Patent Publication Number: US-2022224865-A1

Title: Unmanned aerial vehicle imaging control method, unmanned aerial vehicle imaging method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation of U.S. application Ser. No. 16/677,655, filed on Nov. 7, 2019, which is a continuation of International Application No. PCT/CN2017/083488, filed on May 8, 2017, the entire contents of all of which are incorporated herein by reference. 
    
    
     COPYRIGHT NOTICE 
     A portion of the disclosure of this patent document contains material which is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all copyright rights whatsoever. 
     TECHNICAL FIELD 
     The present disclosure relates to the technology field of aerial photography and, more particularly, to an unmanned aerial vehicle imaging control method, an unmanned aerial vehicle imaging method, a control terminal, an unmanned aerial vehicle control device, and an unmanned aerial vehicle. 
     BACKGROUND 
     Currently, an unmanned aerial vehicle (“UAV”) can be provided with an imaging device. A UAV user may realize aerial photography through remotely controlling the UAV, which may provide new imaging angle for the user, regardless of whether the photography is for portrait photography or landscape photography. 
     However, in conventional UAV imaging methods, a remote controller is typically used to manually control the flight path of the UAV. When the user captures photos and videos, the user need to adjust the imaging position and angle, and capture the images frame by frame. This type of imaging method involves complex operations, which need improvement. 
     SUMMARY 
     In accordance with an aspect of the present disclosure, there is provided an imaging control method for an unmanned aerial vehicle (“UAV”) that includes determining a combined action mode to be used when the UAV performs imaging, the combined action mode comprising at least two action modes. The imaging control method also includes generating a combined operation instruction based on the combined action mode. The imaging control method further includes transmitting the combined operation instruction to the UAV to enable the UAV to fly based on the combined operation instruction and to capture a video. 
     In accordance with another aspect of the present disclosure, there is provided an imaging method for an unmanned aerial vehicle (“UAV”). The imaging method includes receiving a combined operation instruction. The imaging method also includes flying, by the UAV, based on the combined operation instruction and according to at least two action modes to capture a video. 
     In accordance with another aspect of the present disclosure, there is provided an unmanned aerial vehicle (“UAV”). The UAV includes a UAV control device. The UAV control device includes a storage device configured to store an executable instruction. The UAV control device also includes a processor configured to execute the executable instruction stored in the storage device. The executable instruction, when executed by the processor, is configured to cause the processor to: receive a combined operation instruction; and control, based on the combined operation instruction, the UAV to fly based on at least two action modes and to capture a video. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       To better describe the technical solutions of the various embodiments of the present disclosure, the accompanying drawings showing the various embodiments will be briefly described. As a person of ordinary skill in the art would appreciate, the drawings show only some embodiments of the present disclosure. Without departing from the scope of the present disclosure, those having ordinary skills in the art could derive other embodiments and drawings based on the disclosed drawings without inventive efforts. 
         FIG. 1  is a schematic illustration of an application scene of UAV imaging, according to an example embodiment; 
         FIG. 2  is a schematic diagram of a structural composition of a control terminal, according to an example embodiment; 
         FIG. 3  is a schematic diagram of a structural composition of a UAV, according to an example embodiment; 
         FIG. 4  is a flow chart illustrating a UAV imaging control method, according to an example embodiment; 
         FIG. 5  is a flow chart illustrating a UAV imaging control method, according to another example embodiment; 
         FIG. 6  is a schematic illustration of a backward fly action mode, according to an example embodiment; 
         FIG. 7  is a schematic illustration of a circling fly action mode, according to an example embodiment; 
         FIG. 8  is a schematic illustration of a spiral fly action mode, according to an example embodiment; 
         FIG. 9  is a schematic illustration of a soaring fly action mode, according to an example embodiment; 
         FIG. 10  is a schematic illustration of a comet fly action mode, according to an example embodiment; 
         FIG. 11  is a schematic illustration of composition rules, according to an example embodiment; 
         FIG. 12  is a schematic illustration of an action mode display interface displayed by the control terminal, according to an example embodiment; 
         FIG. 13  is a schematic illustration of an action mode selection interface displayed by the control terminal, according to an example embodiment; 
         FIG. 14  is a flow chart illustrating a UAV imaging method, according to an example embodiment; 
         FIG. 15  is a schematic illustration of steps for acceleratingly process a video, according to an example embodiment; 
         FIG. 16  is a schematic diagram of an example hardware configuration of a control terminal, according to an example embodiment; 
         FIG. 17  is a schematic diagram of an example hardware configuration of a UAV control device, according to an example embodiment; 
         FIG. 18  is a schematic diagram of a UAV, according to an example embodiment; 
         FIG. 19  is a schematic diagram of a UAV imaging control device, according to an example embodiment; and 
         FIG. 20  is a schematic diagram of a UAV control device, according to an example embodiment. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     To more clearly illustrate the purpose, technical solution, and advantage of the present disclosure, technical solutions of the present disclosure will be described in detail with reference to the drawings, in which the same numbers refer to the same or similar elements unless otherwise specified. It will be appreciated that the described embodiments represent some, rather than all, of the embodiments of the present disclosure. Other embodiments conceived or derived by those having ordinary skills in the art based on the described embodiments without inventive efforts should fall within the scope of the present disclosure. 
     As used herein, when a first component (or unit, element, member, part, piece) is referred to as “coupled,” “mounted,” “fixed,” “secured” to or with a second component, it is intended that the first component may be directly coupled, mounted, fixed, or secured to or with the second component, or may be indirectly coupled, mounted, or fixed to or with the second component via another intermediate component. The terms “coupled,” “mounted,” “fixed,” and “secured” do not necessarily imply that a first component is permanently coupled with a second component. The first component may be detachably coupled with the second component when these terms are used. When a first component is referred to as “connected” to or with a second component, it is intended that the first component may be directly connected to or with the second component or may be indirectly connected to or with the second component via an intermediate component. The connection may include mechanical and/or electrical connections. The connection may be permanent or detachable. The electrical connection may be wired or wireless. When a first component is referred to as “disposed,” “located,” or “provided” on a second component, the first component may be directly disposed, located, or provided on the second component or may be indirectly disposed, located, or provided on the second component via an intermediate component. When a first component is referred to as “disposed,” “located,” or “provided” in a second component, the first component may be partially or entirely disposed, located, or provided in, inside, or within the second component. The terms “perpendicular,” “horizontal,” “vertical,” “left,” “right,” “up,” “upward,” “upwardly,” “down,” “downward,” “downwardly,” and similar expressions used herein are merely intended for describing relative positional relationship. 
     In addition, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. The terms “comprise,” “comprising,” “include,” and the like specify the presence of stated features, steps, operations, elements, and/or components but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups. The term “and/or” used herein includes any suitable combination of one or more related items listed. For example, A and/or B can mean A only, A and B, and B only. The symbol “/” means “or” between the related items separated by the symbol. The phrase “at least one of” A, B, or C encompasses all combinations of A, B, and C, such as A only, B only, C only, A and B, B and C, A and C, and A, B, and C. In this regard, the term “and/or” may be interpreted as “at least one of.” For example, A and/or B can mean at least one of A or B. The term “communicatively couple(d)” or “communicatively connect(ed)” indicates that related items are coupled or connected through a communication channel, such as a wired or wireless communication channel. The term “unit” or “module” may include a hardware component, a software component, or a combination thereof. 
     Further, when an embodiment illustrated in a drawing shows a single element, it is understood that the embodiment may include a plurality of such elements. Likewise, when an embodiment illustrated in a drawing shows a plurality of such elements, it is understood that the embodiment may include only one such element. The number of elements illustrated in the drawing is for illustration purposes only, and should not be construed as limiting the scope of the embodiment. Moreover, unless otherwise noted, the embodiments shown in the drawings are not mutually exclusive, and they may be combined in any suitable manner. For example, elements shown in one embodiment but not another embodiment may nevertheless be included in the other embodiment. 
     In this description, unless otherwise defined, the expression of “UAV flies based on the combined operation instruction” may mean that the UAV and/or a carrier carried by the UAV (e.g., a gimbal) and/or a load operates based on the combined operation instruction. 
     As shown in  FIG. 1 , in an embodiment, the present disclosure provides a UAV imaging control system  10 , including a control terminal  12  and a UAV  14 . The control terminal  12  and the UAV  14  may establish a communication connection, such as a wireless connection. The wireless connection may be used to transmit data between the control terminal  12  and the UAV  14 . 
     In this description, a movable object may be described as the UAV  14 . The UAV  14  may include, but not be limited to, unmanned aircraft, unmanned vehicle, unmanned ship or boat, etc. In addition, other types of movable object may also use the disclosed technical solutions. 
     In some embodiments, the UAV  14  may include a carrier  16  and a load  18 . The carrier  16  may enable the load  14  to rotate around one, two, three, or more axes. Optionally or additionally, the carrier  16  may enable the load  18  to linearly move along one, two, three, or more axes. The axis for the rotation and the axis for the translation movement may be perpendicular to one another, or may not be perpendicular to one another. In some embodiments, the carrier may be a gimbal, and the load may be an imaging device (e.g., a camera, etc.). The gimbal may control attitude of the camera. The attitude may include, but not be limited to, a pitch angle, a roll angle, and a yaw angle, etc. 
     In some embodiments, the load  18  may be rigidly carried by or connected with the UAV  14 , such that the load  18  may maintain a static state relative to the UAV  14 . For example, the carrier  16  connected with the UAV  14  and the load  18  may not allow the load  18  to move relative to the UAV  14 . Optionally, in some embodiments, the load  18  may be directly carried by the UAV  14  without a carrier. 
     In some embodiments, the load  18  may include one or multiple sensors configured to monitor or track one or multiple target objects. The load may include an image capturing device or an imaging device (e.g., a camera, a camcorder, an infrared imaging device, an ultraviolet imaging device, or similar devices), a video capturing device (e.g., a parabolic reflective microphone), an infrared imaging device, etc. Any suitable sensor may be integrated onto the load  18  to capture a visual signal, an audio signal, an electromagnetic signal, or any other desired signals. The sensor may provide static sensing data (e.g., images) or dynamic sensing data (e.g., video). The sensor may continuously capture the sensing data in a real-time manner or a high-frequency manner. 
     In some embodiments of the present disclosure, a location where the control terminal  12  is located may be far away from the UAV  14 , the carrier  16 , and/or the load  18 . The control terminal  12  may be placed or glued on a supporting platform. Alternatively, the control terminal  12  may be a handheld or wearable device. For example, the control terminal  12  may include a smart phone, a remote controller, a tablet, a laptop, a computer, a watch, a wristband, glasses, a glove, a helmet, a microphone, or any suitable combination thereof. 
     As shown in  FIG. 2 , in an embodiment, the present disclosure provides a control terminal  12 , including a processor  121 , a non-volatile storage medium  122 , an internal memory  123 , a communication device  124 , a display screen  125 , and an input device  126  that are connected via a system bus  127 . The processor  121  may have a computing capability and may be configured to control the operations of the control terminal  12 . The processor  121  may be configured to execute a UAV imaging control method. Non-volatile storage medium  122  may include at least one of a magnetic storage medium, an optical storage medium, and a flash type storage medium. The non-volatile storage medium  122  may store an operation system  130  and a UAV imaging control system  131 . The internal memory  123  may be configured to provide a high speed buffer for the operation system  130  and the UAV imaging control system  131 . The communication device  124  may be configured to wirelessly communicate with the UAV  14 . The display screen  125  may include at least one of a liquid crystal display screen, a flexible display screen, and an electronic ink display screen. The input device  126  may include at least one of a physical button, a path ball, a touch panel, and a touch layer overlapping the display screen. The touch layer and the display screen  125  may be combined to form a touch screen. 
     As shown in  FIG. 3 , in an embodiment, the present disclosure provides a UAV  14 . The UAV  14  may include a processor  141 , a non-volatile storage medium  142 , an internal memory  143 , a communication device  144 , a flight propulsion device  145 , an imaging device  146 , and a positioning device  147  that are connected through a system bus  148 . The processor  141  may include a computing capability and may be configured to control the operations of the UAV  14 . The processor  141  may be configured to execute a UAV imaging method. The non-volatile storage medium  142  may include at least one of a magnetic storage medium, an optical storage medium, and a flash type storage medium. The non-volatile storage medium  142  may store an operation system  150  and a UAV imaging system  151 . The internal memory  143  may provide a high speed buffer for the operation system  150  and the UAV imaging system  151 . The communication device  144  may be configured to wirelessly communicate with the control terminal  12 . The flight propulsion device  145  may be configured to control UAV flight actions of the UAV  14 , such as control the flight velocity and flight direction of the UAV  14  to control the UAV flight actions. For a rotor UAV, the flight propulsion device  145  may include a propeller and a propeller control device (e.g., a motor, an electronic speed control, etc.). The imaging device  146  may be configured to capture images. The captured images may include photos and videos. The positioning device  147  may be a global positioning system (“GPS”) positioning device configured to determine a location or position of the UAV  14 . 
     As shown in  FIG. 4 , in an embodiment, the present disclosure provides a UAV imaging control method. The method is described based on an example, in which the method is applied to the control terminal  12  shown in  FIG. 1  and  FIG. 2 . 
     Step  402 : determining a target object  102  to be imaged, as shown in  FIG. 1 . 
     In various embodiments of the present disclosure, the target object  102  may include a biological object, such as a human or an animal. The target object  102  may also include any natural or man-made object or texture, such as a geological scene (e.g., mountain, plant, valley, lake, river, etc.), a building, a transportation vehicle (e.g., an airplane, a boat, a car, a truck, a bus, a cargo van, or a motorcycle). The target object  102  may be moving or static relative to any suitable reference object. The reference object may be fixed reference object (e.g., the surrounding environment or the earth). Optionally, the reference object may be a moving reference object (e.g., a moving transportation vehicle). In some embodiments, the target object  102  may include a passive target object or an active target object. The active target object may transmit information relating to the target object, such as the GPS location of the target object, to the UAV. The information may be transmitted by a communication unit of the active target object to the communication device of the UAV through a wireless transmission manner. The active target object may be a transportation vehicle, a building, a human, etc. The passive target object may not transmit the information relating to the target object. 
     In some embodiments, the target object  102  may be determined based on a user input. In an illustrative embodiment, the control terminal  12  may allow a user to input information relating to the target object through any suitable method. In some embodiments, the control terminal  12  may allow the user to directly select a target object from one or multiple images (e.g., photos, videos, or snapshots). For example, the user may use a finger to directly touch the screen to select the target object, or may use a mouse or a joystick to make the selection. The user may draw a line to circle the target object (e.g., through a selection frame, etc.), or touching or selecting the target object on the images. Computer vision or other technologies may be used to recognize a boundary of the target object. One or multiple target objects may be selected at one time. In some embodiments, the selected target object may be displayed using a selection indicator, which may indicate that the user has selected the target object to be tracked. In other embodiments, the control terminal  12  may allow the user to select or input information relating to the target object, such as color, texture, shape, dimension, or other features of the desired target object. For example, the user may input a type information of the target object, or select this type of information through a graphical user interface, or use other methods. In other embodiments, the information relating to the target object may be obtained from a data source, rather than from the user. The data source may include a remote or local data storage unit, other computing device connected with or communicating with the control terminal, etc. 
     In some embodiments, the target object  102  may be determined based on an automatic recognition. In an illustrative embodiment, the control terminal  12  or the UAV  14  may automatically recognize the target object  102  to be imaged. In an example, the user may, for example, specific descriptive information of the target object  102  to be imaged through a user interface provided by the control terminal  12 , such as the type of the target object  102 , the geographical coordinates of the target object  102 , the dimensions of the target object  102 , etc. The control terminal  12  and/or the UAV  14  may automatically recognize the target object  102  to be imaged based on the descriptive information. 
     In some embodiments, the target object  102  to be imaged may be determined based on obtaining the geographical location information of the target object  102 . Specifically, the geographical location information may include information indicating the geographical location, which may be expressed by longitude and latitude, or may be expressed using three-dimensional coordinates in a three-dimensional coordinate system. The control terminal  12  may obtain predetermined geographical location information, for example, obtain input geographical location information as the predetermined geographical location information. The control terminal  12  may receive and display the preview image transmitted from the UAV in real time, and select a geographical location based on an operation of a user on the geographical location shown in the preview image, and obtain selected geographical location information as the predetermined geographical location information. The control terminal  12  may display an electronic map of a region where the UAV is current located, and select the geographical location based on the operation of the user on the electronic map, and obtain the selected geographical location information as the predetermined geographical location information. 
     In some embodiments, the UAV  14  may obtain the predetermined geographical location information and the geographical location information relating to a location where the UAV is currently located. The UAV  14  may determine a flight path of the UAV based on the two types of geographical location information, and may automatically fly to a location indicated by the predetermined geographical location information. The UAV may fly along a predetermined flight path under the control of a combined operation instruction, and may capture images based on predetermined imaging parameters during the flight. 
     Step  404 : determining an action mode to be used when the UAV performs the imaging. 
     In this description, the action mode is a manner in which predetermined automatic imaging actions are performed based on predetermined parameters. In an example, the predetermined parameters may include a predetermined flight parameter and/or a predetermined imaging parameter. That is, each action mode may have its own predetermined flight parameter and/or predetermined imaging parameter. In some embodiments, the action mode may be divided based on a flight path. That is, the flight path of each action mode may be different. In some embodiments, the action mode may include an action mode for capturing a close-up of the target object and an action mode for capturing a panoramic view of the environment in which the target object is located. In some embodiments, an action mode may include a stage for capturing a close-up of the target object and a stage for capturing a panoramic view of the environment in which the target object is located. 
     In some embodiments, the predetermined flight parameter may include a predetermined flight path. The predetermined flight path may be any predetermined usable flight path, such as a closed or non-closed shape on any plane in the space, for example, a closed shape such as a circle or a polygon, or a non-closed shape such as an arc shape, a fold line shape, etc. The predetermined flight path may be a spatial three-dimensional shape such as a spiral shaped path. 
     In some embodiments, the predetermined imaging parameter may include at least one of a light sensitivity (or referred to as ISO value), an aperture value, an exposure compensation, a shutter speed, a focal length, an autofocus method, a metering method, and a white balance. The autofocus method may include at least one of a distance measurement autofocus method that is based on measuring a distance between the lens of the imaging device and the target object to be imaged, a focus detection autofocus method that is based on the clarity of the captured images. The metering method may include at least one of a spot metering method, a center partial metering method, a center weighted average metering method, an average metering method, and a multi-zone metering method. 
       FIG. 6 - FIG. 10  show illustrative action modes of the present disclosure. 
     In the backward fly mode shown in  FIG. 6 , the UAV  14  may fly in an oblique upper direction relative to the target object  102 . As shown in  FIG. 6 , the flight path of the UAV  14  may have a substantial S-shaped curve. At the starting point S, the UAV  14  may capture close-ups of the target object  102 . At this moment, the close-ups of the target object  102  may be captured based on the predetermined imaging parameter. At the finishing point T, the UAV  14  may capture a panoramic view of the environment in which the target object  102  is located using an overhead shooting method from an oblique above location over the target object  102 . At this moment, the panoramic view of the environment in which the target object  102  is located may be captured based on the predetermined imaging parameter. It should be understood, that the predetermined imaging parameter may be an imaging parameter pre-stored for different imaging objects or different imaging scenes. 
     In the circling fly mode shown in  FIG. 7 , the UAV  14  may fly circling around the target object for a complete circle. As shown in  FIG. 7 , the flight path of the UAV  14  is a substantially circular path. On the entire circular path, the UAV  14  may capture  360 ° close-ups of the target object  102 . At this moment, the close-ups of the target object  102  may be captured based on the predetermined imaging parameter. 
     In the spiral fly mode shown in  FIG. 8 , the UAV  14  may fly outwardly and spirally relative to the target object  102 . As shown in  FIG. 8 , the flight path of the UAV  14  may be a spiral curve. At the starting point S, the UAV  14  may capture the close-ups of the target object  102 . At this moment, the close-ups of the target object  102  may be captured based on the predetermined imaging parameter. At a middle point P and the finishing point T, the UAV  14  may capture the panoramic view of the environment in which the target object  102  is located using an overhead shooting method from the front and the back sides of the target object  102 , respectively. At this moment, the panoramic view of the environment in which the target object  102  is located may be captured based on the predetermined imaging parameter. 
     In the soaring mode shown in  FIG. 9 , the UAV  14  may fly upwardly relative to the target object  102 . As shown in  FIG. 9 , the flight path of the UAV  14  may be a substantially L-shaped curve. Similar to the backward fly mode, at the starting point S, the UAV  14  may capture the close-ups of the target object  102 . At this moment, the close-ups of the target object  102  may be captured based on the predetermined imaging parameter. At the finishing point T, the UAV may capture the panoramic view of the environment in which the target object  102  is located based on an overhead shooting method from a location right over the target object  102 . As this moment, the panoramic view of the environment in which the target object  102  is located may be captured based on the predetermined imaging parameter. 
     In the comet fly mode shown in  FIG. 10 , the UAV  14  may circle around the target object  102  for a complete circle and then fly outwardly in an oblique upper direction relative to the target object  102 . As shown in  FIG. 10 , the flight path of the UAV  14  is similar to the flight path of a comet. At the initial stage, the UAV  14  may capture the 360° close-ups of the target object  102 . At this moment, the close-ups of the target object  102  may be captured based on the predetermined imaging parameter. At the finishing stage, the UAV  14  may capture the panoramic view of the environment in which the target object  102  is located using the overhead shooting method from a location that is at the oblique upper direction of the target object  102 . At this moment, the panoramic view of the environment in which the target object  102  is located may be captured based on the predetermined imaging parameter. 
     In some embodiments, each action mode may have its own predetermined composition rule. That is, the action mode may be associated with a predetermined composition rule. The composition rule may ensure that the target object is located at a predetermined composition location in the associated action mode. 
     In some embodiments, the composition rule may include: (1) nine square composition rule, in which the target object is placed on the locations corresponding to the crossing points of the nine equal squares. As shown in  FIG. 11 , the four crossing points of a Chinese character “ ” are the predetermined composition locations for the target object. Typically, the crossing point P 1  at the upper right direction is the most frequently used. The next frequently used is the crossing point P 2  at the lower right direction. (2) rule of thirds composition rule, in which the shooting screen is divided into three equal parts. For example, when landscape is to be imaged, ⅓ is selected to place the sky or ⅓ is selected to place the ground. The screen ratio of 1:2 may highlight the part that needs to be emphasized. For example, if the sky is beautiful, most the sky elements can be reserved. The overall screen appears to be more harmonic. (3) dichotomy composition rule, in which the screen is divided into two equal parts. For example, when capturing images of a landscape, one half may be occupied by sky and one half may be occupied by the ground. (4) centripetal composition rule, in which the target object is placed at the center location, and the surrounding scenes and objects are arranged in a radiation shape, to highlight and emphasize the target object. (5) symmetric composition rule, in which the captured image is left-right symmetric or up-down symmetric. It should be understood that the above composition rules are only illustrative. The present disclosure is not limited to the above composition rules. Other composition rules may also be used. 
     In some embodiments, an action mode may include its own predetermined flight path and composition rule. That is, the action mode, flight path, and composition rule may have a one-to-one correspondence. For example, in the backward fly mode, the predetermined flight path may be an S-shaped flight path toward an oblique upper direction relative to the target object. The composition rule may be the rule of thirds. As such, when the action mode for the imaging is determined to be the backward fly mode, the corresponding flight path and the composition rule are also determined. 
     In some embodiments, multiple action modes (e.g., at least two action modes) may be combined and determined as the action mode for imaging. The combination of the multiple action modes may include types of the action modes, an arrangement order of the selected multiple action modes, a time duration of each of the selected action modes. The combination of the multiple action modes may be determined based on the relative location relationship between the environment in which the target object  102  is located, the target object  102 , and the UAV  14 . 
     In other embodiments, a single action mode may be determined as the action mode for imaging. 
     In some embodiments, the user may select one or multiple action modes as the action mode(s) to be used for imaging. In an illustrative embodiment, as shown in  FIG. 12 , the control terminal  12  may provide options for multiple predetermined action modes. The user may use any suitable method to select one or multiple predetermined action modes, and may determine the selected one or multiple action modes as the action mode(s) to be used for imaging. 
     For example, after the control terminal  12  starts the imaging application, the control terminal  12  may display the UAV imaging control interface shown in  FIG. 12 . In the UAV imaging control interface, multiple (e.g., 5) predetermined action mode options  1202  may be displayed. The options may include: a backward fly mode option  1202   a,  a circling fly mode option  1202   b,  a spiral fly mode option  1202   c,  a roaring fly mode option  1202   d,  and a comet fly mode option  1202   e.  The user may click the option  1202   a  and click “Confirm” to determine the backward fly mode as the action mode to be used for imaging. When the user clicks the option  1202   b  and clicks the “Confirm,” the circling fly mode may be determined as the action mode to be used for imaging. When the user clicks the option  1202   c  and clicks the “Confirm,” the spiral fly mode may be determined as the action mode to be used for imaging. When the user clicks the option  1202   d  and clicks “Confirm,” the roaring fly mode may be determined as the action mode to be used for imaging. When the user clicks the option  1202   e  and clicks “Confirm,” the comet fly mode may be determined as the action mode to be used for imaging. 
     In some embodiments, in the UAV imaging control interface, a “Combine” option  1204  may be displayed, as shown in  FIG. 12 . The user may click the option  1204 , and an action modes combination interface may pop out, as shown in  FIG. 13 . In the action modes combination interface, the user may freely combine multiple action modes. The free combination may include selecting types of the action modes, selecting the arrangement order of the selected multiple action modes, and selecting the time duration of each of the selected action modes, etc. For example, the user may click an option  1302   c  to increase the action modes, click an option  1302   a  to delete an action mode, click an option  1302   b  to determine the selected action mode(s), thereby determining a combination of multiple action modes as the combined action mode to be used for imaging. 
     In some embodiments, the control terminal  12  may automatically determine one or multiple action modes as the action mode to be used for imaging. In an illustrative embodiment, the control terminal  12  may select a default action mode as the action mode to be used for imaging. In another illustrative embodiment, the control terminal  12  may select the action mode used in the last imaging to be the action mode to be used for the current imaging. In some illustrative embodiments, the control terminal  12  may determine the action mode to be used for imaging based on the relative location relationship between the environment in which the target object  102  is located, the target object  102 , and the UAV  14 . 
     Step  406 : obtaining an imaging starting instruction. 
     In some embodiments, the control terminal  12  may run an imaging application program. The imaging application program may be an application program of the system itself, or may be a third-party application program. Various steps of the UAV imaging control method may be realized through the imaging application program. For example, the control terminal  12  may detect a predetermined event, and may obtain the imaging starting instruction when detecting the predetermined event (e.g., an event such as clicking a start button). In an embodiment, the control terminal  12  may detect the predetermined event and start timing when detecting the predetermined event. When the time duration reaches a predetermined time duration, the imaging starting instruction may be obtained. 
     In an illustrative embodiment, the control terminal  12  may display an imaging starting control element, and may detect an operation on the imaging starting control element to obtain the corresponding imaging starting instruction. For example, the control terminal may display an imaging starting control element  102  in the imaging interface of the UAV shown in  FIG. 5 . The user may click the imaging starting control element  102  to trigger the imaging starting instruction. The operation on the imaging starting control element may include at least one of a cursor clicking operation, a touch clicking operation, and a gesture operation. 
     In an embodiment, the control terminal may detect a shake of the body of the control terminal. When detecting the shake, the corresponding imaging starting instruction may be obtained. In an embodiment, the control terminal may detect a voice command input to obtain the imaging starting instruction in the voice form. 
     Step  408 : generating a combined operation instruction associated with the determined one or multiple action modes based on the imaging starting instruction. 
     In some embodiments, the combined operation instruction may include multiple operation instructions. The multiple operation instructions may respectively one-on-one correspond to the determined multiple action modes. Specifically, each action mode may have its own flight parameter (e.g., a flight path) and imaging parameter. That is, each action mode may be associated with a predetermined flight parameter (e.g., a flight path) and the imaging parameter. In some embodiments, after the control terminal  12  obtains the imaging starting instruction, the control terminal  12  may retrieve, e.g., from the control terminal  12 , the predetermined flight parameter (e.g., the flight path) and the imaging parameter associated with the determined multiple action modes, to generate the combined operation instruction. The combined operation instruction may be configured to trigger a series of ordered and combined actions of the UAV to achieve automatic imaging. 
     In some embodiments, the control terminal  12  may periodically examine whether a server has an operation instruction associated with a predetermined action mode. If there is such an operation instruction, the control terminal  12  may download the updated operation instruction to update a local predetermined operation instruction associated with a predetermined action mode. In another embodiment, the periodical examination may be replaced with performing the examination when detecting an operation for updating the combined operation instruction triggered by the user. 
     In some embodiments, when receiving the operations instruction updating notification transmitted by the server, the control terminal  12  may download an updated operations instruction from the server to update the local predetermined operations instruction associated with the predetermined action mode. 
     Step  410 : transmitting the combined operation instruction to the UAV to enable the UAV to fly based on the combined operation instruction and to capture a video. 
     In some embodiments, the control terminal  12  may transmit the combined operation instruction to the UAV  14  through the wireless connection with the UAV  14 . The wireless connection may use a wireless local area network connection method, such as Wi-Fi (e.g., 2.4 GHz or 5.8 GHz frequency band, etc.) connection or WAPI connection, or may use an ordinary radio connection. After the UAV  14  receives the combined operation instruction transmitted by the control terminal  12 , the UAV  14  may execute a series of actions configured by the combined operation instruction to accomplish the automatic imaging task (e.g., video capturing). 
     In some embodiments, the multiple action modes may include a first action mode and a second action mode. Transmitting the combined operation instruction to enable the UAV to fly based on the combined operation instruction and to capture videos may include: capturing a first video based on the first action mode; capturing a second video based on the second action mode; synthesize the first video and the second video to generate the video. 
     In some embodiments, the control terminal  12  may transmit the combined operation instruction to the UAV  14 , to enable the UAV  14  to fly based on the predetermined flight parameter and/or to capture videos based on the predetermined imaging parameter. In some embodiments, the combined operation instruction enables the UAV  14  to fly along the predetermined flight path. For example, when the user selects the backward fly mode and the circling fly mode, i.e., determines that the backward fly mode and the circling fly mode are the action modes to be used for imaging, the combined operation instruction may include a flight path of the backward fly mode and a flight path of the circling fly mode. After the combined operation instruction is transmitted, the UAV  14  is enabled to fly along the flight path of the backward fly mode (i.e., fly in an oblique upper direction) and along the flight path of the circling fly mode (i.e., circling the target object for a complete circle), in order to capture a combination of videos of the target object. 
     In some embodiments, a series of actions may include at least one of an action for adjusting the flight parameter of the UAV and an action for adjusting the imaging parameter. 
     In some embodiments, the action for adjusting the flight parameter of the UAV may include at least one of an action for adjusting the flight path of the UAV, an action for adjusting the flight velocity of the UAV, an action for adjusting the flight direction of the UAV, an action for adjusting the flight height of the UAV, a UAV hover action, a UAV rolling action, and a UAV side movement action. 
     In some embodiments, the action for adjusting the imaging parameter may include at least one of adjusting the light sensitivity (also referred to as the ISO value), aperture value, exposure compensation, shutter speed, focal length, autofocus method, metering method, and white balance. The autofocus method may include a distance measurement autofocus method that is based on measuring the distance between the lens of the imaging device and the target object, and a focus detection autofocus method that is based on the clarity of the captured images. The metering method may include at least one of a spot metering method, a center partial metering method, a center weighted average metering method, an average metering method, and a multi-zone metering method. The action for adjusting the imaging parameter may include an action for adjusting an imaging field of view, such as a translation or zoom of the imaging field of view. The imaging field of view refers to the range of the space to be imaged by the imaging device of the UAV. 
     According to the UAV imaging control method of the present disclosure, a combined operation instruction associated with one or multiple predetermined action modes may be automatically retrieved and transmitted to the UAV. The UAV may orderly execute a series of actions based on the combined operation instruction to capture images. As such, the user only needs to select the predetermined action modes and trigger the imaging starting instruction to control the UAV to automatically accomplish a combined action mode. The disclosed method not only simplifies operations, and improves the convenience of operations, but also renders the captured videos to be continuous and smooth, which reduces the time for the late stage video processing.ad 
     In some embodiments, the action for adjusting the imaging parameter may include adjusting the imaging parameter based on a composition rule associated with the determined one or multiple predetermined action modes, such that the target object is located at a predetermined composition location. For example, when the backward fly mode is determined to be the action mode to be used for imaging, the imaging parameter may be adjusted based on the rule of thirds composition rule associated with the backward fly mode, such that when the UAV flies in an oblique upper direction relative to the target object, the target object is always located at the predetermined composition location determined based on the rule of thirds composition rule. When the backward fly mode and the roaring fly mode are determined to be the action modes to be used for imaging, the imaging parameter may be adjusted based on the rule of thirds composition rule and the centripetal composition rule associated with the backward fly mode and the roaring fly mode, such that when the UAV flies in the oblique upper direction and flies upward relative to the target object, the target object is always at the predetermined composition location determined based on the rule of thirds composition rule and the centripetal composition rule. 
     In the above UAV imaging control method, the action mode may be associated with the target object. The disclosed method may ensure that the target object is always at the predetermined composition location while accomplishing the flight actions, thereby improving the quality of the captured videos. 
     As shown in  FIG. 5 , in some embodiments, the UAV imaging control method may also include step  412 : receiving the video captured and transmitted back (e.g., returned) by the UAV. In an illustrative embodiment, the UAV may transmit the capture videos to the control terminal in real time through a wireless connection. The control terminal may receive the videos returned by the UAV. 
     In some embodiments, the UAV imaging control method may include step  416 : processing the captured video. 
     In an illustrative embodiment, the processing may include: acceleratively processing at least a segment of the captured video. For example, the captured video may include at least three segments, at least one of which at the middle may be acceleratively processed to obtain a video having a “slow-fast-slow” effect. For example, for a video captured under the backward fly mode, the captured video may be divided into a starting stage, a middle stage, and a finishing stage. At the starting stage, close-up views of the target object may be captured. At the finishing stage, panoramic views of the environment in which the target object is located may be captured. At the middle stage, transitional views of the target object from the close-up views of the target object to the panoramic views of the environment in which the target object is located may be captured. After acceleratively processing the middle stage, the close-up views of the target object at the starting stage and the panoramic views of the environment in which the target object is located may be highlighted. 
     In some embodiments, the accelerative processing may include frame decimation processing of the video (or down sampling by extracting frames from the video). Specifically, as shown in  FIG. 13 , for a captured video having a time duration of 60 seconds, for example, the normal recording speed may be 30 frames/second. Thus, the video having a time duration of 60 seconds has 1800 frames in total. The video may be divided into three segments. A segment having a time duration of 3 seconds may be the starting stage. A segment having a time duration of 54 seconds may be the middle stage. Another segment having a time duration of 3 seconds may be the finishing stage. The middle stage may be acceleratively processed, such that the time duration of the middle stage may be reduced to 6 seconds. When processing the video, the processing may start from the 3-second time instance. A frame may be extracted at every 0.3 second, until the processing reaches the 57-second time instance. Then normal speed is restored. Through this processing method, a short video having a time duration of 12 seconds and having the “slow-fast-slow” effect may be obtained, which may be suitable for sharing at social media platforms. 
     In some embodiments, the UAV imaging method may also include step  414 : obtaining a video processing parameter. In an embodiment, the video processing parameter may include the number of segments the video is to be divided, a time duration of each segment of the video, and/or the acceleration multiple, etc. The video processing parameter may be a pre-stored default video processing parameter, a video processing parameter input by a user, or a video processing parameter determined by the control terminal based on the action mode and the social media platform where the video will be shared. 
     As such, in the UAV imaging control method of the present disclosure, the captured video may be directly processed, and does not need to be output to late stage video editing software, which simplifies the video processing procedure, and improves the convenience of transmitting the captured video through the social media platform. 
     According to another embodiment of the present disclosure, an imaging method for the UAV is provided. As shown in  FIG. 14 , the imaging method of the UAV will be explained using an example in which the imaging method is applied to the UAV  14  shown in  FIG. 1  and  FIG. 3 . 
     Step  1402 : establishing a wireless connection with the control terminal. 
     In some embodiments, the UAV  14  may actively or passively establish a wireless connection with the control terminal  12 . The wireless connection may include a wireless local area network connection, such as a Wi-Fi connection or a WAPI connection, or may include an ordinary radio connection. 
     Step  1404 : receiving a combined operation instruction. 
     In some embodiments, the combined operation instruction may be associated with one or multiple action modes. In some embodiments, the combined operation instruction may include multiple operations instructions. The multiple operations instructions may correspond one-on-one with the determined multiple action modes. Specifically, each action mode may have its own flight parameter (e.g., flight path) and imaging parameter. That is, each action mode may be associated with a predetermined flight parameter (e.g., flight path) and imaging parameter. The combined operation instruction may be configured to trigger a series of ordered combined actions of the UAV to accomplish automatic imaging. 
     In some embodiments, the UAV  14  may receive the combined operation instruction, and may fly according to the predetermined flight parameter and/or capture videos according to the predetermined imaging parameter. In some embodiments, the combined operation instruction may enable the UAV  14  to fly along the predetermined flight path. For example, when the user selects the backward fly mode and the circling fly mode, i.e., when the user determines that the backward fly mode and the circling fly mode are the action modes to be used for imaging, the combined operation instruction may include the flight path of the backward fly mode and the flight path of the circling fly mode. After transmitting the combined operation instruction, the UAV  14  may receive the instruction and fly according to the flight path of the backward fly mode (i.e., fly in an oblique upper direction) and according to the flight path of the circling fly mode (i.e., circle the target object for a complete circle), to capture a combined video of the target object. 
     Step  1406 : based on the combined operation instruction, the UAV flying according to at least two action modes to capture videos. 
     In some embodiments, the UAV flying based on at least two action modes may include the UAV executing a series of actions. In some embodiments, the series of actions may include at least one of an action for adjusting the flight parameter of the UAV and an action for adjusting the imaging parameter of the UAV. 
     In some embodiments, the at least two action modes may include a first action mode and a second action mode. Based on the combined operation instruction, the UAV flying based on at least two action modes to capture videos may include: capturing a first video based on the first action mode; capturing a second video based on the second action mode; and synthesizing the first video and the second video to generate the video. 
     In some embodiments, the action for adjusting the flight parameter of the UAV may include at least one of an action for adjusting the flight path of the UAV, an action for adjusting a flight velocity of the UAV, an action for adjusting the flight direction of the UAV, an action for adjusting the flight height of the UAV, a UAV hover action, a UAV rolling action, and a UAV side movement action. The action for adjusting the imaging parameter may include an action for adjusting an imaging field of view, such as a translation or zoom of the imaging field of view. The imaging field of view refers to the range of the space to be imaged by the imaging device of the UAV. 
     In some embodiments, the action for adjusting the imaging parameter may include adjusting at least one of a light sensitivity (or referred to as ISO value), an aperture value, an exposure compensation, a shutter speed, a focal length, an autofocus method, a metering method, and a white balance. The autofocus method may include at least one of a distance measurement autofocus method that is based on measuring a distance between the lens of the imaging device and the target object to be imaged, a focus detection autofocus method that is based on the clarity of the captured images. The metering method may include at least one of a spot metering method, a center partial metering method, a center weighted average metering method, an average metering method, and a multi-zone metering method. 
     According to the UAV imaging method of the present disclosure, the UAV may orderly execute a series of actions based on a combined operation instruction to capture images. As such, the user only need to select the predetermined action modes and trigger the imaging starting instruction to control the UAV to automatically accomplish a combined action mode. The disclosed method not only simplifies operations, and improves the convenience of operations, but also renders the captured videos to be continuous and smooth, which reduces the time for the late stage video processing. 
     In some embodiments, the action for adjusting the imaging parameter may include adjusting the imaging parameter based on a composition rule associated with the determined one or multiple predetermined action modes, such that the target object is located at a predetermined composition location. For example, when the backward fly mode is determined to be the action mode to be used for imaging, the imaging parameter may be adjusted based on the rule of thirds composition rule associated with the backward fly mode, such that when the UAV flies in an oblique upper direction relative to the target object, the target object is always located at the predetermined composition location determined based on the rule of thirds composition rule. When the backward fly mode and the roaring fly mode are determined to be the action modes to be used for imaging, the imaging parameter may be adjusted based on the rule of thirds composition rule and the centripetal composition rule associated with the backward fly mode and the roaring fly mode, such that when the UAV flies in the oblique upper direction and flies upward relative to the target object, the target object is always at the predetermined composition location determined based on the rule of thirds composition rule and the centripetal composition rule. 
     In the above UAV imaging method, the action mode may be associated with the target object. The disclosed method may ensure that the target object is always at the predetermined composition location while accomplishing the flight actions, thereby improving the quality of the captured videos. 
     In some embodiments, the UAV imaging method may also include step  1410 : transmitting the video captured by the UAV. In an illustrative embodiment, the UAV may transmit the captured video to the control terminal in real time through the wireless connection. The control terminal may receive the video returned by the UAV. 
     In some embodiments, the UAV imaging method may include step  1408 : processing the captured video. 
     In an illustrative embodiment, the processing may include: acceleratively processing at least a segment of the captured video. For example, the captured video may include at least three segments, at least one of which at the middle may be acceleratively processed to obtain a video having a “slow-fast-slow” effect. For example, for a video captured under the backward fly mode, the captured video may be divided into a starting stage, a middle stage, and a finishing stage. At the starting stage, close-up views of the target object may be captured. At the finishing stage, panoramic views of the environment in which the target object is located may be captured. At the middle stage, transitional views of the target object from the close-up views of the target object to the panoramic views of the environment in which the target object is located may be captured. After acceleratively processing the middle stage, the close-up views of the target object at the starting stage and the panoramic views of the environment in which the target object is located may be highlighted. 
     In some embodiments, the accelerative processing may include frame decimation processing of the video (or down sampling by extracting frames from the video). Specifically, as shown in  FIG. 15 , for a captured video having a time duration of 60 seconds, for example, the normal recording speed may be 30 frames/second. Thus, the video having a time duration of 60 seconds has 1800 frames in total. The video may be divided into three segments. A segment having a time duration of 3 seconds may be the starting stage. A segment having a time duration of 54 seconds may be the middle stage. Another segment having a time duration of 3 seconds may be the finishing stage. The middle stage may be acceleratively processed, such that the time duration of the middle stage may be reduced to 6 seconds. When processing the video, the processing may start from the 3-second time instance. A frame may be extracted at every 0.3 second, until the processing reaches the 57-second time instance. Then normal speed is restored. Through this processing method, a short video having a time duration of 12 seconds and having the “slow-fast-slow” effect may be obtained, which may be suitable for sharing at social media platforms. 
     In some embodiments, the UAV imaging method may also include a step of: obtaining a video processing parameter. In an embodiment, the video processing parameter may include the number of segments the video is to be divided, a time duration of each segment of the video, and/or the acceleration multiple, etc. The video processing parameter may be a pre-stored default video processing parameter, a video processing parameter input by a user, or a video processing parameter determined by the UAV based on the action mode and the social media platform where the video will be shared. 
     As such, in the UAV imaging method of the present disclosure, the captured video may be directly processed, and does not need to be output to late stage video editing software, which simplifies the video processing procedure, and improves the convenience of transmitting the captured video through the social media platform. 
     According to another embodiment of the present disclosure, a control terminal is provided. The control terminal may include: a storage device configured to store executable instructions; and a processor configured to execute the executable instructions stored in the storage device, to execute the UAV imaging control method described in any of the embodiments of the present disclosure. 
       FIG. 16  illustrates a schematic diagram of an example hardware configuration  1600  of the control terminal. The hardware configuration  1600  may include a processor  1606  (e.g., a microprocessor (“μP”), a digital signal processor (“DSP”), etc.). The processor  1606  may be a single processing unit or multiple processing units configured to execute various steps of the method described above. The hardware configuration  1600  may also include an input unit  1602  configured to receive signals from other entities, and an output unit  1604  configured to provide signals to other entities. The input unit  1602  and the output unit  1604  may be configured as a single entity or separate entities. 
     In addition, the hardware configuration  1600  may include at least one readable storage medium  1608  that may be in the form of a non-volatile memory or a volatile memory, such as an electrically erasable programmable read only memory (“EEPROM”), a flash memory, and/or a hard disk drive. The readable storage medium  1608  may include a computer program  1610 . The computer program  1610  may include codes/computer-readable instructions, which when executed by the processor  1606  of the hardware configuration  1600 , cause the hardware configuration  1600  and/or a device including the hardware configuration  1600  to execute the above-described methods and their variations. 
     The computer program instructions  1610  may be configured as computer program instructions codes having, for example, computer program instructions modules  1610 A˜ 1610 C. For example, the codes of the computer program instructions of the hardware configuration  1600  may include: a module  1610 A configured to determine the combined action mode to be used for UAV imaging. The combined action mode may include at least two action modes. The codes of the computer program instruction may also include: a module  1610 B configured to generate a combined operation instruction based on the combined action mode. The codes of the computer program instruction may also include: a module  1610 C configured to transmit the combined operation instruction to the UAV, to enable the UAV to fly based on the combined operation instruction to capture videos. 
     Although the coding manners in the embodiment shown in  FIG. 16  are realized as computer program modules, which when executed by the processor  1606 , cause the hardware configuration  1600  to execute the above-described methods, in other embodiments, at least one of the coding manners may be at least partially realized as a hardware circuit. 
     The processor may be a single central processing unit (“CPU”), or may include two or more processing units. For example, the processor may include a general purpose microprocessor, an instruction set processor, and/or a related chip assembly, and/or a dedicated microprocessor (e.g., an application specific integrated circuit (“ASIC”)). The processor may also include an on-board storage device configured for buffering purpose. The computer program may be carried by a computer program product connected with the processor. The computer program product may include a computer-readable storage medium storing the computer program. For example, the computer program product may be a flash memory, a random access memory (“RAM”), a read only memory (“ROM”), an electrically erasable programmable read only memory (“EEPROM”). In some embodiments, the computer program modules may be distributed to different computer program products in the form of a memory in the user equipment (“UE”). 
     In some embodiments, the control terminal may include one of a smart phone, a remote controller, a tablet, a laptop, a computer, glasses, a glove, and a microphone. 
     In an embodiment of the present disclosure, a UAV control device is provided. The UAV control device may include: a storage device configured to store executable instructions; and a processor configured to execute the executable instructions stored in the storage device to execute the UAV imaging method described in any of the above embodiments. 
       FIG. 17  is a schematic diagram of an example hardware configuration  1700  of the UAV control device. The hardware configuration  1700  may include a processor  1706  (e.g., a microprocessor (“μP”), a digital signal processor (“DSP”), etc.). The processor  1706  may be a single processing unit or multiple processing units configured to execute various steps of the method described above. The hardware configuration  1700  may also include an input unit  1702  configured to receive signals from other entities, and an output unit  1704  configured to provide signals to other entities. The input unit  1702  and the output unit  1704  may be configured as a single entity or separate entities. 
     In addition, the hardware configuration  1700  may include at least one readable storage medium  1708  that may be in the form of a non-volatile memory or a volatile memory, such as an electrically erasable programmable read only memory (“EEPROM”), a flash memory, and/or a hard disk drive. The readable storage medium  1708  may include a computer program  1710 . The computer program  1710  may include codes/computer-readable instructions, which when executed by the processor  1706  of the hardware configuration  1700 , cause the hardware configuration  1700  and/or a device including the hardware configuration  1700  to execute the above-described methods and their variations. 
     The computer program instructions  1710  may be configured as computer program instructions codes having, for example, computer program instructions modules  1710 A˜ 1710 C. For example, the codes of the computer program instructions of the hardware configuration  1700  may include: a module  1710 A configured to receive the combined action mode. The codes of the computer program instruction may also include: a module  1710 B configured to control the UAV to fly according to at least two action modes and to capture videos based on the combined operation instruction. 
     Although the coding manners in the embodiment shown in  FIG. 17  are realized as computer program modules, which when executed by the processor  1706 , cause the hardware configuration  1700  to execute the above-described methods, in other embodiments, at least one of the coding manners may be at least partially realized as a hardware circuit. 
     The processor may be a single central processing unit (“CPU”), or may include two or more processing units. For example, the processor may include a general purpose microprocessor, an instruction set processor, and/or a related chip assembly, and/or a dedicated microprocessor (e.g., an application specific integrated circuit (“ASIC”)). The processor may also include an on-board storage device configured for buffering purpose. The computer program may be carried by a computer program product connected with the processor. The computer program product may include a computer-readable storage medium storing the computer program. For example, the computer program product may be a flash memory, a random access memory (“RAM”), a read only memory (“ROM”), an electrically erasable programmable read only memory (“EEPROM”). In some embodiments, the computer program modules may be distributed to different computer program products in the form of a memory in the user equipment (“UE”). 
     As shown in  FIG. 18 , an embodiment of the present disclosure provides a UAV  1800 . The UAV  1800  may include the above-described UAV control device  1700 . 
     In some embodiments, the UAV  1800  may include a communication device  1805 , a flight propulsion device  1810 , and an imaging device  1815 . 
     As shown in  FIG. 19 , in some embodiments, the present disclosure provides a UAV imaging control device  1900 , i.e., the control terminal. The UAV imaging control device  1900  may include: 
     A combined action mode determination module  1902  configured to determine the combined action mode to be used for UAV imaging, the combined action mode including at least two action modes. 
     A combined operation instruction generation module  1904  configured to generate a combined operation instruction based on determined combination of action modes; and 
     An instruction transmission module  1906  configured to transmit the combined operation instruction to enable the UAV to fly based on the combined operation instruction to capture videos. 
     In some embodiments of the present disclosure, the UAV imaging control device  1900  may include other functional modules not shown in  FIG. 19 . For example, the UAV imaging control device  1900  may include a target object determination module configured to determine a target object to be imaged. The UAV imaging control device  1900  may include a video processing module configured to acceleratively process at least one segment of the captured videos. 
     In addition, the UAV imaging control device  1900  may include other functional modules not shown in  FIG. 19 . Because such functional modules do not affect a person having ordinary skills in the art to understand the embodiments of the present disclosure, they are omitted in  FIG. 19 . For example, the UAV imaging control device  1900  may include one or multiple of the following functional modules: power source, storage device, data bus, antenna, wireless transceiver, etc. 
     As shown in  FIG. 20 , in some embodiments, the present disclosure provides a UAV control device  2000 . The UAV control device  2000  may include: 
     An instruction receiving module  2002  configured to receive a combined operation instruction; and 
     An action execution control module  2004  configured to control the UAV to fly based on at least two action modes and to capture videos according to the combined operation instruction. 
     In some embodiments, the UAV control device  2000  may include other functional modules not shown in  FIG. 20 . For example, the UAV control device  2000  may include a video processing module configured to acceleratively process at least one segment of the captured video. 
     In addition, the UAV control device  2000  may include other functional modules not shown in  FIG. 20 . However, because such functional modules do not affect a person having ordinary skills in the art to understand the embodiments, they are omitted in  FIG. 20 . For example, the UAV control device  2000  may include one or multiple of the following functional modules: power source, storage device, data bus, antenna, wireless transceiver, etc. 
     In view of at least one of above-mentioned embodiments, a combined operation instruction associated with one or more predetermined action modes may be automatically retrieved and transmitted to the UAV. The UAV may orderly execute a series of actions to capture images based on the combined operation instruction. As such, the user only needs to select predetermined action modes and trigger the imaging start instruction, in order to control the UAV to automatically accomplish a combined action mode, which not only simplifies the operations, but also improves the convenience of operations. In addition, the captured videos are continuous and smooth, which reduce time for late stage video processing. 
     The above describes some embodiments of the present disclosure through examples. A person having ordinary skills in the art can appreciate, that the above embodiments may be modified and varied without departing from the principles of the present disclosure. All of these modifications and variations fall within the scope of protection of the present disclosure. As such, the scope of protection of the present disclosure is that defined by the following claims.