U.S. patent application number 17/456753 was filed with the patent office on 2022-03-17 for method for controlling aircraft, device, and aircraft.
The applicant listed for this patent is SZ DJI TECHNOLOGY CO., LTD.. Invention is credited to Xuyang FENG, Cong ZHAO, You ZHOU.
Application Number | 20220083078 17/456753 |
Document ID | / |
Family ID | |
Filed Date | 2022-03-17 |
United States Patent
Application |
20220083078 |
Kind Code |
A1 |
ZHOU; You ; et al. |
March 17, 2022 |
METHOD FOR CONTROLLING AIRCRAFT, DEVICE, AND AIRCRAFT
Abstract
A method for controlling an aircraft includes determining
photographing information related to a photographing object,
controlling the aircraft to fly to a photographing location based
on the photographing information, controlling, according to a
predetermined image composition rule, a photographing device
carried by the aircraft to adjust imaging of the photographing
object at the photographing location to satisfy the predetermined
image composition rule, and capturing an image of the photographing
object in response to the imaging of the photographing object
satisfying the predetermined image composition rule. The
photographing information indicates an occupying scope of the
photographing object in an image-to-be-captured.
Inventors: |
ZHOU; You; (Shenzhen,
CN) ; FENG; Xuyang; (Shenzhen, CN) ; ZHAO;
Cong; (Shenzhen, CN) |
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Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI TECHNOLOGY CO., LTD. |
Shenzhen |
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CN |
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Appl. No.: |
17/456753 |
Filed: |
November 29, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16426182 |
May 30, 2019 |
11188101 |
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17456753 |
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PCT/CN2016/107997 |
Nov 30, 2016 |
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16426182 |
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International
Class: |
G05D 1/10 20060101
G05D001/10; B64C 39/02 20060101 B64C039/02; B64D 47/08 20060101
B64D047/08; G05D 1/00 20060101 G05D001/00; G08G 5/00 20060101
G08G005/00; H04N 5/232 20060101 H04N005/232; H04N 5/28 20060101
H04N005/28 |
Claims
1. A method for controlling an aircraft, comprising: determining
photographing information related to a photographing object, the
photographing information indicating an occupying scope of the
photographing object in an image-to-be-captured; controlling the
aircraft to fly to a photographing location based on the
photographing information; controlling, according to a
predetermined image composition rule, a photographing device
carried by the aircraft to adjust imaging of the photographing
object at the photographing location to satisfy the predetermined
image composition rule; and capturing an image of the photographing
object in response to the imaging of the photographing object
satisfying the predetermined image composition rule.
2. The method of claim 1, further comprising: obtaining an image of
the photographing object; and determining the photographing object
based on the image.
3. The method of claim 1, further comprising: determining a flight
path of the aircraft when the imaging device captures the image of
the photographing object, wherein controlling the imaging device
carried by the aircraft to capture the image of the photographing
object comprises controlling the imaging device to capture the
image of the photographing object when the aircraft flies along the
flight path.
4. The method of claim 3, wherein determining the flight path of
the aircraft when the imaging device captures the image of the
photographing object comprises determining the flight path of the
aircraft based an input received from an external device.
5. The method of claim 3, wherein determining the flight path of
the aircraft when the imaging device captures the image of the
photographing object comprises determining the flight path of the
aircraft based on a user action to be identified by the
aircraft.
6. The method of claim 3, wherein determining the flight path of
the aircraft when the imaging device captures the image of the
photographing object comprises: detecting a motion of the aircraft
through a motion sensor of the aircraft; obtaining first motion
data output from the motion sensor; and determining the flight path
based on the first motion data.
7. The method of claim 1, wherein controlling, according to the
predetermined image composition rule, the photographing device
carried by the aircraft to adjust imaging of the photographing
object at the photographing location to satisfy the predetermined
image composition rule comprises: controlling the composition of
the photographing device by adjusting at least one of a flight
attitude of the aircraft, a motion of the gimbal of the
photographing device, or a focal length of the photographing
device, such that the photographing object is in a position
satisfying the predetermined composition rule.
8. The method of claim 1, wherein the photographing information
comprises: at least one of a large scene, a medium scene, or a
small scene; or at least one of a whole body image, a
greater-than-half-body image, a half body image, a chest image, a
head-and-shoulder image, or a big-head image.
9. The method of claim 1, wherein controlling the aircraft to fly
to the photographing location based on the photographing
information comprises: searching for and identifying the
photographing object through the imaging device of the aircraft; in
response to searching for and identifying the photographing object,
detecting whether an occupying scope of the photographing object in
an image to be captured is consistent with the occupying scope
indicated by the photographing information; and determining the
photographing location to be a current location of the aircraft
when the occupying scope of the photographing object in the image
to be captured is consistent with the occupying scope indicated by
the photographing information.
10. The method of claim 1, wherein when the photographing object
includes multiple main bodies, controlling the aircraft to fly to
the photographing location based on the photographing information
comprises determining the photographing location of the aircraft
based on a number of the main bodies and the photographing
information.
11. A device, comprising: a memory configured to store
instructions; and a processor configured to execute the
instructions to: determine photographing information related to a
photographing object, the photographing information indicating an
occupying scope of the photographing object in an
image-to-be-captured; control the aircraft to fly to a
photographing location based on the photographing information;
control, according to a predetermined image composition rule, a
photographing device carried by the aircraft to adjust imaging of
the photographing object at the photographing location to satisfy
the predetermined image composition rule; and capture an image of
the photographing object in response to the imaging of the
photographing object satisfying the predetermined image composition
rule.
12. The device of claim 11, wherein the processor is further
configured to: obtain an image of the photographing object; and
determine the photographing object based on the image.
13. The device of claim 11, wherein the processor is further
configured to: determine a flight path of the aircraft when the
imaging device captures the image of the photographing object,
wherein to control the imaging device carried by the aircraft to
capture the image of the photographing object, the processor is
further configured to control the imaging device to capture the
image of the photographing object when the aircraft flies along the
flight path.
14. The device of claim 13, wherein to determine the flight path of
the aircraft when the imaging device captures the image of the
photographing object, the processor is further configured to
determine the flight path of the aircraft based an input received
from an external device.
15. The device of claim 13, wherein to determine the flight path of
the aircraft when the imaging device captures the image of the
photographing object, the processor is further configured to
determine the flight path of the aircraft based on a user action to
be identified by the aircraft.
16. The device of claim 13, wherein to determine the flight path of
the aircraft when the imaging device captures the image of the
photographing object, the processor is further configured to:
detect a motion of the aircraft through a motion sensor of the
aircraft; obtain first motion data output from the motion sensor;
and determine the flight path based on the first motion data.
17. The device of claim 11, wherein to control, according to the
predetermined image composition rule, the photographing device
carried by the aircraft to adjust imaging of the photographing
object at the photographing location to satisfy the predetermined
image composition rule the processor is further configured to:
control the composition of the photographing device by adjusting at
least one of a flight attitude of the aircraft, a motion of the
gimbal of the photographing device, or a focal length of the
photographing device, such that the photographing object is in a
position satisfying the predetermined composition rule.
18. The device of claim 11, wherein the photographing information
comprises: at least one of a large scene, a medium scene, or a
small scene; or at least one of a whole body image, a
greater-than-half-body image, a half body image, a chest image, a
head-and-shoulder image, or a big-head image.
19. The device of claim 11, wherein to control the aircraft to fly
to the photographing location based on the photographing
information, the processor is further configured to: search for and
identify the photographing object through the imaging device of the
aircraft; in response to searching for and identifying the
photographing object, detect whether an occupying scope of the
photographing object in an image to be captured is consistent with
the occupying scope indicated by the photographing information; and
determine the photographing location to be a current location of
the aircraft when the occupying scope of the photographing object
in the image to be captured is consistent with the occupying scope
indicated by the photographing information.
20. The device of claim 11, wherein when the photographing object
includes multiple main bodies, to control the aircraft to fly to
the photographing location based on the photographing information,
the processor is further configured to determine the photographing
location of the aircraft based on a number of the main bodies and
the photographing information.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application is a continuation of U.S. application Ser.
No. 16/426,182, filed on May 30, 2019, which is a continuation of
International Application No. PCT/CN2016/107997, filed on Nov. 30,
2016, the entire contents of all of which are incorporated herein
by reference.
COPYRIGHT NOTICE
[0002] A portion of the disclosure of this patent document contains
material which is subject to copyright protection. The copyright
owner has no objection to the facsimile reproduction by anyone of
the patent document or the patent disclosure, as it appears in the
Patent and Trademark Office patent file or records, but otherwise
reserves all copyright rights whatsoever.
TECHNICAL FIELD
[0003] The present disclosure relates to the technology field of
controls and, more particularly, to a method for controlling an
aircraft, a device, and an aircraft.
BACKGROUND
[0004] As the advance of flight technologies, aircrafts, such as
unmanned aerial aircrafts ("UAVs"), also referred to as drones,
have been deployed from military applications to civil
applications, such as plant protection, aerial photography, forest
fire surveillance, etc. It appears to be a future trend for UAVs to
be used in more and more civil applications.
[0005] Currently, when using an imaging device carried by the UAV
to perform aerial photography, a user has to operate a remote
terminal or remote control device to control the attitude of the
aircraft, the flight distance, and the rotation of a gimbal carried
by the UAV to achieve the adjustments and controls needed for image
capturing. The operations are cumbersome, and the operations are
not user-friendly. In addition, because the time spent by the user
operations takes up much of the flight time, the actual flight time
is reduced. The lack of easy-to-use interactive controls and
photographing control system may reduce the utility of the
UAV-based aerial photography in certain applications.
SUMMARY
[0006] In accordance with an aspect of the present disclosure,
there is provided a method for controlling an aircraft. The method
includes determining photographing information related to a
photographing object, the photographing information indicating an
occupying scope of the photographing object in an image to be
captured. The method also includes controlling the aircraft to fly
to a photographing location based on the photographing
information.
[0007] In accordance with another aspect of the present disclosure,
there is also provided a device including a memory configured to
store instructions. The device also include a processor configured
to execute the instructions to determine photographing information
related to a photographing object, the photographing information
indicating an occupying scope of the photographing object in an
image to be captured. The processor is also configured to control
an aircraft to fly to a photographing location based on the
photographing information.
[0008] In various embodiments of the present disclosure, the
aircraft may be controlled to fly to a suitable photographing
location based on an occupying scope in which a photographing
object is expected by a user to be located in an image to be
captured. As a result, the manual operations of the aircraft during
the photographing process can be reduced, which in turn reduces the
amount of time spent in manual operations in the total flight time,
thereby increasing the continuous flight capability of the
aircraft.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] To better describe the technical solutions of the various
embodiments of the present disclosure, the accompanying drawings
showing the various embodiments will be briefly described. As a
person of ordinary skill in the art would appreciate, the drawings
show only some embodiments of the present disclosure. Without
departing from the scope of the present disclosure, those having
ordinary skills in the art could derive other embodiments and
drawings based on the disclosed drawings without inventive
efforts.
[0010] FIG. 1 is a schematic diagram of an unmanned flight system,
according to an example embodiment.
[0011] FIG. 2 is a flow chart illustrating a method for controlling
an aircraft, according to an example embodiment.
[0012] FIG. 3 is a flow chart illustrating a method for controlling
an aircraft, according to another example embodiment.
[0013] FIG. 4 is a flow chart illustrating a method for controlling
an aircraft, according to another example embodiment.
[0014] FIG. 5 is a flow chart illustrating a method for controlling
an aircraft, according to another example embodiment.
[0015] FIG. 6 is a schematic diagram of a control device for
controlling the aircraft, according to an example embodiment.
[0016] FIG. 7 is a schematic diagram of a control device for
controlling the aircraft, according to another example
embodiment.
[0017] FIG. 8 is a schematic diagram of an aircraft, according to
an example embodiment.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0018] Technical solutions of the present disclosure will be
described in detail with reference to the drawings, in which the
same numbers refer to the same or similar elements unless otherwise
specified. It will be appreciated that the described embodiments
represent some, rather than all, of the embodiments of the present
disclosure. Other embodiments conceived or derived by those having
ordinary skills in the art based on the described embodiments
without inventive efforts should fall within the scope of the
present disclosure.
[0019] As used herein, when a first component (or unit, element,
member, part, piece) is referred to as "coupled," "mounted,"
"fixed," "secured" to or with a second component, it is intended
that the first component may be directly coupled, mounted, fixed,
or secured to or with the second component, or may be indirectly
coupled, mounted, or fixed to or with the second component via
another intermediate component. The terms "coupled," "mounted,"
"fixed," and "secured" do not necessarily imply that a first
component is permanently coupled with a second component. The first
component may be detachably coupled with the second component when
these terms are used. When a first component is referred to as
"connected" to or with a second component, it is intended that the
first component may be directly connected to or with the second
component or may be indirectly connected to or with the second
component via an intermediate component. The connection may include
mechanical and/or electrical connections. The connection may be
permanent or detachable. The electrical connection may be wired or
wireless.
[0020] When a first component is referred to as "disposed,"
"located," or "provided" on a second component, the first component
may be directly disposed, located, or provided on the second
component or may be indirectly disposed, located, or provided on
the second component via an intermediate component. The term "on"
does not necessarily mean that the first component is located
higher than the second component. In some situations, the first
component may be located higher than the second component. In some
situations, the first component may be disposed, located, or
provided on the second component, and located lower than the second
component. In addition, when the first item is disposed, located,
or provided "on" the second component, the term "on" does not
necessarily imply that the first component is fixed to the second
component. The connection between the first component and the
second component may be any suitable form, such as secured
connection (fixed connection) or movable contact.
[0021] When a first component is referred to as "disposed,"
"located," or "provided" in a second component, the first component
may be partially or entirely disposed, located, or provided in,
inside, or within the second component. When a first component is
coupled, secured, fixed, or mounted "to" a second component, the
first component may be is coupled, secured, fixed, or mounted to
the second component from any suitable directions, such as from
above the second component, from below the second component, from
the left side of the second component, or from the right side of
the second component.
[0022] The terms "perpendicular," "horizontal," "left," "right,"
"up," "upward," "upwardly," "down," "downward," "downwardly," and
similar expressions used herein are merely intended for
description.
[0023] Unless otherwise defined, all the technical and scientific
terms used herein have the same or similar meanings as generally
understood by one of ordinary skill in the art. As described
herein, the terms used in the specification of the present
disclosure are intended to describe example embodiments, instead of
limiting the present disclosure.
[0024] In addition, the singular forms "a," "an," and "the" are
intended to include the plural forms as well, unless the context
indicates otherwise. And, the terms "comprise," "comprising,"
"include," and the like specify the presence of stated features,
steps, operations, elements, and/or components but do not preclude
the presence or addition of one or more other features, steps,
operations, elements, components, and/or groups. The term "and/or"
used herein includes any suitable combination of one or more
related items listed. For example, A and/or B can mean A only, A
and B, and B only. The symbol "/" means "or" between the related
items separated by the symbol. The phrase "at least one of" A, B,
or C encompasses all combinations of A, B, and C, such as A only, B
only, C only, A and B, B and C, A and C, and A, B, and C.
[0025] Further, when an embodiment illustrated in a drawing shows a
single element, it is understood that the embodiment may include a
plurality of such elements. Likewise, when an embodiment
illustrated in a drawing shows a plurality of such elements, it is
understood that the embodiment may include only one such element.
The number of elements illustrated in the drawing is for
illustration purposes only, and should not be construed as limiting
the scope of the embodiment. Moreover, unless otherwise noted, the
embodiments shown in the drawings are not mutually exclusive, and
they may be combined in any suitable manner. For example, elements
shown in one embodiment but not another embodiment may nevertheless
be included in the other embodiment.
[0026] The following descriptions explain example embodiments of
the present disclosure, with reference to the accompanying
drawings. Unless otherwise noted as having an obvious conflict, the
embodiments or features included in various embodiments may be
combined.
[0027] The following embodiments do not limit the sequence of
execution of the steps included in the disclosed methods. The
sequence of the steps may be any suitable sequence, and certain
steps may be repeated.
[0028] The present disclosure provides a method for controlling an
aircraft, a device or an apparatus. The following descriptions use
UAV as an example of the aircraft. A person having ordinary skill
in the art can appreciate that the aircraft is not limited to the
UAV. In addition, the UAV can be any type of UAV, such as a small-
or micro-sized UAV. In some embodiments, the UAV may be a
rotorcraft. For example, the UAV may be a rotorcraft that is
air-propelled by one or more propulsion devices or assemblies. The
UAV may be any other type of UAV, or any other movable device.
[0029] FIG. 1 is a schematic diagram of the structure of an
unmanned flight system 100. In the following descriptions, the
rotorcraft is used as an example of the UAV.
[0030] The unmanned flight system 100 may include a UAV 110, a
gimbal 120, a display device 130, and an operating device 140. The
UAV 110 may include a propulsion system 150, a flight control
system 160, and an aircraft frame 170. The UAV 110 may wirelessly
communicate with the operating device 140 and the display device
130.
[0031] The aircraft frame 170 may include an aircraft body and a
landing stand (or landing gear). The aircraft body may include a
central frame and one or more arms connected with the central
frame. The one or more arms may radially extend from the central
frame. The landing stand may be connected with the aircraft body to
support the UAV 110 during landing.
[0032] The propulsion system 150 may include an electrical speed
control ("ESC") 151, one or more propellers 153, and one or more
motors 152 corresponding to the one or more propellers 153. Each
motor 152 may be mechanically and/or electrically coupled between
the ESC 151 and the propeller 153. In some embodiments, the motor
152 and the propeller 153 may be mounted on a corresponding arm.
The ESC 151 may be configured to receive a driving signal generated
by the flight control system 160, and to provide a current for
driving the motor 152 based on the driving signal, thereby
controlling the rotation speed of the motor 152. The motor 152 may
be configured to drive the propeller 153 to rotate, thereby
providing a propulsion force for the flight of the UAV 110. The
propulsion force enables the UAV 110 to move in one or more degrees
of freedom. In some embodiments, the UAV 110 may rotate around one
or more rotation axes. For example, the rotation axes may include
at least one of a roll axis, a yaw axis, or a pitch axis. In some
embodiments, the motor 152 may include a direct current motor or an
alternating current motor. In some embodiments, the motor 152 may
be a brushless motor or a brushed motor.
[0033] The flight control system 160 may include a flight control
device 161 and a sensor system 162. The sensor system 162 may be
configured to measure, obtain, or detect attitude information of
the UAV 110, e.g., the spatial location information of the UAV 110
and the status information of the UAV 110, such as at least one of
a three-dimensional location or position, a three-dimensional
angle, a three-dimensional velocity, a three-dimensional
acceleration, or a three-dimensional angular velocity. The sensor
system 162 may include at least one of a gyroscope, a digital
compass, an inertial measurement unit ("IMU"), a vision sensor, a
global navigation satellite system, or a barometer. For example,
the global navigation satellite system may include a global
positioning system ("GPS"). In some embodiments, the flight control
device 161 may be configured to control the flight of the UAV 110.
For example, the flight control device 161 may control the flight
of the UAV 110 based on the attitude information obtained by the
sensor system 162. In some embodiments, the flight control device
161 may control the UAV 110 based on pre-programmed computer codes
or instructions. In some embodiments, the flight control device 161
may control the UAV 110 based on one or more commands or
instructions received from the operating device 140.
[0034] The gimbal 120 may include an ESC 121 and a motor 122. The
gimbal 120 may be configured to carry an imaging device 123. The
flight control device 161 may control the motion of the gimbal 120
through the ESC 121 and the motor 122. In some embodiments, the
gimbal 120 may include a controller configured to control the
motion of the gimbal 120 through the ESC 121 and the motor 122. In
some embodiments, the gimbal 120 may be independent of the UAV 110,
or may be part of the UAV 110. In some embodiments, the motor 122
may be a direct current motor or an alternating current motor. The
motor 122 may be a brushless motor or a brushed motor. In some
embodiments, the gimbal 120 may be disposed at a top portion of the
UAV 110 or at a lower portion of the UAV 110.
[0035] The imaging device 123 may include any device for capturing
images, such as at least one of a camera or a camcorder. The
imaging device 123 may communicate with the flight control device
161 and capture images under the control of the flight control
device 161.
[0036] The display device 130 may be located at a ground terminal
of the unmanned flight system 100, and may be configured to
wirelessly communicate with the UAV 110. The display device 130 may
display the attitude information of the UAV 110. In some
embodiments, the display device 130 may be configured to display
images captured by the imaging device 123. The display device 130
may be an independent device, or may be part of the operating
device 140.
[0037] The operating device 140 may be located at the ground
terminal of the unmanned flight system 100, and may be configured
to wirelessly communicate with the UAV 110 to control the UAV 110
remotely. The operating device 140 may include a remote control
device or a user terminal installed with an application (or "App")
for controlling the UAV 110, such as a smart phone, a tablet, etc.
In some embodiments, the operating device 140 may receive an input
from a user through an input device, such as a wheel, a button, a
key, or a joystick, to control the UAV 110. In some embodiments,
the operating device 140 may receive an input from the user through
a user interface ("UI") provided at the user terminal to control
the UAV 110.
[0038] The names of the parts of the unmanned flight system are
only intended for identifying various parts, and are not intended
to limit the scope of the present disclosure.
[0039] FIG. 2 is a flow chart illustrating a control method for
controlling an aircraft. The control method of FIG. 2 may be
executed by a control device or apparatus, such as the flight
control device 161 of FIG. 1. The present disclosure does not limit
the entity for executing the control method. For example, the
control method of FIG. 2 may be executed by other control devices
or apparatuses carried by the UAV 110. For convenience and
illustration purposes, in the following discussions, the flight
control device 161 may be used as an example entity for executing
the disclosed methods. The control method of FIG. 2 may include the
following steps.
[0040] Step 210: determining photographing information relating to
a photographing object, the photographing information indicating an
occupying scope of the photographing object in an image to be
captured. In some embodiments, the photographing information may
include a proportion indicating how much (e.g., percentage) an
image of the photographing object occupies the image to be
captured, or a size of the occupying scope that the image of the
photographing object occupies the image to be captured.
[0041] In some embodiments, the photographing information may
include a scene selected by a user. The scene may be categorized in
three types: large scene, medium scene, and small scene, based on
the proportions or occupying scopes that the image of the
photographing object occupies the image to be captured. Each type
of scene can be further divided into additional types. The larger
the scene, the smaller the proportion or occupying scope that the
image of the photographing object occupies the image to be
captured, and vice versa. In some embodiments, human portraits can
be categorized into different scenes based on a proportion or
occupying scope that an area of the photographing object occupies
the image to be captured. The different scenes may include a whole
body image, a greater-than-half-body image, a half body image, a
chest image, a head-and-shoulder image, or a big-head image. In
some embodiments, the photographing information may include at
least one of the large scene, medium scene, or small scene. In some
embodiments, the photographing information may include at least one
of a whole body image, a greater-than-half-body image, a half body
image, a chest image, a head-and-shoulder image, or a big-head
image.
[0042] In some embodiments, a user may pre-select or pre-set the
relationship between different scenes and different proportions or
occupying scopes that the photographing object occupies the image
to be captured. When a user selects a certain scene, the
corresponding proportion or occupying scope that the photographing
object occupies the image to be captured may be automatically
determined. The present disclosure does not limit the method of
determining the photographing information. For example, a user may
input the proportion or occupying scope that the photographing
object occupies the image to be captured from a user interface. In
some embodiments, the user may draw an area on a touch screen to
specify the occupying scope that the photographing object occupies
the image to be captured.
[0043] The photographing object may also be referred to as a
photographing target or a photographing body. The photographing
object may be the user who operates the aircraft, or other humans
or objects.
[0044] The above categorization of scenes is only for illustration
purposes. In practice, different scene categories may be defined
based on actual implementations.
[0045] Step 220: controlling the aircraft to fly to a photographing
location based on the photographing information.
[0046] In some embodiments, there may be a corresponding
relationship between the proportion or occupying cope that the
photographing object occupies an image to be captured and a
distance between the imaging device and the photographing object
(hereinafter referred to as photographing distance). For example,
the relationship between the proportion or occupying scope that the
photographing object occupies the image to be captured and the
photographing distance may be an inverse proportional relationship.
That is, the larger the proportion or occupying scope that the
photographing object occupies the image to be captured, the shorter
the photographing distance (i.e., the closer the imaging device is
disposed relative to the photographing object), and vice versa. For
example, the flight control device of the aircraft may estimate a
photographing location based on the proportion or occupying scope
that the photographing object occupies the image to be captured,
and may control the aircraft to fly to the photographing location.
In some embodiments, the flight control device may dynamically
adjust a target location of the aircraft, such that the proportion
or occupying scope that the photographing object occupies the image
to be captured becomes consistent with an occupying scope indicated
by the photographing information, thereby controlling the aircraft
to fly to the suitable photographing location.
[0047] In some embodiments, the flight control device may control
the aircraft to fly to the suitable photographing location based on
a user expected scope that the photographing object occupies the
image to be captured, which may reduce the manual interference of
the aircraft during the photographing process, thereby enhancing
the user experience. In addition, by reducing the time spent in the
manual operations in the overall flight time, the continuous flight
capability of the aircraft may be increased.
[0048] Based on the present disclosure, the photographing
information for the photographing object may be determined using
the following methods:
[0049] 1) determining the photographing information based on an
input received from external devices. For example, a user interface
may include at least one of a button, a text input window, a
selection window or other suitable user interface elements for
inputting the photographing information. A user may select or input
the proportion or occupying scope that the photographing object
occupies the image to be captured through the user interface of the
external device (e.g., user terminal or remote control device). In
some embodiments, the flight control device may receive the
photographing information from an external device through a
communication interface. Thus, the user may input the photographing
information, such that the imaging device may capture an image
having a size that matches the user's expectation.
[0050] 2) detecting at least one of a velocity, an acceleration,
and a throw-flying trajectory when the aircraft is thrown to fly,
and selecting the photographing information from various types of
pre-set or predetermined photographing information based on at
least one of the velocity, acceleration, and throw-flying
trajectory. Determining the photographing information by detecting
the velocity and acceleration when the aircraft is thrown to fly
means the photographing information may be determined based on the
force the user uses when throwing the aircraft to fly. For example,
the larger the force, the larger the velocity and/or the
acceleration when the aircraft is thrown to fly. This indicates
that the user expects the aircraft to fly farther. In other words,
the user expects the scene to be larger when capturing the images,
or the user expects the proportion or occupying scope that the
photographing object occupies the image to be captured to be
smaller, and vice versa. In some embodiments, the larger the angle
between the throw-flying trajectory and a horizontal plane, the
farther the user expects the aircraft to fly, or the larger the
user expects the scene of the images to become, and vice versa. In
the disclosed embodiments, because the photographing information
may be determined based on the status of the throw-flying by the
user, there is no need to manually set the photographing
information through an external device. As a result, user
experience can be enhanced, and the time spent in manual operations
can be further reduced in the overall flight time, thereby
increasing the continuous flight capability of the aircraft.
[0051] In some embodiments, the definition of the photographing
information and the methods of determining the photographing
information are not limited to the above-described. Any other
methods that can distinguish the photographing information can be
used.
[0052] In some embodiments, the control method of FIG. 2 may also
include: obtaining an image of the photographing object, and
determining the photographing object based on the image.
[0053] In some embodiments, the imaging device may be controlled to
obtain a characteristic image of the photographing object. For
example, when the photographing object is an animal or a human, the
characteristic image may be a facial characteristic image. The
characteristic image may be used for searching for, identifying,
and tracking the photographing object. For example, an image
currently obtained by the imaging device may be compared with the
characteristic image. If the two images match, then the imaging
device may be controlled to search for, identify, and track the
photographing object.
[0054] In the present disclosure, the image of the photographing
object may be obtained using one of the following methods:
[0055] 1) prior to the takeoff of the aircraft, controlling the
imaging device to capture an image of the photographing object. For
example, prior to the takeoff of the aircraft, the user may point
the imaging device at the photographing object and capture a
characteristic image of the photographing object.
[0056] 2) after the aircraft takes off, controlling the imaging
device to capture an image of the photographing object. For
example, a user may control the aircraft to turn an aircraft head
of the aircraft such that the imaging device points to the
photographing object to capture a characteristic image of the
photographing object.
[0057] 3) obtaining the image of the photographing object by
receiving the image of the photographing object from an external
device. For example, a user may send a characteristic image of the
photographing object that has been saved on a user terminal to the
flight control device through a communication interface between the
user terminal and the flight control device.
[0058] In some embodiments, the control method of FIG. 2 may
further include: determining a flight path of the aircraft when
photographing the photographing object, and controlling the imaging
device to capture images of the photographing object when the
aircraft flies along the flight path.
[0059] In some embodiments, the user may throw the aircraft to fly.
The aircraft may identify the action of throwing of the user and
may select a suitable flight path based on the identified action.
In the present disclosure, a user may use simple actions to direct
the aircraft to select a flight path that the user expects. As a
result, user experience is enhanced. In addition, the time spent in
manual operations is reduced in the overall flight time, thereby
increasing the continuous flight capability of the aircraft.
[0060] Alternatively or additionally, in some embodiments, the
flight path of the aircraft may be determined based on an input
received from an external device. For example, a user interface may
include at least one of a button, a text window, or a selection
window, or other suitable user interface elements for inputting the
information relating to the flight path. A user may input or select
the flight path.
[0061] Alternatively or additionally, in some embodiments, a motion
of the aircraft may be detected through one or more motion sensors.
First motion data may be obtained from the motion sensors, and the
flight path may be determined based on the first motion data. The
first motion data may include one or more of a location, a
velocity, an angular velocity, or an acceleration, which may change
over time.
[0062] Alternatively or additionally, in some embodiments, the
flight control device may obtain second motion data output by one
or more motion sensors of an external device that detects a motion
of the external device. The flight control device may determine the
flight path based on the second motion data. The second motion data
may include one or more of a location, velocity, angular velocity,
or acceleration of the user terminal, which may change over
time.
[0063] In some embodiments, the external device may be the user
terminal. A user may hold the user terminal in his/her hand and
perform a specific action before the aircraft takes off. The motion
sensor included in the user terminal may detect the motion of the
user terminal and output the motion data to the flight control
device. The flight control device may determine the flight path
based on the motion data. For example, if the action of the user
terminal is a circular motion, the aircraft may determine that the
flight path should be a circular flight.
[0064] The motion sensor may include at least one of a gyroscope, a
digital compass, an IMU, an accelerometer, a global navigation
satellite system, or a vision sensor.
[0065] The motion may include at least one of a circular motion, a
pulling-away motion, a pulling-closer motion, or an S-shaped
motion. The motion may include at least one of a motion in a
vertical plane or a motion in a horizontal plane. For example, the
circular motion may be in a vertical plane, or in a horizontal
plane. The above-described motions are only examples. Other motions
may also be used to determine the flight path.
[0066] When a motion is a circular motion, the control method of
FIG. 2 may also include: prior to takeoff of the aircraft,
detecting the rotation of the gimbal of the aircraft around a pitch
axis; and determining the flight path as one of a spiral ascent or
a spiral descent.
[0067] In some embodiments, prior to determining the flight path of
the aircraft, the control method of FIG. 2 may also include:
determining whether a signal for activating the determination of
the flight path has been received. The signal may be used to
activate the determination process of the flight path of the
aircraft.
[0068] In some embodiments, if no flight path is input in a
predetermined time period, the flight path may be determined as a
tracking flight.
[0069] A tracking flight refers to flying to track movement of a
moving object. For example, the flight control device may control
the aircraft to fly while tracking the moving photographing object.
The tracking may be based on GPS tracking, i.e., using GPS
positioning technology to realize the tracking flight. In some
embodiments, the tracking may be based on vision tracking, i.e.,
using vision sensors and imaging recognition technology to realize
the tracking flight.
[0070] In some embodiments, the flight path may include at least
one of a circular motion, a pulling-away motion, a pulling-closer
motion, or an S-shaped motion.
[0071] In some embodiments, the control method of FIG. 2 may also
include: control the imaging device carried by the aircraft to
capture images of the photographing object after the aircraft has
arrived at the photographing location.
[0072] In some embodiments, the control method of FIG. 2 may also
include: receiving an image composition rule from an external
device; or determining the image composition rule based on
identifying a predetermined action or gesture of the photographing
object.
[0073] In some embodiments, the image composition rule may include
one or more of a location of the photographing object in the image
to be captured, an angle of the face of the photographing object in
the image to be captured, and a degree of integrity of the face of
the photographing object in the image to be captured.
[0074] For example, the image composition rule may include at least
one of a balanced composition, a symmetric composition, a diagonal
composition, a triangular composition, a nine-square composition, a
centripetal composition, a division composition, a front view of
the face of the human in the image to be captured, or a side view
of the face of the human in the image to be captured.
[0075] In some embodiments, controlling the imaging device carried
by the aircraft to capture images of the photographing object may
include: controlling the image composition of the imaging device,
such that imaging of the photographing object in the image to be
captured satisfies the predetermined image composition rule; and
capturing an image of the photographing object when the imaging of
the photographing object in the image to be captured satisfies the
predetermined image composition rule.
[0076] In some embodiments, controlling the image composition of
the imaging device, such that imaging of the photographing object
in the image to be captured satisfies the predetermined image
composition rule may include: controlling the image composition of
the imaging device by adjusting at least one of the flight attitude
of the aircraft, the motion of the gimbal of the imaging device, or
a focal length of the imaging device, such that a location of the
photographing object in the image to be captured satisfies the
predetermined image composition rule.
[0077] During the imaging process, an image of the photographing
object in the currently captured image may be obtained. A location
of the photographing object in the currently captured image may be
determined using image recognition. Then a determination is made as
to whether the location of the photographing object in the
currently captured image satisfies the predetermined image
composition rule. For example, if the user selected the nine-square
image composition rule, the photographing object may be imaged at
the four crossing points of the nine-square grid. In some
embodiments, the nine-square image composition may be further
divided into four modes corresponding to the four crossing points.
A user may select a crossing point onto which the photographing
object may be imaged. In some embodiments, whether a center of the
photographing object is located at a certain crossing point of the
nine-square grid may be determined by image recognition. In some
embodiments, a distance and/or a direction of a center of the
photographing object from a certain crossing point of the
nine-square grid may be determined. The imaging composition may be
adjusted based on these determinations such that the center of the
photographing object may overlap or coincide with a certain
crossing point of the nine-square grid.
[0078] In some embodiments, controlling the imaging device carried
by the aircraft to capture images of the photographing object may
include: controlling the imaging device to adjust the focal length
of the imaging device based on the depth of field principle, and
capturing images of the photographing object based on the adjusted
focal length.
[0079] When capturing images of objects or scenes of different
distances, e.g., when photographing multiple rows of people or an
object of a large size or volume, the focal length may be adjusted
based on the depth of field principle. That is, a suitable focal
point may be set such that the imaging device may capture clear
images of all of the objects or scenes.
[0080] For example, when photographing multiple people, a
photographing distance or photographing location may be determined
based on the number of photographing bodies. For example, the
number of photographing objects may be counted by the user prior to
the takeoff of the aircraft. The more the people, the farther the
aircraft will fly, and vice versa. When the aircraft flies to the
photographing location, the aircraft may adjust the focal length
based on the depth of field principle. For example, as shown in
equations (1), (2), and (3), the front depth of field is shallower
than the rear depth of field, so the front depth of field may need
to focus at the front 1/3 of the length of the entire lens array.
The value 1/3 is an empirical value. The lens of the imaging device
may focus at the front 1/3 of the length of the entire row of
multiple people. For example, when photographing five rows of
people, the focus may be placed on people in the middle of the
second row. This may effectively utilize the front depth of field
and the rear depth of field to obtain a clear image of all five
rows of people.
.DELTA. .times. L = F .times. .sigma. .times. L 2 f 2 + F .times.
.sigma. .times. L equation .times. .times. ( 1 ) .DELTA. .times.
.times. L 2 = - F .times. .sigma. .times. L 2 f 2 - F .times.
.sigma. .times. L equation .times. .times. ( 2 ) .DELTA. .times.
.times. L = 2 .times. f 2 .times. F .times. .sigma. .times. L 2 f 4
- F 2 .times. .sigma. 2 .times. L 2 equation .times. .times. ( 3 )
##EQU00001##
[0081] where .sigma. is a diameter of a permissible circle of
confusion, f is the focal length of the lens, F is the aperture of
the lens, L is the focal distance, .DELTA.L.sub.1 is the front
depth of field, .DELTA.L.sub.2 is the rear depth of field, .DELTA.L
is the depth of field.
[0082] In some embodiments, the control method of FIG. 2 may
include: detecting status information of the environment and/or
gesture information of the photographing object, and adjusting a
photographing angle based on the status information of the
environment and/or the gesture information of the photographing
object.
[0083] The status information of the environment may include, for
example, information indicating backlighting, weather condition,
brightness of sunlight, etc. The gesture information of a human
body may include, for example, information indicating gestures such
as an orientation of the head, standing, sitting, etc. The
photographing angle may include shooting from above, shooting from
side, or shooting from below, etc.
[0084] In some embodiments, when detecting that the current
photographing angle is against the light, the imaging device may
avoid shooting at the current photographing angle. In some
embodiments, when detecting that a side of the photographing object
is facing the imaging device, the imaging device may adjust the
photographing angle such that the imaging device can capture a
front face of the photographing object. The above functions may be
set or selected by a user using a user interface of an external
device (e.g., a user interface of a user terminal) before the
aircraft takes off.
[0085] Because the photographing angle may be adjusted adaptively
based on the status information of the environment and/or the
gesture information of the photographing object, the photographing
process becomes more intelligent. Manual interference during the
photographing process may be reduced, and user experience may be
enhanced. In addition, the time spent in manual operations in the
overall flight time may be reduced, thereby increasing the
continuous flight capability of the aircraft.
[0086] In some embodiments, the control method of FIG. 2 may also
include: automatically starting the aircraft when the aircraft
satisfies a predetermined automatic start condition.
[0087] Automatically starting the aircraft means that when the
automatic start condition is satisfied, the electrical circuit for
starting the aircraft is connected or activated to control the
propulsion device of the aircraft to start operating, thereby
eliminating manual operations of a button or key to start the
aircraft. Because the aircraft may be automatically started based
on the predetermined automatic start condition, it is possible to
relate the start of the aircraft to the pre-takeoff motion status
of the aircraft that is used for setting the flight path or the
photographing information, thereby making the entire photographing
process smoother, and enhancing the user experience. In addition,
the time spent in manual operations in the overall flight time may
be reduced, thereby increasing the continuous flight capability of
the aircraft.
[0088] In the present disclosure, the aircraft may be automatically
started using at least one of the following methods:
[0089] 1) when the aircraft is thrown to fly, detecting third
motion data of the aircraft; and automatically starting the
propulsion device of the aircraft when the third motion data
satisfy a predetermined automatic start condition.
[0090] In some embodiments, the third motion data may include a
distance that the aircraft is thrown out. The third motion data
satisfy the predetermine automatic start condition when the
distance the aircraft is thrown out is greater than or equal to a
first predetermined value. The first predetermined value may be
zero or any other suitable safe distance at which the aircraft does
not cause any harm to the user. Starting the aircraft when the
distance between the aircraft and the user reaches the safe
distance can avoid causing harm to the user.
[0091] Alternatively or additionally, the third motion data may
include a vertical velocity or a velocity of the aircraft. The
third motion data may satisfy the predetermined automatic start
condition when the vertical velocity or the velocity is smaller
than or equal to a second predetermined value. In some embodiments,
the second predetermined value may be zero or any value that is
sufficiently close to zero. Starting the aircraft when the vertical
velocity or the velocity of the aircraft is smaller than or equal
to the second predetermined value may result in a more stable
flight when the aircraft is started.
[0092] 2) before the aircraft is thrown to fly, when the aircraft
satisfies a predetermined idling condition, starting the propulsion
device and controlling the propulsion device to rotate in an idling
state.
[0093] In some embodiments, the aircraft may control the propulsion
device to rotate in the idling state after being unlocked through a
facial recognition. By setting the facial recognition as the
predetermined idling condition, the disclosed method can avoid
accidentally starting the aircraft. In addition, the disclosed
method can relate the automatic start, facial recognition, and
identification of the photographing object, such that the entire
photographing process becomes smoother. As a result, the user
experience is enhanced.
[0094] Alternatively or additionally, in some embodiments, the
disclosed method may include controlling the propulsion device to
rotate in the idling state after the aircraft has been in a
horizontal state for more than a predetermined time period. For
example, a user may place the aircraft in a horizontal state (e.g.,
placing the aircraft horizontally in the user's hand) after setting
the flight path. Based on the attitude information detected by the
sensors of the aircraft, the aircraft may determine that the
aircraft has been in a horizontal state (e.g., an attitude angle
being zero) for more than the predetermined time period, and may
automatically start the aircraft and control the propulsion device
to rotate in the idling state. In some embodiments, the flight
control device may control the aircraft to fly to a photographing
location after the propulsion device has been rotating in the
idling state for more than a predetermined idling time period. By
relating the automatic start with the determination of the flight
path, the entire photographing process becomes smoother. As a
result, the user experience is enhanced.
[0095] Alternatively or additionally, in some embodiments, the
disclosed method may include controlling the propulsion device to
rotate in the idling state after receiving a signal that permits
the rotation in the idling state. For example, for safety, a signal
for permitting the rotation in the idling state may be generated,
or received from an external device for controlling the propulsion
device of the aircraft to rotate in the idling state. By relating
such signals to the automatic start of the aircraft, the safety of
the automatic start of the aircraft may be increased.
[0096] 3) detecting fourth motion data of the aircraft prior to the
takeoff; and automatically starting the propulsion device of the
aircraft when the fourth motion data satisfy the predetermined
automatic start condition.
[0097] In some embodiments, the fourth motion data may indicate a
time period in which an attitude angle of the aircraft has been
within a predetermined range of values. The fourth motion data may
satisfy the predetermined automatic start condition when the time
period is greater than a third predetermined value (e.g., a
predetermined time period).
[0098] For example, a user may place the aircraft in a horizontal
state (e.g., placing the aircraft horizontally in the user's hand)
after setting the flight path. Based on the attitude information
detected by the sensors of the aircraft, the aircraft may determine
that the aircraft has been in a horizontal state (e.g., an attitude
angle being zero) for more than the predetermined time period, and
may automatically start the aircraft.
[0099] In some embodiments, the one or more conditions for
automatic start may be used in combination. For example, the
aircraft may be automatically started when the aircraft is unlocked
by facial recognition and when the fourth motion data satisfy the
predetermined automatic start condition.
[0100] In some embodiments, controlling the aircraft to fly to the
photographing location based on the photographing information may
include: searching for and identifying the photographing object
using the imaging device; after searching for and identifying the
photographing object, detecting whether the occupying scope of the
photographing object in the image to be captured is consistent with
the occupying scope indicated by the photographing information. The
disclosed method may also include, when the occupying scope of the
photographing object in the image to be captured is consistent with
the occupying scope indicated by the photographing information,
determining the photographing location to be the current location
of the aircraft.
[0101] In some embodiments, when the proportion that the
photographing object occupies the current image is greater than the
proportion indicated by the photographing information, the
disclosed method may include adjusting the aircraft to move away
from the photographing object. When the proportion that the
photographing object occupies the current image is smaller than the
proportion indicated by the photographing information, the
disclosed method may include adjusting the aircraft to move closer
to the photographing object. The above adjustments may be performed
according to a fixed step size or varying step sizes. When
determining that the proportion that the photographing object
occupies the current image is consistent with the proportion
indicated by the photographing information, the current location of
the aircraft may be determined as the photographing location.
[0102] Alternatively or additionally, in some embodiments, the
control method of FIG. 2 may include: determining a flight
direction after the takeoff of the aircraft, and controlling the
aircraft to fly to the photographing location based on the flight
direction and the photographing information. For example, when
adjusting the aircraft to move away from or closer to the
photographing object, the aircraft may be adjusted to move away
from or closer to the photographing object along the flight
direction.
[0103] Alternatively or additionally, in some embodiments, the
aircraft may be controlled to fly to the photographing location
based on the photographing information and photographing parameters
of the imaging device. For example, the photographing parameters
may include at least one of a field of view ("FOV") parameter or a
focal length parameter. For the same scene, the larger the focal
length, the larger the step size for adjusting the aircraft to move
away from or closer to the photographing object, and vice versa.
The larger the FOV, the smaller the step size for adjusting the
aircraft to move away from or closer to the photographing object,
and vice versa.
[0104] In some embodiments, searching for and identifying the
photographing object using the imaging device may include: based on
a determination that there is no obstacle in front of the aircraft,
controlling the aircraft head or the gimbal of the aircraft such
that imaging device faces the takeoff location, and searching for
and identifying the photographing object using the imaging
device.
[0105] If there is no obstacle in the flight direction, the
aircraft may be controlled to fly in a direction opposite the
initial flight direction, such that the lens of the imaging device
faces the photographing object to search for and identify the
photographing object. Once the imaging device captures the
photographing object, the imaging device may lock the face of the
photographing object using a tracking algorithm, identify the
photographing object, and search the entire body of the
photographing object using a human detector to determine the main
body of the photographing object.
[0106] In some embodiments, searching for and identifying the
photographing object using the imaging device of the aircraft may
include: based on a determination that there is an obstacle in the
flight direction, controlling the aircraft to avoid the obstacle,
and controlling the aircraft to turn the aircraft head or the
gimbal of the aircraft, such that the imaging device faces the
takeoff location to search for and identify the photographing
object using the imaging device.
[0107] If there is an obstacle in the flight direction, the
disclosed method may include obtaining the location and height of a
throwing-out point using a location sensor, such as a GPS sensor or
a vision sensor. The location and the height of the throwing-out
point may be recorded. The disclosed method may include planning a
route to circumvent the obstacle. If it is not possible to
circumvent the obstacle, the disclosed method may include
attempting to increase the height of the aircraft to avoid the
obstacle. The aircraft head may be maintained in the flight
direction during the flight, thereby ensuring flight safety.
[0108] In some embodiments, controlling the aircraft to fly to the
photographing location based on the photographing information may
include: determining the photographing location of the aircraft
relative to the photographing object based on the photographing
information, and controlling the aircraft to fly to the
photographing location.
[0109] In some embodiments, the control method of FIG. 2 may also
include: determining a predetermined image composition rule that
the photographing object needs to satisfy in the image to be
captured. In some embodiments, controlling the aircraft to fly to
the photographing location based on the photographing information
may include: controlling the aircraft to fly to the photographing
location based on the predetermined image composition rule and the
photographing information.
[0110] Alternatively or additionally, in some embodiments, the
control method of FIG. 2 may also include: determining a flight
direction of the aircraft after the aircraft takes off. Determining
the photographing location of the aircraft relative to the
photographing object based on the photographing information may
include: determining a flight distance after the aircraft takes off
based on the photographing information, and determining the
photographing location based on the flight direction and the flight
distance. For example, the flight distance may be a horizontal
distance between the photographing object and the photographing
location. The flight direction and the flight distance may
determine the height of the photographing location. Accordingly,
the disclosed method may include determining the height of the
photographing location based on the flight direction and flight
distance.
[0111] In some embodiments, the present disclosure does not limit
the methods for determining the flight direction. For example, the
flight direction after the aircraft takes off may be determined
using one or more of the following methods:
[0112] 1) determining the flight direction based on the settings
configured prior to the takeoff of the aircraft. For example, prior
to the takeoff, the flight direction may be set as toward an upper
left direction, an upper right direction, or an upper front
direction, etc.
[0113] 2) determining the flight direction based on the heading
direction of the aircraft head when the aircraft takes off. For
example, if the aircraft is thrown to fly in the upper left
direction or the upper right direction, the flight direction may be
determined as the upper left direction or the upper right
direction, accordingly.
[0114] 3) determining the flight direction based on a location of
the takeoff. For example, if the location of the aircraft at taking
off is relatively low, then the flight direction may point to a
relatively low direction. If the location of the aircraft at taking
off is relatively high, then the flight direction may point to a
relatively high direction.
[0115] 4) determining the flight direction based on the location of
the photographing object. For example, if the photographing object
is located on a moving object (e.g., a moving vehicle), then the
flight direction may point to the movement direction of the
photographing object.
[0116] 5) determining the flight direction based on the facing
direction of the photographing object. For example, if the aircraft
determines, based on the detected attitude of the photographing
object, that the photographing object faces the upper left
direction, then the aircraft may determine the upper left direction
as the flight direction.
[0117] 6) determining the flight direction based on a selected
photographing angle. For example, a user may determine or select
the photographing angle prior to the takeoff of the aircraft, and
the aircraft may determine the flight direction based on
photographing angle.
[0118] Alternatively or additionally, in some embodiments, the
control method of FIG. 2 may also include: determining
photographing parameters of the imaging device for capturing images
of the photographing object. In some embodiments, determining the
photographing location of the aircraft relative to the
photographing object based on the photographing information may
include: determining a flight distance of the aircraft after
takeoff based on the photographing information; and determining the
photographing location based on the flight distance and the
photographing parameters of the imaging device. For example, the
photographing parameters may include at least one of a field of
view ("FOV") parameter and a focal length parameter. For different
FOV parameters or different local length parameters, and given the
same scene, the photographing locations determined based on the
different FOV parameters or the different focal length parameters
may be different. In some embodiments, the focal length parameter
may be the focal length, the FOV parameter may be the FOV angle. In
some embodiments, for the same scene, the longer the focal length,
the larger the photographing distance. The larger the FOV angle,
the shorter the photographing distance.
[0119] In some embodiments, the disclosed method may include
determining the photographing location based on the flight
distance, the photographing parameters of the imaging device, and
the flight direction.
[0120] Alternatively or additionally, in some embodiments, the
photographing object may include multiple main bodies. Determining
the photographing location of the aircraft relative to the
photographing object based on the photographing information may
include: determining the photographing location of the aircraft
based on the number of the main bodies and the photographing
information. For example, the larger the number of the main bodies
of the photographing object, the farther the distance between the
photographing location and the photographing object.
[0121] FIG. 3 is a flow chart illustrating a control method for
controlling an aircraft according to an embodiment of the present
disclosure. The control method of FIG. 3 may be an embodiment of
the control method of FIG. 2. The control method of FIG. 3 may
include:
[0122] Step 310: determining photographing information relating to
a photographing object, the photographing information indicating an
occupying scope of the photographing object in an image to be
captured. This step may be similar to step 210.
[0123] Step 315: determining an image composition rule relating to
the photographing object in the image to be captured.
[0124] For example, prior to the takeoff of the aircraft, the
aircraft may receive an image composition rule input by a user.
Alternatively or additionally, the aircraft may determine the image
composition rule based on a detected hand gesture of the user.
[0125] In some embodiments, the image composition rule may include
one or more of a location of the photographing object in the image
to be captured, an angle of a face of the photographing object in
the image to be captured, or a degree of integrity of the face of
the photographing object in the image to be captured.
[0126] In some embodiments, when the image composition rule
includes a location of the photographing object in the image to be
captured, the image composition rule may include at least one of a
balanced composition, a symmetric composition, a diagonal
composition, a triangular composition, a nine-square composition, a
centripetal composition, a division composition. When the image
composition rule includes the angle of the face of the
photographing object in the image to be captured, the image
composition rule may include a front view of the face of the human
in the image to be captured, or a side view of the face of the
human in the image to be captured. When the image composition rule
includes a degree of integrity of the face of the photographing
object in the image to be captured, the image composition rule may
include a partial image of the face of the photographing object or
a complete image of the face of the photographing object.
[0127] In some embodiments, the present disclosure does not limit
the execution order of steps 310 and 315. Steps 310 and 315 may be
executed simultaneously or step 315 may be executed before step
310.
[0128] Step 320: determining a photographing location of an
aircraft relative to the photographing object based on the
photographing information.
[0129] In some embodiments, the flight control device may be
configured to estimate the photographing distance based on a
relationship between the occupying scope of the photographing
object in the image to be captured and a distance between the
photographing object and the photographing location (i.e., the
photographing distance). The smaller the occupying scope of the
photographing object in the image to be captured, the farther the
photographing distance, and vice versa. For example, the flight
control device may calculate the photographing distance using a
predetermined algorithm based on a user expected occupying scope of
the photographing object in the image to be captured. In some
embodiments, the relationship between the occupying scope of the
photographing object in the image to be captured and the
photographing distance may be pre-set in a table. The flight
control device may determine the photographing distance based on
the table and the user expected occupying scope of the
photographing object in the image to be captured.
[0130] Step 330: controlling the aircraft to fly to the
photographing location.
[0131] For example, the photographing location may be determined
based on the photographing distance. The aircraft may fly under a
pointing-flight mode, in which the flight control device may
control the aircraft to fly along a straight path to the
photographing location or may control the aircraft to fly while
circumventing any obstacles on the flight path to the photographing
location.
[0132] In some embodiments, the aircraft may automatically start
the flight using various methods, as described above in connection
with the embodiment of FIG. 2.
[0133] Step 340: searching for, identifying, and tracking the
photographing object.
[0134] For example, the flight control device may receive, in real
time, images transmitted from the imaging device or other vision
sensors carried by the aircraft. The flight control device may
search for and identify a predetermined characteristic image of the
photographing object in the received images, and may track the
photographing object.
[0135] Step 345: controlling an image composition of an imaging
device, such that imaging of the photographing object in the image
to be captured satisfies the image composition rule.
[0136] For example, after detecting the photographing object, the
flight control device may control the imaging device to
intelligently compose the image. For example, if the imaging device
is capturing an image of a single human, the image composition may
use the typical nine-square image composition. The flight control
device may adjust, in real time, the location and heading direction
(or facing direction) of the aircraft based on results fed back
from a facial recognition algorithm and a tracking algorithm, such
that the imaging device can capture images of the front view of the
face of the photographing object.
[0137] In some embodiments, the flight control device may control
the image composition of the imaging device through adjusting at
least one of the flight attitude of the aircraft, the gimbal of the
imaging device, or the focal length of the imaging device, such
that the location of the photographing object in the image to be
captured satisfies the predetermined image composition rule.
[0138] For example, in some embodiments, the flight control device
may control a rotating speed of the propeller of the aircraft to
adjust the flight attitude of the aircraft. For example, the
aircraft may adjust the flight attitude through flight actions such
as roll, yaw, and/or pitch. In some embodiments, the flight control
device may adjust the motion of the gimbal through controlling the
rotation of the roll mechanism, yaw mechanism, and/or pitch
mechanism of the gimbal. These adjustments and controls cause the
imaging device to move along with the aircraft or the gimbal
relative to the photographing object, thereby adjusting the image
composition of the photographing object in the image to be
captured. In some embodiments, the focal length of the imaging
device may be adjusted during the photographing process, such that
a clear image composition may be obtained.
[0139] In some embodiments, the control method of FIG. 3 may also
include: capturing images of the photographing object when imaging
of the photographing object in the image to be captured satisfies
the predetermined image composition rule.
[0140] For example, when determining, based on a result of image
recognition, that a center of the photographing object coincides or
overlaps with a crossing point of the nine-square grid, an
instruction may be sent to the imaging device to instruct the
imaging device to capture images of the photographing object.
[0141] In some embodiments, the flight control device may estimate
the photographing location of the aircraft relative to the
photographing object based on the user expected occupying scope of
the photographing object in the image to be captured. The flight
control device may control the aircraft to fly to the photographing
location. The imaging device may intelligently compose the image
based on the predetermined image composition rule and start
capturing images. The disclosed method reduces the manual
interference of the aircraft during the photographing process,
thereby enhancing the user experience. In addition, the disclosed
method reduces the time spent in manual operations in the overall
flight time, thereby increasing the continuous flight capability of
the aircraft.
[0142] FIG. 4 is a flow chart illustrating a control method for
controlling the aircraft according to an embodiment of the present
disclosure. The control method of FIG. 4 may be an embodiment of
the control method of FIG. 2. The control method of FIG. 4 may
include the following steps.
[0143] Step 410: obtaining a characteristic image of the
photographing object.
[0144] For example, prior to the takeoff, the flight control device
may control the imaging device to capture one or more images of the
photographing object to obtain a characteristic image (e.g., an
image of facial characteristics). As another example, the
characteristic image of the photographing object may be obtained
from an external device (e.g., a user terminal).
[0145] Step 420: determining photographing information relating to
the photographing object, the photographing information indicating
an occupying scope of the photographing object in an image to be
captured. Step 420 may be the same as step 210.
[0146] The present disclosure does not limit the execution order or
sequence of the steps 410 and 420. The two steps may be executed
simultaneously or step 420 may be executed prior to step 410.
[0147] Step 430: searching for, identifying, and tracking the
photographing object.
[0148] For example, after takeoff, the flight control device may
receive, in real time, images transmitted from the imaging device
or other vision sensors carried by the aircraft. The flight control
device may search for and identify predetermined characteristic
image(s) of the photographing object in the received images, and
may track the photographing object.
[0149] A person having ordinary skill in the art can appreciate
that the aircraft may be automatically started to fly using various
methods, as described above in connection with FIG. 2.
[0150] Step 440: after searching for and identifying the
photographing object, detecting or determining whether the
occupying scope of the photographing object in the current image is
consistent with the occupying scope indicated by the photographing
information. If they are not consistent (No, step 440), step 450 is
executed. If they are consistent (Yes, step 440), step 460 is
executed.
[0151] For example, after the aircraft is thrown to fly, the
proportion that the photographing object occupies the current image
may be obtained using image recognition. The flight control device
may determine whether the proportion is consistent with the
proportion indicated by the photographing information.
[0152] Step 450: adjusting a distance between the aircraft and the
photographing object based on the photographing information, and
continuing to execute step 440.
[0153] For example, if the proportion that the photographing object
occupies the current image is greater than the proportion indicated
by the photographing information, the flight control device may
adjust the aircraft to fly away from the photographing object. If
the proportion that the photographing object occupies the current
image is smaller than the proportion indicated by the photographing
information, the flight control device may adjust the aircraft to
fly closer to the photographing object. The above adjustments may
be performed using a fixed step size or varying step sizes.
[0154] Step 460: determining a photographing location to be a
location of the aircraft when the occupying scope of the
photographing object in the image is consistent with the occupying
scope indicated by the photographing information.
[0155] For example, when the proportion of the photographing object
in the current image is consistent with the proportion indicated by
the photographing information, the current location of the aircraft
may be set as the photographing location.
[0156] Step 470: controlling the imaging device to capture images
of the photographing object.
[0157] In some embodiments, the image composition of the imaging
device may be controlled such that the imaging of the photographing
object in the image to be captured satisfies the predetermined
image composition rule. The imaging device may be controlled to
capture images of the photographing object when the imaging of the
photographing object in the image to be captured satisfies the
predetermined image composition rule.
[0158] FIG. 5 is a flow chart illustrating a control method for
controlling the aircraft according to an embodiment of the present
disclosure. The control method of FIG. 5 may be an embodiment of
the control method of FIG. 2. The control method of FIG. 5 may
include the following steps.
[0159] Step 510: determining a flight path of an aircraft when the
aircraft is performing photographing.
[0160] In some embodiments, prior to the takeoff, the user may
manually operate the aircraft or an external device. The flight
control device may receive motion data detected by one or more
sensors carried by the aircraft or the external device. The flight
control device may determine a user expected flight path for the
photographing process based on the motion data. Thus, the aircraft
may determine the flight path for the photographing process based
on simple actions of the user, thereby reducing manual operations
of the aircraft through an external device (e.g., a user terminal
or remote control device) during the photographing process. As a
result, the user experience can be enhanced, electrical energy
consumption can be reduced, and the continuous flight capability of
the aircraft can be increased. The methods for determining the
flight path have been discussed above in connection with FIG.
2.
[0161] Step 515: obtaining a characteristic image of the
photographing object. This step may be the same as step 410.
[0162] Step 520: determining photographing information relating to
a photographing object, the photographing information indicating an
occupying scope of the photographing object in an image to be
captured. This step may be the same as step 210.
[0163] Step 525: determining an image composition rule relating to
the photographing object in the image to be captured. This step may
be the same as step 315.
[0164] Step 530: after the aircraft is thrown to fly, determining
whether there is an obstacle in a flight direction. If there is no
obstacle (No, step 530), step 535 is executed. If there is an
obstacle (Yes, step 530), then step 550 is executed.
[0165] In some embodiments, at the moment the aircraft is thrown
out to fly, the flight control device may determine, through the
sensor systems of the aircraft, whether the flight direction is
safe. For example, a distance measuring sensor of the aircraft may
detect whether there is an obstacle within a predetermined distance
range (e.g., within 6-7 meters). The predetermined distance range
may be an empirical value, and may be related to photographing
parameters of the imaging device. For example, the predetermined
distance value may be adjusted based on different models or types
of the imaging devices.
[0166] A person having ordinary skill in the art can appreciate
that the aircraft may be automatically started to fly using various
methods, as described above in connection with FIG. 2.
[0167] Step 535: if there is no obstacle in the flight direction,
controlling the aircraft to turn an aircraft head and to search
for, identify, and track the photographing object based on the
characteristic image obtained earlier.
[0168] If there is no obstacle in the flight direction, the flight
control device may control the aircraft to reverse the heading
direction of the aircraft head to point to a direction opposite the
initial flight direction, such that the lens of the imaging device
faces the photographing object. The flight control device may
control the imaging device to search for and identify the
photographing object based on the facial characteristics recorded
in step 515. Once the photographing object is found, the flight
control device may control the imaging device to track the
photographing object by locking the face of the photographing
object based on a tracking algorithm, determine the photographing
object, and search the entire body of the photographing object
using a human detector to determine the main body of the
photographing object.
[0169] For example, in some embodiments, the flight control device
may receive images transmitted from the imaging device or other
vision sensors. The flight control device may search for and
identify the characteristic image determined in step 515 in the
received images. Any suitable methods for searching for and
identifying the characteristic image may be used.
[0170] Step 540: controlling the aircraft to fly to the
photographing location based on the image composition rule and the
photographing information.
[0171] In some embodiments, after searching for and identifying the
photographing object, the flight control device may adjust the
location of the photographing object in the image to be captured
based on the predetermined image composition rule. The flight
control device may also adjust the distance between the aircraft
and the photographing object, such that the proportion that the
photographing object occupies the image to be captured tends to be
consistent with the proportion that the photographing object
occupies the image to be captured as indicated by the photographing
information, and eventually satisfies the predetermined image
composition rule.
[0172] In some embodiments, when the image composition is adjusted,
the distance between the aircraft and the photographing object may
be adjusted simultaneously. In some embodiments, adjusting the
image composition and adjusting the distance between the aircraft
and the photographing object may be performed in any sequence. For
example, the aircraft may be controlled to fly to a suitable
photographing location and then the image composition is adjusted.
Alternatively, the image composition is adjusted, then the aircraft
is controlled to fly to the suitable photographing location.
[0173] Step 545: controlling the imaging device to capture images
of the photographing object while the aircraft flies along the
flight path.
[0174] For example, if the aircraft determines that the flight path
is a circular path, the aircraft may circle around the
photographing object while capturing images of the photographing
object during the photographing process. If the aircraft determines
that the flight path is a path for pulling-closer photographing,
during the photographing process the aircraft may face the
photographing object and capture images of the photographing object
while flying along the flight path.
[0175] In some embodiments, to realize a from-near-to-far long
motion scene, the aircraft may use a straight line flight path. As
a result, spatial connection and switch may be naturally realized
when the lens moves along the straight line flight path, and the
transfer between regional views (e.g., focusing on photographing
object) and complete views (e.g., the entire scene) may be
naturally realized. This type of long motion scene
self-photographing method is also referred to as Dronies (Drone
Selfies). Conventionally, Dronies are realized through manual
controls. The user need to manually control the aircraft to fly
along a relatively straight line, and simultaneously control the
lens to place the photographing object at the center of the images.
The manual controls place a strong requirement on the flight
control skills of the user, which most ordinary users do not have.
The present disclosure can capture similar images using intelligent
photographing methods disclosed herein.
[0176] Step 550: if there is an obstacle in the flight direction,
recording a location where the aircraft is thrown to fly and
controlling the aircraft to fly to the photographing location while
avoiding the obstacle.
[0177] If there is an obstacle in the flight direction, the
location and height of the point where the aircraft is thrown to
fly can be obtained through a location sensor, such as a GPS sensor
or a vision sensor. The location and height of the thrown-to-fly
point may be recorded. In such situations, the aircraft may plan
the flight path to circumvent the obstacle. If it is not possible
to circumvent the obstacle, the aircraft may attempt increasing the
flight height to avoid the obstacle. In some embodiments, during
the flight, the aircraft head may face the forward moving direction
to ensure flight safety.
[0178] Step 555: controlling the aircraft to turn the aircraft head
and to search for and identify the photographing object based on
the location where the aircraft is thrown to fly and previously
obtained characteristic image.
[0179] In some embodiments, after the aircraft flies to the
photographing location, the flight control device may control the
aircraft to turn the aircraft head (e.g., reverse the heading
direction), and identify facial characteristics based on
information of the current location and the recorded location and
height of the thrown-to-fly point. The flight control device may
further detect the entire body of the photographing object using a
human detector.
[0180] Alternatively or additionally, in some embodiments, the
flight control device may determine, in real time after the
aircraft is thrown to fly, whether there is an obstacle in the
flight direction. After determining that the there is no obstacle,
the flight control device may control the aircraft to turn the
aircraft head (e.g., reverse the heading direction), and search for
and identify the photographing object. In other words, the flight
control device may control the aircraft to search for, identify,
and track the photographing object while flying backwardly.
[0181] Step 560: controlling the imaging device to capture images
of the photographing object while the aircraft flies along the
flight path.
[0182] In some embodiments, step 560 may also include controlling
the image composition of the imaging device, such that the imaging
of the photographing object in the image to be captured satisfies
the predetermined image composition rule. When the imaging of the
photographing object in the image to be captured satisfies the
predetermined image composition rule, the imaging device may
capture images of the photographing object.
[0183] In some embodiments, in steps 540 and 555, the aircraft may
not turn the aircraft head. Instead, the aircraft may maintain the
aircraft head to point to the flight direction, and rotate the
gimbal to realize the searching for, identifying, and tracking of
the photographing object.
[0184] According to the present disclosure, the aircraft may
automatically search for, identify, and track the photographing
object based on the characteristic image obtained by the imaging
device, and may automatically compose the image. After the aircraft
is thrown out to fly, the flight control device may control the
aircraft to fly to a photographing location to perform a series of
continuous photographing based on a predetermined image composition
rule and photographing information. The operations of the aircraft
is simple and straightforward, and there is no need to use a remote
control device or a user terminal to operate the aircraft during
the photographing process. The aircraft may plan a flight path
based on a user's expectation of the photographing process. The
entire photographing process may become smoother, and the user
experience may be enhanced.
[0185] The above described the control methods of the present
disclosure. Next, the control device for controlling the aircraft,
control apparatus for controlling the aircraft, and the aircraft
will be described with reference to FIG. 6 to FIG. 8.
[0186] The present disclosure also provides a non-transitory
computer storage medium (e.g., memory or other storage devices,
such as hard disks) configured to store computer instructions or
codes. The computer instructions or codes, when executed by a
processor, cause the processor to perform some or all of the steps
of the control methods shown in FIG. 2-FIG. 5.
[0187] FIG. 6 is a schematic diagram of a control device 600 for
controlling an aircraft. The control device 600 of the aircraft may
be an embodiment of the flight control device 161 shown in FIG. 1.
The control device 600 of the aircraft may include a determination
processor 610 and a control processor 620.
[0188] The determination processor 610 may be configured to
determine photographing information relating to the photographing
object. The photographing information may indicate an occupying
scope of the photographing object in an image to be captured. The
control processor 620 may be configured to control the aircraft to
fly to a photographing location based on the photographing
information.
[0189] In some embodiments, the control device 600 may control the
aircraft to fly to a suitable photographing location based on a
user expected occupying scope of the photographing object in the
image to be captured, thereby reducing the manual interference of
the aircraft during the photographing process. User experience may
be enhanced. In addition, time spent in manual operations may be
reduced in the overall flight time, which in turn increases the
continuous flight capability of the aircraft.
[0190] In some embodiments, the photographing information may
include at least one of a large scene, a medium scene, or a small
scene. In some embodiments, the photographing information may
include at least one of a whole body image, a
greater-than-half-body image, a half body image, a chest image, a
head-and-shoulder image, or a big-head image.
[0191] In some embodiments, the control processor 620 may be
configured to determine a photographing location of the aircraft
relative to the photographing object based on the photographing
information, and control the aircraft to fly to the photographing
location.
[0192] In some embodiments, the determination processor 610 may be
configured to capture an image of the photographing object, and
determine the photographing object based on the captured image.
[0193] In some embodiments, the determination processor 610 may be
configured to control the imaging device to capture images of the
photographing object prior to the takeoff of the aircraft. In some
embodiments, the determination processor 620 may control the
imaging device to capture images of the photographing object after
the takeoff of the aircraft. In some embodiments, the determination
processor 610 may receive images of the photographing object
transmitted from an external device.
[0194] Alternatively or additionally, in some embodiments, the
control processor 620 may be configured to control the imaging
device carried by the aircraft to capture images of the
photographing object after the aircraft flies to the photographing
location.
[0195] In some embodiments, the control processor 620 may be
configured to control the imaging device to adjust the focal length
of the imaging device based on the depth of field principle, and
capture images of the photographing object using the adjusted focal
length.
[0196] In some embodiments, the control processor 620 may be
configured to control the image composition of the imaging device,
such that the imaging of the photographing object in the image to
be captured satisfies the image composition rule. The control
processor may control the imaging device to capture images of the
photographing object when the imaging of the photographing object
in the image to be captured satisfies the image composition
rule.
[0197] In some embodiments, the control processor 620 may be
configured to adjust at least one of the flight attitude of the
aircraft, the motion of the gimbal of the imaging device, or the
focal length of the imaging device to control the image composition
of the imaging device, such that the location of the photographing
object in the image to be captured satisfies the image composition
rule.
[0198] In some embodiments, the determination processor 610 may be
configured to determine a flight path of the aircraft when
capturing images of the photographing object. The control processor
620 may be configured to control the aircraft to fly along the
flight path while capturing images of the photographing object.
[0199] In some embodiments, the determination processor 610 may be
configured to determine the flight path based on an input received
from an external device.
[0200] In some embodiments, the determination processor 610 may
detect the motion of the aircraft based on a motion sensor of the
aircraft, obtain first motion data from the motion sensor, and
determine the flight path based on the first motion data.
[0201] In some embodiments, the determination processor 610 may
receive second motion data from a motion sensor of the external
device that detects a motion of the external device, and may
determine the flight path based on the second motion data.
[0202] In some embodiments, the sensors may include at least one of
a gyroscope, a digital compass, an IMU, an accelerometer, a global
navigation satellite system, or a vision sensor.
[0203] In some embodiments, the motion may include at least one of
a circling motion, a pulling-away motion, a pulling-closer motion,
or an S-shaped motion.
[0204] Alternatively or additionally, in some embodiments, the
motion is a circling motion. The control device 600 may also
include a second detection processor 650 configured to detect a
rotation around the pitch axis of the gimbal of the aircraft prior
to the takeoff of the aircraft. The determination processor 610 may
determine that the flight path is a spiral ascent or a spiral
descent based on the detected rotation around the pitch axis and
the circling motion.
[0205] In some embodiments, the motion may include at least one of
a motion in a vertical plane and a motion in a horizontal
plane.
[0206] Alternatively or additionally, in some embodiments, prior to
determining the flight path of the aircraft, the determination
processor 610 may determine whether a signal for activating the
determination of the flight path has been received. The signal may
be configured to activate the determination of the flight path of
the aircraft.
[0207] In some embodiments, the determination processor 610 may
determine that the flight path is a tracking flight if a flight
path is not input within a predetermined time period.
[0208] In some embodiments, the flight path may include at least
one of a circling, a pulling-away, a pulling-closer, or an S-shape
flight path.
[0209] Alternatively or additionally, in some embodiments, the
control processor 620 may be configured to automatically start the
aircraft when the aircraft satisfies a predetermined automatic
start condition.
[0210] In some embodiments, the control processor 620 may be
configured to detect third motion data of the aircraft when the
aircraft is thrown to fly, and may automatically start the
propulsion device of the aircraft when the third motion data
satisfy the predetermined automatic start condition.
[0211] In some embodiments, the motion data may include a distance
that the aircraft is thrown out. The third motion data may satisfy
the predetermined automatic start condition when the distance that
the aircraft is thrown out is greater than or equal to a first
predetermined value. Alternatively or additionally, the third
motion data may include a vertical velocity or a velocity of the
aircraft. The third motion data may satisfy the predetermined
automatic start condition when the vertical velocity or velocity of
the aircraft is smaller than or equal to a second predetermined
value.
[0212] In some embodiments, the first predetermined value is zero
or the first predetermined value is a safe distance between the
aircraft and the user.
[0213] In some embodiments, before the aircraft is thrown out to
fly, the control processor 620 may be configured to start the
propulsion device and control the propulsion device to rotate in an
idling state when the aircraft satisfies an idling condition.
[0214] In some embodiments, the control processor 620 may be
configured to control the propulsion device to rotate in the idling
state after unlocking the aircraft using facial recognition.
Alternatively or additionally, the control processor 620 may
control the propulsion device to rotate in the idling state after
the aircraft has been placed in a horizontal state for more than a
predetermined time period. Alternatively or additionally, the
control processor 620 may control the propulsion device to rotate
in the idling state after confirming receipt of a signal permitting
the rotation in the idling state.
[0215] In some embodiments, the control processor 620 may detect
fourth motion data prior to the takeoff of the aircraft. The
control processor 620 may automatically start the propulsion device
of the aircraft when the fourth motion data satisfy the
predetermined automatic start condition.
[0216] In some embodiments, the fourth motion data may indicate a
time period within which an attitude angle of the aircraft has been
within a predetermined value range. The fourth motion data may
satisfy the predetermined automatic start condition when the time
period is greater than the second predetermined value.
[0217] In some embodiments, the control processor 620 may be
configured to search for and identify the photographing object
through the imaging device of the aircraft. After searching for and
identifying the photographing object, the control processor 620 may
be configured to determine whether an occupying scope of the
photographing object in the current image is consistent with an
occupying scope indicated by the photographing information. When
the occupying scope of the photographing object in the current
image is consistent with the occupying scope indicated by the
photographing information, the control processor 620 may be
configured to determine the photographing location to be the
current location of the aircraft.
[0218] In some embodiments, the control processor 620 may be
configured to control the aircraft head or the gimbal of the
aircraft when determining that there is no obstacle ahead of the
aircraft, such that the imaging device may face the takeoff
location. The control processor 620 may control the imaging device
to search for and identify the photographing object.
[0219] In some embodiments, when the control processor 620
determines that there is an obstacle ahead of the aircraft, the
control processor 620 may control the aircraft to circumvent the
obstacle, and to turn the aircraft head (e.g., reverse the heading
direction) or the gimbal of the aircraft, such that the imaging
device faces the takeoff location. The control processor 620 may
control the imaging device to search for and identify the
photographing object.
[0220] Alternatively or additionally, in some embodiments, the
determination processor 610 may be configured to determine a flight
direction of the aircraft after takeoff. For example, the
determination processor 610 may be configured to determine a flight
distance after takeoff based on the photographing information, and
determine a photographing location based on the flight direction
and the flight distance.
[0221] In some embodiments, the determination processor 610 may
determine a flight direction based on settings of the aircraft
configured before takeoff. Alternatively or additionally, the
determination processor 610 may determine the flight direction
based on the heading direction of the aircraft head when the
aircraft takes off. Alternatively or additionally, the
determination processor 610 may determine the flight direction
based on the location when the aircraft takes off. Alternatively or
additionally, the determination processor 610 may determine the
flight direction based on the location of the photographing object.
Alternatively or additionally, the determination processor 610 may
determine the flight direction based on the facing direction of the
photographing object. Alternatively or additionally, the
determination processor 610 may determine the flight direction
based on a selected photographing angle.
[0222] Alternatively or additionally, in some embodiments, the
determination processor 610 may be configured to determine
photographing parameters of the imaging device that are used for
capturing images of the photographing object. For example, the
determination processor 610 may determine a flight distance after
the aircraft takes off based on the photographing information, and
determine a photographing location based on the flight distance and
the photographing parameters of the imaging device.
[0223] In some embodiments, the photographing parameters may
include at least one of an FOV parameter or a focal length
parameter.
[0224] Alternatively or additionally, in some embodiments, the
determination processor 610 may be configured to determine an image
composition rule that the photographing object has to satisfy in
the image to be captured. The control processor 620 may be
configured to control the aircraft to fly to the photographing
location based on the predetermined image composition rule and the
photographing information.
[0225] In some embodiments, the image composition rule may include
one or more of a location of the photographing object in the image
to be captured, an angle of the face of the photographing object in
the image to be captured, and a degree of integrity of the face of
the photographing object in the image to be captured.
[0226] Alternatively or additionally, in some embodiments, the
determination processor 610 may be configured to receive a
predetermined image composition rule from an external device, or
determine the image composition rule based on recognition of a
predetermined action or gesture of the photographing object.
[0227] In some embodiments, the image composition rule may include
at least one of a balanced composition, a symmetric composition, a
diagonal composition, a triangular composition, a nine-square
composition, a centripetal composition, a division composition, a
front view of the face of the human in the image to be captured, or
a side view of the face of the human in the image to be
captured.
[0228] In some embodiments, the determination processor 610 may
determine the photographing information based on an input received
from an external device.
[0229] In some embodiments, the photographing object may include
multiple main bodies, and the determination processor 610 may be
configured to determine the photographing location based on the
number of the main bodies and the photographing information.
[0230] Alternatively or additionally, in some embodiments, a first
detection processor 640 may be configured to detect at least one of
a velocity of the aircraft, an acceleration, or a thrown-to-fly
path when the aircraft is thrown to fly. The determination
processor 610 may be configured to select the photographing
information from multiple types of predetermined photographing
information based on at least one of the velocity, acceleration, or
thrown-to-fly path.
[0231] Alternatively or additionally, in some embodiments, the
control device 600 of the aircraft may also include a third
detection processor 660 configured to detect status information of
the environment and/or gesture information of the photographing
object. In some embodiments, the control processor 620 may be
configured to adjust the photographing angle based on the status
information of the environment and/or the gesture information of
the photographing object.
[0232] The operations and functions of the control device 600 of
the aircraft may refer to the above descriptions of the control
methods of FIG. 2 to FIG. 5.
[0233] FIG. 7 is a schematic diagram of a control device 700 of the
aircraft. The control device 700 may include a processor 710 and a
storage device 720, such as a memory.
[0234] The storage device 720 may be configured to store
instructions for the processor 710 to execute to perform any method
of FIG. 2 to FIG. 5.
[0235] FIG. 8 is a schematic diagram of an aircraft 800. The
aircraft 800 may include a flight control device 810, one or more
propulsion devices 820, and a sensor system 830. The sensor system
830 may be configured to detect motion parameters of the aircraft
800. The one or more propulsion devices 820 may be configured to
provide a flight propulsion for the aircraft 800. The control
device 810 may be communicatively coupled with the one or more
propulsion devices 820, and the sensor system 830. The control
device 810 may be configured to control the one or more propulsion
devices 820, thereby controlling the flight of the aircraft 800,
based on hand motion or gesture parameters detected by the sensor
system 830. The flight control device 810 may be the control device
of FIG. 7. The propulsion device 820 may be the propulsion system
of FIG. 1.
[0236] A person having ordinary skill in the art can appreciate
that units and algorithms of the disclosed methods and processes
may be implemented using electrical hardware, or a combination of
electrical hardware and computer software. Whether the
implementation is through hardware or software is to be determined
based on specific application and design constraints. A person of
ordinary skill in the art may use different methods to realize
different functions for each specific application. Such
implementations fall within the scope of the present
disclosure.
[0237] A person having ordinary skill in the art can appreciate
that descriptions of the functions and operations of the system,
device, and unit can refer to the descriptions of the disclosed
methods.
[0238] A person having ordinary skill in the art can appreciate
that the various system, device, and method illustrated in the
example embodiments may be implemented in other ways. For example,
the disclosed embodiments for the device are for illustrative
purpose only. Any division of the units are logic divisions. Actual
implementation may use other division methods. For example,
multiple units or components may be combined, or may be integrated
into another system, or some features may be omitted or not
executed. Further, couplings, direct couplings, or communication
connections may be implemented using interfaces. The indirect
couplings or communication connections between devices or units or
components may be electrical, mechanical, or any other suitable
type.
[0239] In the descriptions, when a unit or component is described
as a separate unit or component, the separation may or may not be
physical separation. The unit or component may or may not be a
physical unit or component. The separate units or components may be
located at a same place, or may be distributed at various nodes of
a grid or network. The actual configuration or distribution of the
units or components may be selected or designed based on actual
need of applications.
[0240] Various functional units or components may be integrated in
a single processing unit, or may exist as separate physical units
or components. In some embodiments, two or more units or components
may be integrated in a single unit or component. The integrated
units may be realized using hardware, or may be realized using
hardware and software functioning unit.
[0241] The disclosed functions may be realized using software
functioning units and may be sold or used as an independent
product. The software functioning units may be stored in a
computer-readable medium as instructions or codes, such as a
non-transitory computer-readable storage medium. Thus, the
disclosed methods may be realized using software products. The
computer software product may be stored in the computer-readable
medium in the form of codes or instructions, which are executable
by a computing device (e.g., a personal computer, a server, or a
network device, etc.) or a processor to perform all or some of the
steps of the disclosed methods. The non-transitory
computer-readable storage medium can be any medium that can store
program codes, for example, a USB disc, a portable hard disk, a
read-only memory ("ROM"), a random access memory ("RAM"), a
magnetic disk, an optical disk, etc.
[0242] Other embodiments of the present disclosure will be apparent
to those skilled in the art from consideration of the specification
and practice of the embodiments disclosed herein. It is intended
that the specification and examples be considered as example only
and not to limit the scope of the present disclosure, with a true
scope and spirit of the invention being indicated by the following
claims. Variations or equivalents derived from the disclosed
embodiments also fall within the scope of the present
disclosure.
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