CN105511488B - A kind of continuous shooting method and unmanned vehicle based on unmanned vehicle - Google Patents

Abstract

An embodiment of the present invention provides a method for continuous shooting based on an unmanned aerial vehicle and an unmanned aerial vehicle. The method includes: when a replacement instruction is received in the first unmanned aerial vehicle, acquiring the flight status of the second unmanned aerial vehicle during flight information and captured one or more frames of candidate image data; fly according to the flight status information; when flying to a certain range from the second unmanned aerial vehicle, take one or more frames of characteristic images according to the flight status information Data; judging whether the one or more frames of feature image data match the one or more frames of candidate image data, and if so, continue shooting for the first unmanned aerial vehicle. The two video files before and after the interrupted shooting can be connected through matching frame candidate image data and feature image data, thereby avoiding fault phenomenon.

Description

A kind of continuous shooting method based on unmanned aerial vehicle and unmanned aerial vehicle

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a continuous shooting method based on unmanned aerial vehicles and an unmanned aerial vehicle.

Background technique

With the rapid development of science and technology, unmanned aerial vehicles are widely popularized. In the fields of natural disaster monitoring and assessment, urban planning and municipal management, digital earth and advertising photography, drones are often required for aerial photography.

In many scenarios, the aerial photography time is generally relatively long. However, due to the limited battery capacity of the unmanned aerial vehicle, its battery life is limited. The aerial photography takes about 20 minutes, and the power supply is often insufficient, resulting in the inability to continue shooting.

Therefore, in order to complete the aerial photography, the unmanned aerial vehicle needs to take aerial photography many times and record multiple videos.

Due to the interruption of aerial photography, there is a big difference between the two videos before and after, and often they cannot be connected, and there are faults.

Contents of the invention

In view of the above problems, the present invention is proposed in order to provide a continuous shooting method based on an unmanned aerial vehicle and a corresponding unmanned aerial vehicle that overcome the above problems or at least partially solve the above problems.

According to one aspect of the present invention, a kind of continuous shooting method based on unmanned aerial vehicle is provided, comprising:

When the replacement instruction is received in the first unmanned aerial vehicle, the flight state information and one or more frames of candidate image data taken by the second unmanned aerial vehicle during flight are acquired;

Flying according to the flight status information;

When flying to a certain range from the second UAV, take one or more frames of characteristic image data according to the flight state information;

It is judged whether the one or more frames of feature image data match the one or more frames of candidate image data, and if so, continue shooting operation for the first unmanned aerial vehicle.

Optionally, when the replacement instruction is received in the first UAV, the step of obtaining the flight status information of the second UAV during flight and one or more frames of candidate image data taken includes:

Receiving in the first unmanned aerial vehicle the replacement instruction transmitted by the remote controller and sent by the second unmanned aerial vehicle when the preset continuation condition is met;

The flight status information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data captured by the remote controller are obtained.

Optionally, the shooting conditions include one or more of the following:

The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold.

Optionally, the flight status information includes flight track information;

The step of flying according to the flight status information includes:

flying at a first flight speed according to the flight track information;

Wherein, the first flying speed of the first UAV is greater than the second flying speed of the second UAV.

Optionally, the flight status information includes a shooting angle;

The step of taking one or more frames of characteristic image data according to the flight status information includes:

Adjusting the shooting device according to the shooting angle;

Call the adjusted shooting device to acquire one or more frames of characteristic image data.

Optionally, the step of taking one or more frames of characteristic image data according to the flight state information further includes:

Adjusting the first flight speed of the first UAV to be the same as the second flight speed of the second UAV.

Optionally, the step of judging whether the one or more frames of feature image data matches the one or more frames of candidate image data includes:

Extracting the first region image data of the edge of the one or more frames of feature image data;

extracting the second region image data of the edge of the one or more frames of candidate image data;

judging whether the image data of the first area matches the image data of the second area;

If so, then determine that the one or more frames of feature image data match the one or more frames of candidate feature image data;

If not, it is determined that the one or more frames of feature image data do not match the one or more frames of candidate feature image data.

Optionally, the step of performing the continuous shooting operation for the first unmanned aerial vehicle includes:

The adjusted signal is sent to the remote controller to drive the remote controller to control the landing of the second unmanned aerial vehicle and obtain the remote control authority of the first unmanned aerial vehicle.

According to another aspect of the present invention, an unmanned aerial vehicle is provided, comprising:

The continuous shooting data acquisition module is adapted to obtain the flight status information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data taken when the replacement instruction is received in the first unmanned aerial vehicle;

a flight module, suitable for flying according to the flight state information;

The shooting module is adapted to take one or more frames of characteristic image data according to the flight state information when flying to a certain range from the second unmanned aerial vehicle;

The image matching module is adapted to determine whether the one or more frames of feature image data match the one or more frames of candidate image data, and if so, call the aerial photography continuation module;

The aerial photographing continuation module is suitable for continuing the photographing operation for the first unmanned aerial vehicle.

Optionally, the continued shooting data acquisition module is also suitable for:

Receiving in the first unmanned aerial vehicle the replacement instruction transmitted by the remote controller and sent by the second unmanned aerial vehicle when the preset continuation condition is met;

The flight status information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data captured by the remote controller are obtained.

Optionally, the shooting conditions include one or more of the following:

The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold.

Optionally, the flight status information includes flight track information;

The flight module is also adapted to:

flying at a first flight speed according to the flight track information;

Wherein, the first flying speed of the first UAV is greater than the second flying speed of the second UAV.

Optionally, the flight status information includes a shooting angle;

The camera module is also suitable for:

Adjusting the shooting device according to the shooting angle;

Call the adjusted shooting device to acquire one or more frames of characteristic image data.

Optionally, the camera module is also suitable for:

Adjusting the first flight speed of the first UAV to be the same as the second flight speed of the second UAV.

Optionally, the image matching module is also suitable for:

Extracting the first region image data of the edge of the one or more frames of feature image data;

extracting the second region image data of the edge of the one or more frames of candidate image data;

judging whether the image data of the first area matches the image data of the second area;

If so, then determine that the one or more frames of feature image data match the one or more frames of candidate feature image data;

If not, it is determined that the one or more frames of feature image data do not match the one or more frames of candidate feature image data.

Optionally, the aerial photography continuation module is also suitable for:

The adjusted signal is sent to the remote controller to drive the remote controller to control the landing of the second unmanned aerial vehicle and obtain the remote control authority of the first unmanned aerial vehicle.

In the embodiment of the present invention, when the first unmanned aerial vehicle flies to a certain range from the second unmanned aerial vehicle according to the flight state information of the second unmanned aerial vehicle, and takes one or more frames of characteristic image data, and the second unmanned aerial vehicle The candidate image data of the aircraft is matched to continue the aerial photography operation in a suitable state. Therefore, the two video files before and after the interruption of continuous shooting can be connected through the matching frame candidate image data and feature image data, avoiding the fault phenomenon.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the specific embodiments of the present invention are enumerated below.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same components. In the attached picture:

Fig. 1 shows a flow chart of the steps of an embodiment of a continuous shooting method based on an unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 2 shows a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present invention;

3A to 3F show a flight schematic diagram of an unmanned aerial vehicle according to an embodiment of the present invention; and

Fig. 4 shows a structural block diagram of an unmanned aerial vehicle embodiment according to an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

Referring to Fig. 1 , it shows a flow chart of the steps of an embodiment of a continuous shooting method based on an unmanned aerial vehicle according to an embodiment of the present invention, which may specifically include the following steps:

Step 101, when a replacement instruction is received in the first UAV, obtain the flight status information of the second UAV during flight and one or more frames of candidate image data taken;

It should be noted that the embodiment of the present invention can be applied to an unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV), that is, an aircraft that uses wireless remote control or program control to perform specific aviation tasks. The required lift to be able to fly autonomously or remotely guided.

In a specific implementation, the unmanned aerial vehicle has various sensors and cameras. During aerial photography, the flight status information (that is, the information of recording the flight status) can be recorded through the sensors, and the camera can be called to capture one or more frames of image data.

In the embodiment of the present invention, if the first unmanned aerial vehicle receives a replacement instruction, the aerial replacement of the unmanned aerial vehicle may be automatically performed.

Furthermore, when the second unmanned aerial vehicle detects that the preset continuation condition is met, it can send a replacement instruction to the remote controller, and the remote controller can forward the replacement instruction to the first unmanned aerial vehicle.

Relatively speaking, the first unmanned aerial vehicle can receive the replacement instruction forwarded by the remote controller and sent by the second unmanned aerial vehicle when the preset continuation condition is met;

In a specific implementation, the continuation condition may include one or more of the following:

The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold.

Of course, in addition to the above-mentioned continuous shooting conditions, those skilled in the art may also set other continuous shooting conditions according to actual conditions, which is not limited in this embodiment of the present invention.

In addition, in addition to the replacement instruction sent by the second UAV, the remote controller may also directly send the replacement instruction to the first UAV, which is not limited in this embodiment of the present invention.

After the aerial photography replacement is triggered, the first unmanned aerial vehicle can obtain the flight status information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data that are forwarded by the remote controller, so as to approach the second unmanned aerial vehicle .

It should be noted that, in order to avoid control conflicts, the remote controller has the control right of the second unmanned aerial vehicle but not the first unmanned aerial vehicle before the aerial photography is replaced.

Step 102, flying according to the flight status information;

In a specific implementation, the flight status information may include flight track information, such as location point data (including longitude, latitude, and altitude) arranged in time, which may start from the location point data when the replacement instruction is sent.

Furthermore, the second UAV can identify the latitude and longitude where the second UAV is flying through a geographic positioning module, such as a GPS (Global Positioning System, Global Positioning System) module, a Beidou module, and the like.

In addition, the second unmanned aerial vehicle may also use an altitude sensor, such as a barometric altitude sensor, to identify the altitude at which the second unmanned aerial vehicle is flying.

Therefore, the first unmanned aerial vehicle can fly at the first flight speed according to the flight track information, so as to approach the second unmanned aerial vehicle.

Wherein, the first flight speed of the first UAV is greater than the second flight speed of the second UAV.

It should be noted that the second flight speed of the second UAV can be used as flight status information and forwarded by the remote controller to the first UAV, and the first UAV can calculate the first flight speed according to the second flight speed.

The first flying speed of the first unmanned aerial vehicle and the second flying speed of the second unmanned aerial vehicle can also be preset values. Fly at the first flying speed and the second flying speed, and the present invention is not limited to this.

When flying, take the quadrotor aircraft as an example. As shown in Figure 2, the quadrotor aircraft uses four rotors as the direct power source for the flight, and the rotors are symmetrically distributed in the front, rear, left, and right directions of the body. The rotors are at the same height plane, and the structures and radii of the four rotors are the same, the rotors 201 and 203 rotate counterclockwise, the rotors 202 and 204 rotate clockwise, and the four motors are symmetrically installed on the bracket end of the UAV. The flight control computer 200 and other external devices (such as cameras) are placed in the middle space.

The quadrotor aircraft changes the rotation speed of the rotor by adjusting the rotation speed of the four motors to realize the change of the lift force, thereby controlling the attitude and position of the aircraft.

Quadrotor aircraft is a vertical elevator with six degrees of freedom, but it has only four input forces and six state outputs at the same time, so it is an underactuated system. .

It is stipulated that the movement along the positive direction of the x-axis is called forward movement. The arrow above the movement plane of the rotor indicates that the motor speed increases, and the arrow below indicates that the motor speed decreases. The six degrees of freedom are as follows:

1. Vertical movement;

As shown in Figure 3A, increase the output power of four motors of rotor 201, rotor 202, rotor 203, rotor 204 at the same time, rotor 201, rotor 202, rotor 203, rotor 204 rotating speed increase makes total pulling force increase, when total pulling force When it is enough to overcome the weight of the complete machine, the quadrotor aircraft will rise vertically from the ground; otherwise, the output power of the four motors of rotor 201, rotor 202, rotor 203, and rotor 204 will be reduced simultaneously, and the quadrotor aircraft will descend vertically until balanced Landing, the vertical movement along the z-axis is realized.

When the external disturbance is zero, the quadrotor will keep hovering when the lift generated by the rotor 201, the rotor 202, the rotor 203 and the rotor 204 is equal to the gravity of the quadrotor.

2. Pitching movement;

As shown in FIG. 3B , the rotational speed of the motor of rotor 201 increases, the rotational speed of the motor of rotor 203 decreases (the amount of change is equal), and the rotational speeds of the motors of rotor 202 and rotor 204 remain unchanged.

As the lift force of the rotor 201 rises, the lift force of the rotor 203 decreases, and the resulting unbalanced moment causes the fuselage to rotate around the y-axis.

Similarly, when the rotational speed of the motor of the rotor 201 decreases, the rotational speed of the motor of the rotor 203 increases, and the fuselage rotates around the y-axis in another direction to realize the pitching motion of the quadrotor aircraft.

3. Rolling motion;

As shown in Figure 3C, changing the rotating speed of the motors of the rotor 202 and the rotor 204, keeping the rotating speed of the motors of the rotor 201 and the rotor 203 constant, can make the fuselage rotate around the x axis (forward and reverse), and realize the quadrotor Rolling motion of the aircraft.

4. Yaw movement;

During the rotation of the rotor, due to the effect of air resistance, an anti-torque opposite to the direction of rotation will be formed. In order to overcome the influence of the anti-torque, two of the four rotors can be rotated forward and two reversed, and each rotor on the diagonal can rotate same direction. The magnitude of the counter torque is related to the rotational speed of the rotors. When the rotational speeds of the four motors are the same, the counter torques generated by the four rotors are mutually balanced, and the quadrotor aircraft does not rotate; when the rotational speeds of the four motors are not exactly the same, the unbalanced counter torque will Causes the quadrotor to turn.

As shown in Figure 3D, when the rotating speed of the motor of rotor 201 and rotor 203 rises, when the rotating speed of the motor of rotor 202 and rotor 204 decreases, the reaction torque of rotor 201 and rotor 203 to the fuselage is greater than that of rotor 202 and rotor 204 to the fuselage The reaction torque of the fuselage is just rotated around the z axis under the effect of surplus reaction torque, realizes the yaw motion of the aircraft, and the steering of the motors of the rotor 201 and the rotor 203 is opposite to the steering.

5. Back and forth movement;

In order to realize the movement of the aircraft back and forth, left and right in the horizontal plane, a certain force must be applied to the aircraft in the horizontal plane.

As shown in Figure 3E, increasing the rotational speed of the motor of the rotor 203 increases the pulling force, correspondingly decreases the rotational speed of the motor of the rotor 201 to reduce the pulling force, while keeping the rotational speed of the other two motors unchanged, the counter torque still needs to be balanced .

According to the theory in FIG. 3B , the quadrotor aircraft first tilts to a certain degree, so that the rotor pulling force produces a horizontal component, so the forward flight movement of the quadrotor aircraft can be realized. Flying backwards is the exact opposite of flying forwards.

In FIG. 3B and FIG. 3C , the quadrotor aircraft also generates horizontal motion along the x and y axes while generating pitch and roll motions.

6. Tend to exercise;

Due to the symmetrical structure, leaning flight works exactly the same as fore and aft motion.

As shown in Figure 3F,

Increase the rotating speed of the motor of the rotor 204 to increase the pulling force, correspondingly reduce the rotating speed of the motor of the rotor 202 to reduce the pulling force, while keeping the speed of the other two motors constant, the counter torque will still be balanced.

The quadrotor aircraft first tilts to a certain degree, so that the rotor pull produces a vertical component, so the inclined motion of the quadrotor aircraft can be realized. Flying left is the exact opposite of flying right.

Of course, the above-mentioned quadrotor aircraft is only an example. When implementing the embodiment of the present invention, other unmanned aerial vehicles, such as six-rotor aircraft, single-rotor aircraft, etc., can be set according to the actual situation, which is not limited by the embodiment of the present invention.

Step 103, when flying to a certain range from the second UAV, take one or more frames of characteristic image data according to the flight state information;

If the first unmanned aerial vehicle flies to a certain range of the second unmanned aerial vehicle, it means that the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is relatively small.

Although the first unmanned aerial vehicle flies according to the flight trajectory information, it cannot ensure that it must completely coincide with the aerial photography position of the second unmanned aerial vehicle, and there will be more or less differences in the flying positions of the two. The videos taken during the flight are more accurately connected, and the shooting angle can be fine-tuned according to the flight status information.

In a specific implementation, the flight status information may include a shooting angle;

Specifically, the camera in the unmanned aerial vehicle is installed on the gimbal, that is, the supporting device for installing and fixing the camera.

Therefore, the shooting device can be adjusted according to the shooting angle, and the adjusted shooting device can be called to obtain one or more frames of characteristic image data.

Taking the omni-directional pan/tilt as an example, there are two motors inside it, which are respectively responsible for the rotation of the pan/tilt in the up, down, left and right directions, so as to drive the camera to rotate in the up, down, left and right directions to realize the adjustment of the shooting angle.

In addition, in order to maintain a smooth connection between the first unmanned aerial vehicle and the second unmanned aerial vehicle and avoid collisions, the first flying speed of the first unmanned aerial vehicle can be reduced, and the first flying speed of the first unmanned aerial vehicle can be adjusted to to be the same as the second flying speed of the second unmanned aerial vehicle.

Step 104, judging whether the one or more frames of feature image data match the one or more frames of candidate image data, and if so, perform step 105;

In the embodiment of the present invention, the similarity between the candidate image data and the feature image data can be calculated. If the similarity is greater than or equal to the preset similarity threshold, it is considered that the two match and are connected, then the feature image data can be used Use it as a starting point to continue the previous aerial photography operation.

If the similarity is less than the similarity threshold, it is considered that the two do not match, and the front and back are not connected. Since the candidate image data is continuously photographed, at this time, the similarity between other candidate image data and the feature image data can be recalculated until Both match.

Wherein, the similarity can be used to score the similarity of content between two frames of image data (candidate image data and feature image data), and judge the similarity of image data content according to the score.

In the embodiment of the present invention, the image data (candidate image data and feature image data) can be compared as a whole, that is, the similarity degree can be calculated for the image data (candidate image data and feature image data) as a whole.

Further, the overall similarity between image data (candidate image data and feature image data) can be calculated in the following manner:

1. Calculate the similarity based on the histogram;

Suppose you have image data A and image data B, calculate the histograms of the two images, HistA, HistB, and then calculate the normalized correlation coefficient of the two histograms (such as Bhattacharyachian distance, histogram intersection distance, etc.), to obtain similarity.

This method is based on the difference between the vectors to measure the similarity of the image, and the histogram can be well normalized, such as the usual 256 bins.

Then two frames of image data with different resolutions can directly calculate the similarity by calculating the histogram, which is very convenient.

Second, calculate the similarity based on matrix decomposition;

Image data itself is a matrix, you can rely on matrix decomposition, such as SVD (Singular Value Decomposition, singular value decomposition), NMF (Non-negative Matrix Factorization, non-negative matrix factorization) to obtain some of the matrix element values and distributions in the matrix Robust features are used to calculate the similarity of image data.

3. Calculate the similarity based on the feature points.

Each frame of image data has its own feature points, which represent some important positions in the image data, such as Harris corner points and Sift feature points, etc.

Then, the feature points of the obtained image data are compared, and if the number of similar feature points is large, it can be considered that the similarity of the two frames of image data is relatively high.

In addition, since the first UAV has already flown to the vicinity of the second UAV, the difference between the candidate image data and the characteristic image data is not large. Therefore, in order to reduce the amount of calculation, the edge between the candidate image data and the characteristic image data can be The comparison of the candidate image data and the feature image data are judged whether they match.

Specifically, the first region image data of the edge of one or more frames of feature image data may be extracted, the second region image data of the edge of one or more frames of candidate image data may be extracted, and the difference between the first region image data and the Whether the second region image data matches.

If yes, it is determined that one or more frames of characteristic image data match one or more candidate image data; if not, it is determined that one or more frames of characteristic image data do not match one or more candidate image data.

Further, the edge of the image data (candidate image data and feature image data) can be detected in the following manner:

1. Sobel operator;

The Sobel operator is a first-order differential operator, which uses the gradient value of the pixel's neighboring area to calculate the gradient of a pixel, and then chooses according to a certain threshold to obtain the edge in the image.

2. Canny edge detection;

The Canny edge detection algorithm is the first-order differential of the Gaussian function, and the optimal approximation operator is obtained by measuring the product of the signal-to-noise ratio and the location.

3. Gaussian Laplacian Algorithm

Gaussian Laplacian LoG algorithm is a second-order edge detection method, which detects edge points by looking for zero crossing (Zero Corssing) in the second-order differential of the gray value of the image.

Certainly, the above matching judging manner is only an example. When implementing the embodiment of the present invention, other matching judging manners may be set according to actual conditions, which is not limited in the embodiment of the present invention. In addition, in addition to the above matching judging manner, those skilled in the art may also use other matching judging manners according to actual needs, which is not limited in this embodiment of the present invention.

Step 105, perform continuous shooting operation for the first UAV.

In a specific implementation, the first UAV can send the adjusted signal to the remote controller to drive the remote controller to control the landing of the second UAV and obtain the remote control authority of the first UAV.

One or more frames of feature image data obtained before continuing the aerial photography operation do not match the candidate image data, so they cannot be used as a starting point and can be deleted directly.

One or more frames of feature image data obtained after continuing the aerial photography operation are matched with the candidate image data, which can be used as the starting point, through encoding and other processing, to generate a video file, and the candidate image data can be used as the end point to stop recording the video file.

The two video files before and after the continuous shooting can be connected through the matching frame candidate image data and feature image data, avoiding the fault phenomenon.

In the embodiment of the present invention, when the first unmanned aerial vehicle flies to a certain range from the second unmanned aerial vehicle according to the flight state information of the second unmanned aerial vehicle, and takes one or more frames of characteristic image data, and the second unmanned aerial vehicle The candidate image data of the aircraft is matched to continue the aerial photography operation in a suitable state. Therefore, the two video files before and after the interruption of continuous shooting can be connected through the matching frame candidate image data and feature image data, avoiding the fault phenomenon.

For the method embodiment, for the sake of simple description, it is expressed as a series of action combinations, but those skilled in the art should know that the embodiment of the present invention is not limited by the described action order, because according to the embodiment of the present invention , certain steps may be performed in other order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

Referring to FIG. 4 , it shows a structural block diagram of an unmanned aerial vehicle embodiment according to an embodiment of the present invention, which may specifically include the following modules:

The continuous shooting data acquisition module 401 is adapted to acquire the flight state information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data captured when the first unmanned aerial vehicle receives a replacement instruction;

a flight module 402, adapted to perform flight according to the flight state information;

The photographing module 403 is adapted to photograph one or more frames of characteristic image data according to the flight state information when flying within a certain range from the second UAV;

The image matching module 404 is adapted to determine whether the one or more frames of feature image data match the one or more frames of candidate image data, and if so, call the aerial photography continuation module 405;

The aerial photographing continuation module 405 is suitable for continuing the photographing operation for the first UAV.

In an optional embodiment of the present invention, the continuous shooting data acquisition module 401 may also be adapted to:

Receiving in the first unmanned aerial vehicle the replacement instruction transmitted by the remote controller and sent by the second unmanned aerial vehicle when the preset continuation condition is met;

The flight status information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data captured by the remote controller are obtained.

In a specific implementation, the shooting continuation conditions may include one or more of the following:

The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold.

In an optional embodiment of the present invention, the flight status information may include flight track information;

The flight module 402 may also be adapted to:

flying at a first flight speed according to the flight track information;

Wherein, the first flying speed of the first UAV is greater than the second flying speed of the second UAV.

In an optional embodiment of the present invention, the flight status information may include a shooting angle;

The camera module 403 can also be adapted to:

Adjusting the shooting device according to the shooting angle;

Call the adjusted shooting device to acquire one or more frames of characteristic image data.

In an optional embodiment of the present invention, the photographing module 403 may also be adapted to:

Adjusting the first flight speed of the first UAV to be the same as the second flight speed of the second UAV.

In an optional embodiment of the present invention, the image matching module 404 may also be adapted to:

Extracting the first region image data of the edge of the one or more frames of feature image data;

extracting the second region image data of the edge of the one or more frames of candidate image data;

judging whether the image data of the first area matches the image data of the second area;

If so, then determine that the one or more frames of feature image data match the one or more frames of candidate feature image data;

If not, it is determined that the one or more frames of feature image data do not match the one or more frames of candidate feature image data.

In an optional embodiment of the present invention, the aerial photography continuation module 405 may also be adapted to:

The adjusted signal is sent to the remote controller to drive the remote controller to control the landing of the second unmanned aerial vehicle and obtain the remote control authority of the first unmanned aerial vehicle.

For the unmanned aerial vehicle embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, please refer to the part of the description of the method embodiment.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other device. Various generic systems can also be used with the teachings based on this. The structure required to construct such a system is apparent from the above description. Furthermore, the present invention is not specific to any particular programming language. It should be understood that various programming languages can be used to implement the content of the present invention described herein, and the above description of specific languages is for disclosing the best mode of the present invention.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, in order to streamline this disclosure and to facilitate an understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. Modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method or method so disclosed may be used in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will understand that although some embodiments described herein include some features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention. and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of some or all of the components in the continuous shooting device based on an unmanned aerial vehicle according to an embodiment of the present invention. Function. The present invention can also be implemented as an apparatus or an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

Claims (16)

1. A method for continuing shooting based on an unmanned aerial vehicle, comprising: When the replacement instruction is received in the first unmanned aerial vehicle, the flight state information and one or more frames of candidate image data taken by the second unmanned aerial vehicle during flight are obtained; Flying according to the flight status information; When flying to a certain range from the second UAV, take one or more frames of characteristic image data according to the flight state information; It is judged whether the one or more frames of feature image data match the one or more frames of candidate image data, and if so, continue shooting operation for the first unmanned aerial vehicle. 2. The method according to claim 1, characterized in that, when the replacement instruction is received in the first unmanned aerial vehicle, the flight state information and one or more frames taken by the second unmanned aerial vehicle during flight are obtained. The steps of framing candidate image data include: Receiving in the first unmanned aerial vehicle the replacement instruction transmitted by the remote controller and sent by the second unmanned aerial vehicle when the preset continuation condition is met; The flight status information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data captured by the remote controller are obtained. 3. The method according to claim 2, wherein the shooting conditions include one or more of the following: The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold. 4. The method according to claim 1, 2 or 3, wherein the flight status information includes flight track information; The step of flying according to the flight status information includes: flying at a first flight speed according to the flight track information; Wherein, the first flying speed of the first UAV is greater than the second flying speed of the second UAV. 5. The method according to claim 1, 2 or 3, wherein the flight status information includes a shooting angle; The step of taking one or more frames of characteristic image data according to the flight status information includes: Adjusting the shooting device according to the shooting angle; Call the adjusted shooting device to acquire one or more frames of characteristic image data. 6. The method according to claim 5, wherein the step of taking one or more frames of characteristic image data according to the flight state information further comprises: Adjusting the first flight speed of the first UAV to be the same as the second flight speed of the second UAV. 7. The method according to claim 1 or 2 or 3 or 6, characterized in that, the step of judging whether the one or more frames of feature image data matches the one or more frames of candidate image data include: Extracting the first region image data of the edge of the one or more frames of feature image data; extracting the second region image data of the edge of the one or more frames of candidate image data; judging whether the image data of the first area matches the image data of the second area; If so, then determine that the one or more frames of feature image data match the one or more frames of candidate image data; If not, it is determined that the one or more frames of feature image data do not match the one or more frames of candidate image data. 8. The method according to claim 1 or 2 or 3 or 6, wherein the step of performing continuous shooting operations for the first unmanned aerial vehicle comprises: The adjusted signal is sent to the remote controller to drive the remote controller to control the landing of the second unmanned aerial vehicle and obtain the remote control authority of the first unmanned aerial vehicle. 9. An unmanned aerial vehicle continuous shooting system, comprising: The continuous shooting data acquisition module is adapted to obtain the flight status information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data taken when the replacement instruction is received in the first unmanned aerial vehicle; a flight module, suitable for flying according to the flight state information; The shooting module is adapted to take one or more frames of characteristic image data according to the flight status information when flying to a certain range from the second unmanned aerial vehicle; The image matching module is adapted to determine whether the one or more frames of feature image data match the one or more frames of candidate image data, and if so, call the aerial photography continuation module; The aerial photographing continuation module is suitable for continuing the photographing operation for the first unmanned aerial vehicle. 10. unmanned aerial vehicle continuous shooting system as claimed in claim 9, is characterized in that, described continuous shooting data acquisition module is also suitable for: Receiving in the first unmanned aerial vehicle the replacement instruction transmitted by the remote controller and sent by the second unmanned aerial vehicle when the preset continuation condition is met; The flight status information of the second unmanned aerial vehicle during flight and one or more frames of candidate image data captured by the remote controller are obtained. 11. The unmanned aerial vehicle continuous shooting system as claimed in claim 10, is characterized in that, described continuous shooting condition comprises following one or more: The power is lower than the preset power threshold, and the flight altitude is lower than the preset altitude threshold. 12. The unmanned aerial vehicle continuous shooting system as claimed in claim 9 or 10 or 11, wherein the flight state information comprises flight track information; The flight module is also adapted to: flying at a first flight speed according to the flight track information; Wherein, the first flying speed of the first UAV is greater than the second flying speed of the second UAV. 13. The unmanned aerial vehicle continuous shooting system as claimed in claim 9 or 10 or 11, wherein the flight status information includes a shooting angle; The camera module is also suitable for: Adjusting the shooting device according to the shooting angle; Call the adjusted shooting device to acquire one or more frames of characteristic image data. 14. The continuous shooting system of unmanned aerial vehicle as claimed in claim 13, is characterized in that, described shooting module is also suitable for: Adjusting the first flight speed of the first UAV to be the same as the second flight speed of the second UAV. 15. The unmanned aerial vehicle continued shooting system as claimed in claim 9 or 10 or 11 or 14, wherein the image matching module is also suitable for: Extracting the first region image data of the edge of the one or more frames of feature image data; extracting the second region image data of the edge of the one or more frames of candidate image data; judging whether the image data of the first area matches the image data of the second area; If so, then determine that the one or more frames of feature image data match the one or more frames of candidate image data; If not, it is determined that the one or more frames of feature image data do not match the one or more frames of candidate image data. 16. The unmanned aerial vehicle continuous shooting system as claimed in claim 9 or 10 or 11 or 14, wherein the aerial photography continuation module is also suitable for: The adjusted signal is sent to the remote controller to drive the remote controller to control the landing of the second unmanned aerial vehicle and obtain the remote control authority of the first unmanned aerial vehicle.