WO2019104641A1 - Unmanned aerial vehicle, control method therefor and recording medium - Google Patents

Abstract

Provided in an embodiment of the present invention is a control method for an unmanned aerial vehicle: an unmanned aerial vehicle flies according to a pre-determined route that is pre-planned for a target, and an image capture device that is disposed on the unmanned aerial vehicle captures images of the target, comprising the following steps: according to a pre-determined route, calculating flight information that is planned by an unmanned aerial vehicle (S1001); obtaining current flight information of the unmanned aerial vehicle (S1002); adjusting the unmanned aerial vehicle according to the current flight information and the planned flight information such that an image capture device continuously captures images of a target (S1003). The control method for an unmanned aerial vehicle provided by the present invention may enable the image capture device that is carried on the unmanned aerial vehicle to continuously capture images of the target, thereby effectively increasing the efficiency of the unmanned aerial vehicle when performing line inspection and like work.

Description

Drone, its control method, and recording medium Technical field

Embodiments of the present invention relate to a drone, a control method thereof, and a recording medium, and more particularly to an industrial application field of a drone.

Background technique

With the continuous expansion of the application field of drones, application scenarios in which drones are used to patrol targets are becoming more and more popular. In particular, the fixed-wing UAV with vertical take-off and landing has advantages over multi-axis UAVs in terms of battery life and flight speed, and is very suitable for application in the inspection industry, such as inspection highways. Inspection pipelines, etc.

In the existing inspection plan, the inspection operation is generally performed by the following steps:

1. Plan the route of the drone on the ground station according to the GPS position of the target line.

2. The drone will fly according to the route, and the camera carried on the drone will collect the video of the lot where the drone passes.

However, when the vertical take-off and landing fixed-wing UAV is performing the waypoint mission, it will deviate from the preset route to a certain extent when the corner and wind speed are large. When the route is deviated, the camera mounted on the drone cannot capture. Go to the desired target (highway, oil pipeline), etc., or the content captured by the camera is not a preset target.

Summary of the invention

The embodiment of the invention provides a drone, a control method thereof and a recording medium, which can dynamically control the drone so that the photographing device mounted on the drone can always shoot the target.

According to a first aspect of the present invention, a control method for a drone that is based on a predetermined route planned for a target and that is photographed by a photographing device provided on the drone is provided. The method includes the following steps: calculating flight information of the drone plan according to the predetermined route, acquiring current flight information of the drone, according to the current flight information and The planned flight information adjusts the drone such that the photographing device always photographs the target.

According to a second aspect of the present invention, there is provided a control method for a drone, the drone flying according to a predetermined route planned for a target, and photographing the target by a photographing device provided on the drone, The method includes the following steps: recognizing the target in an image captured by the photographing device, and adjusting the drone according to a change in the image in the image, so that the photographing device always performs the target on the target Shooting.

A third aspect of the present invention provides a drone that, according to a predetermined route planned for a target, includes: a photographing device that photographs the target; and one or more processors for individually or collectively Performing the following process: calculating flight information of the drone plan according to the predetermined route, acquiring current flight information of the drone, and the unmanned according to the current flight information and the planned flight information The machine performs adjustment so that the photographing device always shoots the target.

A fourth aspect of the present invention relates to a drone that, according to a predetermined route planned for a target, includes: a photographing device that photographs the target; and one or more processors for performing separately or collectively Processing: identifying the target in an image captured by the camera, and adjusting the drone according to a change in the image in the image, so that the camera always shoots the target .

According to a fifth aspect of the present invention, there is provided a recording medium having recorded a program for executing a computer of a drone that photographs a target according to a predetermined route planned for a target and is photographed by a photographing device provided thereon Processing: calculating flight information of the drone plan according to the predetermined route, acquiring current flight information of the drone, and performing the drone on the drone according to the current flight information and the planned flight information. The adjustment is such that the photographing device always shoots the target.

According to a sixth aspect of the invention, there is provided a recording medium having a program for causing a drone that is based on a predetermined route planned for a target and photographed by a photographing device provided thereon to perform the following processing : identifying the target in the image captured by the imaging device, and adjusting the drone according to a change in the image in the image, so that the imaging device always captures the target.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. One of ordinary skill in the art can also obtain other drawings based on these drawings without paying for inventive labor.

1 is a schematic view showing a drone 100 according to a first embodiment of the present invention and an application scenario thereof.

FIG. 2 is a flowchart showing a method of controlling the drone 100 according to the first embodiment of the present invention.

Fig. 3 is a flow chart showing a specific example of step S1003 in Fig. 2 .

Fig. 4 is a view showing a specific example of Fig. 3 for explanation.

Fig. 5 is a flow chart showing another specific example of step S1003 in Fig. 2 .

Fig. 6 is a schematic view for explaining a specific example of Fig. 5.

Fig. 7 is a schematic diagram showing a drone 200 according to a second embodiment of the present invention and an application scenario thereof.

FIG. 8 is a flowchart showing a method of controlling the drone 200 according to the second embodiment of the present invention.

Fig. 9 is a flowchart showing a specific example of step S2002 in Fig. 8.

(A), (B), and (C) of FIG. 10 are schematic views for explaining a flowchart of a specific example of FIG. 9.

Fig. 11 is a flow chart showing another specific example of step S2002 in Fig. 8.

(A), (B), and (C) of FIG. 12 are schematic views for explaining a flowchart of a specific example of FIG. 11.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is called "fixed to" another component, it can be directly There may also be a centered component on another component. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

First embodiment

1 is a schematic view showing a drone 100 according to a first embodiment of the present invention and an application scenario thereof. Here, the configuration of the unmanned aerial vehicle 100 that is not closely related to the description of the embodiment is omitted.

The drone 100 may be, for example, any of a multi-axis drone, a fixed-wing drone, or a vertical take-off drone, including a pan/tilt head 101 and a photographing device 102. The drone 100 flies according to a predetermined route planned in advance for the target 110, and the target device 110 is photographed by the imaging device 102 mounted on the drone 100, and the target 110 is photographed while flying, and the target inspection is completed. .

The pan/tilt 101 is connected to the drone 100 and is used to mount the imaging device 102. The pan/tilt has a plurality of rotatable shafts that can be rotated in various directions to adjust the photographing direction of the photographing device 102.

The imaging device 102 is mounted on the pan/tilt head 101 for imaging a target. The photographing device 102 may be various types of photographing devices such as a camera that can take high-definition images, a camera that shoots continuous video, a night vision device that takes infrared images, and the like. The imaging device 102 may also include a plurality of cameras that face different directions or have different functions.

The target facility for target 110 drone inspection, preferably a target line extending linearly, such as highways, oil pipelines, coastlines, transmission cables, etc.

FIG. 2 is a flowchart showing a method of controlling the drone 100 according to the first embodiment of the present invention.

In step S1001, the drone 100 calculates a flight letter of the drone plan according to the predetermined route. interest.

Here, the predetermined route is a route planned in advance for the target inspection plan, and is composed of the route route and the height of each waypoint, and can be planned by a ground station for controlling the drone 100 not shown. It is also possible to plan by the drone 100 itself by operating the drone 100.

The drone 100 calculates the flight information of the drone 100 based on the predetermined route described above. The flight information herein is information that the drone 100 controls the motion during the flight, including at least one of the position information of the drone, the flight attitude information, and the camera status information.

The location information of the drone includes at least one of GPS information and altitude information. Here, it is not limited to the location information under the GPS system, and may be location information determined by at least one system of GPS, Beidou, Galileo, and GLONASS.

Further, the flight attitude information includes the flight speed, yaw angle, roll angle, pitch angle, and the like of the current flight of the drone 100.

In addition, the imaging device status information includes imaging parameter information of the imaging device 102 and posture information of the pan-tilt 101.

The shooting parameter information of the photographing device 102 includes zoom magnification, shooting resolution, shutter speed, aperture, white balance, exposure compensation, and the like.

The attitude information of the pan/tilt head 101 includes the angles of the respective rotation axes of the pan-tilt head 101 and the like.

In step S1001, the planned flight attitude information of the drone and the planned camera state information are determined, for example, based on the position information of the target 110 and the position information of the predetermined course. The planned flight attitude information of the drone and the planned shooting state information are preferably adjusted so that the target 110 can be captured clearly and completely by the camera 102.

In step S1002, the current flight information of the drone 100 is acquired. For example, various types of flight information of the drone 100 are acquired by various sensors (not shown) provided in the drone 100.

In step S1003, the drone 100 is adjusted based on the current flight information and the planned flight information, so that the imaging device 102 always captures the target 110.

Fig. 3 is a flow chart showing a specific example of step S1003 in Fig. 2 . In the solution of this specific example, the drone 100 is adjusted after confirming that the current flight information of the drone 100 deviates from the planned flight information.

In step S10031, the planned flight information of the current time is acquired. As an example, the height information Hj in the planned flight information at the current time is acquired.

In step S10032, a first difference between the current flight information and the planned flight information at the current time is calculated.

Fig. 4 is a view showing a specific example of Fig. 3 for explanation. It is assumed that during the flight of the drone 100, its height becomes Hd due to a sudden change in the airflow so as to deviate from the height Hj in the planned flight information. As shown in the figure, if the drone 100 is not adjusted, the imaging range of the imaging device 102 of the drone 100 will deviate from the original area A (the range indicated by the wide broken line) capable of covering the target 110 to the area B ( The range indicated by the narrow dashed line), so that the target 110 cannot be captured.

In this specific example, the difference information ΔH=Hd-Hj of the height information Hd and Hj is obtained as the first difference using the height information Hd in the current flight information of the drone 100 acquired in step S1002. That is, the difference ΔH as the first difference indicates the difference between the height information of the current time of the drone 100 and the altitude information in the originally planned flight information.

Then, in step S10033, the drone 100 is adjusted according to the first difference. Here, for example, the drone 100 is adjusted based on the difference ΔH so that the photographing range of the photographing device 102 of the drone 100 is maintained as the area A, so that the target 110 is always photographed. As a method of adjusting the drone 100, for example, the adjustment angle α=K*ΔH of the pan-tilt head 101 can be calculated by using the adjustment constant K corresponding to the height change ΔH, and the angle of the pan-tilt head 101 can be adjusted to make a photograph. The imaging range of the device 102 is changed from the area B (the range indicated by the narrow broken line) to the area A (the range indicated by the solid line), that is, the imaging range is maintained as the area A.

Fig. 5 is a flow chart showing another specific example of step S1003 in Fig. 2 . In the solution of this specific example, when the flight information of the next time (a given time) of the unmanned aerial vehicle 100 is expected to change greatly, before the flight information is greatly changed, advance (or at the time when the change occurs) The drone 100 is adjusted.

At step S10031', the planned flight information of the next time is acquired. As an example, the height information Hjn in the planned flight information at the next time is acquired.

In step S10032', a second difference between the current flight information and the planned flight information at the next moment is calculated.

Fig. 6 is a schematic view for explaining a specific example of Fig. 5. Set drone 100 in flight In the process, the current height is Hd, but the height of the planned flight information at the next moment will become Hjn due to obstacles such as buildings and fixed facilities. As shown in the figure, if the drone 100 is not adjusted, the imaging range of the imaging device 102 of the drone 100 will deviate from the original region A (the range indicated by the wide broken line) capable of covering the target 110 at the next timing. Go to the area B (the range indicated by the narrow dotted line) so that the target 110 cannot be captured.

In this specific example, the height information Hd in the current flight information of the drone 100 acquired in step S1002 is used as the second difference to obtain the difference ΔH= between the planned height Hjn of the next time and the current height Hd. Hjn-Hd. That is, the difference ΔH as the second difference indicates the difference between the height information in the planned flight information of the drone 100 at the next time and the current altitude information.

Then, in step S10033', the drone is adjusted according to the second difference. Here, for example, the drone 100 is adjusted based on the difference ΔH so that the photographing range of the photographing device 102 of the drone 100 is maintained as the area A, so that the target 110 is always photographed. As a method of adjusting the drone 100, for example, the adjustment angle α=K*ΔH of the pan-tilt head 101 can be calculated by using the adjustment constant K corresponding to the height change ΔH, and the angle of the pan-tilt head 101 can be adjusted to make a photograph. The imaging range of the device 102 is changed from the area B (the range indicated by the narrow broken line) to the area A (the range indicated by the solid line), that is, the imaging range is maintained as the area A.

The next time in the specific example may be a predetermined time unit, and the time unit is greater than or equal to the time required for the drone to be adjusted, so that the foreseeable flight information will be greatly changed. Or the drone 100 is adjusted at the time when the change occurs.

However, the present invention is not limited thereto, and the first difference value and the second difference value are not limited to the height change obtained based on the change in the height information, or may be further changed according to the GPS information, the flight attitude (flight speed, yaw angle, horizontal The amount of change in the overall flight state calculated, such as the change in the roll angle and the pitch angle.

In addition, the adjustment of the drone 100 is not limited to the angle adjustment of the pan/tilt head 101, and includes adjustment of the flight state of the drone 100 and/or the photographing state of the photographing device 102.

The adjustment of the flight state of the drone 100 includes: adjusting the position of the drone 100 and/or adjusting the flight attitude of the drone 100. Adjusting the position of the drone 100, including adjusting the GPS coordinates of the drone and/or adjusting the height of the drone; The flight attitude is adjusted, including adjusting at least one of a yaw angle, a roll angle, a pitch angle, and a speed of the drone.

Further, adjusting the photographing state of the photographing device 102 includes adjusting the photographing parameters of the photographing device and/or adjusting the posture of the pan/tilt head 101; wherein the photographing parameters of the photographing device include the zoom magnification.

That is, as long as the imaging device 102 can always capture the target 110 by adjusting the flight state of the drone 100, and specifically adjusting which aspect or aspects of the flight state, the adjustment needs, the adjustment conditions, Other factors such as the characteristics of the drone and weather conditions are appropriate.

According to the drone 100 of the first embodiment of the present invention and the control method thereof, the drone can be dynamically controlled so that the photographing device mounted on the drone can always photograph the target.

Second embodiment

Fig. 7 is a schematic diagram showing a drone 200 according to a second embodiment of the present invention and an application scenario thereof. Here, the same portions as those in the first embodiment are denoted by the same reference numerals, and the detailed description is omitted.

The drone 200 may be, for example, any of a multi-axis drone, a fixed-wing drone, or a vertical take-off drone, including a pan/tilt head 101 and a photographing device 102.

The pan/tilt 101 is connected to the drone 100 and is used to mount the imaging device 102.

The imaging device 102 is mounted on the pan/tilt head 101 for imaging a target.

The target 110 is a target facility for the drone inspection, and the target 110 in the present embodiment is not limited to the target extending linearly.

The drone 200 of the second embodiment differs from the drone 100 of the first embodiment in the control method thereof. Hereinafter, the drone 200 of the second embodiment will be described in detail focusing on the difference. Further, the drone 200 of the second embodiment is not limited to flying in accordance with a predetermined planned route, and the drone 200 of the second embodiment can be applied as long as it is a scene in which the target is photographed during the flight.

FIG. 8 is a flowchart showing a method of controlling the drone 200 according to the second embodiment of the present invention.

In step S2001, the target 110 in the image captured by the imaging device 102 is identified. Here, a recognition method based on the target feature point, a recognition method based on the target shape, a template-based recognition method, a feature identification-based recognition method, artificial intelligence, machine learning, or a combination thereof may be used.

In step S2002, the drone 200 is adjusted in accordance with the change in the image of the target 110, so that the photographing device 102 always photographs the target 110.

FIG. 9 is a flowchart showing a specific example of step S2002 in FIG. 8, and FIG. 10 is a schematic diagram for explaining a flowchart of a specific example of FIG. 9. FIG. 10(A) is a diagram showing a situation in which the target 110 is within the range of the predetermined position Py in the image.

In step S20021, the position of the target 110 at the current time in the image is acquired. Here, the center of gravity, the center, the symmetry line, or the center of the circumscribed circle of the target, or the like can be used as the position of the target in the image. In the schematic diagram of FIG. 10, the position of the symmetry line of the target 110 is taken as the position of the target 110 in the image.

Fig. 10(B) is a view showing a state in which the flying posture of the drone 200 is changed due to the airflow or the like, and the current position Pd of the target 110 in the image deviates from the range of the predetermined position Py.

In step S20022, a third difference between the current position Pd and the preset position Py is calculated. Here, the target can be tracked and the current position Pd can be confirmed and calculated by any one of a region-based tracking algorithm, a feature-based tracking algorithm, a contour-based tracking algorithm, a model-based tracking algorithm, and a detection-based tracking algorithm. The difference ΔP=Pd-Py between the current position Pd of the changed target 110 and the predetermined predetermined position Py is taken as the third difference.

In step S20023, the drone 200 is adjusted based on the third difference.

Here, for example, the drone 200 is adjusted based on the difference ΔP such that ΔP=0 or less than a prescribed threshold, so that the target 110 is located in the image or substantially at the predetermined position Py as shown in FIG. 10(C), That is, the target 110 is always photographed. As a method of adjusting the drone 200, for example, the angle of the pan-tilt head 101 can be adjusted by using a predetermined adjustment step such that ΔP = 0 or less than a predetermined threshold.

FIG. 11 is a flowchart showing another specific example of step S2002 in FIG. 8, and FIG. 12 is a schematic diagram for explaining a flowchart of a specific example of FIG. FIG. 12(A) is a diagram showing a situation when the size of the target 110 is a predetermined size Sy in the image.

In step S20021', the size of the target 110 at the current time in the image is acquired. Here, the width, length, height, area, volume, etc. of the target can be targeted in the image. size. In the diagram of Fig. 12, the size of the width of the target 110 is taken as the size of the target 110 in the image.

Fig. 12(B) is a view showing a case where the flying height of the drone 200 rises due to an air flow or the like, and the current size Sd of the target 110 deviates from the predetermined size Sy (smaller).

In step S20022', the fourth difference between the current size Sd and the preset size Sy is calculated. Here, the tracking target and the current size Sd can be tracked and calculated by any one of a region-based tracking algorithm, a feature-based tracking algorithm, a contour-based tracking algorithm, a model-based tracking algorithm, and a detection-based tracking algorithm. The difference ΔS=Sd-Sy between the current size Sd of the changed target 110 and the predetermined predetermined size Sy is taken as the fourth difference.

In step S20023', the drone 200 is adjusted based on the fourth difference.

Here, for example, the drone 200 is adjusted based on the difference ΔS such that ΔS = 0 or is smaller than a predetermined threshold, so that the size of the target 110 in the image is equal to or substantially equal to that shown in FIG. 12(C). The predetermined size Sy, that is, the target 110 is always photographed. As a method of adjusting the drone 200, for example, the zoom magnification of the photographing device 102 can be adjusted by using a predetermined adjustment step such that ΔS=0 or less than a predetermined threshold.

However, the present invention is not limited thereto, and the adjustment of the drone 200 is not limited to the above specific examples, and includes adjustment of the flight state of the drone 200 and/or the photographing state of the photographing device 102.

The adjustment of the flight state of the drone 200 includes: adjusting the position of the drone 200 and/or adjusting the flight attitude of the drone 200. Adjusting the position of the drone 200, including adjusting the GPS coordinates of the drone and/or adjusting the altitude of the drone; adjusting the flight attitude of the drone, including the yaw angle of the drone, At least one of a roll angle, a pitch angle, and a speed is adjusted.

Further, adjusting the photographing state of the photographing device 102 includes adjusting the photographing parameters of the photographing device and/or adjusting the posture of the pan/tilt head 101; wherein the photographing parameters of the photographing device include an optical zoom magnification and/or a digital zoom Magnification.

That is, as long as the imaging device 102 can always capture the target 110 by adjusting the flight state of the drone 200, and specifically adjusting which aspect or aspects of the flight state, the adjustment needs, the adjustment conditions, UAV characteristics, weather conditions, etc. Other factors are appropriate to decide.

According to the unmanned aerial vehicle 200 and the control method thereof according to the second embodiment of the present invention, the drone can be dynamically controlled so that the imaging device mounted on the drone can always capture the target.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. The specific work of the device described above For the process, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (42)

A control method for a drone, the drone flying according to a predetermined route planned for a target, and photographing the target by a photographing device provided on the drone, comprising the following steps: Calculating flight information of the drone plan according to the predetermined route, Obtaining the current flight information of the drone, And adjusting the drone according to the current flight information and the planned flight information, so that the photographing device always photographs the target. A method of controlling a drone according to claim 1, wherein: The flight information includes at least one of position information of the drone, flight attitude information, and photographing device status information. The control method of the unmanned aerial vehicle according to claim 2, wherein the position information of the drone includes at least one of GPS information and altitude information. The control method of the unmanned aerial vehicle according to claim 2, wherein the drone includes a pan/tilt, and the photographing device is mounted on the pan/tilt; The photographing device state information includes photographing parameter information of the photographing device and posture information of the pan/tilt. The control method of the unmanned aerial vehicle according to claim 4, wherein the calculating the flight information of the drone plan according to the predetermined route comprises: The planned flight attitude information and the planned camera status information of the drone are determined based on the location information of the target and the location information of the predetermined route. The control method of the unmanned aerial vehicle according to claim 4, wherein the adjusting the drone according to the current flight information and the planned flight information comprises: Obtain the planned flight information of the current time; Calculating a first difference between the current flight information and the planned flight information of the current time; Adjusting the drone according to the first difference. The control method of the unmanned aerial vehicle according to claim 4, wherein the adjusting the drone according to the current flight information and the planned flight information comprises: Get the planned flight information for the next moment; Calculating a second difference between the current flight information and the planned flight information of the next moment; Adjusting the drone according to the second difference. The control method of the unmanned aerial vehicle according to claim 6 or 7, wherein the adjusting of the drone includes the flight state of the drone and/or the photographing of the photographing device The status is adjusted. The control method of the unmanned aerial vehicle according to claim 8, wherein the adjusting the flight state of the drone comprises: Adjust the position of the drone and/or the flight attitude of the drone. The control method of the unmanned aerial vehicle according to claim 9, wherein Adjusting the position of the drone, including adjusting the GPS coordinates of the drone and/or adjusting the height of the drone; The adjusting the flight attitude of the drone includes adjusting at least one of a yaw angle, a roll angle, and a pitch angle of the drone. The control method of the unmanned aerial vehicle according to claim 8, wherein the adjusting the photographing state of the photographing device comprises adjusting a photographing parameter of the photographing device and/or adjusting a posture of the pan/tilt head. Wherein the shooting parameters of the photographing device include a zoom magnification. The control method of the unmanned aerial vehicle according to claim 1, wherein The drone is a vertical-wing type fixed-wing drone; and/or The target is a linearly extending target line. A control method for a drone, the drone flying according to a predetermined route planned for a target, and photographing the target by a photographing device provided on the drone, comprising the following steps: Identifying the target in the image captured by the camera, The drone is adjusted according to a change in the image in the image such that the photographing device always photographs the target. The control method of the unmanned aerial vehicle according to claim 13, wherein the drone includes a pan/tilt, and the photographing device is mounted on the pan/tilt head. The adjusting the drone includes adjusting an flight state of the drone and/or a shooting state of the photographing device. The control method of the unmanned aerial vehicle according to claim 13, wherein the adjusting the drone according to the change of the target in the image comprises: Obtaining a position of the target at the current moment in the image; Calculating a third difference between the current position and the preset position; Adjusting the drone according to the third difference. The control method of the unmanned aerial vehicle according to claim 13, wherein the adjusting the drone according to the change of the target in the image comprises: Obtaining the size of the target in the image at the current moment; Calculating a fourth difference between the current size and a preset size; Adjusting the drone according to the fourth difference. The control method of the unmanned aerial vehicle according to claim 14, wherein Adjusting the flight status of the drone, including: Adjust the position of the drone and/or the flight attitude of the drone. The control method of the unmanned aerial vehicle according to claim 17, wherein Adjusting the position of the drone, including adjusting the GPS coordinates of the drone and/or adjusting the height of the drone; The adjusting the flight attitude of the drone includes adjusting at least one of a yaw angle, a roll angle, and a pitch angle of the drone. The control method of the unmanned aerial vehicle according to claim 14, wherein the adjusting the photographing state of the photographing device comprises adjusting a photographing parameter of the photographing device and/or adjusting a posture of the pan/tilt head. Wherein the shooting parameters of the photographing device include a zoom magnification. The control method of the unmanned aerial vehicle according to claim 13, wherein The drone is a vertical-wing type fixed-wing drone; and/or The target is a linearly extending target line. A drone that flies according to a predetermined route planned for a target, including: a photographing device that photographs the target; and And one or more processors for separately or collectively performing processing of: calculating flight information of the drone plan according to the predetermined route, acquiring current flight information of the drone, according to the current flight The information and the planned flight information adjust the drone such that the camera always captures the target. The drone according to claim 21, wherein: The flight information includes at least one of position information of the drone, flight attitude information, and photographing device status information. The drone according to claim 22, wherein the position information of the drone includes at least one of GPS information and altitude information. The drone according to claim 22, wherein the drone includes a pan/tilt, and the photographing device is mounted on the pan/tilt; The photographing device state information includes photographing parameter information of the photographing device and posture information of the pan/tilt. The drone according to claim 24, wherein the calculating the flight information of the drone plan according to the predetermined route comprises: The planned flight attitude information and the planned camera status information of the drone are determined based on the location information of the target and the location information of the predetermined route. The drone according to claim 24, wherein the adjusting the drone according to the current flight information and the planned flight information comprises: Obtain the planned flight information of the current time; Calculating a first difference between the current flight information and the planned flight information of the current time; Adjusting the drone according to the first difference. The drone according to claim 24, wherein the adjusting the drone according to the current flight information and the planned flight information comprises: Get the planned flight information for the next moment; Calculating a second difference between the current flight information and the planned flight information of the next moment; Adjusting the drone according to the second difference. The drone according to claim 26 or 27, wherein the adjusting the drone includes adjusting an flight state of the drone and/or a photographing state of the photographing device . The drone according to claim 28, wherein the adjusting the flight state of the drone comprises: Adjust the position of the drone and/or the flight attitude of the drone. The drone according to claim 29, characterized in that Adjusting the position of the drone, including adjusting the GPS coordinates of the drone and/or adjusting the height of the drone; The adjusting the flight attitude of the drone includes adjusting at least one of a yaw angle, a roll angle, and a pitch angle of the drone. The drone according to claim 28, wherein the adjusting the photographing state of the photographing device comprises: adjusting a photographing parameter of the photographing device and/or adjusting a posture of the pan/tilt; wherein The shooting parameters of the photographing device include a zoom magnification. The drone according to claim 21, wherein The drone is a vertical-wing type fixed-wing drone; and/or The target is a linearly extending target line. A drone that flies according to a predetermined route planned for a target, including: a photographing device that photographs the target; and One or more processors for separately or collectively performing processing of identifying the target in an image captured by the camera, the drone being changed according to the target in the image Adjustment is made such that the photographing device always takes a picture of the target. The drone according to claim 33, wherein the drone includes a pan/tilt, and the photographing device is mounted on the pan/tilt head. The adjusting the drone includes adjusting an flight state of the drone and/or a shooting state of the photographing device. The drone according to claim 33, wherein said adjusting said drone according to a change in said image in said image comprises: Obtaining a position of the target at the current moment in the image; Calculating a third difference between the current position and the preset position; Adjusting the drone according to the third difference. The drone according to claim 33, wherein said adjusting said drone according to a change in said image in said image comprises: Obtaining the size of the target in the image at the current moment; Calculating a fourth difference between the current size and a preset size; Adjusting the drone according to the fourth difference. The drone according to claim 34, characterized in that Adjusting the flight status of the drone, including: Adjust the position of the drone and/or the flight attitude of the drone. The drone according to claim 37, characterized in that Adjusting the position of the drone, including adjusting the GPS coordinates of the drone and/or adjusting the height of the drone; The adjusting the flight attitude of the drone includes adjusting at least one of a yaw angle, a roll angle, and a pitch angle of the drone. The drone according to claim 34, wherein the adjusting the photographing state of the photographing device comprises: adjusting a photographing parameter of the photographing device and/or adjusting a posture of the pan/tilt; wherein The shooting parameters of the photographing device include a zoom magnification. The drone according to claim 33, wherein The drone is a vertical-wing type fixed-wing drone; and/or The target is a linearly extending target line. A recording medium having a program for causing a computer of a drone that photographs a predetermined route for a target in advance and that is photographed by a photographing device provided thereon to perform the following processing: Calculating flight information of the drone plan according to the predetermined route, Obtaining the current flight information of the drone, And adjusting the drone according to the current flight information and the planned flight information, so that the photographing device always photographs the target. A recording medium having a program for causing a drone that is flying according to a predetermined route planned for a target and photographing the target by a photographing device provided thereon to perform the following processing: Identifying the target in the image captured by the camera, The drone is adjusted according to a change in the image in the image such that the photographing device always photographs the target.

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