CN105159321B - A kind of photographic method and unmanned vehicle based on unmanned vehicle - Google Patents
A kind of photographic method and unmanned vehicle based on unmanned vehicle Download PDFInfo
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- CN105159321B CN105159321B CN201510509374.0A CN201510509374A CN105159321B CN 105159321 B CN105159321 B CN 105159321B CN 201510509374 A CN201510509374 A CN 201510509374A CN 105159321 B CN105159321 B CN 105159321B
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Abstract
The embodiment of the invention provides a kind of photographic method and unmanned vehicle based on unmanned vehicle, this method comprises: position when confirmly detecting throwing operation is start position when detecting the throwing operation for unmanned vehicle；Decelerating flight is carried out according to the direction of throwing operation, from the start position；Judge whether decelerating flight to hovering；If so, at least taking pictures to the start position in the position of hovering.The embodiment of the present invention substantially increases the simplicity of operation, the throwing operation of user can control the flying distance of unmanned vehicle, considerably increase the distance between user, breach the quantity limitation to the object of shooting without carrying out additional connection.
Description
Technical field
The present invention relates to the technical fields of unmanned vehicle, more particularly to a kind of photographic method based on unmanned vehicle
With a kind of unmanned vehicle.
Background technique
With the fast development of science and technology, various electronic equipments are widely available, in the work of people, study, daily exchange etc.
The utilization rate of various aspects is also higher and higher, it may be said that electronic equipment is that people live indispensable a part.
Wherein, the electronic equipments such as mobile phone, tablet computer provide camera function, be the most-often used function of people it
One.
When the electronic equipments such as mobile phone, tablet computer are used alone, the image of oneself, referred to as self-timer are shot.
Currently, people all employ self-shooting bar in many cases carries out self-timer.
Self-shooting bar is mainly made of self-shooting bar, fixed bracket, Bluetooth remote control automatic timer or bottom end key, and fixed bracket can be with
Mobile phone, tablet computer etc. are picked up, freely regulated telescopic rod brings wider array of shooting angle, presses by the bluetooth of pole bottom
Key, that is, controllable operation.
But self-shooting bar substantially stretches at 20 centimetres between 120 centimetre lengths, limited length, so that mobile phone, tablet computer
Equal electronic products and user's is closer, and the quantity of the object photographed is also restrained.
Also, self-shooting bar needs to be attached the electronic equipments such as mobile phone, tablet computer in advance, operates comparatively laborious.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State a kind of photographic method based on unmanned vehicle and a kind of corresponding unmanned vehicle of problem.
According to one aspect of the present invention, a kind of photographic method based on unmanned vehicle is provided, comprising:
When detecting the throwing operation for unmanned vehicle, position when confirmly detecting throwing operation has been point
It sets；
Decelerating flight is carried out according to the direction of throwing operation, from the start position；
Judge whether decelerating flight to hovering；If so, at least taking pictures to the start position in the position of hovering.
Optionally, described when detecting the throwing operation for unmanned vehicle, it confirmly detects when throwing operates
Position includes: for the step of start position
Detect the acceleration of unmanned vehicle；
When the acceleration is greater than preset acceleration rate threshold, judgement detects that throwing operates；
Position when confirmly detecting the acceleration is start position.
Optionally, it is described the throwing operation direction belonging to plane, from the start position carry out decelerating flight
The step of include:
On the direction of the acceleration of unmanned vehicle, initial velocity of the detection unmanned vehicle in start position；
Based on initial velocity initial velocity components in the horizontal direction, level side is carried out with preset first acceleration
To decelerating flight.
Optionally, described to judge whether that decelerating flight to the step of hovering includes:
Detect unmanned vehicle First Speed component in the horizontal direction, the second speed component in vertical direction；
Judge whether the First Speed component is less than preset First Speed threshold value, the second speed component small
In preset second speed threshold value；If so, judgement hovering；
Wherein, the second speed component is less than the time of preset second speed threshold value, prior to the First Speed point
Amount is less than the time of preset First Speed threshold value.
Optionally, it is described the throwing operation direction belonging to plane, from the start position carry out decelerating flight
The step of further include:
When the initial velocity is when the initial velocity components of vertical direction are decayed to less than preset second speed threshold value,
Unmanned vehicle flies, with stress balance in the vertical direction；
Alternatively,
Based on the initial velocity in the initial velocity components of vertical direction, vertical side is carried out with preset second acceleration
To decelerating flight.
Optionally, the step of position in hovering at least takes pictures to the start position include:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures to the start position.
Optionally, the step of position in hovering at least takes pictures to the start position include:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures around the start position.
Optionally, the step of position in hovering at least takes pictures to the start position further include:
Synthesis processing will be carried out around the take pictures multiple image data of acquisition of the start position.
Optionally, further includes:
When take pictures complete when, fly from the position of hovering to the start position.
Optionally, described fly from the position of hovering includes: to the step of start position
Acceleration flight is first carried out in the horizontal direction, carries out decelerating flight again, with level side when flight to the start position
To third speed component be less than preset third speed threshold value；
Acceleration flight is first carried out in vertical direction, carries out decelerating flight again, with side vertically when flight to the start position
To fourth speed component be less than preset fourth speed threshold value.
According to another aspect of the present invention, a kind of unmanned vehicle is provided, comprising:
Throwing detection module, suitable for confirmly detecting throwing behaviour when detecting the throwing operation for unmanned vehicle
Position when making is start position；
Flight module carries out decelerating flight from the start position suitable for the direction operated according to the throwing；
Hover judgment module, suitable for judging whether decelerating flight to hovering；If so, calling photo module；
Photo module, suitable at least taking pictures to the start position in the position of hovering.
Optionally, the throwing detection module is further adapted for:
Detect the acceleration of unmanned vehicle；
When the acceleration is greater than preset acceleration rate threshold, judgement detects that throwing operates；
Position when confirmly detecting the acceleration is start position.
Optionally, the flight module is further adapted for:
On the direction of the acceleration of unmanned vehicle, unmanned vehicle is detected in the initial velocity of start position；
Based on initial velocity initial velocity components in the horizontal direction, level side is carried out with preset first acceleration
To decelerating flight.
Optionally, the hovering judgment module is further adapted for:
Detect unmanned vehicle First Speed component in the horizontal direction, the second speed component in vertical direction；
Judge whether the First Speed component is less than preset First Speed threshold value, the second speed component small
In preset second speed threshold value；If so, judgement hovering；
Wherein, the second speed component is less than the time of preset second speed threshold value, prior to the First Speed point
Amount is less than the time of preset First Speed threshold value.
Optionally, the flight module is further adapted for:
When the initial velocity is when the initial velocity components of vertical direction are decayed to less than preset second speed threshold value,
Unmanned vehicle flies, with stress balance in the vertical direction；
Alternatively,
Based on the initial velocity in the initial velocity components of vertical direction, vertical side is carried out with preset second acceleration
To decelerating flight.
Optionally, the photo module is further adapted for:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures to the start position.
Optionally, the photo module is further adapted for:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures around the start position.
Optionally, the photo module is further adapted for:
Synthesis processing will be carried out around the take pictures multiple image data of acquisition of the start position.
Optionally, the flight module is further adapted for:
Take pictures complete when, fly from the position of hovering to the start position.
Optionally, the flight module is further adapted for:
Acceleration flight is first carried out in the horizontal direction, carries out decelerating flight again, with level side when flight to the start position
To third speed component be less than preset third speed threshold value；
Acceleration flight is first carried out in vertical direction, carries out decelerating flight again, with side vertically when flight to the start position
To fourth speed component be less than preset fourth speed threshold value.
In the embodiment of the present invention, user is clapped in the position of hovering towards start position by throwing unmanned vehicle
According to without carrying out additional connection, substantially increasing the simplicity of operation, the throwing operation of user can control unmanned vehicle
Flying distance, considerably increase the distance between user, breach to the limitation of the quantity of the object of shooting.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows a kind of step of photographic method embodiment based on unmanned vehicle according to an embodiment of the invention
Rapid flow chart；
Fig. 2 shows a kind of structural schematic diagrams of unmanned vehicle according to an embodiment of the invention；
Fig. 3 A to Fig. 3 F shows a kind of flight theory figure of unmanned vehicle according to an embodiment of the invention；
Fig. 4 shows a kind of exemplary top view of throwing of unmanned vehicle according to an embodiment of the invention；
Fig. 5 shows a kind of decomposition exemplary diagram of initial velocity according to an embodiment of the invention；
Fig. 6 shows a kind of flight path schematic diagram of unmanned vehicle according to an embodiment of the invention；And
Fig. 7 shows a kind of structural block diagram of unmanned vehicle embodiment according to an embodiment of the invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Referring to Fig.1, a kind of photographic method based on unmanned vehicle according to an embodiment of the invention is shown to implement
The step flow chart of example, can specifically include following steps:
Step 101, when detecting the throwing operation for unmanned vehicle, position when throwing operation is confirmly detected
For start position；
It should be noted that the embodiment of the present invention can be applied to unmanned vehicle (Unmanned Aerial
Vehicle, UAV) in, i.e., the aircraft of specific aviation mission is executed using wireless remote control or process control, does not carry behaviour
Make personnel, air force is used to provide required lift for aircraft, can fly automatically or remotely guides.
By taking quadrotor as an example, as shown in Fig. 2, quadrotor is using four rotors as the directly dynamic of flight
Power source, rotor are symmetrically distributed in the front, rear, left and right four direction of body, and four rotors are in sustained height plane, and four
The structure and radius of rotor are all identical, and rotor 201 and rotor 203 rotate counterclockwise, and rotor 202 and rotor 204 rotate clockwise,
Four motors are symmetrically installed on the bracket end of unmanned vehicle, and bracket intermediate space places flight-control computer 200 and its
His external equipment (such as camera).
Quadrotor is to change variable rotor speed by adjusting four motor speeds, realizes the variation of lift, thus
Control posture and the position of aircraft.
Quadrotor is a kind of vertical conveyor of six degree of freedom, but only there are four input power, at the same but there are six
State output, so it is a kind of under-actuated systems again.
Regulation is moved along positive direction of the x-axis to be known as travelling forward, and arrow indicates that this motor turns above the plane of movement of rotor
Speed improves, and indicates that this motor speed declines in lower section, six degree of freedom is as follows:
1, it moves vertically；
As shown in Figure 3A, at the same increase rotor 201, rotor 202, rotor 203, rotor 204 four motors output work
Rate, rotor 201, rotor 202, rotor 203,204 revolving speed of rotor increase so that total pulling force increases, when total pulling force be enough to overcome it is whole
When the weight of machine, quadrotor just liftoff vertical ascent；Conversely, reducing rotor 201, rotor 202, rotor 203, rotation simultaneously
The output power of four motors of the wing 204, quadrotor then vertically decline, until balance landing, realizes hanging down along z-axis
Straight movement.
When external disturbance amount is zero, it is equal to four in the lift that rotor 201, rotor 202, rotor 203, rotor 204 generate
Suffered by rotor craft when gravity, quadrotor just keeps floating state.
2, pitching movement；
In as shown in Figure 3B, the revolving speed of the motor of rotor 201 rises, and (knots modification is big for the revolving speed decline of the motor of rotor 203
It is small equal), the motor of rotor 202, the revolving speed of the motor of rotor 204 remain unchanged.
Since the lift of rotor 201 rises, the drop in lift of rotor 203, the unbalanced moments of generation revolves fuselage around y-axis
Turn.
Similarly, when the revolving speed of the motor of rotor 201 declines, the revolving speed of the motor of rotor 203 rises, fuselage just around y-axis to
Another direction rotates, and realizes the pitching movement of quadrotor.
3, rolling movement；
As shown in Figure 3 C, the revolving speed for changing the motor of rotor 202 and rotor 204, keeps the electricity of rotor 201 and rotor 203
The revolving speed of machine is constant, then fuselage can be made to rotate around x axis (forward and reverse), realizes the rolling movement of quadrotor.
4, yawing rotation；
It is anti-in order to overcome since air drag effect will form the reaction torque opposite with rotation direction during rotor rotational
Torque influence can make two in four rotors to rotate forward, two reversions, and each rotor rotational direction on diagonal line is identical.
The size of reaction torque is related with rotor revolving speed, and when four motor speeds are identical, the reaction torque that four rotors generate mutually is balanced,
Quadrotor does not rotate；When four motor speeds are not exactly the same, unbalanced reaction torque can cause quadrotor
Aircraft rotation.
As shown in Figure 3D, when the rising of the revolving speed of rotor 201 and the motor of rotor 203, the motor of rotor 202 and rotor 204
Revolving speed decline when, rotor 201 and rotor 203 are greater than rotor 202 and rotor 204 to the anti-twisted of fuselage to the reaction torque of fuselage
Square, fuselage just rotate under the action of reaction torque more than needed around z-axis, realize the yawing rotation of aircraft, turn to and rotor 201 and rotation
The steering of the motor of the wing 203 is opposite.
5, it moves forward and backward；
To realize aircraft in the horizontal plane front and rear, left and right movement, it is necessary in the horizontal plane to aircraft apply one
Fixed power.
As shown in FIGURE 3 E, the revolving speed for increasing the motor of rotor 203, increases pulling force, the corresponding motor for reducing rotor 201
Revolving speed reduces pulling force, while keeping other two motor speeds constant, and reaction torque still will keep balancing.
By the theory of Fig. 3 B, a degree of inclination occurs first for quadrotor, so that rotor thrust be made to generate water
The amount of dividing equally, therefore the preceding winged movement of quadrotor may be implemented.It flies backward exactly the opposite with flight forward.
In Fig. 3 B and Fig. 3 C, quadrotor can also be generated while generating pitching, tumbling motion along x, y-axis
Horizontal movement.
6, tendency movement；
Due to symmetrical configuration, thus the working principle of tendency flight with move forward and backward it is just the same.
As illustrated in Figure 3 F,
The revolving speed for increasing the motor of rotor 204, increases pulling force, and the revolving speed of the corresponding motor for reducing rotor 202 makes pulling force
Reduce, while keeping other two motor speeds constant, reaction torque still will keep balancing.
A degree of inclination occurs first for quadrotor, to make rotor thrust produce the vertical amount of dividing equally, therefore can
To realize the tendency movement of quadrotor.To the left flight with fly to the right it is exactly the opposite.
Certainly, above-mentioned quadrotor is intended only as example, in implementing the embodiments of the present invention, can be according to practical feelings
Other unmanned vehicles are arranged in condition, for example, six rotorcraft, single rotor aircraft etc., this is not added in the embodiment of the present invention
With limitation.
In practical applications, user can be taken pictures by throwing unmanned vehicle.
In an alternative embodiment of the invention, step 101 may include following sub-step:
Sub-step S11 detects the acceleration of unmanned vehicle；
Sub-step S12, when the acceleration is greater than preset acceleration rate threshold, judgement detects that throwing operates；
Sub-step S13, position when confirmly detecting the acceleration are start position.
In embodiments of the present invention, unmanned vehicle can configure 3-axis acceleration sensor, to detect suffered acceleration.
In order to avoid causing maloperation, acceleration rate threshold can be preset, when user's throwing unmanned vehicle, nobody
Aircraft stress generates acceleration, which generally can be more than acceleration rate threshold.
Step 102, decelerating flight is carried out according to the direction of throwing operation, from the start position；
It should be noted that reality scene is three-dimensional space, and throwing operation has direction attribute, and unmanned vehicle can be with
Decelerating flight is carried out in the two-dimensional surface belonging to the direction of throwing operation.
As shown in figure 4, user is deviated to the left in throwing unmanned vehicle from direction α in the angle of vertical view,
Then unmanned vehicle can be deviated to the left from carrying out decelerating flight on direction α.
It should be noted that during decelerating flight, especially throwing initial stage, if standard of fuselage tilts,
Unmanned vehicle can carry out automatic attitude updating, guarantee the balance of flight.
In an alternative embodiment of the invention, step 102 may include following sub-step:
Sub-step S21 detects unmanned vehicle in the initial of start position on the direction of the acceleration of unmanned vehicle
Speed；
In practical applications, the direction of throwing operation is that the direction of acceleration is characterized, then as shown in figure 4, accelerating
The direction of degree is deviated to the left from direction α.
When unmanned vehicle leaves the hand of user, the acceleration that throwing generates disappears, and generates the initial of a flight at this time
Speed.
Sub-step S22 is based on initial velocity initial velocity components in the horizontal direction, with preset first acceleration
Carry out the decelerating flight of horizontal direction；
As shown in figure 5, the embodiment of the present invention can be to initial velocity V0It is decomposed, obtains the initial velocity of horizontal direction
Component Vx, the initial velocity components V of vertical directiony。
Assuming that the first acceleration is a1, then after time t, if not considering the factors such as air drag, unmanned vehicle exists
The flying speed of horizontal direction are as follows:
Vxt=Vx-a1t；
If considering the factors such as air drag, flying speed can be modified in other ways, the embodiment of the present invention
It is without restriction to this.
In addition, in the vertical direction, unmanned vehicle can carry out two kinds of flying methods:
One, when the initial velocity is decayed in the initial velocity components of vertical direction less than preset second speed threshold value
When, unmanned vehicle flies, with stress balance in the vertical direction；
In such flying method, the initial stage that unmanned vehicle is operated in throwing is without flight, i.e. vertical direction and water
Square upwards without decelerating flight.
It is acted on by acceleration of gravity, is gradually decayed in the initial velocity components of vertical direction, be less than second speed threshold value
When, it is believed that speed very little, even 0 then can star rotor, and the lift that rotor generates in the vertical direction is equal to nobody
Suffered by aircraft when gravity, stress balance is kept in the vertical direction, and under normal circumstances, the flying speed of vertical direction is constant.
Two, it is erected based on the initial velocity in the initial velocity components of vertical direction with preset second acceleration
Histogram to decelerating flight.
In such flying method, unmanned vehicle flies at the initial stage that throwing operates, i.e. vertical direction and level
Decelerating flight is all carried out on direction.
Assuming that the second acceleration is a2, then after time t, if not considering the factors such as air drag, unmanned vehicle exists
The flying speed of vertical direction are as follows:
Vyt=Vy-(a2+g)t；
Wherein, g is acceleration of gravity.
If the second acceleration is a2It is 0, then flying speed of the unmanned vehicle in vertical direction are as follows:
Vyt=Vy-gt。
Certainly, if considering the factors such as air drag, flying speed, the embodiment of the present invention can also be calculated using other modes
It is without restriction to this.
Step 103, judge whether decelerating flight to hovering；If so, thening follow the steps 104；
In the ideal case, hovering as flying speed is 0, and in vertical direction stress balance, in the horizontal direction not by outer
Power effect, keeping speed is 0.
But in practice, due to the presence of the factors such as air flowing, so that unmanned vehicle can not maintain always speed
For 0 state, therefore, when flying speed is less than certain value, it is believed that be hovering.
In an alternative embodiment of the invention, step 102 may include following sub-step:
Sub-step S31, detection unmanned vehicle First Speed component in the horizontal direction, the second speed in vertical direction
Component；
Sub-step S32, judges whether the First Speed component is less than preset First Speed threshold value, the second speed
Whether component is less than preset second speed threshold value；If so, executing sub-step S33；
Sub-step S33 judges to hover.
It should be noted that First Speed threshold value, second speed threshold value are any constant for indicating speed very little.
If First Speed component is less than First Speed threshold value, second speed component is less than second speed threshold value, can be with table
Show the speed very little of unmanned vehicle, it is believed that be hovering.
It should be noted that second speed component is less than the time of preset second speed threshold value, prior to First Speed point
Amount is less than the time of preset First Speed threshold value.
Therefore, as shown in fig. 6, within the time that second speed component is decelerated to preset second speed threshold value, nobody flies
The flight path of row device is arc, later, within the time that First Speed component is decelerated to preset First Speed threshold value, nobody
The flight path of aircraft is straight line.
Step 104, it at least takes pictures to the start position in the position of hovering.
In floating state, unmanned vehicle can star camera, take pictures to the start position where user, real
Existing self-timer.
In an alternative embodiment of the invention, step 104 may include following sub-step:
Sub-step S41 is focused with the distance between the start position and the position of the hovering；
Sub-step S42 takes pictures to the start position when focusing completion.
As shown in Figure 6, it is assumed that after the t time, unmanned vehicle hovering, flight path be curve, near parabolic,
The position of hovering is chosen as parabolical highest point.
It is assumed that the flying distance of unmanned vehicle in the horizontal direction is Sx, flying distance in the vertical direction is Sy,
It then can be according to the distance between following formula zequin position and the position of hovering S:
If being flown with above-mentioned first way, it assumes that decay to and be less than in advance in the initial velocity components of vertical direction
If second speed threshold value time be t1, later, initial velocity components in the horizontal direction are decayed to less than preset first
The time of threshold speed is t2, then:
If being flown with above-mentioned first way, it assumes that decay to and be less than in advance in the initial velocity components of vertical direction
If second speed threshold value time be t3, initial velocity components in the horizontal direction decay to less than preset First Speed threshold
The total time of value is t4, then:
After calculating at a distance between position of the start position with hovering, it can focus, that is, adjust to camera
The focal length of whole camera, so that taking pictures obtained apparent to start position.
Due to having calculated that the flying distance S of unmanned vehicle in the horizontal directionx, flying distance in the vertical direction
Sy, then angle beta of the position of hovering relative to start position can be calculated according to following formula:
Tan β=Sy/Sx。
Camera is adjusted to angle beta, then can be taken pictures to the start position where user.
In another alternative embodiment of the invention, step 104 may include following sub-step:
Sub-step S51 is focused with the distance between the start position and the position of the hovering；
Sub-step S52 takes pictures when focusing completion around the start position.
As shown in figure 4, the embodiment of the present invention can after calculating at a distance between position of the start position with hovering,
It can focus to camera.
After the position for calculating hovering is relative to the angle of start position, by adjusting the angle (as increased angle, subtracting
Low-angle, traversing etc.), it takes pictures around start position, obtains the multiple pictures in a certain range (the dotted line range of such as Fig. 4)
(i.e. multiple image data).
After taking pictures and acquiring multiple image data, the embodiment of the present invention can also will take pictures around start position
The multiple image data of acquisition carry out synthesis processing, that is, synthesize a frame image data, obtain distant view photograph.
In the embodiment of the present invention, user is clapped in the position of hovering towards start position by throwing unmanned vehicle
According to without carrying out additional connection, substantially increasing the simplicity of operation, the throwing operation of user can control unmanned vehicle
Flying distance, considerably increase the distance between user, breach to the limitation of the quantity of the object of shooting.
In an alternative embodiment of the invention, this method can also include the following steps:
Step 105, when take pictures complete when, fly from the position of hovering to the start position.
If taking pictures completion, unmanned vehicle can from the position of hovering fly return user where start position, into
The recycling of row unmanned vehicle.
In an alternative embodiment of the invention, step 105 may include following sub-step:
Sub-step S61 first carries out acceleration flight in the horizontal direction, carries out decelerating flight again, with flight to described point
The third speed component of horizontal direction is less than preset third speed threshold value when setting；
Sub-step S62 first carries out acceleration flight in vertical direction, carries out decelerating flight again, with flight to described point
The fourth speed component of vertical direction is less than preset fourth speed threshold value when setting.
Due to having calculated that the flying distance S of unmanned vehicle in the horizontal directionx, flying distance in the vertical direction
Sy, then can be with SxAnd SyIt flies as flying distance.
Due to hovering when unmanned vehicle speed very little, it is therefore desirable to first carry out acceleration flight, for the ease of user into
Row recycling unmanned vehicle, when returning to start position, the speed of unmanned vehicle should very little, even 0, it is therefore desirable to again
Carry out decelerating flight.
As for when by accelerating flight to be converted to decelerating flight, those skilled in the art can set in advance, can be with
It converts, can also be converted in 2/3 flying distance, the embodiments of the present invention are not limited thereto in 1/2 flying distance.
It should be noted that third speed threshold value, fourth speed threshold value are any constant for indicating speed very little.
If third speed component is less than third speed threshold value, fourth speed component is less than fourth speed threshold value, can be with table
Show the speed very little of unmanned vehicle.
In addition, First Speed threshold value and third speed threshold value can it is identical, can also be different, second speed threshold value and the 4th
Threshold speed can it is identical, can also be different, the embodiments of the present invention are not limited thereto.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but this field
Technical staff should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because implementing according to the present invention
Example, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, the actions involved are not necessarily necessary for embodiments of the present invention.
Referring to Fig. 7, a kind of structural block diagram of unmanned vehicle embodiment according to an embodiment of the invention is shown, is had
Body may include following module:
Throwing detection module 701, suitable for confirmly detecting throwing when detecting the throwing operation for unmanned vehicle
Position when operation is start position；
Flight module 702 carries out decelerating flight from the start position suitable for the direction operated according to the throwing；
Hover judgment module 703, suitable for judging whether decelerating flight to hovering；If so, calling photo module；
Photo module 704, suitable at least taking pictures to the start position in the position of hovering.
In an alternative embodiment of the invention, the throwing detection module 701 can be adapted to:
Detect the acceleration of unmanned vehicle；
When the acceleration is greater than preset acceleration rate threshold, judgement detects that throwing operates；
Position when confirmly detecting the acceleration is start position.
In an alternative embodiment of the invention, the flight module 702 can be adapted to:
On the direction of the acceleration of unmanned vehicle, unmanned vehicle is detected in the initial velocity of start position；
Based on initial velocity initial velocity components in the horizontal direction, level side is carried out with preset first acceleration
To decelerating flight.
In an alternative embodiment of the invention, the hovering judgment module 703 can be adapted to:
Detect unmanned vehicle First Speed component in the horizontal direction, the second speed component in vertical direction；
Judge whether the First Speed component is less than preset First Speed threshold value, the second speed component small
In preset second speed threshold value；If so, judgement hovering；
Wherein, the second speed component is less than the time of preset second speed threshold value, prior to the First Speed point
Amount is less than the time of preset First Speed threshold value.
In an alternative embodiment of the invention, the flight module 702 can be adapted to:
When the initial velocity is when the initial velocity components of vertical direction are decayed to less than preset second speed threshold value,
Unmanned vehicle flies, with stress balance in the vertical direction；
Alternatively,
Based on the initial velocity in the initial velocity components of vertical direction, vertical side is carried out with preset second acceleration
To decelerating flight.
In an alternative embodiment of the invention, the photo module 704 can be adapted to:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures to the start position.
In another alternative embodiment of the invention, the photo module 704 can be adapted to:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures around the start position.
In an alternative embodiment of the invention, the photo module 704 can be adapted to:
Synthesis processing will be carried out around the take pictures multiple image data of acquisition of the start position.
In an alternative embodiment of the invention, the flight module 702 can be adapted to:
Take pictures complete when, fly from the position of hovering to the start position.
In an alternative embodiment of the invention, the flight module 702 can be adapted to:
Acceleration flight is first carried out in the horizontal direction, carries out decelerating flight again, with level side when flight to the start position
To third speed component be less than preset third speed threshold value；
Acceleration flight is first carried out in vertical direction, carries out decelerating flight again, with side vertically when flight to the start position
To fourth speed component be less than preset fourth speed threshold value.
For unmanned vehicle embodiment, since it is basically similar to the method embodiment, so the comparison of description is simple
Single, the relevent part can refer to the partial explaination of embodiments of method.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize that taking pictures based on unmanned vehicle according to an embodiment of the present invention sets
The some or all functions of some or all components in standby.The present invention is also implemented as described here for executing
Method some or all device or device programs (for example, computer program and computer program product).This
The program that the realization of sample is of the invention can store on a computer-readable medium, or can have one or more signal
Form.Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or with any other
Form provides.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (18)
1. a kind of photographic method based on unmanned vehicle, comprising:
When detecting the throwing operation for unmanned vehicle, position when confirmly detecting throwing operation is start position；
Decelerating flight is carried out according to the direction of throwing operation, from the start position；The direction of the throwing operation is institute
State the direction of the acceleration of unmanned vehicle；
Judge whether decelerating flight to hovering；If so, at least taking pictures to the start position in the position of hovering；
It is described when detect for unmanned vehicle throwing operation when, confirmly detect throwing operation when position be point
The step of setting include:
Detect the acceleration of unmanned vehicle；
When the acceleration is greater than preset acceleration rate threshold, judgement detects that throwing operates；
Position when confirmly detecting the acceleration of the unmanned vehicle is start position.
2. the method as described in claim 1, which is characterized in that it is described according to the direction of throwing operation, from the starting point
Position carry out decelerating flight the step of include:
On the direction of the acceleration of the unmanned vehicle, initial velocity of the detection unmanned vehicle in start position；
Based on initial velocity initial velocity components in the horizontal direction, horizontal direction is carried out with preset first acceleration
Decelerating flight.
3. method according to claim 2, which is characterized in that described to judge whether that decelerating flight to the step of hovering includes:
Detect unmanned vehicle First Speed component in the horizontal direction, the second speed component in vertical direction；
Judge whether the First Speed component is less than preset First Speed threshold value, that whether the second speed component is less than is pre-
If second speed threshold value；If so, judgement hovering；
Wherein, the second speed component is less than the time of preset second speed threshold value, prior to the First Speed component is small
In the time of preset First Speed threshold value.
4. method as claimed in claim 2 or claim 3, which is characterized in that it is described according to the throwing operation direction, from described
The step of point position carries out decelerating flight further include:
When the initial velocity is when the initial velocity components of vertical direction are decayed to less than preset second speed threshold value, nobody
Aircraft flies, with stress balance in the vertical direction；
Alternatively,
Based on the initial velocity in the initial velocity components of vertical direction, vertical direction is carried out with preset second acceleration
Decelerating flight.
5. method as claimed in claim 1 or 3, which is characterized in that the position in hovering is at least to the start position
The step of being taken pictures include:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures to the start position.
6. method as claimed in claim 1 or 3, which is characterized in that the position in hovering is at least to the start position
The step of being taken pictures include:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures around the start position.
7. method as claimed in claim 6, which is characterized in that the position in hovering at least carries out the start position
The step of taking pictures further include:
Synthesis processing will be carried out around the take pictures multiple image data of acquisition of the start position.
8. the method as described in claim 1 or 3 or 7, which is characterized in that further include:
When take pictures complete when, fly from the position of hovering to the start position.
9. method according to claim 8, which is characterized in that described to fly from the position of hovering to the step of the start position
Suddenly include:
Acceleration flight is first carried out in the horizontal direction, carries out decelerating flight again, with horizontal direction when flight to the start position
Third speed component is less than preset third speed threshold value；
Acceleration flight is first carried out in vertical direction, carries out decelerating flight again, vertical direction when flying to the start position
Fourth speed component is less than preset fourth speed threshold value.
10. a kind of unmanned vehicle, comprising:
Throwing detection module, when being operated suitable for confirmly detecting throwing when detecting the throwing operation for unmanned vehicle
Position be start position；
Flight module carries out decelerating flight from the start position suitable for the direction operated according to the throwing；The throwing behaviour
The direction of work is the direction of the acceleration of the unmanned vehicle；
Hover judgment module, suitable for judging whether decelerating flight to hovering；If so, calling photo module；
Photo module, suitable at least taking pictures to the start position in the position of hovering；
The throwing detection module is further adapted for:
Detect the acceleration of unmanned vehicle；
When the acceleration is greater than preset acceleration rate threshold, judgement detects that throwing operates；
Position when confirmly detecting the acceleration of the unmanned vehicle is start position.
11. unmanned vehicle as claimed in claim 10, which is characterized in that the flight module is further adapted for:
On the direction of the acceleration of the unmanned vehicle, unmanned vehicle is detected in the initial velocity of start position；
Based on initial velocity initial velocity components in the horizontal direction, horizontal direction is carried out with preset first acceleration
Decelerating flight.
12. unmanned vehicle as claimed in claim 11, which is characterized in that the hovering judgment module is further adapted for:
Detect unmanned vehicle First Speed component in the horizontal direction, the second speed component in vertical direction；
Judge whether the First Speed component is less than preset First Speed threshold value, that whether the second speed component is less than is pre-
If second speed threshold value；If so, judgement hovering；
Wherein, the second speed component is less than the time of preset second speed threshold value, prior to the First Speed component is small
In the time of preset First Speed threshold value.
13. the unmanned vehicle as described in claim 11 or 12, which is characterized in that the flight module is further adapted for:
When the initial velocity is when the initial velocity components of vertical direction are decayed to less than preset second speed threshold value, nobody
Aircraft flies, with stress balance in the vertical direction；
Alternatively,
Based on the initial velocity in the initial velocity components of vertical direction, vertical direction is carried out with preset second acceleration
Decelerating flight.
14. the unmanned vehicle as described in claim 10 or 12, which is characterized in that the photo module is further adapted for:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures to the start position.
15. the unmanned vehicle as described in claim 10 or 12, which is characterized in that the photo module is further adapted for:
It is focused with the distance between the start position and the position of the hovering；
When focusing completion, take pictures around the start position.
16. unmanned vehicle as claimed in claim 15, which is characterized in that the photo module is further adapted for:
Synthesis processing will be carried out around the take pictures multiple image data of acquisition of the start position.
17. the unmanned vehicle as described in claim 10 or 12 or 16, which is characterized in that the flight module is further adapted for:
Take pictures complete when, fly from the position of hovering to the start position.
18. unmanned vehicle as claimed in claim 17, which is characterized in that the flight module is further adapted for:
Acceleration flight is first carried out in the horizontal direction, carries out decelerating flight again, with horizontal direction when flight to the start position
Third speed component is less than preset third speed threshold value；
Acceleration flight is first carried out in vertical direction, carries out decelerating flight again, vertical direction when flying to the start position
Fourth speed component is less than preset fourth speed threshold value.
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| CN106899796A (en) * | 2015-12-18 | 2017-06-27 | 富泰华工业（深圳）有限公司 | Camera system and method |
| TWI603888B (en) * | 2016-01-18 | 2017-11-01 | 緯創資通股份有限公司 | Balance-control method of a multirotor unmanned aerial vehicle threw at any angle to take off, computer program product and multirotor unmanned aerial vehicle |
| TWI596043B (en) * | 2016-01-22 | 2017-08-21 | 和碩聯合科技股份有限公司 | Unmanned aerial device and orientation method thereof |
| CN105843241A (en) * | 2016-04-11 | 2016-08-10 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle, unmanned aerial vehicle takeoff control method and apparatus |
| CN106527479B (en) | 2016-11-29 | 2017-12-12 | 广州极飞科技有限公司 | A kind of control method and device of unmanned plane |
| WO2018150369A1 (en) | 2017-02-17 | 2018-08-23 | Verity Studios Ag | Methods of taking a measurement |
| WO2019051638A1 (en) | 2017-09-12 | 2019-03-21 | 深圳市大疆创新科技有限公司 | Movable device and operation method thereof |
| CN108052118A (en) * | 2017-12-12 | 2018-05-18 | 中国联合网络通信集团有限公司 | A kind of unmanned vehicle control method and device |
| CN110015421A (en) * | 2018-01-08 | 2019-07-16 | 经纬航太科技股份有限公司 | Fixed wing machine take-off system and its method |
| CN112666995B (en) * | 2020-12-15 | 2023-11-21 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle speed planning method, device, equipment and storage medium |
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