Unmanned aerial vehicle photographing control method and apparatus, electronic device, and storage medium

Abstract

The present disclosure provides an unmanned aerial vehicle photographing control method and apparatus, an electronic device, and a storage medium. The method comprises: in a pre-stored scene model, acquiring the current screenshot corresponding to a screenshot taking instruction, generating waypoint photographing information on the basis of the screenshot; when waypoints are secure waypoints, generating route information on the basis of photographing location information of each secure waypoint; and enabling an unmanned aerial vehicle to photograph on the basis of the waypoint photographing information of the route information. In this way, preview can be performed in a three-dimensional model before the photographing, then a photographing position is automatically generated on the basis of the viewing angle selected by preview; the unmanned aerial vehicle is controlled to directly fly to the photographing position for photographing; by previewing a screenshot in a scene model, a user can preview in advance an image which is to be possibly captured when a camera mounted on the unmanned aerial vehicle arrives at the actual photographing position; and on the basis of waypoint photographing information, the unmanned aerial vehicle captures a photographing image corresponding to the screenshot, so that the photographing efficiency of the unmanned aerial vehicle and the user experience are improved.

Description

Control method, device, electronic device and storage medium for drone photography

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202410087537X, filed with the China Patent Office on January 22, 2024, entitled “Control method, device, electronic device and storage medium for drone photography,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the technical field of drones, and in particular to a control method, device, electronic device, and storage medium for drone photography. Background Art

[0004] With the continuous development of shooting technology, drones are used for intelligent aerial photography, which can realize the control of surrounding and following the target, and can also move horizontally and vertically to take aerial photos at various angles.

[0005] At present, the shooting parameters are adjusted by controlling the flight of the drone and the shooting parameters of the camera, and then the drone shoots according to the shooting parameters, so as to achieve a shooting result with a shooting angle that meets the user's needs. The shooting results can only be viewed after the shooting is completed. If you are not satisfied, you need to shoot again, which greatly affects the shooting efficiency.

[0006] During drone photography, the system automatically generates flight zones, routes, and waypoints within the user-defined area based on the shooting requirements. The drone then mounts different types of pods and executes the photography mission along the planned route. Furthermore, obstacles may appear within the generated route, compromising shooting safety. Therefore, improving drone photography efficiency and enhancing the safety of drones and autonomous photography in complex environments is an urgent issue.

[0007] Summary of the Invention

[0008] The present disclosure provides a control method, device, electronic device and storage medium for drone photography. Through the technical solution of the present disclosure, under a pre-stored scene model, a current screenshot corresponding to the screenshot instruction is obtained in response to the screenshot instruction; based on the current screenshot, waypoint shooting information corresponding to the current screenshot is determined, wherein the waypoint shooting information at least includes shooting position information and shooting parameter information; based on the shooting position information, route information corresponding to the waypoint shooting information is generated; the route information is sent to the drone so that the drone arrives at the waypoint corresponding to the shooting position information, and takes a photo according to the shooting parameter information in the waypoint shooting information. In the present disclosure, the method of controlling drone photography in advance is stored in a pre-stored scene model. Under the stored scene model, the current screenshot corresponding to the screenshot instruction is obtained, and waypoint shooting information is generated according to the screenshot. When the waypoint is a safe waypoint, the route information is generated according to the shooting position information of each safe waypoint. The UAV takes pictures according to the waypoint shooting information in the route information. Therefore, since it can be previewed in the three-dimensional model before taking pictures, the shooting point is automatically generated according to the perspective selected in the preview, and the UAV is controlled to fly directly to the shooting point to take pictures. By previewing the screenshot under the scene model, the user can preview in advance the image that may be captured after the UAV-mounted camera arrives at the actual shooting point, and use the waypoint shooting information corresponding to the screenshot to obtain the shooting image corresponding to the screenshot by the UAV, thereby improving the UAV's photography efficiency and user experience.

[0009] The present disclosure provides a method for controlling a drone to take photos, comprising:

[0010] Under a pre-stored scene model, in response to a screenshot instruction, obtaining a current screenshot corresponding to the screenshot instruction;

[0011] Determining, based on the current screenshot, waypoint shooting information corresponding to the current screenshot, wherein the waypoint shooting information at least includes shooting position information and shooting parameter information;

[0012] generating route information corresponding to the waypoint shooting information based on the shooting location information;

[0013] The route information is sent to the drone, so that the drone reaches a waypoint corresponding to the shooting position information, and takes photos according to the shooting parameter information in the waypoint shooting information.

[0014] The present disclosure obtains the current screenshot corresponding to the screenshot instruction in advance under the stored scene model, and generates waypoint shooting information according to the screenshot. When the waypoint is a safe waypoint, the route information is generated according to the shooting position information of each safe waypoint, and the drone takes pictures according to the waypoint shooting information in the route information. Therefore, since the user can preview in the three-dimensional model before taking pictures, the shooting point is automatically generated according to the perspective selected in the preview, and the drone is controlled to fly directly to the shooting point to take pictures. By previewing the screenshot under the scene model, the user can preview in advance the image that may be captured after the drone-mounted camera arrives at the actual shooting point, and the drone uses the waypoint shooting information corresponding to the screenshot to obtain the shooting image corresponding to the screenshot, thereby improving the drone's photography efficiency and user experience.

[0015] Optionally, the shooting parameter information includes shooting posture information and camera zoom information, wherein the shooting posture information includes gimbal posture or drone posture.

[0016] Optionally, the pre-stored scene model is a three-dimensional model.

[0017] Optionally, determining, based on the current screenshot, waypoint shooting information corresponding to the current screenshot includes:

[0018] In the case that the current screenshot meets the user's requirements, waypoint shooting information corresponding to the current screenshot is determined according to the current screenshot.

[0019] Optionally, after obtaining a current screenshot corresponding to the screenshot instruction in response to the screenshot instruction, the method further includes:

[0020] If the current screenshot does not meet the user's requirements, obtain a viewing angle modification instruction;

[0021] According to the viewing angle modification instruction, a control screenshot corresponding to the viewing angle modification instruction is reacquired, wherein the control screenshot includes updated waypoint shooting information.

[0022] Optionally, generating route information corresponding to the waypoint shooting information according to the shooting location information includes:

[0023] Performing point collision detection on each of the shooting position information;

[0024] In the case where each piece of shooting position information is safety waypoint shooting information, route information corresponding to the waypoint shooting information is generated according to the shooting position information.

[0025] Optionally, performing point collision detection on each of the shooting position information includes:

[0026] Obtaining shooting location information corresponding to each waypoint shooting information, wherein the shooting location information at least includes longitude, latitude, and altitude information;

[0027] Taking the waypoint corresponding to the shooting position information as a detection center, and constructing a first collision detection model corresponding to the detection center according to a first preset distance;

[0028] Collision detection is performed on each waypoint according to the first collision detection model and a first virtual detection line, wherein the first virtual detection line is a ray formed by a vertex and other vertices in the first collision detection model.

[0029] The present invention obtains the shooting position information corresponding to each waypoint shooting information and performs collision detection on the waypoint. If the waypoint is an unsafe waypoint, the point collision information of the next waypoint shooting information is performed at a certain distance to ensure that the waypoint corresponding to each waypoint shooting information in the route is a safe waypoint.

[0030] Optionally, when each of the shooting location information is safety waypoint shooting information, generating route information corresponding to the waypoint shooting information according to the shooting location information includes:

[0031] In a case where no collision occurs between the first collision detection model, the first virtual detection line, and the scene model, determining the waypoint shooting information as safe waypoint shooting information;

[0032] Determining initial route information corresponding to the safety waypoint based on the safety waypoint and the device waypoint;

[0033] performing collision detection on the initial route information;

[0034] In a case where the initial route information is safe route information, the initial route information is determined as route information corresponding to the waypoint shooting information.

[0035] The present invention performs point collision detection on each waypoint, generates route information when each waypoint is a safe waypoint, and the drone takes photos according to the waypoints in the route information, thereby improving the photography efficiency.

[0036] Optionally, determining, based on the current screenshot, waypoint shooting information corresponding to the current screenshot includes:

[0037] Obtaining the camera posture information carried by the current screenshot;

[0038] Convert the camera attitude information carried in the current screenshot into drone attitude information or gimbal attitude;

[0039] Calculating camera zoom information corresponding to the current screenshot according to the screen width;

[0040] Shooting position information corresponding to the current screenshot is generated according to the camera posture information, the drone posture information, and the camera zoom information.

[0041] The present invention obtains the camera attitude information, drone attitude information and camera zoom information of the current screenshot, generates waypoint shooting information corresponding to the current screenshot, and can improve the accuracy of waypoint positioning.

[0042] Optionally, converting the camera attitude information carried in the current screenshot into drone attitude information includes:

[0043] Converting the arc information in the camera attitude information into the angle information in the drone attitude information;

[0044] The angle information in the camera attitude information is converted into radian information in the drone attitude information.

[0045] In the present disclosure, various parameters in the camera attitude information obtained in the screenshot are converted into drone attitude information, so that the route can be better generated and the accuracy of route generation can be improved.

[0046] Optionally, calculating the camera zoom information corresponding to the current screenshot according to the screen width includes:

[0047] The camera zoom information corresponding to the current screenshot is calculated according to the screen width and a preset algorithm.

[0048] In the present invention, the camera zoom information corresponding to the current screenshot is calculated based on the screen width and a preset algorithm, and the waypoint shooting information corresponding to the current screenshot is generated based on the camera posture information, the drone posture information and the camera zoom information, so that the route can be better generated and the accuracy of route generation can be improved.

[0049] The present disclosure also provides a control device for taking photos with a drone, comprising:

[0050] an acquisition module configured to, in response to a screenshot instruction, acquire a current screenshot corresponding to the screenshot instruction under a pre-stored scene model;

[0051] a determination module configured to determine, based on the current screenshot, waypoint shooting information corresponding to the current screenshot, wherein the waypoint shooting information at least includes shooting location information and shooting parameter information;

[0052] a generating module configured to generate route information corresponding to the waypoint shooting information based on the shooting location information;

[0053] The photographing module is configured to send the route information to the drone so that the drone reaches a waypoint corresponding to the photographing position information and takes a photograph according to the photographing parameter information in the waypoint photographing information.

[0054] The present disclosure obtains the current screenshot corresponding to the screenshot instruction in advance under the stored scene model, and generates waypoint shooting information according to the screenshot. When the waypoint is a safe waypoint, the route information is generated according to the shooting position information of each safe waypoint, and the drone takes pictures according to the waypoint shooting information in the route information. Therefore, since the user can preview in the three-dimensional model before taking pictures, the shooting point is automatically generated according to the perspective selected in the preview, and the drone is controlled to fly directly to the shooting point to take pictures. By previewing the screenshot under the scene model, the user can preview in advance the image that may be captured after the drone-mounted camera arrives at the actual shooting point, and the drone uses the waypoint shooting information corresponding to the screenshot to obtain the shooting image corresponding to the screenshot, thereby improving the drone's photography efficiency and user experience.

[0055] Optionally, the shooting parameter information includes shooting posture information and camera zoom information, wherein the shooting posture information includes gimbal posture or drone posture.

[0056] Optionally, the pre-stored scene model is a three-dimensional model.

[0057] Optionally, the determining module is configured to:

[0058] In the case that the current screenshot meets the user's requirements, waypoint shooting information corresponding to the current screenshot is determined according to the current screenshot.

[0059] Optionally, the determining module is configured to:

[0060] If the current screenshot does not meet the user's requirements, obtain a viewing angle modification instruction;

[0061] According to the viewing angle modification instruction, a control screenshot corresponding to the viewing angle modification instruction is reacquired, wherein the control screenshot includes updated waypoint shooting information.

[0062] Optionally, the generating module is configured to:

[0063] Performing point collision detection on each of the shooting position information;

[0064] In the case where each piece of shooting position information is safety waypoint shooting information, route information corresponding to the waypoint shooting information is generated according to the shooting position information.

[0065] Optionally, the generating module is configured to:

[0066] Obtaining shooting location information corresponding to each waypoint shooting information, wherein the shooting location information at least includes longitude, latitude, and altitude information;

[0067] Taking the waypoint corresponding to the shooting position information as a detection center, and constructing a first collision detection model corresponding to the detection center according to a first preset distance;

[0068] Collision detection is performed on each waypoint according to the first collision detection model and a first virtual detection line, wherein the first virtual detection line is a ray formed by a vertex and other vertices in the first collision detection model.

[0069] The present invention obtains the location information corresponding to each waypoint shooting information, and performs collision detection on the waypoint shooting information. At the same time, collision information is performed on the next waypoint shooting information at each certain distance to ensure that the waypoints corresponding to each waypoint shooting information in the route are safe waypoints.

[0070] Optionally, the generating module is configured to:

[0071] In a case where no collision occurs between the first collision detection model, the first virtual detection line, and the scene model, determining the waypoint shooting information as safe waypoint shooting information;

[0072] Determining initial route information corresponding to the safety waypoint based on the safety waypoint and the device waypoint;

[0073] performing collision detection on the initial route information;

[0074] In a case where the initial route information is safe route information, the initial route information is determined as route information corresponding to the waypoint shooting information.

[0075] The present disclosure detects each waypoint and generates route information when each waypoint is a safe waypoint. The drone takes photos according to the waypoints in the route information, thereby improving the efficiency of taking photos.

[0076] Optionally, the determining module is configured to:

[0077] Obtaining the camera posture information carried by the current screenshot;

[0078] Convert the camera attitude information carried in the current screenshot into drone attitude information or gimbal attitude;

[0079] Calculating camera zoom information corresponding to the current screenshot according to the screen width;

[0080] Shooting position information corresponding to the current screenshot is generated according to the camera posture information, the drone posture information, and the camera zoom information.

[0081] The present invention obtains the camera attitude information, drone attitude information and camera zoom information of the current screenshot, generates waypoint shooting information corresponding to the current screenshot, and can improve the accuracy of waypoint positioning.

[0082] Optionally, the determining module is configured to:

[0083] Converting the arc information in the camera attitude information into the angle information in the drone attitude information;

[0084] The angle information in the camera attitude information is converted into radian information in the drone attitude information.

[0085] In the present disclosure, various parameters in the camera attitude information obtained in the screenshot are converted into drone attitude information, so that the route can be better generated and the accuracy of route generation can be improved.

[0086] Optionally, the determining module is configured to:

[0087] The camera zoom information corresponding to the current screenshot is calculated according to the screen width and a preset algorithm.

[0088] In the present invention, the camera zoom information corresponding to the current screenshot is calculated based on the screen width and a preset algorithm, and the waypoint shooting information corresponding to the current screenshot is generated based on the camera posture information, the drone posture information and the camera zoom information, so that the route can be better generated and the accuracy of route generation can be improved.

[0089] The present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement the aforementioned drone photography control method when executing the program.

[0090] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the aforementioned drone photography control method.

[0091] The present disclosure also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the aforementioned drone photography control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments of the present disclosure. It should be understood that the following drawings only show the preferred embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0093] FIG1 is a schematic flow chart of a method for controlling drone photography provided by an embodiment of the present disclosure;

[0094] FIG2 is a schematic flow chart of a method for controlling drone photography provided by an embodiment of the present disclosure;

[0095] FIG3 is a schematic diagram of a screenshot interface provided by an embodiment of the present disclosure;

[0096] FIG4 is a schematic diagram of a process of waypoint safety collision detection provided by an embodiment of the present disclosure;

[0097] FIG5 is a schematic diagram of a first collision detection model provided by an embodiment of the present disclosure;

[0098] FIG6 is a schematic diagram of a process flow of route safety collision detection provided by an embodiment of the present disclosure;

[0099] FIG7 is a schematic diagram of a second collision detection model provided by an embodiment of the present disclosure;

[0100] FIG8 is a schematic structural diagram of a control device for taking photos of a drone provided by an embodiment of the present disclosure;

[0101] FIG9 is a schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0102] The technical solutions in the embodiments of the present disclosure will be described below with reference to the accompanying drawings in the embodiments of the present disclosure.

[0103] It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. At the same time, in the description of this disclosure, the terms "first," "second," etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0104] At present, the shooting parameters are adjusted by controlling the flight of the drone and the shooting parameters of the camera, and then the drone shoots according to the shooting parameters, so as to achieve a shooting result with a shooting angle that meets the user's needs. The shooting results can only be viewed after the shooting is completed. If you are not satisfied, you need to shoot again, which greatly affects the shooting efficiency.

[0105] During the shooting process, the drone automatically generates flight areas, routes, and waypoints within the user-defined area according to the shooting requirements. The drone carries different types of pods and performs the shooting task under the planned route. Furthermore, there may be obstacles in the generated route, thus affecting the safety of the shooting. In view of this, the embodiment of the present disclosure provides a control method for drone photography, which includes, under a pre-stored scene model, responding to a screenshot instruction, obtaining a current screenshot corresponding to the screenshot instruction; according to the current screenshot, Determine the waypoint shooting information corresponding to the current screenshot, wherein the waypoint shooting information includes at least shooting location information and shooting parameter information; generate route information corresponding to the waypoint shooting information based on the shooting location information; send the route information to the drone so that the drone reaches the waypoint corresponding to the shooting location information and takes a photo based on the shooting parameter information in the waypoint shooting information. In the present disclosure, the current screenshot corresponding to the screenshot instruction is obtained in advance under the stored scene model, and waypoint shooting information is generated based on the screenshot. When the waypoint is a safe waypoint, route information is generated based on the shooting location information of each safe waypoint, and the drone takes a photo based on the waypoint shooting information in the route information. Since the photo can be previewed in the three-dimensional model before taking the photo, the photo point is automatically generated based on the perspective selected in the preview, and the drone is controlled to fly directly to the photo point to take the photo. By previewing the screenshot under the scene model, the user can preview in advance the image that may be taken after the drone-mounted camera arrives at the actual photo point. The drone uses the waypoint shooting information corresponding to the screenshot to obtain the shot image corresponding to the screenshot, thereby improving the drone's photo efficiency and user experience.

[0106] As shown in FIG1 , an embodiment of the present disclosure provides a method for controlling a drone to take photos, the method comprising:

[0107] S101, in response to a screenshot instruction under a pre-stored scene model, obtaining a current screenshot corresponding to the screenshot instruction;

[0108] Optionally, a scene model of the area to be photographed is pre-stored on the terminal device. The user can input a screenshot command according to the angle of the drone photography and take a screenshot within the preset stored scene model. The terminal device obtains the current screenshot corresponding to the screenshot command.

[0109] The pre-stored scene model is a three-dimensional model generated based on a real scene.

[0110] S102: determining waypoint shooting information corresponding to the current screenshot based on the current screenshot, wherein the waypoint shooting information includes at least shooting position information and shooting parameter information;

[0111] Optionally, the terminal device first obtains the gimbal attitude information under the current screenshot based on the current screenshot obtained. Since the three-dimensional model includes the correspondence between the gimbal information, that is, the shooting attitude information, and the drone waypoint position information, after obtaining the gimbal attitude information, the waypoint position information corresponding to the gimbal attitude information is determined according to the correspondence. At this time, the terminal device obtains the waypoint shooting information corresponding to the current screenshot. The waypoint shooting information at least includes shooting position information and shooting parameter information. The shooting parameter information includes shooting attitude information and camera zoom information. Among them, the shooting attitude information includes gimbal attitude or drone attitude. Among them, the gimbal attitude includes a first yaw angle, a first pitch angle and a first roll angle, and the drone attitude includes a second yaw angle, a second pitch angle and a second roll angle.

[0112] S103, generating route information corresponding to the waypoint shooting information based on the shooting position information;

[0113] Optionally, after acquiring the waypoint shooting information corresponding to the current screenshot, the terminal device generates route information corresponding to the waypoint shooting information according to the shooting position information in the waypoint shooting information.

[0114] S104: Send the route information to the drone, so that the drone reaches a waypoint corresponding to the shooting position information, and takes a photo according to the shooting parameter information in the waypoint shooting information.

[0115] Optionally, the terminal device sends the generated route information to the drone, and the drone navigates according to the route information and takes photos at each waypoint location corresponding to the waypoint shooting information. In this way, obstacles can be avoided during navigation, which may affect the efficiency and accuracy of taking photos.

[0116] For example, a drone in the nearest fully automatic airport is dispatched to perform the above-mentioned photo-taking task.

[0117] The present disclosure obtains the current screenshot corresponding to the screenshot instruction in advance under the stored scene model, and generates waypoint shooting information according to the screenshot. When the waypoint is a safe waypoint, the route information is generated according to the shooting position information of each safe waypoint, and the drone takes pictures according to the waypoint shooting information in the route information. Therefore, since the user can preview in the three-dimensional model before taking pictures, the shooting point is automatically generated according to the perspective selected in the preview, and the drone is controlled to fly directly to the shooting point to take pictures. By previewing the screenshot under the scene model, the user can preview in advance the image that may be captured after the drone-mounted camera arrives at the actual shooting point, and the drone uses the waypoint shooting information corresponding to the screenshot to obtain the shooting image corresponding to the screenshot, thereby improving the drone's photography efficiency and user experience.

[0118] This disclosure further supplements the above-mentioned control method for drone photography.

[0119] Optionally, determining waypoint shooting information corresponding to the current screenshot according to the current screenshot includes:

[0120] When the current screenshot meets the user's requirements, the waypoint shooting information corresponding to the current screenshot is determined based on the current screenshot.

[0121] Optionally, after obtaining a current screenshot corresponding to the screenshot instruction in response to the screenshot instruction, the method further includes:

[0122] If the current screenshot does not meet the user's requirements, obtain the perspective modification instruction;

[0123] According to the viewing angle modification instruction, a control screenshot corresponding to the viewing angle modification instruction is reacquired, wherein the control screenshot includes updated waypoint shooting information.

[0124] Optionally, generating route information corresponding to the waypoint shooting information based on the shooting location information includes:

[0125] Perform point collision detection on each shooting location information;

[0126] In the case where each piece of shooting position information is safety waypoint shooting information, route information corresponding to the waypoint shooting information is generated based on the shooting position information.

[0127] Optionally, point collision detection is performed on each shooting position information, including:

[0128] Obtaining shooting location information corresponding to each waypoint shooting information, wherein the shooting location information at least includes longitude, latitude, and altitude information;

[0129] Taking the waypoint corresponding to the shooting position information as the detection center, and constructing a first collision detection model corresponding to the detection center according to a first preset distance;

[0130] Collision detection is performed on each waypoint according to the first collision detection model and the first virtual detection line, wherein the first virtual detection line is a ray formed by a vertex and other vertices in the first collision detection model.

[0131] Optionally, in order to avoid obstacles, the terminal device performs point collision detection based on the waypoint corresponding to the currently acquired waypoint shooting information. In order to determine whether the waypoint is safe and whether obstacle avoidance is required, point collision detection is then performed on all waypoints in the area to be photographed.

[0132] The terminal device performs point collision detection on all waypoints, determines whether each waypoint is safe, selects the shooting position information of the safe waypoints among the waypoints, and generates route information based on the shooting position information of the safe waypoints.

[0133] Optionally, the terminal device obtains the longitude, latitude and altitude information corresponding to each waypoint shooting information, takes the waypoint corresponding to the current waypoint shooting information as the detection center, and constructs a first collision detection model corresponding to the detection center according to the first preset distance, such as the square shown in Figure 5, and then performs collision detection based on the square and the virtual detection line shown in Figure 5.

[0134] The embodiment of the present disclosure obtains the location information corresponding to each waypoint shooting information, and performs collision detection on the waypoint shooting information. At the same time, collision information is performed on the next waypoint shooting information at each certain distance to ensure that each waypoint shooting information in the route is a safe waypoint.

[0135] Optionally, when each piece of shooting position information is safety waypoint shooting information, generating route information corresponding to the waypoint shooting information according to the shooting position information includes:

[0136] In a case where no collision occurs between the first collision detection model, the first virtual detection line, and the scene model, determining the waypoint shooting information as safe waypoint shooting information;

[0137] Determine the initial route information corresponding to the safety waypoint based on the safety waypoint and the equipment waypoint;

[0138] Perform collision detection on the initial route information;

[0139] When the initial route information is safe route information, the initial route information is determined as the route information corresponding to the waypoint shooting information.

[0140] Optionally, when the terminal device detects that the waypoint in the current screenshot is a safe waypoint, it generates a route based on the waypoint in the current screenshot and the device waypoint, and performs route collision detection on the route.

[0141] That is, when the first virtual detection line in the first collision detection model does not collide with the scene model, the waypoint corresponding to the waypoint shooting information is determined as a safe waypoint;

[0142] The two points in the route generated by the device waypoint and the generated safety waypoint can be used as the starting waypoint shooting information and the end waypoint shooting information;

[0143] In the preset photo-taking area, a second collision detection model is constructed based on the starting waypoint shooting information and the end waypoint shooting information, as shown in FIG7 ; the ray connecting each point in the second collision detection model with other points is used as the second virtual detection line to determine whether the second virtual detection line and the scene model collide. If there is a collision, it means that the route is unsafe; if there is no collision, it means that the route is a safe route, that is, the safe route is determined as the route information corresponding to the waypoint shooting information.

[0144] The disclosed embodiment detects each waypoint and generates route information when each waypoint is a safe waypoint. The drone takes photos according to the waypoints in the route information. Since the camera can be previewed in the three-dimensional model before taking photos, the photo point is automatically generated according to the perspective selected in the preview. The drone is controlled to fly directly to the photo point to take photos, thereby improving the photography efficiency.

[0145] Optionally, determining waypoint shooting information corresponding to the current screenshot according to the current screenshot includes:

[0146] Get the camera posture information carried in the current screenshot;

[0147] Convert the camera attitude information carried in the current screenshot into drone attitude information or gimbal attitude;

[0148] Calculate the camera zoom information corresponding to the current screenshot based on the screen width;

[0149] Generate the shooting position information corresponding to the current screenshot based on the camera attitude information, drone attitude information and camera zoom information.

[0150] Among them, camera zoom information = (screen width / 1920)*5; the present disclosure obtains the camera attitude information, drone attitude information and camera zoom information of the current screenshot, generates waypoint shooting information corresponding to the current screenshot, and can improve the accuracy of waypoint positioning.

[0151] Optionally, convert the camera attitude information carried in the current screenshot into drone attitude information, including:

[0152] Convert the arc information in the camera attitude information into the angle information in the drone attitude information;

[0153] Convert the angle information in the camera attitude information into the radian information in the drone attitude information.

[0154] For example, the angle information in the drone attitude information = the radian information in the camera attitude information * 180 / π;

[0155] The arc information in the drone attitude information = the angle information in the camera attitude information * π / 180.

[0156] In the embodiment of the present disclosure, various parameters in the camera attitude information obtained in the screenshot are converted into drone attitude information, so that the route can be better generated and the accuracy of route generation can be improved.

[0157] Optionally, based on the screen width, calculate the camera zoom information corresponding to the current screenshot, including:

[0158] Calculates the camera zoom information corresponding to the current screenshot based on the screen width and a preset algorithm.

[0159] In the embodiment of the present disclosure, the camera zoom information corresponding to the current screenshot is calculated based on the screen width and a preset algorithm, and the waypoint shooting information corresponding to the current screenshot is generated based on the camera posture information, the drone posture information and the camera zoom information, so that the route can be better generated and the accuracy of route generation can be improved.

[0160] FIG2 is a flow chart of a method for controlling a drone to take photos according to an embodiment of the present disclosure. As shown in FIG2 , the method for controlling a drone to take photos includes:

[0161] Step 1: Screenshot; The scene model of the area to be photographed is pre-stored on the terminal device. The user can take a screenshot within the scene model according to the angle of the drone. The terminal device obtains the current screenshot corresponding to the screenshot command input by the user.

[0162] As shown in Figure 3, the 3D preview screen is displayed. By selecting the appropriate viewing angle, users can preview the shooting effect. Clicking the screenshot box in the upper right corner automatically generates a flight target waypoint for the current screen. Based on the drone's current position, an automatic route is generated to avoid obstacles and the drone will take the shot. This achieves a good user experience, improves shooting accuracy, and allows users to preview the shooting results in advance.

[0163] During the implementation process, after selecting a perspective, the terminal device can preview the shooting effect. If the preview shooting result is appropriate, after confirmation, the subsequent process, i.e., subsequent steps 2-8, will be executed. If the preview is not appropriate, a suitable perspective will be reselected, i.e., the user enters a perspective modification instruction, which includes the modified perspective information.

[0164] Step 2: The terminal device obtains the camera posture information of the current screenshot;

[0165] Step 3: The terminal device converts the camera attitude information into drone attitude information;

[0166] Step 4: The terminal device calculates the zoom size based on the screenshot resolution;

[0167] Step 5: The terminal device generates the first waypoint using the above parameters;

[0168] Step 6: The terminal device detects whether the first waypoint is safe; if safe, execute step 7; if not, execute step 8;

[0169] As shown in Figure 4, it includes:

[0170] Step 61: Get the location information of the current waypoint, including longitude, latitude and altitude;

[0171] Step 62: Perform point collision detection based on the longitude, latitude and altitude of the current waypoint; that is, the middle circle is the detection point, which is the current waypoint, and a cube is expanded, as shown in Figure 5. Collision detection is performed based on each side length and each dotted line of the cube, where the circle in Figure 5 is the detection point, and a cube is expanded with a side length of twice the safety distance.

[0172] Step 63: Determine whether there is a collision. If the dotted line collides with the scene model, it means that the detection point is unsafe; if the dotted line does not collide with the scene model, it means that the detection point is a safe waypoint;

[0173] Step 7: The terminal device checks whether the first waypoint (the waypoint in the current screenshot) is directly connected to the device point (the drone take-off point) to ensure safety.

[0174] Optionally, when it is determined that the first waypoint is not a safe waypoint, the waypoint height is increased by a second preset value to generate a second waypoint, and a collision detection is performed on the second waypoint until the maximum detection range is reached.

[0175] If the first waypoint detected is a safe waypoint, all safe waypoints are connected to generate a route; if the first waypoint is not a safe waypoint, it is determined whether the deviation between the next waypoint and the current waypoint exceeds a first preset value, i.e., the maximum detection range, such as 300M. If it exceeds 300M, this waypoint cannot be flown; if it does not exceed 300M, based on the first waypoint, the waypoint height is increased by a second preset value, such as 3m, to obtain a second waypoint, and a collision detection is performed on the second waypoint. If the second waypoint is a safe waypoint, it is determined as an intermediate waypoint, and then a route is automatically generated for all safe waypoints.

[0176] To improve computational efficiency and simplify collision detection, as shown in FIG6 , the detection method provided in the embodiment of the present disclosure includes:

[0177] Step 71: Determine the starting point waypoint shooting information and the ending point waypoint shooting information from all the safe waypoint shooting information:

[0178] Among them, the starting waypoint shooting information and the end waypoint shooting information are relative to each route. For example, if the route is AB, A is the starting waypoint shooting information, and B is the end waypoint shooting information; if the route includes AB and BC, then for route AB, A is the starting waypoint shooting information, and B is the end waypoint shooting information, and for route BC, B is the starting waypoint shooting information, and C is the end waypoint shooting information.

[0179] In the embodiment of the present disclosure, the starting point waypoint shooting information and the end point waypoint shooting information may be the device waypoints and the waypoints in the current screenshot.

[0180] Step 72: Determine whether the starting point waypoint shooting information and the end point waypoint shooting information collide;

[0181] Step 73: If there is no collision, determine whether there is a collision in a 10m circle around the starting point. If there is no collision, connect the two points (starting point and end point) and the middle waypoint to form a rectangle, i.e., the second collision detection model, and perform collision detection. A total of 8 monitoring points are formed, and each point is cycled and subjected to ray collision detection with the other 7 points, as shown in FIG7 .

[0182] Step 8: Connect safe waypoints and automatically generate a route.

[0183] It should be noted that each implementable method in this embodiment can be implemented separately, or can be combined in any combination without conflict to implement the present disclosure without limitation.

[0184] The disclosed embodiment also provides a control device for drone photography to execute the above-mentioned drone photography control method.

[0185] FIG8 is a schematic diagram of the structure of a control device for taking photos of a drone provided by an embodiment of the present disclosure. The control device for taking photos of a drone includes an acquisition module 801, a determination module 802, a generation module 803, and a photo module 804, wherein:

[0186] The acquisition module 801 is configured to acquire a current screenshot corresponding to the screenshot instruction in response to the screenshot instruction under a pre-stored scene model;

[0187] The determining module 802 is configured to determine the waypoint shooting information corresponding to the current screenshot based on the current screenshot, wherein the waypoint shooting information at least includes shooting location information and shooting parameter information;

[0188] The generating module 803 is configured to generate route information corresponding to the waypoint shooting information based on the shooting location information;

[0189] The photographing module 804 is configured to send the route information to the drone, so that the drone reaches a waypoint corresponding to the photographing location information, and takes a photo according to the photographing parameter information in the waypoint photographing information.

[0190] Regarding the device in this embodiment, the manner in which each module performs operations has been described in detail in the embodiment of the method and will not be elaborated on here.

[0191] The present disclosure obtains the current screenshot corresponding to the screenshot instruction in advance under the stored scene model, and generates waypoint shooting information according to the screenshot. When the waypoint is a safe waypoint, the route information is generated according to the shooting position information of each safe waypoint, and the drone takes pictures according to the waypoint shooting information in the route information. Therefore, since the user can preview in the three-dimensional model before taking pictures, the shooting point is automatically generated according to the perspective selected in the preview, and the drone is controlled to fly directly to the shooting point to take pictures. By previewing the screenshot under the scene model, the user can preview in advance the image that may be captured after the drone-mounted camera arrives at the actual shooting point, and the drone uses the waypoint shooting information corresponding to the screenshot to obtain the shooting image corresponding to the screenshot, thereby improving the drone's photography efficiency and user experience.

[0192] The present disclosure provides further supplementary explanations on the control device for the drone photography described above.

[0193] Optionally, the shooting parameter information includes shooting posture information and camera zoom information, wherein the shooting posture information includes gimbal posture or drone posture.

[0194] Optionally, the pre-stored scene model is a three-dimensional model.

[0195] Optionally, determine the module and configure it to:

[0196] When the current screenshot meets the user's requirements, the waypoint shooting information corresponding to the current screenshot is determined based on the current screenshot.

[0197] Optionally, the determination module is configured to:

[0198] If the current screenshot does not meet the user's requirements, obtain the view angle modification instruction;

[0199] According to the viewing angle modification instruction, a control screenshot corresponding to the viewing angle modification instruction is reacquired, wherein the control screenshot includes updated waypoint shooting information.

[0200] Optionally, the generation module is configured to:

[0201] Perform point collision detection on each shooting location information;

[0202] In the case where each piece of shooting position information is safety waypoint shooting information, route information corresponding to the waypoint shooting information is generated based on the shooting position information.

[0203] Optionally, the generation module is configured to:

[0204] Obtaining shooting location information corresponding to each waypoint shooting information, wherein the shooting location information at least includes longitude, latitude, and altitude information;

[0205] Taking the waypoint corresponding to the shooting position information as the detection center, and constructing a first collision detection model corresponding to the detection center according to a first preset distance;

[0206] Collision detection is performed on each waypoint according to the first collision detection model and the first virtual detection line, wherein the first virtual detection line is a ray formed by a vertex and other vertices in the first collision detection model.

[0207] The present invention obtains the location information corresponding to each waypoint shooting information, and performs collision detection on the waypoint shooting information. At the same time, collision information is performed on the next waypoint shooting information at each certain distance to ensure that the waypoints corresponding to each waypoint shooting information in the route are safe waypoints.

[0208] Optionally, the generation module is configured to:

[0209] In a case where no collision occurs between the first collision detection model, the first virtual detection line, and the scene model, determining the waypoint shooting information as safe waypoint shooting information;

[0210] Determine the initial route information corresponding to the safety waypoint based on the safety waypoint and the equipment waypoint;

[0211] Perform collision detection on the initial route information;

[0212] When the initial route information is safe route information, the initial route information is determined as the route information corresponding to the waypoint shooting information.

[0213] The present disclosure detects each waypoint and generates route information when each waypoint is a safe waypoint. The drone takes photos according to the waypoints in the route information, thereby improving the efficiency of taking photos.

[0214] Optionally, the determination module is configured to:

[0215] Get the camera posture information carried by the current screenshot;

[0216] Convert the camera attitude information carried in the current screenshot into drone attitude information or gimbal attitude;

[0217] Calculate the camera zoom information corresponding to the current screenshot based on the screen width;

[0218] Generate the shooting position information corresponding to the current screenshot based on the camera attitude information, drone attitude information and camera zoom information.

[0219] The present invention obtains the camera attitude information, drone attitude information and camera zoom information of the current screenshot, generates waypoint shooting information corresponding to the current screenshot, and can improve the accuracy of waypoint positioning.

[0220] Optionally, the determination module is configured to:

[0221] Convert the arc information in the camera attitude information into the angle information in the drone attitude information;

[0222] Convert the angle information in the camera attitude information into the radian information in the drone attitude information.

[0223] In the present disclosure, various parameters in the camera attitude information obtained in the screenshot are converted into drone attitude information, so that the route can be better generated and the accuracy of route generation can be improved.

[0224] Optionally, the determination module is configured to:

[0225] Calculates the camera zoom information corresponding to the current screenshot based on the screen width and a preset algorithm.

[0226] In the present invention, the camera zoom information corresponding to the current screenshot is calculated based on the screen width and the preset algorithm, and the waypoint shooting information corresponding to the current screenshot is generated based on the camera posture information, the drone posture information and the camera zoom information, so that the route can be better generated and the accuracy of route generation can be improved.

[0227] Regarding the device in this embodiment, the manner in which each module performs operations has been described in detail in the embodiment of the method and will not be elaborated on here.

[0228] It should be noted that each implementable method in this embodiment can be implemented separately, or can be combined in any combination without conflict to implement the present disclosure without limitation.

[0229] The embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the control method for taking photos by a drone as described above can be implemented.

[0230] The embodiments of the present disclosure further provide a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the control method for drone photography as described above.

[0231] As shown in Figure 9, an embodiment of the present disclosure also provides an electronic device 900, which includes: a memory 910, a processor 920, and a computer program stored in the memory 910 and executable on the processor 920, wherein the processor 920 reads the program from the memory 910 through a bus 990 and executes the program to implement the control method for drone photography as described above.

[0232] The processor 920 can process digital signals and can include various computing architectures, such as a complex instruction set computer architecture, a reduced instruction set computer architecture, or an architecture that implements a combination of multiple instruction sets. The processor 920 can be a microprocessor.

[0233] The memory 910 may be configured to store instructions executed by the processor 920 or data related to the execution of instructions. These instructions and / or data may include code configured to implement some or all of the functions of one or more modules described in the embodiments of the present disclosure. The processor 920 of the embodiments of the present disclosure may be configured to execute the instructions in the memory 910 to implement the methods shown above. The memory 910 may include dynamic random access memory, static random access memory, flash memory, optical memory, or other memory known to those skilled in the art.

[0234] The above are merely embodiments of the present disclosure and are not intended to limit the scope of protection of the present disclosure. For those skilled in the art, the present disclosure may be subject to various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the scope of protection of the present disclosure. It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0235] The above are merely embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

[0236] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element. Industrial Applicability

[0237] The present disclosure provides a control method, device, electronic device and storage medium for drone photography. The method obtains a current screenshot corresponding to a screenshot instruction in a stored scene model in advance, generates waypoint shooting information based on the screenshot, generates route information based on the shooting position information of each safe waypoint when the waypoint is a safe waypoint, and the drone takes photos based on the waypoint shooting information in the route information. Therefore, the user can preview the photo in a three-dimensional model before taking the photo, and then automatically generate a photo point based on the perspective selected in the preview. The drone is controlled to fly directly to the photo point to take the photo. By previewing the screenshot under the scene model, the user can preview in advance the image that may be captured after the drone-mounted camera arrives at the actual photo point. The drone uses the waypoint shooting information corresponding to the screenshot to obtain the captured image corresponding to the screenshot, thereby improving the drone's photography efficiency and user experience.

Claims

1. A control method for an unmanned aerial vehicle to take pictures, characterized in that, The method includes: Under a pre-stored scene model, in response to a screenshot instruction, obtain a current screenshot corresponding to the screenshot instruction; According to the current screenshot, determine waypoint shooting information corresponding to the current screenshot, where the waypoint shooting information at least includes shooting position information and shooting parameter information; According to the shooting position information, generate route information corresponding to the waypoint shooting information; Send the route information to the unmanned aerial vehicle (UAV) so that the UAV reaches the waypoint corresponding to the shooting position information and takes a photo according to the shooting parameter information in the waypoint shooting information.

2. The control method for drone photography according to claim 1, wherein: The shooting parameter information includes shooting attitude information and camera zoom information, where the shooting attitude information includes gimbal attitude or UAV attitude.

3. The control method for taking pictures by the drone according to claim 1 or 2, characterized in that: The pre-stored scene model is a three-dimensional model.

4. The control method for drone photography according to any one of claims 1-3, characterized in that, The determining, according to the current screenshot, waypoint shooting information corresponding to the current screenshot includes: When the current screenshot meets the user's requirements, determine, according to the current screenshot, waypoint shooting information corresponding to the current screenshot.

5. The control method for drone photography according to any one of claims 1-4, characterized in that, After obtaining the current screenshot corresponding to the screenshot instruction in response to the screenshot instruction, the method further includes: When the current screenshot does not meet the user's requirements, obtain a perspective modification instruction; According to the perspective modification instruction, re-obtain a control screenshot corresponding to the perspective modification instruction, where the control screenshot includes updated waypoint shooting information.

6. The control method for drone photography according to any one of claims 1-5, characterized in that The generating, according to the shooting position information, route information corresponding to the waypoint shooting information includes: Perform point collision detection on each piece of the shooting position information; When each piece of the shooting position information is safe waypoint shooting information, generate route information corresponding to the waypoint shooting information according to the shooting position information.

7. The control method for taking pictures by a drone according to claim 6, wherein, The performing point collision detection on each piece of the shooting position information includes: Obtain the shooting position information corresponding to each waypoint shooting information, where the shooting position information at least includes longitude, latitude, and altitude information; Taking the waypoint corresponding to the shooting position information as the detection center, construct a first collision detection model corresponding to the detection center according to a first preset distance; According to the first collision detection model and a first virtual detection line, perform collision detection on each waypoint, where the first virtual detection line is a ray formed by a vertex in the first collision detection model and other vertices.

8. The control method for taking pictures by a drone according to claim 7, characterized in that, The generating, when each piece of the shooting position information is safe waypoint shooting information, route information corresponding to the waypoint shooting information according to the shooting position information includes: When there is no collision among the first collision detection model, the first virtual detection line, and the scene model, determine the waypoint shooting information as safe waypoint shooting information; According to the safe waypoint and the device waypoint, determine initial route information corresponding to the safe waypoint; Perform collision detection on the initial route information; When the initial route information is safe route information, determine the initial route information as the route information corresponding to the waypoint shooting information.

9. The control method for drone photography according to any one of claims 1-8, characterized in that, Determining waypoint shooting information corresponding to the current screenshot includes: Obtaining the camera attitude information carried by the current screenshot; Converting the camera attitude information carried by the current screenshot into drone attitude information or gimbal attitude; Calculating camera zoom information corresponding to the current screenshot according to the screen width; Generating shooting position information corresponding to the current screenshot according to the camera attitude information, the drone attitude information, and the camera zoom information.

10. The control method for drone photography according to claim 9, wherein The calculating camera zoom information corresponding to the current screenshot according to the screen width includes: Calculating camera zoom information corresponding to the current screenshot according to the screen width and a preset algorithm.

11. A control device for an unmanned aerial vehicle to take pictures, characterized in that, The device includes: An obtaining module configured to obtain a current screenshot corresponding to a screenshot instruction under a pre-stored scene model in response to the screenshot instruction; A determining module configured to determine waypoint shooting information corresponding to the current screenshot, where the waypoint shooting information at least includes shooting position information and shooting parameter information; A generating module configured to generate route information corresponding to the waypoint shooting information according to the shooting position information; A photographing module configured to send the route information to a drone so that the drone reaches a waypoint corresponding to the shooting position information and takes a photo according to the shooting parameter information in the waypoint shooting information.

12. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the program, the control method for drone photographing according to any one of claims 1-10 can be implemented.

13. A computer-readable storage medium, characterized in that, A computer program is stored on a computer-readable storage medium, characterized in that when the program is executed by a processor, the control method for drone photographing according to any one of claims 1-10 can be implemented.

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