CN102650883A - System and method for controlling unmanned aerial vehicle - Google Patents
System and method for controlling unmanned aerial vehicle Download PDFInfo
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- CN102650883A CN102650883A CN2011100444634A CN201110044463A CN102650883A CN 102650883 A CN102650883 A CN 102650883A CN 2011100444634 A CN2011100444634 A CN 2011100444634A CN 201110044463 A CN201110044463 A CN 201110044463A CN 102650883 A CN102650883 A CN 102650883A
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Abstract
The invention discloses a system and a method for controlling an unmanned aerial vehicle. The system is installed and runs in a rear-end host, and the rear-end host is in communication connection with at least one TOF (Time of Flight) camera through network. The system comprises a flight region setting module, a flight range detecting module and a flight direction control module. According to the system and the method, whether the unmanned aerial vehicle flies away from a flight region soon is judged according to a position coordinate of the unmanned aerial vehicle detected by the camera and the flight region data stored in a storage device of the rear-end host, alarm signals are generated when the unmanned aerial vehicle flies away from the flight region soon, and are transmitted to a remote controller of the unmanned aerial vehicle through the network so as to control the unmanned aerial vehicle to fly in the flight region.
Description
Technical field
The present invention relates to a kind of flight control system and method, particularly about a kind of unmanned flight carrier control system and method.
Background technology
Traditional unmanned flight carrier (UAV) control system does not possess the flight range set-up function, therefore carries out unmanned flight carrier when controlling operation the user, can't effectively differentiate unmanned flight carrier whether be about to the to fly out scope of effectively controlling of controller.If the user lets unmanned flight carrier fly away from the scope of effectively controlling of controller accidentally, possibly cause unexpected generations such as the out of control or crash of unmanned flight carrier.
Summary of the invention
In view of above content; Be necessary to provide a kind of unmanned flight carrier control system and method; Can prevent effectively that unmanned flight carrier from flying away from effectively controlling outside the scope of remote controllers, avoid unmanned flight carrier to swarm into improperly flight range and cause out of control or unexpected generation the such as crash.
Described unmanned flight carrier control system is installed and is run in the back-end host, and this back-end host establishes a communications link through network and at least one video camera.Described unmanned flight carrier control system comprises: the flight range setting module, but be used for setting the flight range of unmanned flight carrier according to the image detecting scope of video camera, but and with the flight range data storage in the memory storage of back-end host; The flight range detecting module; Be used for continuing to scan the 3D contextual data of detecting the flight scene space through video camera; See through the 3D contextual data that network receives the video camera detecting; According to the location coordinate information of the unmanned flight of described 3D contextual data performance analysis carrier at the flight scene space, but and with described location coordinate information with leave flight range data in the memory storage in and compare and judge but whether unmanned flight carrier is about to fly away from flight range; The heading control module; Be used for when but unmanned flight carrier is about to fly away from flight range, producing alarm signal, but and see through remote controllers that network is sent to unmanned flight carrier with this alarm signal and control the operation of in flight range, flying of unmanned flight carrier.
Described unmanned flight carrier control method is through the flight operation of the unmanned flight of back-end host control carrier, and this back-end host establishes a communications link through network and at least one video camera.The method comprising the steps of: but set the flight range of unmanned flight carrier according to the image detecting scope of video camera, but and with the flight range data storage in the memory storage of back-end host; Continue to scan the 3D contextual data of detecting flight scene space through video camera, and see through the 3D contextual data that network receives the video camera detecting; According to the location coordinate information of the unmanned flight of described 3D contextual data performance analysis carrier at the flight scene space; But with the location coordinate information of unmanned flight carrier with leave flight range data in the memory storage in and compare and judge but whether unmanned flight carrier is about to fly away from flight range; When but unmanned flight carrier is about to fly away from flight range, produce alarm signal, but and see through remote controllers that network is sent to unmanned flight carrier with this alarm signal and control the operation of in flight range, flying of unmanned flight carrier.
Compared to prior art; Unmanned flight carrier control system of the present invention and method not only can prevent effectively that unmanned flight carrier from flying away from effectively controlling outside the scope of remote controllers; But also can monitor to the flight range that unmanned flight carrier sets, avoid unmanned flight carrier to swarm into improperly flight range and cause out of control or unexpected generation the such as crash according to the user.
Description of drawings
Fig. 1 is the Organization Chart of the unmanned flight of the present invention carrier control system preferred embodiment.
Fig. 2 is the process flow diagram of the unmanned flight of the present invention carrier control method preferred embodiment.
But Fig. 3 is the synoptic diagram of a flight range of the unmanned flight of planning carrier.
But Fig. 4 is the synoptic diagram of the plural number flight range of the unmanned flight of planning carrier.
The main element symbol description
Unmanned flight carrier 1
TOF video camera 2
Back-end host 3
Unmanned flight carrier control system 30
Flight range setting module 301
Flight range detecting module 302
Remote controllers 4
Network 5
Embodiment
As shown in Figure 1, be the Organization Chart of the unmanned flight of the present invention carrier control system 30 preferred embodiments.In the present embodiment; Should unmanned flight carrier control system 30 install and run in the back-end host 3; Not only can prevent effectively that unmanned flight carrier 1 from flying away from effectively controlling outside the scope of remote controllers 4; But also can monitor to the flight range that unmanned flight carrier 1 sets, avoid unmanned flight carrier 1 to swarm into improperly flight range and cause out of control or unexpected generation the such as crash according to the user.In the present embodiment; But a TOF video camera (Time of Flight Camera) 2 is installed at least in the described flight range; This TOF video camera 2 is a kind of space-time camera devices; Have the 3 D stereo scene and scan function, it can also obtain the range information of the Z coordinate direction of scene simultaneously except the image frame that can obtain scene X, Y coordinate direction.
Described TOF video camera 2 establishes a communications link through network 5 and back-end host 3.This TOF video camera 2 is used for scanning in real time and analyzing to unmanned flight carrier 1 position; Thereby obtain the position coordinate data of unmanned flight carrier 1 in the flight scene space, and the position coordinate data of unmanned flight carrier 1 in the flight scene space is back to back-end host 3 in real time.
Described back-end host 3 also include but not limited to, central processing unit 31 and memory storage 32.In the present embodiment, described unmanned flight carrier control system 30 comprises flight range setting module 301, flight range detecting module 302 and heading control module 303.The alleged module of the present invention is meant a kind of can be by the central processing unit of back-end host 3 31 performed and can accomplish the series of computation machine program segment of fixed function, and it is stored in the memory storage 32 of back-end host 3.
Described flight range setting module 301 is used in the flight scene space of unmanned flight carrier 1, setting up a TOF video camera 2 at least, and is that each TOF video camera 2 distributes IP address, for example a 192.168.20.28.But this flight range setting module 301 also is used for setting according to the image detecting scope of TOF video camera 2 flight range of unmanned flight carrier 1, but and with the flight range data storage in the memory storage 32 of back-end host 3.In the present embodiment; Each TOF video camera 2 has image detecting scope separately; With reference to shown in Figure 3, for example the image detecting scope of TOF video camera 2 is that the length of scene X, Y coordinate direction is 125 meters, wide 125 meters, and the depth of field of scene Z coordinate direction is 160+40=200 rice.The user is according to the image detecting scope of this TOF video camera 2; But can be through the flight range of 301 planning of flight range setting module and the unmanned flight of setting carrier 1; But flight range maximum as shown in Figure 3 can be long 160+40=200 rice, wide 125 meters, high 125 meters, but and with the flight range data storage in the memory storage 32 of back-end host 3.
Described flight range detecting module 302 is used for according to the IP address of TOF video camera 2 TOF video camera 2 and back-end host 3 being established a communications link; Continue to scan the 3D contextual data of detecting flight scene space through TOF video camera 2, and see through the 3D contextual data that network 5 receives 2 detectings of TOF video camera.In the present embodiment; After back-end host 3 establishes a communications link through flight range detecting module 302 and TOF video camera 2; Scan in real time and analyze to the position of unmanned flight carrier 1 in the flight scene space through TOF video camera 2, thereby obtain the 3D contextual data of unmanned flight carrier 1 in the flight scene space.This 3D contextual data comprises the positional information of unmanned flight carrier 1 flight scene space of living in, comprises the image frame of scene X, Y coordinate direction and the range information of scene Z coordinate direction.
The unmanned flight of the 3D contextual data performance analysis carrier 1 that described flight range detecting module 302 also is used for transmitting according to TOF video camera 2 is at the location coordinate information of flight scene space, but but and flight range data in the location coordinate information of unmanned flight carrier 1 and the memory storage 32 that leaves back-end host 3 in are compared judges whether unmanned flight carrier 1 is about to fly away from flight range.
Described heading control module 303 is used for when but unmanned flight carrier 1 possibly fly away from flight range, producing alarm signal, and through network 5 this alarm signal is sent in the remote controllers 4 of unmanned flight carrier 1.When but unmanned flight carrier 1 did not fly away from flight range, unmanned flight carrier 2 continued under the scope of effectively controlling of remote controllers 4, to continue the flight operation.When remote controllers 4 receive the alarm signal of back-end host 3 transmissions; Remind the user to revise the heading of unmanned flight carrier 1 according to this alarm signal; But steering order to the unmanned flight carrier 1 of perhaps ending to send improper heading stops in the flight range unmanned flight carrier 1, so can avoid unexpected generations such as the out of control or crash of unmanned flight carrier 1.
As shown in Figure 2, be the process flow diagram of the unmanned flight of the present invention carrier control method preferred embodiment.In the present embodiment; This method not only can prevent effectively that unmanned flight carrier 1 from flying away from effectively controlling outside the scope of remote controllers 4; But also can monitor to the flight range that unmanned flight carrier 1 sets, avoid unmanned flight carrier 1 to swarm into improperly flight range and cause out of control or unexpected generation the such as crash according to the user.
Step S201, the user sets up a TOF video camera 2 through flight range setting module 301 at least in the flight scene space of unmanned flight carrier 1, and is that each TOF video camera 2 distributes IP address, for example a 192.168.20.28.
Step S202, but flight range setting module 301 is set the flight range of unmanned flight carrier 1 according to the image detecting scope of TOF video camera 2, but and with the flight range data storage in the memory storage 32 of back-end host 3.In the present embodiment; Each TOF video camera 2 has image detecting scope separately; For example with reference to shown in Figure 3, the image detecting scope of TOF video camera 2 is that the length of scene X, Y coordinate direction is 125 meters, wide 125 meters, and the depth of field of scene Z coordinate direction is 160+40=200 rice.The user is according to the image detecting scope of this TOF video camera 2; But can be through the flight range of 301 planning of flight range setting module and the unmanned flight of setting carrier 1; But flight range maximum for example shown in Figure 3 can be long 160+40=200 rice, wide 125 meters, high 125 meters, but and with the flight range data storage in memory storage 32.
Step S203, flight range detecting module 302 establishes a communications link TOF video camera 2 and back-end host 3 according to the IP address of TOF video camera 2.In the present embodiment, the user can be through being provided with the IP address of TOF video camera 2 in back-end host 3, and flight range detecting module 302 establishes a communications link TOF video camera 2 and back-end host 3 according to this IP address.
Step S204, flight range detecting module 302 continues to scan the 3D contextual data of detecting flight scene space through TOF video camera 2, and sees through the 3D contextual data that network 5 receives 2 detectings of TOF video camera.Described 3D contextual data comprises the positional information of unmanned flight carrier 1 flight scene space of living in, comprises the image frame of scene X, Y coordinate direction and the range information of scene Z coordinate direction.In the present embodiment; After back-end host 3 establishes a communications link through flight range detecting module 302 and TOF video camera 2; Scan in real time and analyze to the position of unmanned flight carrier 1 in the flight scene space through TOF video camera 2, thereby obtain the 3D contextual data of unmanned flight carrier 1 in the flight scene space.
Step S205, the unmanned location coordinate information of carrier 1 that fly of 3D contextual data performance analysis that flight range detecting module 302 transmits according to TOF video camera 2 at the flight scene space.Step S206, but flight range detecting module 302 compares the location coordinate information of unmanned flight carrier 1 and flight range data in the memory storage 32 that leaves back-end host 3 in.
Step S207, but flight range detecting module 302 judges according to comparative result whether unmanned flight carrier 1 is about to fly away from flight range.But carrier 1 possibly fly away from flight range if nobody flies, then execution in step S208; , then return step S204 if but unmanned flight carrier 1 does not fly away from flight range.
Step S208, but when unmanned flight carrier 1 possibly fly away from flight range, heading control module 303 produced alarm signal and sees through network 5 this alarm signal is sent in the remote controllers 4 of unmanned flight carrier 1.When but unmanned flight carrier 1 did not fly away from flight range, unmanned flight carrier 1 continued under the scope of effectively controlling of remote controllers 4, to continue the flight operation.
Step S209; When remote controllers 4 receive the alarm signal of back-end host 3 transmissions; Remote controllers 4 remind the user to revise the heading of unmanned flight carrier 1 according to this alarm signal; But steering order to the unmanned flight carrier 1 of perhaps ending to send improper heading stops in the flight range unmanned flight carrier 1, so can avoid unexpected generations such as the out of control or crash of unmanned flight carrier 1.
In the present embodiment, unmanned flight carrier control system of the present invention and method not only can utilize a TOF video camera 2 and back-end host 3 to establish a communications link, and also can many TOF video cameras 2 in the flight scene space be connected to back-end host 3 simultaneously.With reference to shown in Figure 4; It is that each TOF video camera 2 distributes different IP addresses that the user only need see through back-end host 3; But and set the flight range of unmanned flight carrier 1, thereby scan the flight operation that the 3D contextual data of flight range is separately controlled unmanned flight carrier 1 through many TOF video cameras 2 according to the image detecting scope of TOF video camera 2.
Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although the present invention is specified with reference to above preferred embodiment; Those of ordinary skill in the art should be appreciated that and can make amendment or be equal to spirit and the scope that replacement should not break away from technical scheme of the present invention technical scheme of the present invention.
Claims (10)
1. a unmanned flight carrier control system is installed and is run in the back-end host, and this back-end host establishes a communications link through network and at least one video camera, it is characterized in that, described unmanned flight carrier control system comprises:
The flight range setting module, but be used for setting the flight range of unmanned flight carrier according to the image detecting scope of video camera, but and with the flight range data storage in the memory storage of back-end host;
The flight range detecting module; Be used for continuing to scan the 3D contextual data of detecting the flight scene space through video camera; See through the 3D contextual data that network receives the video camera detecting; According to the location coordinate information of the unmanned flight of the described 3D contextual data of video camera performance analysis carrier at the flight scene space, but and with described location coordinate information with leave flight range data in the memory storage in and compare and judge but whether unmanned flight carrier is about to fly away from flight range;
The heading control module; Be used for when but unmanned flight carrier is about to fly away from flight range, producing alarm signal, but and see through remote controllers that network is sent to unmanned flight carrier with this alarm signal and control the operation of in flight range, flying of unmanned flight carrier.
2. unmanned flight carrier control system as claimed in claim 1; It is characterized in that; When remote controllers receive alarm signal; Remind user to revise the heading of unmanned flight carrier according to this alarm signal, but steering order to the unmanned flight carrier of perhaps ending to send improper heading stops in the flight range this unmanned flight carrier.
3. unmanned flight carrier control system as claimed in claim 1; It is characterized in that; Described flight range setting module also is used to and is installed in each IP address of video camera distribution in the flight scene space, and described back-end host establishes a communications link according to IP address and this video camera of video camera.
4. unmanned flight carrier control system as claimed in claim 1, wherein, described video camera is a kind of TOF video camera, this TOF video camera has the 3D stereo scene and scans function.
5. unmanned flight carrier control system as claimed in claim 1; It is characterized in that; Described 3D contextual data comprises the positional information of unmanned flight carrier flight scene space of living in, comprises the image frame of scene X, Y coordinate direction and the range information of scene Z coordinate direction.
6. unmanned flight carrier control method, through the flight operation of the unmanned flight of back-end host control carrier, this back-end host establishes a communications link through network and at least one video camera, it is characterized in that the method comprising the steps of:
But set the flight range of unmanned flight carrier according to the image detecting scope of video camera, but and with the flight range data storage in the memory storage of back-end host;
Continue to scan the 3D contextual data of detecting flight scene space through video camera, and see through the 3D contextual data that network receives this video camera detecting;
According to the location coordinate information of the unmanned flight of described 3D contextual data performance analysis carrier at the flight scene space;
But with the location coordinate information of unmanned flight carrier with leave flight range data in the memory storage in and compare and judge but whether unmanned flight carrier is about to fly away from flight range;
When but unmanned flight carrier is about to fly away from flight range, produce alarm signal, but and see through remote controllers that network is sent to unmanned flight carrier with this alarm signal and control the operation of in flight range, flying of unmanned flight carrier.
7. unmanned flight carrier control method as claimed in claim 6 is characterized in that this method also comprises step:
When remote controllers receive alarm signal; Remind user to revise the heading of unmanned flight carrier according to this alarm signal, but steering order to the unmanned flight carrier of perhaps ending to send improper heading stops in the flight range this unmanned flight carrier.
8. unmanned flight carrier control method as claimed in claim 6 is characterized in that this method also comprises step:
Each video camera distributes an IP address in the described flight scene space in order to be installed on; And
IP address according to said video camera establishes a communications link this video camera and back-end host.
9. unmanned flight carrier control method as claimed in claim 6 is characterized in that described video camera is a kind of TOF video camera, and this TOF video camera has the 3D stereo scene and scans function.
10. unmanned flight carrier control method as claimed in claim 6; It is characterized in that; Described 3D contextual data comprises the positional information of unmanned flight carrier flight scene space of living in, comprises the image frame of scene X, Y coordinate direction and the range information of scene Z coordinate direction.
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| CN2011100444634A CN102650883A (en) | 2011-02-24 | 2011-02-24 | System and method for controlling unmanned aerial vehicle |
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| CN2011100444634A CN102650883A (en) | 2011-02-24 | 2011-02-24 | System and method for controlling unmanned aerial vehicle |
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| CN104765307A (en) * | 2015-03-30 | 2015-07-08 | 成都好飞机器人科技有限公司 | Aerial photography system of unmanned aerial vehicle |
| CN105262986A (en) * | 2015-09-23 | 2016-01-20 | 郑州大学 | Equipment and system for tracing and monitoring wild Macaque |
| WO2016154940A1 (en) * | 2015-03-31 | 2016-10-06 | SZ DJI Technology Co., Ltd. | Systems and methods for geo-fencing device identification and authentication |
| CN106598063A (en) * | 2015-10-14 | 2017-04-26 | 松下电器（美国）知识产权公司 | Unmanned air vehicle and flight control method |
| US9792613B2 (en) | 2015-03-31 | 2017-10-17 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| CN107305394A (en) * | 2016-04-21 | 2017-10-31 | 北京臻迪机器人有限公司 | Control method, flight controller, terminal and the control system of unmanned vehicle |
| CN107615358A (en) * | 2015-03-31 | 2018-01-19 | 深圳市大疆创新科技有限公司 | For identifying the Verification System and method of authorized participant |
| US11094202B2 (en) | 2015-03-31 | 2021-08-17 | SZ DJI Technology Co., Ltd. | Systems and methods for geo-fencing device communications |
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| CN104765307A (en) * | 2015-03-30 | 2015-07-08 | 成都好飞机器人科技有限公司 | Aerial photography system of unmanned aerial vehicle |
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| CN106598063A (en) * | 2015-10-14 | 2017-04-26 | 松下电器（美国）知识产权公司 | Unmanned air vehicle and flight control method |
| CN107305394A (en) * | 2016-04-21 | 2017-10-31 | 北京臻迪机器人有限公司 | Control method, flight controller, terminal and the control system of unmanned vehicle |
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Application publication date: 20120829 |