Tracking photographing method and tracking photographing device based on unmanned aerial vehicle, and tracking photographing system

Abstract

The invention discloses a tracking photographing method based on an unmanned aerial vehicle, comprising the steps of obtaining three-dimensional position coordinate difference values between the unmanned aerial vehicle and a photographing object, wherein the three-dimensional position coordinate difference value at an initial moment is taken as a target three-dimensional position coordinate difference value, and the target three-dimensional position coordinate difference value satisfies a condition that the photographing object is located in a photographing visual angle of a camera of the unmanned aerial vehicle; obtaining a three-dimensional position coordinate of the photographing object at the current moment; and adjusting the three-dimensional position coordinate of the unmanned aerial vehicle and the photographing pitching angle of the camera at the current moment according to the three-dimensional position coordinate of the photographing object at the current moment, the three-dimensional position coordinate difference values and the target three-dimensional position coordinate difference value, thereby enabling the photographing object to be located in the photographing visual angle of the camera. According to the method, the three-dimensional position coordinate and the photographing angle of the unmanned aerial vehicle are adjusted according to a three-dimensional relative position relationship between the photographing object and the unmanned aerial vehicle, so the unmanned aerial vehicle tracks and photographs the target in a three-dimensional space without limitation of a territory. The invention also discloses a device and system based on the method.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a tracking and shooting method based on an unmanned aerial vehicle, and also relates to a tracking and shooting device and a tracking and shooting system based on the tracking and shooting method. Background technique [0002] According to the application field, UAV can be divided into military and civilian. Civilian drones are currently used in aerial photography, agriculture, plant protection, selfie, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, and romance creation. [0003] UAVs are equipped with different tracking capture devices according to different applications. Taking aerial photography as an example, UAVs are equipped with cameras for aerial photography. The tracking and shooting method of the exist...

AI Technical Summary

Problems solved by technology

The tracking shooting method of the existing drone is to track and shoot according to the motion track in the plane of the user, but when the user has a height change, the problem that the drone cannot capture the user's motion track occurs, that is, using If the person is not within the shooting angle, it is necessary to manually readjust the shooting pitch angle or the flying height of the drone, which has great restrictions on the tracking and shooting activity area, which is very inconvenient

The same problem exists in other applications. The tracking and capture of the target is limited by the active area, and the target cannot be tracked and captured conveniently.

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