CN106506956A - Based on the track up method of unmanned plane, track up apparatus and system - Google Patents
Based on the track up method of unmanned plane, track up apparatus and system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/62—Control of parameters via user interfaces
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
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Abstract
This application discloses a kind of track up method based on unmanned plane, including：Obtain the three-dimensional location coordinates difference between unmanned plane and reference object, using the three-dimensional location coordinates difference of initial time as target three-dimensional location coordinates difference, target three-dimensional location coordinates difference meets condition of the reference object in the shooting visual angle of the camera of unmanned plane；Obtain the three-dimensional location coordinates of current time reference object；Three-dimensional location coordinates, three-dimensional location coordinates difference and target three-dimensional location coordinates difference according to current time reference object, the three-dimensional location coordinates of adjustment current time unmanned plane and the shooting luffing angle of camera, so that reference object is located in the shooting visual angle of camera.The method makes unmanned plane shoot the target following in three dimensions, without geographical restrictions according to the three-dimensional location coordinates and shooting angle of the three-dimensional relative position relation adjustment unmanned plane between reference object and unmanned plane.Disclosed herein as well is a kind of device and system based on the method.
Description
Technical field
The present invention relates to unmanned vehicle technical field, more particularly to a kind of track up method based on unmanned plane, also
It is related to a kind of track up device based on the track up method and track up system.
Background technology
Unmanned plane by application, can be divided into military with civilian.Civilian unmanned plane is applied at present taking photo by plane, agricultural, plant protection,
Auto heterodyne, express transportation, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, shadow
Depending on shooting, manufacturing romance etc. field.
Unmanned plane carries different trace trap devices according to different applications, as a example by taking photo by plane, UAV flight's camera,
For Aerial photography.The track up method of existing unmanned plane is to be tracked bat according to the movement locus in user's plane
Take the photograph, but, when user has height change, unmanned plane just occurs the problem of the movement locus that cannot catch user, i.e.,
User not in shooting visual angle needs manually to readjust shooting luffing angle or unmanned plane during flying height, to track up
There is considerable restraint zone of action, very inconvenient.In same problem exists in other application, the trace trap of target is lived
The restriction in dynamic region, it is impossible to easily trace trap target.
In sum, the target following seizure of unmanned plane is not limited by the zone of action of target, become ability
Field technique personnel's problem demanding prompt solution.
Content of the invention
In view of this, it is an object of the invention to provide a kind of track up method based on unmanned plane, so that unmanned plane
Do not limited by the zone of action of target, facilitated track up object.
Further object is that providing a kind of track up device and tracking based on the track up method
Camera system, facilitates unmanned plane track up object.
For reaching above-mentioned purpose, the present invention provides technical scheme below：
A kind of track up method based on unmanned plane, including：
The three-dimensional location coordinates difference between unmanned plane and reference object is obtained, is sat with the three-dimensional position of initial time
Used as target three-dimensional location coordinates difference, the target three-dimensional location coordinates difference meets the reference object positioned at institute to mark difference
Condition in the shooting visual angle of the camera for stating unmanned plane；
Obtain the three-dimensional location coordinates of reference object described in current time；
The three-dimensional location coordinates of reference object, the three-dimensional location coordinates difference and the target according to current time
Three-dimensional location coordinates difference, adjusts the three-dimensional location coordinates of unmanned plane and the shooting pitching of the camera described in current time
Angle, so that the reference object is located in the shooting visual angle of the camera.
Preferably, in the above-mentioned track up method based on unmanned plane, the target three-dimensional location coordinates difference bag
Include objective plane two-dimensional position coordinate difference and object height difference；
The three-dimensional location coordinates of the reference object according to current time and the target three-dimensional location coordinates difference,
The three-dimensional location coordinates and the shooting angle of the camera of unmanned plane described in adjustment current time, so that the reference object
Include in the shooting visual angle for being located at the camera：
The planar position coordinates of reference object according to current time, adjusts the planar position of the unmanned plane
Coordinate is put, so that the planar position coordinates and the planar position coordinates of the reference object of the unmanned plane after adjustment
Difference is equal to the objective plane two-dimensional position coordinate difference；
The height of reference object according to current time, adjusts the shooting of the height and the camera of the unmanned plane
Angle, so that the reference object is located in the shooting visual angle of the camera.
Preferably, in the above-mentioned track up method based on unmanned plane, described shoot according to current time right
The height of elephant, adjusts the shooting angle of the height and the camera of the unmanned plane, so that the reference object is positioned at described
Include in the shooting visual angle of camera：
The height of reference object according to current time, adjusts the height of the unmanned plane, makes the unmanned plane after adjustment
Height and the difference of the height of the reference object be equal to the object height difference, and keep the shooting angle of the camera
Degree is constant, so that the reference object is located in the shooting visual angle of the camera.
Preferably, in the above-mentioned track up method based on unmanned plane, described shoot according to current time right
The height of elephant, adjusts the shooting angle of the height and the camera of the unmanned plane, so that the reference object is positioned at described
Include in the shooting visual angle of camera：
Keep the height of the unmanned plane constant all the time, adjust the shooting angle of the camera, make reference object and institute
State the distance between up-and-down boundary of shooting visual angle of camera and keep constant, so that the reference object is located at the camera
Shooting visual angle in.
Preferably, in the above-mentioned track up method based on unmanned plane, described acquisition unmanned plane and reference object it
Between three-dimensional location coordinates difference include：
Obtain the height of the height and the reference object of the unmanned plane；
According to the height of the height and the reference object of the unmanned plane, the unmanned plane and the reference object is obtained
Between height difference；
Obtain the planar position coordinates difference between the unmanned plane and the reference object, the objective plane two
Dimension position coordinates difference and the height difference constitute the three-dimensional location coordinates difference.
Preferably, in the above-mentioned track up method based on unmanned plane, the height for obtaining the unmanned plane and
The height of the reference object includes：
According to the atmospheric pressure value of the unmanned plane position, the height of the unmanned plane is obtained；
According to the atmospheric pressure value of the reference object position, the height of the reference object is obtained.
Preferably, in the above-mentioned track up method based on unmanned plane, the acquisition unmanned plane and bat
The planar position coordinates difference that takes the photograph between object includes：
The planar position coordinates that the unmanned plane is obtained by GPS location；
The planar position coordinates that the reference object is obtained by GPS location；
According to the planar position coordinates of the planar position coordinates and the reference object of the unmanned plane, obtain
The planar position coordinates difference.
Present invention also offers a kind of track up device based on unmanned plane, including：
First acquisition unit, for obtaining the three-dimensional location coordinates difference between unmanned plane and reference object, with initial when
The three-dimensional location coordinates difference at quarter meets described as target three-dimensional location coordinates difference, the target three-dimensional location coordinates difference
Reference object is located at the condition in the shooting visual angle of the camera of the unmanned plane；
Second acquisition unit, for obtaining the three-dimensional location coordinates of reference object described in current time；
Control unit, the three-dimensional location coordinates and the three-dimensional location coordinates for reference object according to current time
Difference and the target three-dimensional location coordinates difference, adjust three-dimensional location coordinates of unmanned plane described in current time and described
The shooting luffing angle of camera, so that the reference object is located in the shooting visual angle of the camera.
Preferably, in the above-mentioned track up device based on unmanned plane, described control unit includes：
Two-dimensional coordinate control unit, for the planar position coordinates of reference object according to current time, adjustment
The planar position coordinates of the unmanned plane, so that the planar position coordinates of the unmanned plane after adjustment is right with the shooting
The difference of the planar position coordinates of elephant is equal to the objective plane two-dimensional position coordinate difference；
Height and shooting angle control unit, for the height of reference object according to current time, adjust the nothing
Man-machine height, it is poor that the height and the difference of the height of the reference object for making the unmanned plane after adjustment is equal to the object height
Value, and keep the shooting angle of the camera constant, so that the reference object is located in the shooting visual angle of the camera.
Preferably, in the above-mentioned track up device based on unmanned plane, described control unit includes：
Two-dimensional coordinate control unit, for the planar position coordinates of reference object according to current time, adjustment
The planar position coordinates of the unmanned plane, so that the planar position coordinates of the unmanned plane after adjustment is right with the shooting
The difference of the planar position coordinates of elephant is equal to the objective plane two-dimensional position coordinate difference；
Height and shooting angle control unit, the height for keeping the unmanned plane are constant all the time, adjust the shooting
The shooting angle of head, makes reference object constant with the holding of the distance between the up-and-down boundary of shooting visual angle of the camera, with
The reference object is made to be located in the shooting visual angle of the camera.
Present invention also offers a kind of track up system of unmanned plane, including unmanned plane and remote control, the unmanned plane
On be provided with camera, also include：
The first barometer module being arranged on the unmanned plane, for detecting the air pressure of the unmanned plane position
Value, positions the height of the unmanned plane；
The second barometer module being arranged on the remote control, for detecting the atmospheric pressure value of reference object position,
Position the height of the reference object；
The first d GPS locating module being arranged on the unmanned plane, for positioning the planar position of the unmanned plane
Coordinate；
The second d GPS locating module being arranged on the remote control, for positioning the planar position of the reference object
Put coordinate；
Track up controller, fixed with the first barometer module, the second barometer module, a GPS
Position module and second d GPS locating module are all connected with, for the height according to the unmanned plane and plane two-dimensional position coordinate
And the height and plane two-dimensional position coordinate of the reference object are calculated the three-dimensional position between unmanned plane and reference object
Coordinate difference is put, using the three-dimensional location coordinates difference of initial time as target three-dimensional location coordinates difference, the target is three-dimensional
Position coordinates difference meets condition of the reference object in the shooting visual angle of the camera of the unmanned plane；Obtain current
The three-dimensional location coordinates of reference object described in the moment；The three-dimensional location coordinates of reference object and described three according to current time
Dimension position coordinates difference and the target three-dimensional location coordinates difference, the three-dimensional position for adjusting unmanned plane described in current time are sat
Be marked with and the camera shooting angle so that the reference object be located at the camera shooting visual angle in.
Compared with prior art, the invention has the beneficial effects as follows：
In the track up method based on unmanned plane that the present invention is provided, the three-dimensional between unmanned plane and reference object is obtained
Position coordinates difference as target three-dimensional location coordinates difference, the target three-dimensional location coordinates difference is, right in the shooting
As be located at the unmanned plane camera shooting visual angle in the case of determine；Obtain reference object described in current time
Three-dimensional location coordinates；According to current time, the three-dimensional location coordinates of reference object and the target three-dimensional location coordinates are poor
Value, adjusts the three-dimensional location coordinates of unmanned plane and the shooting luffing angle of the camera described in current time, so that described
Reference object is located in the shooting visual angle of the camera.Track up method consideration reference object and unmanned plane in the present invention
Between three-dimensional relative position relation, adjust the three of unmanned plane according to the three-dimensional location coordinates of target and three-dimensional location coordinates difference
Dimension position coordinates and the shooting angle of unmanned plane camera, so that unmanned plane is tracked bat to the target in three dimensions
Take the photograph, not limited by regions.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of flow diagram of track up method based on unmanned plane provided in an embodiment of the present invention；
The concrete stream of the step of Fig. 2 is a kind of track up method based on unmanned plane provided in an embodiment of the present invention S130
Cheng Tu；
Another tool of the step of Fig. 3 is a kind of track up method based on unmanned plane provided in an embodiment of the present invention S130
Body flow chart；
Fig. 4 is a kind of schematic diagram of a scenario of track up method based on unmanned plane provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of a scenario of another kind of track up method based on unmanned plane provided in an embodiment of the present invention.
Specific embodiment
The core of the present invention there is provided a kind of track up method based on unmanned plane, and unmanned plane can be made not shot
The zone of action of object limits, and facilitates track up object.
Present invention also offers a kind of track up device and track up system based on the track up method, convenient
Unmanned plane track up object.
Accompanying drawing in below in conjunction with the embodiment of the present invention, to the embodiment of the present invention in technical scheme carry out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiment.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is refer to, a kind of track up method based on unmanned plane is embodiments provided, is hereinafter referred to as tracked
Image pickup method, for track up of the unmanned plane to reference object, comprises the following steps：
Three-dimensional location coordinates difference between step S110, acquisition unmanned plane and reference object, with the three-dimensional of initial time
Used as target three-dimensional location coordinates difference, target three-dimensional coordinate difference is the initial time in track up to position coordinates difference,
Three-dimensional relative position relation between the unmanned plane that adjusts in advance and reference object, the target three-dimensional location coordinates difference meet
Reference object is located at the condition in the shooting visual angle of the camera of unmanned plane.The three-dimensional position of the wherein unmanned plane at current time is sat
It is designated as with (x1, y1, z1) represent, planar position coordinates (x1, y1) represent, it is highly z1；The reference object at current time
Three-dimensional location coordinates (x2, y2, z2) represent, planar position coordinates (x2, y2) represent, it is highly z2；Current time
Three-dimensional location coordinates difference (x1-x2, y1-y2, z1-z2) represent, target three-dimensional location coordinates difference (x1C-x2C, y1C-
y2C, z1C-z2C) represent.
Step S120, the three-dimensional location coordinates (x for obtaining current time reference object2, y2, z2), including two dimensional surface position
Coordinate (x2, y2) and height z2；
Step S130, the three-dimensional location coordinates (x according to current time reference object2, y2, z2) and step S110 in
Three-dimensional location coordinates difference (x1-x2, y1-y2, z1-z2) and target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C),
Three-dimensional location coordinates (the x of adjustment current time unmanned plane1, y1, z1) and camera shooting angle θ, shooting angle θ refers to
It is axis opposed vertical direction and the angle of horizontal direction of camera, mainly adjusts the angle of pitch, so that reference object is located at
In the shooting visual angle of camera.
As seen from the above, the three-dimensional between the track up method consideration reference object and unmanned plane in the present invention is relative
Position relationship, according to the three-dimensional location coordinates (x of reference object2, y2, z2), three-dimensional location coordinates difference (x1-x2, y1-y2, z1-
z2) and target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C) adjustment unmanned plane three-dimensional location coordinates (x1, y1,
z1) and unmanned plane camera shooting angle θ, reference object is always positioned in the shooting visual angle of camera so that nobody
Machine is tracked shooting to the target in three dimensions, not limited by regions.
The present embodiment further optimizes to step S130, wherein, target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C,
z1C-z2C) include objective plane two-dimensional position coordinate difference (x1C-x2C, y1C-y2C) and object height difference (z1C-z2C), step
S130 is specifically included：
Step S131, the planar position coordinates (x according to current time reference object2, y2), adjust the flat of unmanned plane
Face two-dimensional position coordinate (x1, y1), so that the planar position coordinates (x of the unmanned plane after adjustment1, y1) and reference object
Planar position coordinates (x2, y2) difference be equal to objective plane two-dimensional position coordinate difference (x1C-x2C, y1C-y2C).Even if
Relative position relation of the unmanned plane from initial time is shot with reference object in planar two dimensional coordinate system is always maintained at definite value,
The definite value is exactly objective plane two-dimensional coordinate (x1C-x2C, y1C-y2C).
Step S132, the height z according to current time reference object2, adjust the height z of unmanned plane1Shooting with camera
Angle, θ, so that reference object is located in the shooting visual angle of camera.Height z by unmanned plane1Shooting angle θ with camera
Take into account, to complete track up of the reference object in three dimensions, not limited by regions.
More specifically, as shown in Fig. 2 the present embodiment is optimized to step S132, present embodiments providing a kind of concrete
Adjustment mode, shoot start when, obtaining target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C) and current
Three-dimensional location coordinates (the x of the reference object at moment2, y2, z2) after, keep the planar position between unmanned plane and reference object
Put coordinate difference (x1-x2, y1-y2) it is equal to objective plane two-dimensional position coordinate difference (x1C-x2C, y1C-y2C), and according to current when
Carve the height z of reference object2, adjust the height z of unmanned plane1, make the height z of the unmanned plane after adjustment1Height with reference object
z2Difference be equal to object height difference (z1C-z2C), and keep shooting angle θ of camera constant, i.e. the bat of fixing camera
Take the photograph that angle, θ is constant, the three-dimensional position relation between unmanned plane and reference object from initial shoot the moment be always maintained at definite value, should
Definite value is target three-dimensional location coordinates difference, the three-dimensional location coordinates (x of unmanned plane1, y1, z1) with reference object three-dimensional position
Put coordinate (x2, y2, z2) real-time adjustment, so that reference object is located in the shooting visual angle of camera.
As shown in figure 3, the present embodiment is optimized to step S132, another kind of specific adjustment side is present embodiments provided
Formula, when shooting beginning, is obtaining target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C) and current time bat
Take the photograph the three-dimensional location coordinates (x of object2, y2, z2) after, keep the planar position coordinates between unmanned plane and reference object poor
Value (x1-x2, y1-y2) it is equal to objective plane two-dimensional position coordinate difference (x1C-x2C, y1C-y2C), keep the height z of unmanned plane1Begin
Eventually constant, only adjust shooting angle θ of camera, make reference object and camera shooting visual angle up-and-down boundary between away from
From keeping constant, so that reference object is located in the shooting visual angle of camera.The shooting angle tool at the current time of camera
Body is,(y1-y2=0).Wherein, θtFor the captured in real-time angle of camera, ztFor current time
The real-time height of reference object.
In the present embodiment, step S110 is optimized, the three-dimensional position obtained between unmanned plane and reference object is sat
Mark difference specifically includes following steps：
Step S111, the height z for obtaining current time unmanned plane1Height z with reference object2；
Step S112, the height z according to current time unmanned plane1Height z with reference object2, obtain current time nobody
Height difference (z between machine and reference object1-z2), and the height difference (z with initial time1-z2) poor as object height
Value (z1C-z2C)；
Planar position coordinates difference (x between step S113, acquisition current time unmanned plane and reference object1-x2,
y1-y2), and the planar position coordinates difference (x with initial time1-x2, y1-y2) as objective plane two-dimensional position coordinate
Difference (x1C-x2C, y1C-y2C), objective plane two-dimensional position coordinate difference (x1C-x2C, y1C-y2C) and object height difference (z1C-
z2C) composition target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C).
A kind of method of specific positioning height is present embodiments provided, the height z of unmanned plane is obtained1With reference object
Height z2Concrete mode is：
According to the atmospheric pressure value of unmanned plane position, the height z of unmanned plane is obtained1；
According to the atmospheric pressure value of reference object position, the height z of reference object is obtained1.Height difference (z1-z2) can lead to
The air pressure value difference that crosses between unmanned plane and reference object is obtained.
Certainly, the mode of altitude location can also be alternate manner, such as radar fix etc..
In the present embodiment, the planar position coordinates difference (x between unmanned plane and reference object is obtained1-x2, y1-
y2) mode be：
Planar position coordinates (the x that unmanned plane is obtained by GPS location1, y1)；
Planar position coordinates (the x that reference object described in initial time is obtained by GPS location2, y2)；
Planar position coordinates (x according to unmanned plane1, y1) and reference object planar position coordinates (x2,
y2), obtain planar position coordinates difference (x1-x2, y1-y2).
It is, of course, also possible to carry out the positioning of planar position otherwise, such as Big Dipper positioning etc..
Above track up method is applied to track up of the unmanned plane to ground action target, and such as manipulator uses nothing
The man-machine reference object to positioner carries out aviation track up；Or manipulator carries out height using unmanned plane to oneself
Empty voluntarily track up；Or shooting, such as automobile, animal are tracked to any mobile surface targets for being provided with positioner
Deng.
Based on above track up method, the embodiment of the present invention additionally provides a kind of track up based on unmanned plane and fills
Put, including first acquisition unit, second acquisition unit and control unit.
Wherein, the three-dimensional location coordinates that first acquisition unit is used for obtaining between current time unmanned plane and reference object are poor
Value (x1-x2, y1-y2, z1-z2), and the three-dimensional location coordinates difference (x with initial time1-x2, y1-y2, z1-z2) as target three
Dimension position coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C), target three-dimensional location coordinates difference meets reference object positioned at nobody
Condition in the shooting visual angle of the camera of machine.
Second acquisition unit is used for the three-dimensional location coordinates (x for obtaining current time reference object2, y2, z2).
Control unit is used for the three-dimensional location coordinates (x according to current time reference object2, y2, z2) and three-dimensional location coordinates
Difference (x1-x2, y1-y2, z1-z2) and target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C), when adjusting current
Carve the three-dimensional location coordinates (x of unmanned plane1, y1, z1) and camera shooting luffing angle θ so that reference object be located at shooting
In the shooting visual angle of head.
The track up device can be tracked shooting using unmanned plane to the reference object in three dimensions, not by ground
Domain limits, convenient shooting.
Present embodiments provide a kind of specific control unit, the control unit includes two-dimensional coordinate control unit, highly
With shooting angle control unit.Wherein, two-dimensional coordinate control unit, for the planar position according to current time reference object
Put coordinate (x2, y2), adjust the planar position coordinates (x of unmanned plane1, y1), so that the planar of the unmanned plane after adjustment
Position coordinates (x1, y1) planar position coordinates (x with the reference object2, y2) difference be equal to the objective plane two
Dimension position coordinates difference (x1C-x2C, y1C-y2C)；
Height and shooting angle control unit are used for the height z according to current time reference object2, adjust the height of unmanned plane
Degree z1, make the height z of the unmanned plane after adjustment1Height z with reference object2Difference be equal to the object height difference (z1C-
z2C), and keep shooting angle θ of camera constant, so that reference object is located in the shooting visual angle of camera.
Second specific control unit is present embodiments provided, the control unit includes two-dimensional coordinate control unit, height
Degree and shooting angle control unit.Wherein, two-dimensional coordinate control unit is used for the planar according to current time reference object
Position coordinates (x2, y2), adjust the planar position coordinates (x of unmanned plane1, y1), so that the plane two of the unmanned plane after adjustment
Dimension position coordinates (x1, y1) with the planar position coordinates (x of reference object2, y2) difference be equal to objective plane two-dimensional position
Coordinate difference (x1C-x2C, y1C-y2C)；
Height and shooting angle control unit are used for the height z for keeping unmanned plane1All the time constant, adjust the shooting of camera
Angle, θ, makes reference object constant with the holding of the distance between the up-and-down boundary of shooting visual angle of camera, so that reference object position
In the shooting visual angle of the camera.
Based on above-mentioned track up method, a kind of track up system of unmanned plane is embodiments provided, including
Unmanned plane and remote control, are provided with camera on unmanned plane, track up system also includes the first barometer module, the second air pressure
Meter module, the first d GPS locating module, the second d GPS locating module and track up controller.Wherein, the first barometer module sets
Put on unmanned plane, for detecting the atmospheric pressure value of unmanned plane position, position the height z of unmanned plane1.
Second barometer module is arranged on a remote control, for detecting that the atmospheric pressure value of reference object position, positioning are clapped
Take the photograph the height z of object2.
First d GPS locating module is arranged on unmanned plane, for positioning the planar position coordinates (x of unmanned plane1, y1).
Second d GPS locating module is arranged on a remote control, for positioning the planar position coordinates (x of reference object2,
y2).
Track up controller and the first barometer module, the second barometer module, the first d GPS locating module and second
D GPS locating module is all connected with, for the height z according to unmanned plane1With plane two-dimensional position coordinate (x1, y1) and reference object
Height z2With plane two-dimensional position coordinate (x2, y2) three-dimensional location coordinates that are calculated between unmanned plane and reference object are poor
Value (x1-x2, y1-y2, z1-z2), and the three-dimensional location coordinates difference (x by initial time1-x2, y1-y2, z1-z2) as target three
Dimension position coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C), target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C)
Meet condition of the reference object in the shooting visual angle of the camera of unmanned plane；Obtain the three-dimensional position of current time reference object
Put coordinate (x2, y2, z2)；Three-dimensional location coordinates (x according to current time reference object2, y2, z2) and three-dimensional location coordinates difference
(x1-x2, y1-y2, z1-z2) and target three-dimensional location coordinates difference (x1C-x2C, y1C-y2C, z1C-z2C), adjustment current time without
Man-machine three-dimensional location coordinates (x1, y1, z1) and camera shooting angle θ so that reference object be located at camera shooting
In visual angle.
Track up controller can be arranged on unmanned plane, remote control or other third party devices, as long as can realize
The transmission of each data.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Multiple modifications of these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (11)
1. a kind of track up method based on unmanned plane, it is characterised in that include：
The three-dimensional location coordinates difference between unmanned plane and reference object is obtained, poor with the three-dimensional location coordinates of initial time
Used as target three-dimensional location coordinates difference, the target three-dimensional location coordinates difference meets the reference object positioned at the nothing to value
Condition in the shooting visual angle of man-machine camera；
Obtain the three-dimensional location coordinates of reference object described in current time；
According to current time, the three-dimensional location coordinates of reference object, the three-dimensional location coordinates difference and the target are three-dimensional
Position coordinates difference, adjusts the three-dimensional location coordinates of unmanned plane and the shooting angle of pitch of the camera described in current time
Degree, so that the reference object is located in the shooting visual angle of the camera.
2. the track up method based on unmanned plane according to claim 1, it is characterised in that the target three-dimensional position
Coordinate difference includes objective plane two-dimensional position coordinate difference and object height difference；
The three-dimensional location coordinates of the reference object according to current time and the target three-dimensional location coordinates difference, adjustment
The three-dimensional location coordinates of unmanned plane described in current time and the shooting angle of the camera, so that the reference object is located at
Include in the shooting visual angle of the camera：
The planar position coordinates of reference object according to current time, the planar position for adjusting the unmanned plane are sat
Mark, so that the difference of planar position coordinates and the planar position coordinates of the reference object of the unmanned plane after adjustment
It is equal to the objective plane two-dimensional position coordinate difference；
The height of reference object according to current time, adjusts the shooting angle of the height and the camera of the unmanned plane
Degree, so that the reference object is located in the shooting visual angle of the camera.
3. the track up method based on unmanned plane according to claim 2, it is characterised in that described according to current time
The height of the reference object, adjusts the shooting angle of the height and the camera of the unmanned plane, so that the shooting is right
As including in the shooting visual angle of the camera：
The height of reference object according to current time, adjusts the height of the unmanned plane, makes the height of the unmanned plane after adjustment
Degree is equal to the object height difference with the difference of the height of the reference object, and keeps the shooting angle of the camera not
Become, so that the reference object is located in the shooting visual angle of the camera.
4. the track up method based on unmanned plane according to claim 2, it is characterised in that described according to current time
The height of the reference object, adjusts the shooting angle of the height and the camera of the unmanned plane, so that the shooting is right
As including in the shooting visual angle of the camera：
Keep the height of the unmanned plane constant all the time, adjust the shooting angle of the camera, reference object is taken the photograph with described
The distance between up-and-down boundary of shooting visual angle as head keeps constant, so that the reference object is located at the bat of the camera
Take the photograph in visual angle.
5. the track up method based on unmanned plane according to any one of claim 1-4, it is characterised in that the acquisition
Three-dimensional location coordinates difference between unmanned plane and reference object includes：
Obtain the height of the height and the reference object of the unmanned plane；
According to the height of the height and the reference object of the unmanned plane, obtain between the unmanned plane and the reference object
Height difference；
Obtain the planar position coordinates difference between the unmanned plane and the reference object, the objective plane Two-dimensional Position
Put coordinate difference and the height difference constitutes the three-dimensional location coordinates difference.
6. the track up method based on unmanned plane according to claim 5, it is characterised in that the acquisition described nobody
The height of the height of machine and the reference object includes：
According to the atmospheric pressure value of the unmanned plane position, the height of the unmanned plane is obtained；
According to the atmospheric pressure value of the reference object position, the height of the reference object is obtained.
7. the track up method based on unmanned plane according to claim 5, it is characterised in that the acquisition described nobody
Planar position coordinates difference between machine and the reference object includes：
The planar position coordinates that the unmanned plane is obtained by GPS location；
The planar position coordinates that the reference object is obtained by GPS location；
According to the planar position coordinates of the planar position coordinates and the reference object of the unmanned plane, obtain described
Planar position coordinates difference.
8. a kind of track up device based on unmanned plane, it is characterised in that include：
First acquisition unit, for obtaining the three-dimensional location coordinates difference between unmanned plane and reference object, with initial time
Three-dimensional location coordinates difference meets the shooting as target three-dimensional location coordinates difference, the target three-dimensional location coordinates difference
Object is located at the condition in the shooting visual angle of the camera of the unmanned plane；
Second acquisition unit, for obtaining the three-dimensional location coordinates of reference object described in current time；
Control unit, the three-dimensional location coordinates and the three-dimensional location coordinates difference for reference object according to current time
And the target three-dimensional location coordinates difference, adjust the three-dimensional location coordinates of unmanned plane and the shooting described in current time
The shooting luffing angle of head, so that the reference object is located in the shooting visual angle of the camera.
9. the track up device based on unmanned plane according to claim 8, it is characterised in that described control unit bag
Include：
Two-dimensional coordinate control unit, for the planar position coordinates of reference object according to current time, adjustment is described
The planar position coordinates of unmanned plane, so that the planar position coordinates and the reference object of the unmanned plane after adjustment
The difference of planar position coordinates is equal to the objective plane two-dimensional position coordinate difference；
Height and shooting angle control unit, for the height of reference object according to current time, adjust the unmanned plane
Height, make the unmanned plane after adjustment height and the difference of the height of the reference object be equal to the object height difference,
And keep the shooting angle of the camera constant, so that the reference object is located in the shooting visual angle of the camera.
10. the track up device based on unmanned plane according to claim 8, it is characterised in that described control unit bag
Include：
Two-dimensional coordinate control unit, for the planar position coordinates of reference object according to current time, adjustment is described
The planar position coordinates of unmanned plane, so that the planar position coordinates and the reference object of the unmanned plane after adjustment
The difference of planar position coordinates is equal to the objective plane two-dimensional position coordinate difference；
Height and shooting angle control unit, the height for keeping the unmanned plane are constant all the time, adjust the camera
Shooting angle, makes reference object constant with the holding of the distance between the up-and-down boundary of shooting visual angle of the camera, so that institute
State reference object to be located in the shooting visual angle of the camera.
A kind of track up system of 11. unmanned planes, including unmanned plane and remote control, is provided with camera on the unmanned plane,
Characterized in that, also including：
The first barometer module being arranged on the unmanned plane, for detecting the atmospheric pressure value of the unmanned plane position, fixed
The height of the position unmanned plane；
The second barometer module being arranged on the remote control, for detecting the atmospheric pressure value of reference object position, positioning
The height of the reference object；
The first d GPS locating module being arranged on the unmanned plane, for positioning the planar position coordinates of the unmanned plane；
The second d GPS locating module being arranged on the remote control, sits for positioning the planar position of the reference object
Mark；
Track up controller, with the first barometer module, the second barometer module, the first GPS location mould
Block and second d GPS locating module are all connected with, for the height according to the unmanned plane and plane two-dimensional position coordinate and
The height of the reference object and plane two-dimensional position coordinate are calculated the three-dimensional position between unmanned plane and reference object and sit
Mark difference, using the three-dimensional location coordinates difference of initial time as target three-dimensional location coordinates difference, the target three-dimensional position
Coordinate difference meets condition of the reference object in the shooting visual angle of the camera of the unmanned plane；Obtain current time
The three-dimensional location coordinates of the reference object；The three-dimensional location coordinates of reference object and the three-dimensional position according to current time
Put coordinate difference and the target three-dimensional location coordinates difference, adjust the three-dimensional location coordinates of unmanned plane described in current time with
And the shooting angle of the camera, so that the reference object is located in the shooting visual angle of the camera.
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| CN106921833A (en) * | 2017-03-31 | 2017-07-04 | 思依暄机器人科技（深圳）有限公司 | A kind of filming control method, device and dynamic track up equipment |
| CN107145162A (en) * | 2017-04-10 | 2017-09-08 | 北京小鸟看看科技有限公司 | Camera angle method of adjustment, system and virtual reality system |
| CN107728646A (en) * | 2017-09-05 | 2018-02-23 | 百度在线网络技术（北京）有限公司 | The method and system automatically controlled to the camera of automatic driving vehicle |
| CN107817813A (en) * | 2017-11-07 | 2018-03-20 | 苏州九号电子科技有限公司 | Unmanned vehicle filming control method and device |
| CN109144106A (en) * | 2017-06-28 | 2019-01-04 | 北京天龙智控科技有限公司 | Unmanned plane follows flight system, follows flying method |
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| CN107145162A (en) * | 2017-04-10 | 2017-09-08 | 北京小鸟看看科技有限公司 | Camera angle method of adjustment, system and virtual reality system |
| CN109144106A (en) * | 2017-06-28 | 2019-01-04 | 北京天龙智控科技有限公司 | Unmanned plane follows flight system, follows flying method |
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| CN107817813A (en) * | 2017-11-07 | 2018-03-20 | 苏州九号电子科技有限公司 | Unmanned vehicle filming control method and device |
| WO2019128275A1 (en) * | 2017-12-31 | 2019-07-04 | 深圳市道通智能航空技术有限公司 | Photographing control method and device, and aircraft |
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| CN109241820A (en) * | 2018-07-10 | 2019-01-18 | 北京二郎神科技有限公司 | The autonomous image pickup method of unmanned plane based on space exploration |
| CN109241820B (en) * | 2018-07-10 | 2020-11-27 | 北京二郎神科技有限公司 | Unmanned aerial vehicle autonomous shooting method based on space exploration |
| WO2020014909A1 (en) * | 2018-07-18 | 2020-01-23 | 深圳市大疆创新科技有限公司 | Photographing method and device and unmanned aerial vehicle |
| CN109596118A (en) * | 2018-11-22 | 2019-04-09 | 亮风台（上海）信息科技有限公司 | It is a kind of for obtaining the method and apparatus of the spatial positional information of target object |
| WO2021016897A1 (en) * | 2019-07-30 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Aerial survey method, photographing control method, aerial vehicle, terminal, system, and storage medium |
| CN110633612A (en) * | 2019-11-20 | 2019-12-31 | 中通服创立信息科技有限责任公司 | Monitoring method and system for inspection robot |
| WO2021212445A1 (en) * | 2020-04-24 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Photographic method, movable platform, control device and storage medium |
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