Method, apparatus, terminal, and storage medium for elevation surrounding flight control

An apparatus for elevation surrounding flight control, configured in an unmanned aerial vehicle, the unmanned aerial vehicle comprising a fuselage and a photographing apparatus disposed in the fuselage, and the apparatus comprising:

• at least one processor;
• and
• a memory in communication connection with the at least one processor, wherein
• the memory stores instructions capable of being executed by the at least one processor, and the instructions, when executed by the at least one processor, cause the at least one processor configured to execute the instructions to:
• obtain surrounding parameter information of the unmanned aerial vehicle, wherein the surrounding parameter information comprises position information of a point of interest and a surrounding radius of the unmanned aerial vehicle;
• determine, according to the surrounding parameter information, an elevation surrounding trajectory to be surrounded, wherein the elevation surrounding trajectory is a plane with the point of interest as a center and the surrounding radius as a radius, and the plane where the elevation surrounding trajectory is located is perpendicular to a horizontal plane;
• obtain a capture viewing angle mode, wherein the capture viewing angle mode comprises a free capture viewing angle mode and a centripetal capture viewing angle mode, the free capture viewing angle mode means that a photographing direction of the photographing apparatus is an arbitrary direction, and the centripetal capture viewing angle mode means that the photographing direction of the photographing apparatus always points to the point of interest;
• and
• control, according to the capture viewing angle mode, the unmanned aerial vehicle to fly along the elevation surrounding trajectory.

An unmanned aerial vehicle, comprising:

• a fuselage;
• arms connected to the fuselage;
• power apparatuses disposed on the arms;
• a photographing apparatus, connected to the fuselage, wherein the photographing apparatus comprises a pan-tilt head and a camera connected to the pan-tilt head;
• at least one processor disposed in the fuselage;
• and
• a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions, when executed by the at least one processor, causing the at least one processor to perform the following operations:
• obtaining surrounding parameter information of the unmanned aerial vehicle, wherein the surrounding parameter information comprises position information of a point of interest and a surrounding radius of the unmanned aerial vehicle;
• determining, according to the surrounding parameter information, an elevation surrounding trajectory to be surrounded, wherein the elevation surrounding trajectory is a plane with the point of interest as a center and the surrounding radius as a radius, and the plane where the elevation surrounding trajectory is located is perpendicular to a horizontal plane;
• obtaining a capture viewing angle mode, wherein the capture viewing angle mode comprises a free capture viewing angle mode and a centripetal capture viewing angle mode, the free capture viewing angle mode means that a photographing direction of the photographing apparatus is an arbitrary direction, and the centripetal capture viewing angle mode means that the photographing direction of the photographing apparatus always points to the point of interest;
• and
• controlling, according to the capture viewing angle mode, the unmanned aerial vehicle to fly along the elevation surrounding trajectory.

A nonvolatile computer-readable storage medium, storing computer-executable instructions used for causing an unmanned aerial vehicle (UAV) to perform following operations:

• obtaining surrounding parameter information of the unmanned aerial vehicle, wherein the surrounding parameter information comprises position information of a point of interest and a surrounding radius of the unmanned aerial vehicle;
• determining, according to the surrounding parameter information, an elevation surrounding trajectory to be surrounded, wherein the elevation surrounding trajectory is a plane with the point of interest as a center and the surrounding radius as a radius, and the plane where the elevation surrounding trajectory is located is perpendicular to a horizontal plane;
• obtaining a capture viewing angle mode, wherein the capture viewing angle mode comprises a free capture viewing angle mode and a centripetal capture viewing angle mode, the free capture viewing angle mode means that a photographing direction of the photographing apparatus is an arbitrary direction, and the centripetal capture viewing angle mode means that the photographing direction of the photographing apparatus always points to the point of interest;
• and
• controlling, according to the capture viewing angle mode, the unmanned aerial vehicle to fly along the elevation surrounding trajectory.