Patent ID: 12210358

DETAILED DESCRIPTION

To make the objectives, technical solutions and advantages of the disclosure clearer and more comprehensible, the following further describes the disclosure in detail with reference to the accompanying drawings and embodiments. It should be understood that the embodiments herein are provided for describing the disclosure and not intended to limit the disclosure.

It should be noted that, if no conflict occurs, features in the embodiments of the disclosure may be combined with each other and fall within the protection scope of the disclosure. In addition, although functional module division is performed in the schematic diagram of the device, and a logical sequence is shown in the flowchart, in some cases, the shown or described steps may be performed by using module division different from the module division in the device or in a sequence different from the sequence in the flowchart.

To ensure the photographing effect of autonomous orbiting while getting rid of the dependence of a UAV on GPS signals during autonomous circling, embodiments of the disclosure provide a novel autonomous orbiting method and device and a novel UAV. The autonomous orbiting method and device are applicable to any type of UAV, for example, a tilt-rotor UAV or a rotary-wing UAV. The UAV is equipped with a binocular camera assembly for acquiring image data. In addition, in the embodiments of the disclosure, the “orbiting” means that a UAV flying over an orbited object circles around a projected point of the orbited object on the plane in which the UAV is located, and shoots the orbited object while circling.

Specifically, the autonomous orbiting method provided in the embodiments of the disclosure is a vision-based photographing effect-oriented autonomous orbiting method for a UAV, specifically including: obtaining a target footage and an orbited object selected by a user from the target footage through a binocular camera assembly equipped on the UAV, and obtaining a flying height of the UAV and determining a spatial distance between the binocular camera assembly and the orbited object when obtaining the target footage; detecting an optical axis direction of the binocular camera assembly in real time; and performing autonomous orbiting according to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time. In the embodiments of the disclosure, the “target footage” refers to the photographing effect of an orbited object (including the position and size of the orbited object in a to-be-shot footage) in a to-be-shot footage that a user wants to obtain. Therefore, autonomous orbiting is performed according to a flying height of the UAV, a spatial distance between the binocular camera assembly and the orbited object and an optical axis direction of the binocular camera assembly detected in real time when obtaining the target footage. On one hand, the UAV can perform autonomous circling and shooting without relying on GPS signals. On the other hand, the photographing effect corresponding to that of the “target footage” can always be obtained to ensure the quality of autonomous orbiting performed by the UAV

The autonomous orbiting device provided in the embodiments of the disclosure is a virtual device that includes software programs and that can implement the autonomous orbiting method provided in the embodiments of the disclosure. The autonomous orbiting device and the autonomous orbiting method provided in the embodiments of the disclosure are based on the same inventive concept, and have the same technical features and beneficial effects.

The embodiments of the disclosure are further described below with reference to the accompanying drawings.

Embodiment 1

FIG.1shows one of application environments of an autonomous orbiting method according to an embodiment of the disclosure. Specifically, referring toFIG.1, the application environment may include an orbited object10, a UAV20and a remote control device30. The UAV20and the remote control device30may be communicably connected to each other in any manner. The autonomous orbiting method provided in this embodiment of the disclosure may be performed by the UAV20.

The orbited object10may be any object on which a user wants to perform orbiting. The orbited object10may be a static object (that is, an object always remains in situ and still) such as a building, a tree or an island. The orbited object10may alternatively be a moving object (that is, an object in a moving state) such as a person, an animal, a car or a boat. The orbited object10may be determined according to an actual application.

The UAV20may be any type of UAV, and may specifically include a body21, arms22connected to the body21, power assemblies23disposed on the arms22and a binocular camera assembly24disposed on the body21.

The body21is a main part of the UAV20. Various functional circuit assemblies of the UAV20can be disposed in the body21. For example, in this embodiment, a processor211and a memory212are disposed in the body21. The processor211and the memory212may be communicably connected by a system bus or another means.

The processor211may be specifically a micro-programmed control unit (MCU), a digital signal processor (DSP) or the like, and is configured to provide calculation and control capabilities for controlling the UAV20to fly and perform related tasks. For example, the UAV is controlled to perform any autonomous orbiting method provided in this embodiment of the disclosure.

The memory212may be specifically a non-transitory computer-readable storage medium, and may be configured to store a non-transitory software program, a non-transitory computer-executable program and a module such as program instructions or modules corresponding to the autonomous orbiting method in the embodiments of the disclosure. The processor211runs the non-transitory software program, the instructions and the module stored in the memory212, to implement the autonomous orbiting method in any of the method embodiments described below. Specifically, the memory212may include a high-speed random access memory, and may further include a non-transitory memory such as at least one magnetic disk storage device, a flash storage device or other non-transitory solid-state storage devices. In some embodiments, the memory212may further include memories remotely disposed relative to the processor211. The remote memories may be connected to the processor211by a network. Examples of the foregoing network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

The quantity of the arms22is at least two. The arms22can be fixedly connected to, integrally formed with or detachably connected to the body21, which is not specifically limited in the embodiments of the disclosure.

The power assembly23may generally include an electronic governor, a motor and a propeller. The motor is connected between the electronic governor and the propeller. The motor and the propeller are arranged on a corresponding arm22. The electronic governor may be communicably connected to the processor211, can receive a driving signal sent by the processor211, and provide a driving current for the motor according to the driving signal, so as to control rotation speeds of the motor and the propeller, thereby providing a flying lift or a flying power for the UAV20.

The binocular camera assembly24may be any photographing device capable of acquiring left and right views. For example, the binocular camera assembly24may specifically include a first image acquisition device and a second image acquisition device. The first image acquisition device and the second image acquisition device may be directly installed under the body21or through a gimbal. In some embodiments, the first image acquisition device may be a main camera and is configured to perform aerial photography and provide a footage to a user. The second image acquisition device may be an auxiliary camera and is configured to implement binocular vision sensing in combination with the main camera. The binocular camera assembly24is communicably connected to the processor211, can feed back acquired image information to the processor211, and can perform shooting under the control of the processor211.

The remote control device30is a ground terminal device corresponding to the UAV20and is configured to remotely control the UAV20. The remote control device30may be specifically a remote control, a mobile terminal (for example, a smart phone, a tablet computer or a notebook computer), a wearable device or another device. The remote control device30can receive user input and send corresponding control instructions to the UAV20according to the user input, so as to control the UAV20to perform corresponding tasks such as adjusting flight attitude and performing autonomous orbiting. The remote control device30may further receive information or image data from the UAV20and present the information or image data to a user through a display screen of the remote control device30or another display device.

In practical applications, when needing to orbit an orbited object10, a user may first control the UAV20through the remote control device30to obtain a target footage including the orbited object10. The target footage represents the photographing effect of the orbited object10that a user expects to obtain in a subsequent to-be-shot footage. When determining that the target footage has been obtained, the user may send an autonomous orbiting instruction to a processor211of the UAV20through a function control on the remote control device30, to instruct the UAV20to perform autonomous orbiting on the orbited object10based on the target footage.

After receiving the autonomous orbiting instruction, the processor211of the UAV20may first obtain, through the binocular camera assembly24, the target footage and the orbited object10selected by the user from the target footage; simultaneously, obtain a flying height of the UAV20while obtaining the target footage, and determine a spatial distance between the binocular camera assembly24and the orbited object10based on the target footage; detect an optical axis direction of the binocular camera assembly in real time24; and perform autonomous orbiting according to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time. Through the foregoing method, autonomous orbiting can be performed based on visual sensing. On the one hand, the method gets rid of the dependence on GPS signals, so that autonomous circling and shooting can be performed in regions with weak GPS signals such as indoors. On the other hand, the method is photographing effect-oriented, so that the photographing quality of autonomous orbiting can be ensured.

It should be noted that, the above application environment is only for exemplary descriptions. In practical applications, the autonomous orbiting method and related devices provided in the embodiments of the disclosure may be further extended to other suitable application environments, and are not limited to the application environment shown inFIG.1. For example, in some other embodiments, the quantity of UAVs20and the quantity of remote control devices30may alternatively be more than one.

Embodiment 2

FIG.2is a schematic flowchart of an autonomous orbiting method according to an embodiment of the disclosure. The method may be performed by any type of UAV including a binocular camera assembly for example, the UAV20shown inFIG.1.

Specifically, referring toFIG.2, the method may include, but is not limited to, the following steps:

Step110: Obtain, through a binocular camera assembly, a target footage and an orbited object selected by a user from the target footage.

In this embodiment, the “target footage” is a footage that a user expects to obtain, and is used for determining the photographing effect of an orbited object in a to-be-shot footage, for example, the position and the size of the orbited object in the to-be-shot footage. Specifically, the target footage obtained by the binocular camera assembly usually includes a left camera view and a right camera view for the same scene. A UAV may send one of the views (the left camera view or the right camera view) to a remote control device for a user to view and confirm.

In this embodiment, a specific implementation of obtaining, through the binocular camera assembly, a target footage and selecting an orbited object from the target footage may be specifically: receiving a control instruction sent by a remote control device, where the remote control device is communicably connected to the UAV; flying to a target shooting position according to the control instruction; and using a footage acquired by the binocular camera assembly at the target shooting position as the target footage and obtaining the orbited object selected by the user from the target footage.

The control instruction refers to an instruction for operating the flight of a UAV, and may specifically include a joystick instruction or an operating instruction for a footage acquired in real time. For example, a user may adjust, with reference to a footage fed back in real time by a binocular camera assembly, a spatial position of the UAV in the airspace by controlling a joystick on a remote control device, so as to adjust the position and the size of an orbited object in a footage. Alternatively, a user may perform, on a remote control device, operations, such as panning, zooming in and zooming out, on a footage acquired in real time. Based on the operations, the remote control device generates corresponding operating instructions and sends the corresponding operating instructions to the UAV. After receiving the operating instructions, the UAV can generate corresponding spatial position adjustment instructions (for example, flying forward, flying backward, flying left, flying right, flying upward and flying downward) to adjust a spatial position.

The “target shooting position” refers to a position at which the UAV is located when the user obtains the expected photographing effect. In practical applications, when obtaining an expected footage, the user may select an orbited object from the footage and send an autonomous orbiting instruction including information about the orbited object to the UAV. When receiving the autonomous orbiting instruction including the information about the orbited object sent by the remote control device, it is determined that the UAV has flown to a target shooting position. In this case, a footage acquired by the binocular camera assembly at the current moment can be directly obtained. The footage can be used as the target footage. Then, the orbited object selected by the user from the target footage is obtained according to the information about the orbited object.

Step120: Obtain a flying height of the UAV when obtaining the target footage.

In this embodiment, the flying height refers to a height of the UAV relative to ground.

When obtaining the target footage, the UAV can determine a flying height at the current moment through any type of height sensor.

Step130: Determine a spatial distance between the binocular camera assembly and the orbited object based on the target footage.

In this embodiment, the spatial distance between the binocular camera assembly and the orbited object is determined based on the target footage when the target footage is obtained.

The target footage includes a left camera view and a right camera view for the same scene. Consequently, by stereo matching the left camera view and the right camera view, a disparity value of the orbited object can be obtained. Further, the spatial distance between the binocular camera assembly and the orbited object can be obtained.

Step140: Detect an optical axis direction of the binocular camera assembly in real time.

In this embodiment, the optical axis direction of the binocular camera assembly refers to a direction of a center line of the binocular camera assembly.

In practical applications, a current flight direction of the UAV can be obtained in real time. A relative angle between an optical axis of the binocular camera assembly and the UAV can be measured by an angle sensor. Moreover, the optical axis direction of the binocular camera assembly can be determined in real time by referring to the current flight direction of the UAV and the relative angle between the optical axis of the binocular camera assembly and the UAV.

Step150: Perform autonomous orbiting according to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

According to the imaging principle of a camera, by adjusting a relative spatial position between the binocular camera assembly of the UAV and the orbited object, the photographing effect, such as the position and the size of the orbited object, in a footage of the binocular camera assembly can be adjusted. Therefore, during the flight of the UAV, the photographing effect consistent with that of the target footage can be obtained provided that the flying height and the spatial distance remain unchanged.

In addition, according to the flying height and the spatial distance, a surrounding radius of the UAV when the UAV circles around the orbited object can further be determined (that is, a line between a projected point of an orbited object on a plane in which the UAV is located and the UAV). According to the principle of circular motion, if the UAV always moves in a direction tangent to the surrounding radius on a horizontal plane, circling can be performed. The direction tangent to the surrounding radius is a direction spatially perpendicular to the optical axis of the binocular camera assembly on a horizontal plane. Therefore, by detecting an optical axis direction of the binocular camera assembly in real time, a flight direction of the UAV can be adjusted in real time to perform circling and shooting.

In view of this, when performing autonomous orbiting for a static orbited object, the UAV may use the flying height as a target flying height of the UAV; use the spatial distance as a target spatial distance between the binocular camera assembly and the orbited object; and during the flight, maintain the target flying height and the target spatial distance unchanged, and adjust a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time, to perform autonomous orbiting centered on the orbited object. The adjusting a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time may be specifically: adjusting the flight direction of the UAV to a direction spatially perpendicular to the optical axis direction on a horizontal plane.

Further, in some embodiments, when the orbited object is in a moving state, to keep performing autonomous orbiting on the orbited object, the UAV, in addition to circling, further needs to move in synchronization with the orbited object, so that the orbited object presents a relatively static state in a to-be-shot footage.

In this embodiment, before step150is performed, the method may further include: obtaining a moving direction of the orbited object in real time. In this case, the maintaining the target flying height and the target spatial distance unchanged, and adjusting a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time is specifically: maintaining the target flying height and the target spatial distance unchanged, and adjusting a flight direction of the UAV according to the moving direction of the orbited object obtained in real time and the optical axis direction of the binocular camera assembly detected in real time.

The UAV may determine a moving direction of the orbited object by comparing two consecutive frames of footage obtained by the binocular camera assembly or may determine a moving direction of the orbited object by comparing a footage obtained by the binocular camera assembly at the current moment with the target footage.

From the above technical solutions, it can be learned that this embodiment of the disclosure has the following beneficial effects: The autonomous orbiting method provided in the embodiments of the disclosure includes: obtaining, through a binocular camera assembly, a target footage and an orbited object selected by a user from the target footage when receiving an autonomous orbiting instruction; simultaneously, obtaining a flying height of the UAV and determining a spatial distance between the binocular camera assembly and the orbited object while obtaining the target footage; detecting an optical axis direction of the binocular camera assembly in real time; and performing autonomous orbiting according to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time. On the one hand, the UAV can perform autonomous circling and shooting without relying on GPS signals. On the other hand, the photographing effect corresponding to that of the “target footage” can always be obtained to ensure the quality of autonomous orbiting performed by the UAV

Embodiment 3

FIG.3is a schematic flowchart of an autonomous orbiting method according to an embodiment of the disclosure. The method is similar to the autonomous orbiting method described in Embodiment 2, and differs from the autonomous orbiting method described in Embodiment 2 in that: In this embodiment, the UAV can further perform personalized autonomous orbiting according to a shooting mode set by a user.

Specifically, referring toFIG.3, the method may include, but is not limited to, the following steps:

Step210: Obtain, through a binocular camera assembly, a target footage and an orbited object selected by a user from the target footage.

Step220: Obtain a flying height of the UAV when obtaining the target footage.

Step230: Determine a spatial distance between the binocular camera assembly and the orbited object based on the target footage.

Step240: Detect an optical axis direction of the binocular camera assembly in real time.

Step250: Determine a shooting mode for the orbited object.

In this embodiment, the shooting mode refers to a shooting method adopted when orbiting the orbited object. A user can define a shooting mode while inputting an autonomous orbiting instruction for the orbited object.

Specifically, the shooting mode may include, but is not limited to: a constant mode, a gradual change mode, a custom mode and the like. The constant mode means always performing autonomous orbiting according to the photographing effect of the target footage. The gradual change mode is to gradually change the position and/or the size of the orbited object in a footage during orbiting. The custom mode is to adjust the photographing effect of the orbited object in a footage according to custom settings of a user during orbiting.

Step260: Perform autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

In this embodiment, autonomous orbiting is further performed with reference to the shooting mode in addition to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

Specifically, if the shooting mode is a constant shooting mode, the autonomous orbiting method described in Embodiment 2 can be directly adopted.

If the shooting mode is a gradual change mode, a custom mode or another mode, a specific implementation of performing autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time may be: using the flying height as an initial flying height; using the spatial distance as an initial spatial distance between the UAV and the orbited object; determining a target flying height of the UAV and a target spatial distance between the UAV and the orbited object in each shooting time period according to the shooting mode, the initial flying height and the initial spatial distance; and flying in the each shooting time period according to the target flying height and the target spatial distance, and adjusting a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time, to perform autonomous orbiting centered on the orbited object.

It should be noted that the foregoing step210to step240respectively have the same technical features as those of step110to step140in the autonomous orbiting method shown inFIG.2. Therefore, for specific implementations of step110to step140, reference may be made to corresponding descriptions in step110to step140in the foregoing embodiment. Details are not described again in this embodiment.

From the above technical solutions, it can be learned that this embodiment of the disclosure has the following beneficial effects: the autonomous orbiting method provided in this embodiment can perform “photographing effect”-oriented personalized autonomous orbiting by further performing autonomous orbiting with reference to a shooting mode selected by a user, thereby providing more interesting experiences for autonomous orbiting.

Embodiment 4

FIG.4is a schematic structural diagram of an autonomous orbiting device400according to an embodiment of the disclosure. The autonomous orbiting device400may be run on a processor211of the UAV20shown inFIG.1.

Specifically, referring toFIG.4, the device400includes: an obtaining unit401, a distance determining unit402, an optical axis detection unit403and an orbiting unit404.

The obtaining unit401is configured to obtain, through the binocular camera assembly, a target footage and an orbited object selected by a user from the target footage; and is further configured to obtain a flying height of the UAV when obtaining the target footage.

The distance determining unit402is configured to determine a spatial distance between the binocular camera assembly and the orbited object based on the target footage.

The optical axis detection unit403is configured to detect an optical axis direction of the binocular camera assembly in real time.

The orbiting unit404is configured to perform autonomous orbiting according to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

In this embodiment, when receiving an autonomous orbiting instruction, the UAV may use the obtaining unit401to obtain a target footage, an orbited object selected by a user from the target footage and a flying height of the UAV when obtaining the target footage through the binocular camera assembly; simultaneously, use the distance determining unit402to determine a spatial distance between the binocular camera assembly and the orbited object based on the target footage; and use the optical axis detection unit403to detect an optical axis direction of the binocular camera assembly in real time. Further, the orbiting unit404performs autonomous orbiting according to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

In some embodiments, that the obtaining unit401obtains, through the binocular camera assembly, a target footage and an orbited object selected by a user from the target footage may be specifically: receiving a control instruction sent by a remote control device, where the remote control device is communicably connected to the UAV; flying to a target shooting position according to the control instruction; and using a footage acquired by the binocular camera assembly at the target shooting position as the target footage and obtaining the orbited object selected by the user from the target footage. Further, in some embodiments, the control instructions include a joystick instruction or an operating instruction for a footage acquired in real time.

In some embodiments, the orbiting unit404is further configured to: use the flying height as a target flying height of the UAV; use the spatial distance as a target spatial distance between the binocular camera assembly and the orbited object; and maintain the target flying height and the target spatial distance unchanged, and adjust a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time, to perform autonomous orbiting centered on the orbited object.

Further, in some embodiments, to perform autonomous orbiting on orbited objects in a moving state, the autonomous orbiting device400further includes:a monitoring unit405, configured to obtain a moving direction of the orbited object in real time. In this case, that the orbiting unit404maintains the target flying height and the target spatial distance unchanged, and adjusting a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time is specifically: maintaining the target flying height and the target spatial distance unchanged, and adjusting a flight direction of the UAV according to the moving direction of the orbited object obtained in real time and the optical axis direction of the binocular camera assembly detected in real time.

In addition, in other embodiments, the autonomous orbiting device400further includes:a shooting mode determining unit406, configured to determine a shooting mode for the orbited object. Therefore, in this embodiment, the orbiting unit404is configured to: perform autonomous orbiting with reference to the shooting mode, the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time.

Specifically, in some embodiments, the orbiting unit404is further configured to: use the flying height as an initial flying height; use the spatial distance as an initial spatial distance between the UAV and the orbited object; determine a target flying height of the UAV and a target spatial distance between the UAV and the orbited object in each shooting time period according to the shooting mode, the initial flying height and the initial spatial distance; and fly in the each shooting time period according to the target flying height and the target spatial distance, and adjust a flight direction of the UAV according to the optical axis direction of the binocular camera assembly detected in real time, to perform autonomous orbiting centered on the orbited object.

It should be noted that, the foregoing described device embodiments are merely examples. The units described as separate parts may or may not be physically separate, that is, may be located in one position or may be distributed on a plurality of network units. Some or all of the units or modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Because the autonomous orbiting device is based on the same inventive concept as the autonomous orbiting method described in the second or third method embodiment, corresponding content in the foregoing method embodiment is also applicable to the device embodiment. Details are not described herein again.

From the above technical solutions, it can be learned that this embodiment of the disclosure has the following beneficial effects: The autonomous orbiting device provided in this embodiment of the disclosure uses the obtaining unit401to obtain, through a binocular camera assembly, a target footage, an orbited object selected by the user from the target footage and a flying height of the UAV when obtaining the target footage; simultaneously, uses the distance determining unit402to determine a spatial distance between the binocular camera assembly and the orbited object based on the target footage; and uses the optical axis detection unit403to detect an optical axis direction of the binocular camera assembly in real time. Further, the orbiting unit404performs autonomous orbiting according to the flying height, the spatial distance and the optical axis direction of the binocular camera assembly detected in real time. On the one hand, the UAV performs autonomous circling and shooting without relying on GPS signals. On the other hand, the photographing effect corresponding to that of the “target footage” can always be obtained to ensure the quality of autonomous orbiting performed by the UAV

The embodiments of the disclosure further provide a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium storing computer-executable instructions, the computer-executable instructions, executed by one or more processors, for example, executed by the processor211inFIG.1, causing the one or more processors to perform the autonomous orbiting method in any of the foregoing method embodiments. For example, step110to step150of the method inFIG.2or step210to step260of the method inFIG.3described above are performed to implement functions of units401to406inFIG.4.

In addition, it should be understood that based on the descriptions of the foregoing implementations, those of ordinary skill in the art may clearly understand that the implementations may be implemented by software in addition to a universal hardware platform or by hardware. For example, functions of the obtaining unit401are implemented through a binocular camera assembly and related sensors such as a height sensor. Functions of the distance determining unit402are implemented through a graphics processing unit. Functions of the optical axis detection unit403are implemented through orientation sensors such as a gyroscope. Functions of the orbiting unit404are implemented through cooperation between a flight control module and a binocular camera assembly.

Those of ordinary skill in the art may further understand that all or some of procedures in the foregoing embodiment methods may also be implemented by a computer program in a computer program product instructing relevant hardware. The computer program may be stored in a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a UAV, the UAV is enabled to execute the procedures of the foregoing method embodiments. The storage medium may be a magnetic disk, an optical disc, a read-only memory (ROM), a RAM or the like.

The above products (including: a UAV, a non-transitory computer-readable storage medium and a computer program product) can perform the autonomous orbiting method provided in the embodiments of the disclosure, and have corresponding functional modules and beneficial effects for performing the autonomous orbiting method. For technical details not described in detail in this embodiment, reference may be made to the autonomous orbiting method provided in the foregoing embodiments of the disclosure.

Finally, it should be noted that the foregoing embodiments are merely used to describe the technical solutions of the disclosure, but are not intended to limit the disclosure. Under the concept of the disclosure, the technical features in the foregoing embodiments or different embodiments may be combined. The steps may be implemented in any sequence. There may be many other changes in different aspects of the disclosure. For brevity, those are not provided in detail. Although the disclosure is described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they may still make modifications to the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features thereof without making the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the disclosure.