CN103188431A - System and method for controlling unmanned aerial vehicle to conduct image acquisition - Google Patents
System and method for controlling unmanned aerial vehicle to conduct image acquisition Download PDFInfo
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- CN103188431A CN103188431A CN2011104441866A CN201110444186A CN103188431A CN 103188431 A CN103188431 A CN 103188431A CN 2011104441866 A CN2011104441866 A CN 2011104441866A CN 201110444186 A CN201110444186 A CN 201110444186A CN 103188431 A CN103188431 A CN 103188431A
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Abstract
The invention provides a system for controlling an unmanned aerial vehicle to conduct image acquisition. The system obtains data such as a real-time position and a real-time shooting direction of a photographic device mounted on the unmanned aerial vehicle through a GPS (global position system) and an electronic compass, then compares the data with data such as a position of a target place, and an initial position and an initial shooting direction of the photographic device set by a user, and works out information such as a direction and an angle to be adjusted by the photographic device for obtaining image materials of the target place, so as to automatically adjust the shooting direction of the photographic device. The invention further provides a method for controlling the unmanned aerial vehicle to conduct the image acquisition. With the adoption of the system and the method, an effect of image material acquisition of the unmanned aerial vehicle is improved.
Description
Technical field
The present invention relates to a kind of image acquisition system and method, relate in particular to a kind of system and method that unmanned flight carrier carries out image collection of controlling.
Background technology
In recent years, and unmanned flight carrier (Unmanned Aerial Vehicle, UAV), claim unmanned plane or unmanned flight system again, except being applied to widely the military field, also gradually be applied to various people's livelihood purposes, for example fields such as monitoring of environment, security monitoring and data acquisition.In a kind of typical application, unmanned flight carrier is used to image collection, for example is used for obtaining the image data of the comparatively abominable geographical environment of environment.Many unmanned flight carriers need rely on equipment such as remote control that the camera that is installed on the unmanned flight carrier is controlled, thereby obtain the image data of specific geographical location.Yet the control personnel can't be when remotely pilotless flies carrier, the shooting direction of camera, lens location etc. is adjusted, thereby reduced the effect that image data is gathered, and need expend more manpower.
Summary of the invention
In view of above content, be necessary to provide a kind of system that unmanned flight carrier carries out image collection that controls, be applied in the back-end host, this unmanned flight carrier comprises camera, electronic compass, GPS, actuating device and wireless telecommunications system.This system comprises: setting module, be used for setting initial position and the initial direction of taking of described camera, and set the position carry out the objective that image data gathers, and the initial position that will set, the position of initially taking direction and objective are kept in the storage device of back-end host; Acquisition module is used for the flight course at unmanned flight carrier, obtains current location and the current shooting direction of the measured described camera of GPS and electronic compass in real time by described wireless telecommunications system; Computing module, the position of be used for the initial position of this camera that current location, current shooting direction and the storage device of camera are stored, initially taking direction and objective compares, and calculates first angle that this camera need horizontally rotate towards this objective for the image data of gathering described objective and second angle of vertically rotating towards this objective; And wireless communication module, be used for according to above-mentioned first angle that calculates and second angle, sending controling instruction is to described wireless telecommunications system, control described actuating device the shooting direction of this camera is adjusted, make this camera point to described objective and obtain the real-time imaging data of this objective.
Also be necessary to provide a kind of method that unmanned flight carrier carries out image collection of controlling, be applied in the back-end host, this unmanned flight carrier comprises camera, electronic compass, GPS, actuating device and wireless telecommunications system.This method comprises: set step, set initial position and the initial direction of taking of described camera, and set the position carry out the objective that image data gathers, and the initial position that will set, the position of initially taking direction and objective are kept in the storage device of back-end host; Obtaining step in the flight course of unmanned flight carrier, obtains current location and the current shooting direction of the measured described camera of GPS and electronic compass in real time by described wireless telecommunications system; Calculation procedure, the initial position of this camera of storing in current location, current shooting direction and the storage device with camera, the position of initially taking direction and objective compare, and calculate first angle that this camera need horizontally rotate towards this objective for the image data of gathering described objective and towards second angle of the vertical rotation of this objective; And wireless telecommunications step, according to above-mentioned first angle that calculates and second angle, sending controling instruction is to described wireless telecommunications system, control described actuating device the shooting direction of this camera is adjusted, make this camera point to described objective and obtain the real-time imaging data of this objective.
Compared to prior art, the present invention controls the system and method that unmanned flight carrier carries out image collection, can obtain the real time position that is installed on the camera on the unmanned flight carrier and take data such as direction in conjunction with GPS and electronic compass, initial position by camera that the position of these data and objective and user are set and the initial data such as direction of taking compare, calculate this camera and be information such as the direction of the required adjustment of image data that obtains objective and angle, automatically control with the shooting direction to this camera, improved unmanned flight carrier and carried out the effect that image data is gathered.
Description of drawings
Fig. 1 is that the present invention controls the hardware schematic diagram that unmanned flight carrier carries out the system running environment of image collection.
Fig. 2 is the schematic diagram that the camera among Fig. 1 is installed in all subregion of guarded region respectively.
Fig. 3 and Fig. 4 are for calculating first angle that camera need adjust and the schematic diagram of second angle.
Fig. 5 is that the present invention controls the flow chart that unmanned flight carrier carries out the method preferred embodiment of image collection.
The main element symbol description
| Back-end host | 1 |
| Control system | 10 |
| Processor | 11 |
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12 |
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101 |
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102 |
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103 |
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104 |
| Unmanned |
2 |
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20 |
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21 |
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22 |
| Actuating |
23 |
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24 |
Following embodiment will further specify the present invention in conjunction with above-mentioned accompanying drawing.
Embodiment
As shown in Figure 1, be that the present invention controls the Organization Chart that unmanned flight carrier carries out system's preferred embodiment of image collection.In the present embodiment, the unmanned flight of this control carrier carries out system's (hereinafter to be referred as " control system ") 10 installations of image collection and runs in the back-end host 1.This back-end host 1 is carried out wireless telecommunications with unmanned flight carrier 2, so that this unmanned flight carrier 2 is carried out remote control.This back-end host 1 can be control appliances such as computer, server.
Described unmanned flight carrier 2 comprise camera 20, electronic compass 21, global positioning system (Global Positioning System, GPS) 22, actuating device 23 and wireless telecommunications system 24.Described camera 20 is installed on the unmanned flight carrier 2, is used for carrying out image collection.Described electronic compass 21 can be installed on the camera 20, is used for the shooting direction of detecting camera 20.Described GPS 22 is used for the current location information of monitoring camera 20 in real time, and this positional information comprises the information such as longitude, latitude and height above sea level of camera 20.Described wireless telecommunications system 24 is used for carrying out wireless telecommunications with back-end host, receive the control command that back-end host 1 sends, and the control command that receives sent to actuating device 23, make this actuating device 23 move according to this control command control camera 20, for example tilt, rotation, translation etc., thereby make this camera 20 can collect the image data in specific geographical position.
As shown in Figure 2, be that described camera 20, electronic compass 21 and GPS 22 position on unmanned flight carrier 2 concerns schematic diagram.Described electronic compass 21 and GPS 22 all can be installed on the camera 20, thereby shooting direction and the current location of camera 20 are detected.
In the present embodiment, as shown in Figure 1, described control system 10 comprises setting module 101, acquisition module 102, computing module 103 and wireless communication module 104.This control system 10 can be stored in the storage device 12 of back-end host 1, and is carried out by the processor 11 of this back-end host 1.
Described setting module 101 is used for initial position and the initial direction of taking of the described camera 20 of setting, and the position of setting the objective that carries out the image data collection.The initial position of described camera 20 is to be determined by information such as the longitude of this camera 20, latitude and height above sea levels.The position of this objective is determined by the information such as longitude, latitude and height above sea level of this objective equally.In addition, the various data that set of above-mentioned setting module 101 are stored in the described storage device 12.
In the present embodiment, the user can at first aim at the shooting direction of camera 20 position of described objective, detects at data such as the shooting direction of camera 20 and camera sites by described electronic compass 21 and GPS 22 then.Then, described setting module 101 can obtain the above-mentioned data that detect by described wireless telecommunications system 24, thereby according to initial shooting direction and the initial position of this data setting camera 20 that detects.The position of described objective can use GPS 22 to measure by the user in advance.
Described acquisition module 102 is used for the flight course at unmanned flight carrier 2, obtains information such as the current location of the measured camera 20 of GPS 22 and electronic compass 21 and current shooting direction in real time by described wireless telecommunications system 24.
In the present embodiment, unmanned flight carrier 2 is in flight course, described GPS 22 and electronic compass 21 will continue to detect at data such as the current location of camera 20 and current shooting directions, by described wireless telecommunications system 24 data that obtain will be back in the back-end host 1 then.
Described computing module 103 is used for the information such as position that the current location of camera 20, current shooting direction with the initial position of this camera 20 of storage device 12 storages, are initially taken direction and objective are compared, and calculates first angle that this camera 20 need horizontally rotate towards this objective for the image data of gathering described objective and second angle of vertically rotating towards this objective.
For example the direction of calculating camera 20 required adjustment and the method for angle are described in detail below.
As shown in Figure 3, the position coordinates of supposing the initial position (shown in the A among Fig. 3) of camera 20 is (X2, Y2, Z2), the position coordinates of described objective (shown in the B among Fig. 3) is (X1, Y1, Z1), the initial shooting direction of setting is the ray AB direction pointed among Fig. 3.Wherein, X1 and Y1 are respectively longitude and the latitude of objective B, and Z1 is the height above sea level of objective B.X2 and Y2 are respectively longitude and the latitude of described initial position A, and Z2 is the height above sea level of this initial position A.As shown in Figure 4, when unmanned flight carrier 2 begin from initial position A mobile after, suppose that the position coordinates of the current location A' of the camera 20 that detects is (X3, Y3, Z3).
At first, ignore the height above sea level data in above-mentioned each position coordinates, even also described Z1, Z2 and Z3 are zero.Described computing module 103 is by coordinate points P1(X3, Y3,0) and coordinate points P2(X1, Y1,0) calculate a ray P1P2 on horizontal plane.Then, this computing module 103 calculating this ray P1P2 and described initial shooting direction are in the angle of the projection line on the horizontal plane (also being the projection line of ray AB on horizontal plane), for example angle theta among Fig. 4.This angle θ is first angle that described camera 20 need horizontally rotate towards described objective.
In like manner, make that described X1, X2 and X3 are zero, can calculate these camera 20 needs towards second angle of the vertical rotation of described objective according to said method.
Described wireless communication module 104 is used for according to above-mentioned first angle that calculates and second angle, sending controling instruction is to the wireless telecommunications system 24 of unmanned flight carrier 2, controlling the shooting direction of 23 pairs of these cameras 20 of described actuating device adjusts, thereby make this camera 20 can point to described objective, to obtain the real-time imaging data of this objective immediately.Particularly, when described wireless telecommunications system 24 receives control command, this actuating device 23 can at first be controlled camera 20 and horizontally rotate first angle towards described objective, and then control this camera 20 towards the vertical rotation of this objective second angle, can make this camera 20 point to this objective, this objective is taken, thereby obtained the image data of this objective.In addition, actuating device 23 also can be controlled camera 20 earlier towards described second angle of the vertical rotation of described objective, and then controls this camera 20 and horizontally rotate described first angle towards this objective.
After described camera 20 points to described objective, this wireless communication module 104 further obtains current location and the current shooting direction of this camera 20, and this current location of obtaining and current shooting direction be stored in the described storage device 12, this current location is replaced with the initial position of this camera 20, and the initial shooting direction that will this current shooting direction replaces with this camera 20, make follow-up can continuing adjust this camera 20 according to initial position and the initial direction of taking of this replacement.
As shown in Figure 5, be that the present invention controls the flow chart that unmanned flight carrier carries out the method for image collection.
Step S01, described setting module 101 is set initial position and the initial direction of taking of described camera 20, and set the position carry out the objective that image data gathers, and the initial position that will set, the position of initially taking direction and objective are kept in the storage device 12.The initial position of described camera 20 is to be determined by information such as the longitude of this camera 20, latitude and height above sea levels.The position of this objective is determined by the information such as longitude, latitude and height above sea level of this objective equally.
Step S02, described acquisition module 102 obtain information such as the current location of the measured camera 20 of GPS 22 and electronic compass 21 and current shooting direction in real time by described wireless telecommunications system 24 in the flight course of unmanned flight carrier 2.
Step S03, described computing module 103 compares the initial position of this camera 20 of storage in current location, current shooting direction and the storage device 12 of camera 20, the information such as position of initially taking direction and objective, calculates first angle that this camera 20 need horizontally rotate towards this objective for the image data of gathering described objective and towards second angle of the vertical rotation of this objective.
Step S04, described wireless communication module 104 is according to above-mentioned first angle that calculates and second angle, sending controling instruction is to the wireless telecommunications system 24 of unmanned flight carrier 2, controlling the shooting direction of 23 pairs of these cameras 20 of described actuating device adjusts, thereby make this camera 20 can point to described objective, to obtain the real-time imaging data of this objective immediately.
Step S05, after described camera 20 points to described objective, described wireless communication module 104 obtains current location and the current shooting direction of this camera 20, and this current location of obtaining and current shooting direction be stored in the described storage device 12, this current location is replaced with the initial position of this camera 20, and the initial shooting direction that will this current shooting direction replaces with this camera 20, make follow-up can continuing adjust this camera 20 according to initial position and the initial direction of taking of this replacement.
Above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.
Claims (10)
1. control the method that unmanned flight carrier carries out image collection for one kind, be applied in the back-end host, this unmanned flight carrier comprises camera, electronic compass, GPS, actuating device and wireless telecommunications system, it is characterized in that this method comprises:
Set step, set initial position and the initial direction of taking of described camera, and set the position carry out the objective that image data gathers, and the initial position that will set, the position of initially taking direction and objective are kept in the storage device of back-end host;
Obtaining step in the flight course of unmanned flight carrier, obtains current location and the current shooting direction of the measured described camera of GPS and electronic compass in real time by described wireless telecommunications system;
Calculation procedure, the initial position of this camera of storing in current location, current shooting direction and the storage device with camera, the position of initially taking direction and objective compare, and calculate first angle that this camera need horizontally rotate towards this objective for the image data of gathering described objective and towards second angle of the vertical rotation of this objective; And
The wireless telecommunications step, according to above-mentioned first angle that calculates and second angle, sending controling instruction is to described wireless telecommunications system, control described actuating device the shooting direction of this camera is adjusted, make this camera point to described objective and obtain the real-time imaging data of this objective.
2. the unmanned flight of control as claimed in claim 1 carrier carries out the method for image collection, it is characterized in that described wireless telecommunications step also comprises:
After described camera points to described objective, obtain current location and the current shooting direction of described camera; And
The above-mentioned current location of obtaining and current shooting direction are stored in the described storage device, and this current location is replaced with the initial position of this camera, this current shooting direction is replaced with the initial shooting direction of this camera.
3. the unmanned flight of control as claimed in claim 1 carrier carries out the method for image collection, it is characterized in that, the initial position of described camera is determined by longitude, latitude and the height above sea level of this camera, and the position of described objective is determined by longitude, latitude and the height above sea level of this objective.
4. the unmanned flight of control as claimed in claim 1 carrier carries out the method for image collection, it is characterized in that, when described wireless telecommunications system receives control command, described actuating device is at first controlled camera and is horizontally rotated described first angle towards described objective, and then controls this camera towards described second angle of the vertical rotation of this objective.
5. the unmanned flight of control as claimed in claim 1 carrier carries out the method for image collection, it is characterized in that, when described wireless telecommunications system receives control command, described actuating device is at first controlled camera towards described second angle of the vertical rotation of described objective, and then controls this camera and horizontally rotate described first angle towards this objective.
6. control the system that unmanned flight carrier carries out image collection for one kind, be applied in the back-end host, this unmanned flight carrier comprises camera, electronic compass, GPS, actuating device and wireless telecommunications system, it is characterized in that this system comprises:
Setting module, be used for setting initial position and the initial direction of taking of described camera, and set the position carry out the objective that image data gathers, and the initial position that will set, the position of initially taking direction and objective are kept in the storage device of back-end host;
Acquisition module is used for the flight course at unmanned flight carrier, obtains current location and the current shooting direction of the measured described camera of GPS and electronic compass in real time by described wireless telecommunications system;
Computing module, the position of be used for the initial position of this camera that current location, current shooting direction and the storage device of camera are stored, initially taking direction and objective compares, and calculates first angle that this camera need horizontally rotate towards this objective for the image data of gathering described objective and second angle of vertically rotating towards this objective; And
Wireless communication module, be used for according to above-mentioned first angle that calculates and second angle, sending controling instruction is to described wireless telecommunications system, control described actuating device the shooting direction of this camera is adjusted, make this camera point to described objective and obtain the real-time imaging data of this objective.
7. the unmanned flight of control as claimed in claim 6 carrier carries out the system of image collection, it is characterized in that, described wireless communication module also is used for pointing to after the described objective when described camera, obtain current location and the current shooting direction of described camera, and the above-mentioned current location of obtaining and current shooting direction are stored in the described storage device, and this current location replaced with the initial position of this camera, this current shooting direction is replaced with the initial shooting direction of this camera.
8. the unmanned flight of control as claimed in claim 6 carrier carries out the system of image collection, it is characterized in that, the initial position of described camera is determined by longitude, latitude and the height above sea level of this camera, and the position of described objective is determined by longitude, latitude and the height above sea level of this objective.
9. the unmanned flight of control as claimed in claim 6 carrier carries out the system of image collection, it is characterized in that, when described wireless telecommunications system receives control command, described actuating device is at first controlled camera and is horizontally rotated described first angle towards described objective, and then controls this camera towards described second angle of the vertical rotation of this objective.
10. the unmanned flight of control as claimed in claim 6 carrier carries out the system of image collection, it is characterized in that, when described wireless telecommunications system receives control command, described actuating device is at first controlled camera towards described second angle of the vertical rotation of described objective, and then controls this camera and horizontally rotate described first angle towards this objective.
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| CN105120136A (en) * | 2015-09-01 | 2015-12-02 | 杨珊珊 | Shooting device based on unmanned aerial vehicle and shooting processing method thereof |
| WO2017020856A1 (en) * | 2015-08-05 | 2017-02-09 | 普宙飞行器科技（深圳）有限公司 | Photographing device and method using drone to automatically track and photograph moving object |
| CN106774416A (en) * | 2017-01-11 | 2017-05-31 | 联想(北京)有限公司 | Information processing method and device, control device, UAS |
| CN107040698A (en) * | 2016-01-04 | 2017-08-11 | 三星电子株式会社 | The image-capturing method of unmanned image capture apparatus and its electronic installation of support |
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| CN110494360A (en) * | 2017-03-31 | 2019-11-22 | 杭州零零科技有限公司 | For providing the autonomous system and method photographed and image |
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| CN107357316A (en) * | 2017-08-16 | 2017-11-17 | 湖南城市学院 | A kind of method for controlling UAV locking specific region to obtain photo |
| CN108702464A (en) * | 2017-10-16 | 2018-10-23 | 深圳市大疆创新科技有限公司 | A kind of method for processing video frequency, control terminal and movable equipment |
| CN112489398A (en) * | 2019-09-11 | 2021-03-12 | 千寻位置网络有限公司 | Camera-based alarm method, alarm positioning platform and camera |
| CN112489398B (en) * | 2019-09-11 | 2022-05-31 | 千寻位置网络有限公司 | Camera-based alarm method, alarm positioning platform and camera |
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Application publication date: 20130703 |