follow control component 50 and a rotatable second imaging module 40. In a scenario where the first imaging module 30 has a built-in sensor for detecting its own pose data, the follow control component 50 mainly includes a main control module 51 and a second sensor 53 located on the second imaging module 40. The main control module 51 is signal-connected to both the second sensor 53 and the first sensor 52 located on the first imaging module 30. The first sensor 52 is used to collect the first pose data of the first imaging module 30, and the second sensor 53 is used to collect the second pose data of the second imaging module 40. The main control module 51 is used to control the second imaging module 40 to follow the movements of the first imaging module 30 based on the first and second pose data to complete synchronous shooting.

[0028] It should be noted that since the first imaging module 30 typically has a built-in sensor for detecting its own pose data, namely the first sensor 52, the follow control component 50 does not need to set up a separate sensor for the first imaging module 30; it only needs to maintain a signal connection to acquire pose data. Of course, the follow control component 50 can also set up a separate sensor specifically for detecting pose data for the first imaging module 30. In this case, the follow control component 50 includes a main control module 51, the first sensor 52, and the second sensor 53. The following embodiments will mainly use this as an example for explanation.

[0029] Additionally, for ease of installation, the drone follow-and-shoot system can be equipped with a bracket for mounting onto the target drone 16. For example, in Figure 1 and Figure 2 In the illustrated embodiment, the drone follow-shooting system includes a support 10 for connecting to the fuselage of a target drone 16 equipped with a rotatable first imaging module 30, and a follow control component 50 and a rotatable second imaging module 40. The follow control component 50 includes a main control module 51, a first sensor 52, and a second sensor 53. The first sensor 52 is located on the first imaging module 30 and is used to collect first pose data of the first imaging module 30. The second sensor 53 is located on the second imaging module 40 and is used to collect second pose data of the second imaging module 40. The main control module 51 is used to control the second imaging module 40 to follow the movement of the first imaging module 30 based on the first pose data and the second pose data to complete synchronous shooting.

[0030] The bracket 10 is an important support structure for the drone follow-shooting system. The bracket 10 is connected to the fuselage of the target drone 16 and is used to carry drone accessories such as the second imaging module 40 and the follow-control component 50. The design of the bracket 10 allows the drone follow-shooting system to form a more stable connection with the drone fuselage. In this way, the drone follow-shooting system can achieve a more stable assembly state with the drone while fulfilling its accessory carrying function.

[0031] The target drone 16 can be any known model of drone. In this embodiment, the drone follow-shooting system can be designed with a bracket 10 for any known model of drone, so that the drone follow-shooting system can be well adapted to any known model of drone product, and has strong practical applicability.

[0032] In the above embodiment, the drone follow-shooting system includes a core support component bracket 10. On one hand, the bracket 10 is used to establish a connection with the body of the target drone 16, which is equipped with a rotatable first imaging module 30 to realize native visual shooting function. On the other hand, the bracket 10 also integrates a complete set of follow control components 50 and a similarly rotatable second imaging module 40, which is used to realize the aftermarket extended shooting function. The follow control component 50 includes a main control module 51, a first sensor 52, and a second sensor 53. The first sensor 52 is installed on the first imaging module 30 and is responsible for collecting the first pose data of the first imaging module 30 in real time. The second sensor 53 is installed on the second imaging module 40 and is used to synchronously collect the second pose data of the second imaging module 40. The main control module 51 receives and analyzes the first pose data and the second pose data in real time. By comparing the differences between the two, it accurately outputs control commands to drive the second imaging module 40 to perform actions to adjust its own pose and follow the pose state of the first imaging module 30 in real time, ultimately achieving a synchronous shooting effect between the second imaging module 40 and the first imaging module 30. Typically, the second imaging module 40, which is retrofitted to the drone through a drone follow-shooting system, is an imaging module of a different optical type than the drone's original first imaging module 30. This enriches the drone's shooting data, meets the application needs of more specific scenarios, and ensures that the shooting angle and motion trajectory of the second imaging module 40 and the first imaging module 30 are consistent. This allows the retrofitted second imaging module 40 and the drone's original first imaging module 30 to always maintain the same posture and shoot the same scene synchronously in real time. This makes it easier for users to observe and for subsequent processing of image data, greatly improving the user's operating experience. It can be used in low-precision, short-time follow-shooting application scenarios.

[0033] In some optional embodiments, the first imaging module 30 includes a first gimbal 31 and a first camera 32, with a first sensor 52 disposed on the first gimbal 31 or the first camera 32; the second imaging module 40 includes a second gimbal 41 and a second camera 42, with a second sensor 53 disposed on the second gimbal 41 or the second camera 42. The first sensor 52, used to acquire the first pose data, can be installed on the rotating structure of the first gimbal 31 or on the body of the first camera 32, according to design requirements, to sense the gimbal rotation angle or the spatial attitude of the camera in real time; similarly, the second sensor 53 can be disposed on the pitch and roll axis positions of the second gimbal 41 or on the outer shell of the second camera 42, continuously acquiring the second pose data by monitoring the gimbal movement or changes in camera orientation. The first imaging module 30 and the second imaging module 40 form a linkage structure through the bracket 10. The first gimbal 31 is located on the body of the target drone 16 to achieve basic rotation. The second gimbal 41, driven by the follow control component 50, synchronously adjusts its attitude based on the pose data collected by the first sensor 52 and the second sensor 53 to ensure that the second camera 42 always maintains coordination with the shooting angle of the first camera 32.

[0034] In some alternative embodiments, the first camera 32 is a visible light camera, and the second camera 42 is an infrared camera or a low-light camera. In this drone follow-shooting system, the first camera 32 is a visible light camera built into the drone, capable of acquiring high-resolution visual images in daylight or well-lit environments, meeting the shooting needs of conventional scenarios. The second camera 424 is typically added to enhance the drone's shooting performance. Depending on the application scenario, it may be an infrared thermal imaging camera or a low-light night vision camera. Infrared cameras are suitable for detecting targets at night, in smoke, or in concealed locations; low-light cameras are suitable for providing clear grayscale images under low-light conditions such as starlight or moonlight. Thus, the second camera 42 can be easily mounted on the drone through the drone follow-shooting system, forming a complementary dual-light image with the visible light camera, providing multi-dimensional visual image data support for professional fields such as emergency rescue and security monitoring.

[0035] In some optional embodiments, the first sensor 52 uses an IMU (Inertial Measurement Unit) sensor as an attitude detection element, and the second sensor 53 uses an angle sensor or an IMU sensor. The IMU sensor has high-frequency sampling and dynamic response characteristics, which can provide high-precision pose data for the UAV follow-and-shoot system. In a specific example, the first sensor 52, installed on the first gimbal 31 or the first camera 32 of the target UAV 16, accurately acquires the pitch, roll, rotation and other dynamic pose information of the first imaging module 30 by collecting acceleration and angular velocity data in three-dimensional space in real time. The second sensor 53 offers two targeted selection and installation options: The first option uses an angle sensor directly integrated into the second gimbal 41, enabling direct and real-time monitoring of angle changes in various rotational dimensions, such as pitch, roll, and rotation. This is suitable for scenarios requiring high angle synchronization accuracy from the second gimbal 41. The second option uses an IMU sensor, which can be installed on the second gimbal 41 or the second camera 42. With the same function as the first sensor 52, it collects dynamic pose information such as pitch, roll, and rotation from the second imaging module 40, making it more suitable for synchronous shooting scenarios with complex UAV flight attitudes and requiring multi-dimensional dynamic compensation. Both second sensor 53 options meet the system's requirements for pose data acquisition from the second imaging module 40, providing flexible hardware adaptation support for the main control module 51 to formulate precise control strategies.

[0036] In some other alternative embodiments, please refer to Figure 2 The follow control component 50 also includes a third sensor 54, which is located in any one of the target drone 16, the bracket 10, and the main control module 51, and is used to collect the third pose data of the target drone 16. The main control module 51 is used to control the second imaging module 40 to follow the action of the first imaging module 30 based on the first pose data, the second pose data, and the third pose data, so as to complete synchronous shooting.

[0037] The follow control component 50 of the UAV follow-shooting system adds a third sensor 54 to the existing main control module 51, first sensor 52, and second sensor 53. The installation position of the third sensor 54 is flexible and can be adapted to be installed on the fuselage of the target UAV 16, the structure of the system bracket 10, or the main control module 51, depending on the actual application requirements and system design scheme. It is used to directly acquire the basic pose of the target UAV 16 and collect the third pose data of the target UAV 16 in real time, such as the position, flight attitude, and trajectory of the target UAV 16. The main control module 51 synchronously receives the pose data of the first imaging module 30 collected by the first sensor 52, the pose data of the second imaging module 40 collected by the second sensor 53, and the pose data of the target UAV 16 collected by the third sensor 54. It unifies the first pose data and the second pose data into a global coordinate system with the position of the third sensor 54 as the reference. It calculates the relative pose difference between the first pose data and the third pose data, and between the second pose data and the third pose data. Based on the pose difference, it drives the second imaging module 40 to adjust its own movement to ensure that it can continuously and stably follow the shooting of the first imaging module 30 in the scenario where the pose of the target UAV 16 changes. It is suitable for high-precision and long-term following application scenarios, and ultimately achieves a higher precision synchronous shooting effect.

[0038] In some optional embodiments, the first sensor 52 is an IMU sensor, the second sensor 53 is an angle sensor or an IMU sensor, and the third sensor 54 is an IMU sensor. In a specific example, the first sensor 52, installed on the first gimbal 31 or the first camera 32 of the target UAV 16, accurately acquires the dynamic pose information of the first imaging module 30, such as pitch, roll, and rotation, by collecting acceleration and angular velocity data in three-dimensional space in real time. The second sensor 53 offers two targeted selection and installation options: The first option uses an angle sensor, which is directly integrated into the second gimbal 41. This sensor can directly and in real-time monitor the angle changes of the second gimbal 41 in various rotational dimensions, such as pitch, roll, and rotation, making it suitable for scenarios with high requirements for the angle synchronization accuracy of the second gimbal 41. The second option uses an IMU sensor, which can be installed on the second gimbal 41 or the second camera 42. It has the same function as the first sensor 52 and can collect dynamic pose information such as pitch, roll, and rotation of the second imaging module 40. This is more suitable for synchronous shooting scenarios where the drone's flight attitude is complex and multi-dimensional dynamic compensation needs to be taken into account. The third sensor 54 also uses an IMU sensor. Its installation location can be selected from three positions: the target UAV 16 fuselage, the bracket 10, or the main control module 51, depending on the overall system design requirements. Its core function is to collect the target UAV 16's own pose data in real time, such as the target UAV 16's spatial attitude, flight speed, and trajectory deviation. By integrating this pose data into the control logic of the main control module 51, the pose data of the three sensors can be unified into the same coordinate system, eliminating dynamic drift errors and further improving the accuracy of synchronous shooting. The first sensor 52, the second sensor 53, and the third sensor 54, through clear type selection and targeted installation, provide accurate pose data for the first imaging module 30, the second imaging module 40, and the target UAV 16 fuselage, respectively, jointly providing hardware data support for the UAV follow-shooting system to achieve high-precision synchronous shooting.

[0039] In some alternative embodiments, the support 10 of the drone follow-shooting system adopts a split structure design, including a main body 11 and a mounting part 20. The main body 11 can be mechanically fixed to the fuselage of the target drone 16 to ensure that the support 10 maintains a stable attitude during the flight of the target drone 16. The mounting part 20, connected to the main body 11, is used to mount the follow control component 50 and the flexibly rotatable second imaging module 40. This structural design not only ensures a stable connection between the support 10 and the target drone 16, but also provides a reliable mounting carrier and motion support for the follow control component 50 and the rotatable second imaging module 40.

[0040] In some alternative embodiments, please refer to Figure 1The main body 11 includes a support part 12 and a support leg 13. The support part 12 is used to install on the bottom of the target drone 16 and has an internal storage space 17 that is adapted to the contour of the target drone 16. The support leg 13 is located on the side opposite to the support part 12 and the storage space 17, that is, at the bottom of the support part 12. It can provide stable support when the target drone 16 takes off and lands, provide landing gear function for the take-off and landing of the target drone 16, avoid the fuselage from ground impact, ensure the stability of the drone when taking off and landing under different ground conditions, and provide basic support for the reliable operation of the drone following and shooting system.

[0041] The supporting part 12 includes a bottom wall 14 and side walls 15 extending from opposite sides of the bottom wall 14 away from the support legs 13. The bottom wall 14 and the two side walls 15 enclose a storage space 17 for accommodating the fuselage of the target drone 16. The specifications and shape of the storage space 17 are adapted to the fuselage of the target drone 16. This structural design achieves a fixed connection between the supporting part 12 and the fuselage of the target drone 16, ensuring that the fuselage is stably installed within the storage space 17. It should be noted that the bottom wall 14 and the side walls 15 refer to structures that define the outline shape of the supporting part 12. They can be, but are not limited to, solid plates. For example, in some examples, the bottom wall 14 and the side walls 15 can be plates with one or more hollow areas. In other examples, the bottom wall 14 and the side walls 15 can even be frame structures with rectangular outer contours formed by bending rod-shaped objects.

[0042] In some alternative embodiments, the mounting unit 20 includes a first arm 21 and a second arm 22 respectively disposed on both sides of the main body 11, which respectively mount a rotatable second imaging module 40 and a main control module 51. The second imaging module 40 includes a second gimbal 41 capable of multi-angle rotation and a second camera 42 connected to the second gimbal 41. The shooting position of the second camera 42 is determined by the movement of the second gimbal 41 so that the second camera 42 can accurately collect image data from the desired shooting position. The main control module 51 serves as the control component of the UAV follow-shooting system and integrates data processing and signal transmission modules. A communication connection is established between the main control module 51 and the second imaging module 40 to ensure reliable and stable data transmission between them. The main control module 51 can receive image data from the second imaging module 40 in real time and send control commands to the second imaging module 40 in a timely manner, thereby realizing real-time control of the second imaging module 40 by the main control module 51. The symmetrical design of the first arm 21 and the second arm 22 ensures the balance of the layout between the second imaging module 40 and the main control module 51, and also achieves the stability and reliability of control signal transmission through communication.

[0043] Furthermore, this application embodiment also provides a drone follow-shooting method, including: acquiring first pose data of the first imaging module 30 collected by the first sensor 52 and second pose data of the second imaging module 40 collected by the second sensor 53; calculating a first pose difference value based on the first pose data and the second pose data; controlling the second imaging module 40 to move in unison with the first imaging module 30 based on the first pose difference value, thereby completing synchronous shooting.

[0044] In the above embodiments, the UAV follow-up shooting method follows a three-step core process to achieve synchronous shooting. The system completes data acquisition through the first sensor 52 and the second sensor 53: the first sensor 52 installed in the first imaging module 30 captures the first pose data of the first imaging module 30 in real time, such as the pitch, roll, and yaw angles of the first gimbal 31; at the same time, the second sensor 53 installed in the second imaging module 40 synchronously acquires the second pose data of the second imaging module 40. After receiving the first pose data and the second pose data in real time, the main control module 51 compares and calculates the pose parameters of the first pose data and the second pose data to calculate the first pose difference value between the first imaging module 30 and the second imaging module 40 in the current attitude, such as pitch, roll, and yaw angles. Based on the calculated first attitude difference value, the main control module 51 outputs targeted control commands to the second imaging module 40, driving the second gimbal 41 to adjust attitude parameters such as pitch, roll, and yaw angles until the actions of the second imaging module 40 and the first imaging module 30 are completely consistent, ultimately achieving synchronous shooting of the two imaging modules and ensuring coordinated shooting angle and image.

[0045] In some optional embodiments, calculating the first pose difference value based on the first pose data and the second pose data includes: calculating the first pose difference value of the second imaging module 40 relative to the first imaging module 30 based on the first pose data and the second pose data. In this embodiment, the pose difference calculation step of the UAV follow-shooting method needs to be carried out around the relative reference, clearly defining the reference object for calculation. Taking the pose of the first imaging module 30 as the reference coordinate system, the system will acquire the first pose data of the first imaging module 30 collected in real time by the first sensor 52, such as the pitch, roll, and heading angles of the first gimbal 31, and simultaneously acquire the second pose data of the second imaging module 40 collected by the second sensor 53, ensuring that the data dimensions are completely matched with those of the first imaging module 30. The main control module 51 compares and calculates the two sets of data one by one according to the same parameter categories, and finally generates the comprehensive deviation data of the second imaging module 40 relative to the first imaging module 30 in dimensions such as angle, position, and rate, i.e., the first pose difference value. This calculation method based on the first imaging module 30 can be used in low-precision, short-time follow-up application scenarios.

[0046] Controlling the second imaging module 40 to move in unison with the first imaging module 30 based on the first pose difference value to complete synchronous shooting includes: determining the motion control amount of the second imaging module 40 based on the first pose difference value; controlling the second imaging module 40 to perform difference compensation actions based on the motion control amount, so that the second gimbal 41 moves in unison with the first gimbal 31, and completing synchronous shooting of the second camera 42 and the first camera 32.

[0047] The control process for synchronizing dual imaging modules based on the first attitude difference value needs to be carried out in three major steps: data conversion, action execution, and effect achievement. After obtaining the first attitude difference value of the second imaging module 40 relative to the first imaging module 30, the main control module 51 converts the first attitude difference value into action control quantities that the second imaging module 40 can execute through the built-in algorithm. Specifically, these include parameters such as the pitch angle adjustment value, roll angle correction amount, and yaw angle compensation of the second gimbal 41. These control quantities precisely correspond to the action amplitude and rhythm required to eliminate the attitude difference value. Subsequently, the main control module 51 converts the generated motion control quantity into electrical signal commands and sends them to the second imaging module 40. On the one hand, the second gimbal 41 performs differential compensation actions according to the control quantity, adjusting its own pitch, roll, and heading dimensions in real time to be completely consistent with the corresponding dimensions of the first gimbal 31. On the other hand, the second camera 42 synchronously corrects the shooting position as the second gimbal 41 adjusts its attitude, ultimately achieving complete matching between the second camera 42 and the first camera 32 in terms of parameters such as viewing angle and shooting rhythm, successfully completing synchronous shooting, and ensuring that the images output by the two modules maintain a high degree of coordination in the time and space dimensions.

[0048] The drone follow-shooting method also includes acquiring the third pose data of the target drone 16 collected by the third sensor 54; calculating the fourth pose difference value based on the first pose data, the second pose data, and the third pose data; and controlling the second imaging module 40 to move in unison with the first imaging module 30 based on the fourth pose difference value to complete synchronous shooting. In addition to the original basic process of achieving synchronous shooting of dual imaging modules based on the first and second pose data, this drone follow-shooting method further adds a collaborative control link that combines the attitude of the target drone 16. The specific process is as follows: The system collects the third pose data of the target drone 16 in real time through the third sensor 54, which is pre-installed at any position on the target drone 16, the bracket 10, or the main control module 51. This data covers the spatial three-dimensional coordinates of the drone body and flight attitude parameters, such as pitch angle, roll angle, and heading angle, which can reflect the overall flight status changes of the drone. The main control module 51 performs multi-dimensional fusion calculations on the first pose data of the first imaging module 30, the second pose data of the second imaging module 40, and the third pose data of the third sensor 54 to calculate the fourth pose difference value between the first imaging module 30 and the second imaging module 40 in the current posture, such as pitch, roll, and yaw angles. Based on the fourth pose difference value, the main control module 51 outputs targeted control commands to the second imaging module 40, driving the second gimbal 41 to adjust the pitch, roll, and yaw angles and other pose parameters until the actions of the second imaging module 40 and the first imaging module 30 are completely synchronized, ultimately achieving synchronous shooting between the second imaging module 40 and the first imaging module 30, ensuring coordinated shooting angles and images.

[0049] The calculation of the fourth pose difference value based on the first pose data, the second pose data, and the third pose data includes: converting the first pose data and the second pose data to the fourth pose data and the fifth pose data in a global coordinate system with the location of the third sensor 54 as the reference; calculating the second pose difference value of the first imaging module 30 relative to the target UAV 16 based on the fourth pose data and the third pose data; calculating the third pose difference value of the second imaging module 40 relative to the target UAV 16 based on the fifth pose data and the third pose data; and calculating the fourth pose difference value of the second imaging module 40 relative to the first imaging module 30 based on the second pose difference and the third pose difference.

[0050] In this embodiment, the pose difference calculation step of the UAV follow-shooting method needs to be carried out around the relative reference, as follows: When calculating the fourth pose difference, it is necessary to complete the unified calibration of the data coordinate system. Since the initial reference coordinate systems of the first pose data of the first imaging module 30 collected by the first sensor 52 and the second pose data of the second imaging module 40 collected by the second sensor 53 are both local coordinate systems of their respective sensor locations, in order to eliminate the influence of coordinate system differences on the calculation accuracy, these two sets of data need to be transformed into coordinates and uniformly mapped to the global coordinate system with the location of the third sensor 54 as the reference. After the transformation, the fourth pose data of the first imaging module 30 in the global coordinate system and the fifth pose data of the second imaging module 40 in the global coordinate system are obtained respectively, ensuring that all data involved in the calculation are in the same spatial reference dimension.

[0051] After completing coordinate system one, the multi-dimensional difference calculation stage begins: using the third pose data of the target UAV 16 collected by the third sensor 54 as a reference, the fourth pose data is compared with the third pose data to obtain the attitude deviation of the first imaging module 30 relative to the target UAV 16, i.e., the second pose difference value; using the same logic, the fifth pose data is compared with the third pose data to obtain the attitude deviation of the second imaging module 40 relative to the target UAV 16, i.e., the third pose difference value; based on the second and third pose difference values ​​obtained in the first two steps, the difference calculation eliminates the common influence of the target UAV 16's attitude change on the two imaging modules, and finally derives the true attitude deviation of the second imaging module 40 relative to the first imaging module 30, i.e., the fourth pose difference value. This calculation process, by introducing the global reference characteristics of the third sensor 54, provides a globally unified reference benchmark, eliminating the relative pose calculation errors caused by the independent coordinate system, installation deviation, and drift accumulation of the first sensor 52 and the second sensor 53, and can be used in high-precision, long-term tracking applications.

[0052] Controlling the second imaging module 40 to move in unison with the first imaging module 30 based on the fourth pose difference value to achieve synchronous shooting includes: determining the motion control amount of the second imaging module 40 based on the fourth pose difference value; controlling the second imaging module 40 to perform difference compensation actions based on the motion control amount, so that the second gimbal 41 moves in unison with the first gimbal 31, thereby achieving synchronous shooting between the second camera 42 and the first camera 32.

[0053] The control process for synchronizing dual imaging modules based on the fourth position difference value needs to be carried out in three major steps: data conversion, action execution, and effect achievement. After obtaining the fourth position difference value of the second imaging module 40 relative to the first imaging module 30, the main control module 51 converts the fourth position difference value into action control quantities that the second imaging module 40 can execute through the built-in algorithm. Specifically, these include parameters such as the pitch angle adjustment value, roll angle correction amount, and yaw angle compensation of the second gimbal 41. These control quantities precisely correspond to the action amplitude and rhythm required to eliminate the position difference value. Subsequently, the main control module 51 converts the generated motion control quantity into electrical signal commands and sends them to the second imaging module 40. On the one hand, the second gimbal 41 performs differential compensation actions according to the control quantity, adjusting its own pitch, roll, and heading dimensions in real time to be completely consistent with the corresponding dimensions of the first gimbal 31. On the other hand, the second camera 42 synchronously corrects the shooting position as the second gimbal 41 adjusts its attitude, ultimately achieving complete matching between the second camera 42 and the first camera 32 in terms of parameters such as viewing angle and shooting rhythm, successfully completing synchronous shooting, and ensuring that the images output by the two modules maintain a high degree of coordination in the time and space dimensions.

[0054] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A drone follow-and-shoot system for use on a target drone (16) equipped with a rotatable first imaging module (30), characterized in that, Includes a follow control component (50) and a rotatable second imaging module (40); The follow control component (50) includes a main control module (51) and a second sensor (53) disposed on the second imaging module (40). The main control module (51) is connected to the second sensor (53) and the first sensor (52) disposed on the first imaging module (30) respectively. The first sensor (52) is used to collect the first pose data of the first imaging module (30), and the second sensor (53) is used to collect the second pose data of the second imaging module (40). The main control module (51) is used to control the second imaging module (40) to follow the action of the first imaging module (30) according to the first pose data and the second pose data, so as to complete the synchronous shooting.

2. The UAV follow-and-shoot system according to claim 1, characterized in that, The first imaging module (30) includes a first gimbal (31) and a first camera (32), and the first sensor (52) is disposed on the first gimbal (31) or the first camera (32). The second imaging module (40) includes a second gimbal (41) and a second camera (42), and the second sensor (53) is disposed on the second gimbal (41) or the second camera (42).

3. The UAV follow-and-shoot system according to claim 2, characterized in that, The first camera (32) is a visible light camera, and the second camera (42) is an infrared camera or a low-light camera.

4. The UAV follow-and-shoot system according to claim 1, characterized in that, The first sensor (52) is an IMU sensor, and the second sensor (53) is an angle sensor or an IMU sensor.

5. The UAV follow-and-shoot system according to claim 1, characterized in that, The follow control component (50) also includes a third sensor (54), which is located on the target UAV (16) or the main control module (51) and is used to collect the third pose data of the target UAV (16). The main control module (51) is used to control the second imaging module (40) to follow the action of the first imaging module (30) according to the first pose data, the second pose data and the third pose data, so as to complete synchronous shooting.

6. The drone follow-and-shoot system according to claim 5, characterized in that, The first sensor (52) is an IMU sensor, the second sensor (53) is an angle sensor or an IMU sensor, and the third sensor (54) is an IMU sensor.

7. The UAV follow-and-shoot system according to claim 1, characterized in that, The drone follow-shooting system also includes a bracket (10) for connecting to the fuselage of the target drone (16) and for mounting the follow control component (50) and the rotatable second imaging module (40).

8. The UAV follow-shooting system according to claim 7, characterized in that, The bracket (10) includes a main body (11) and a mounting part (20) connected to the main body (11). The main body (11) is used to connect to the fuselage of the target UAV (16), and the mounting part (20) is used to mount the follow control component (50) and the rotatable second imaging module (40).

9. The UAV follow-shooting system according to claim 8, characterized in that, The main body (11) includes a support part (12) and a support leg (13). The support part (12) is installed on the bottom of the target drone (16), and the support leg (13) is located on the bottom of the support part (12) to provide support for the take-off and landing of the target drone (16).

10. The UAV follow-shooting system according to claim 8, characterized in that, The mounting part (20) includes a first arm (21) and a second arm (22) respectively disposed on both sides of the main body (11). The first arm (21) and the second arm (22) are used to mount the rotatable second imaging module (40) and the main control module (51) respectively.

Images