CN107436608A - Control device for unmanned plane and the system for guide - Google Patents
Control device for unmanned plane and the system for guide Download PDFInfo
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- CN107436608A CN107436608A CN201610357114.0A CN201610357114A CN107436608A CN 107436608 A CN107436608 A CN 107436608A CN 201610357114 A CN201610357114 A CN 201610357114A CN 107436608 A CN107436608 A CN 107436608A
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- 230000010365 information processing Effects 0.000 claims description 6
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Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Radar, Positioning & Navigation (AREA)
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Abstract
This disclosure relates to a kind of control device for unmanned plane and the system for guide.According to one embodiment of the disclosure, the control device for being used for unmanned plane includes：Recognition unit, it is configured to identify that visitor indicates in the image of the shot by camera from unmanned plane of reception；And navigation elements, it is configured in response to identify that visitor indicates, generation is planned according to the current position signal received from unmanned plane and guide and sends navigation signal to unmanned plane to guide unmanned plane to reach the objective in scenic spot, so as to conduct a sightseeing tour for visitor；Wherein, visitor's mark is as the predetermined flag pattern shown by wearable indicator, and wearable indicator has the LED array for being used for showing predetermined flag pattern at the top of it.The control device and system can realize such as unmanned plane from motion tracking visitor, guiding visitor, guide's function for visitor's explanation sight spot information.
Description
Technical field
The disclosure relates generally to conduct a sightseeing tour, in particular it relates to a kind of control device for unmanned plane and
System for guide.
Background technology
With flourishing for unmanned air vehicle technique, in the market emerges many application cases on unmanned plane
Example.These applications are concentrated mainly on mapping, landforms investigation, three-dimensional modeling and logistics distribution etc.
Aspect.These applications bring many facilities for popular production and life.
In tourist attractions, in order to strengthen the Tourist Experience of visitor, some sight spots are often equipped with guide
Sight spot is introduced for visitor.Yet with guide's staff straining's cycle length, employ cost height so that
Many sight spots unit is hung back.At present, some mechanisms propose some based on robot
Scheme replaces guide to explain and introduce sight spot, but the high expense of robot and relatively single
The explanation mode of tune causes the program compared to Traditional Man guide's scheme advantage and unobvious.Unmanned plane is made
Valency is cheap, and scope of activities is extensive, while has high bandwagon effect, and this causes unmanned plane at sight spot
There is advantageous advantage in guide field.Conduct a sightseeing tour compared to traditional artificial guide and robot, nothing
Man-machine guide has obviously advantage, has higher application potential and commercial value.
Recently, it is that visitor/user exists that MIT (Massachusetts Institute of Technology), which gives one kind using unmanned plane,
The technology of campus navigation (referring to the network address shown in remarks).User can pass through mobile phone in campus
App preengages unmanned plane to guide user to designated destination.The technology is in identification user, Dao Yougong
Energy etc. Shortcomings.
Remarks：http://www.leiphone.com/news/201406/skycall-mit.html
The content of the invention
The brief overview of the disclosure is hereinafter will be given for, to provide on some of the disclosure
The basic comprehension of aspect.It should be appreciated that this general introduction is not the exhaustive general introduction on the disclosure.It
It is not intended to determine the key or pith of the disclosure, nor the model of the intended limitation disclosure
Enclose.Its purpose only provides some concepts in simplified form, more detailed in this, as what is discussed later
The preamble carefully described.
According to an aspect of this disclosure, there is provided a kind of control device for unmanned plane includes：Know
Other unit, it is configured to identify in the image of the shot by camera from unmanned plane of reception and goes on a tour
Visitor's mark；And navigation elements, it is configured in response to identify that visitor indicates, according to received from nothing
Man-machine current position signal and guide plan generation and send navigation signal to unmanned plane to guide nothing
Objective in man-machine arrival scenic spot, so as to conduct a sightseeing tour for visitor；Wherein, visitor's mark is by that can wear
The predetermined flag pattern shown by indicator is worn, wearable indicator has pre- for showing at the top of it
Determine the LED array of pattern.
According to another aspect of the present disclosure, there is provided a kind of system for being used to conduct a sightseeing tour, including：Foregoing
Control device；The unmanned plane controlled by control device；Visitor's platform, it is controlled from visitor and can be to
Unmanned plane shows visitor's mark, and visitor's platform includes wearable indicator.
According to the control device of the disclosure and system can realize such as unmanned plane from motion tracking visitor, draw
Guide visitor, the guide's function of explaining for visitor sight spot information, and identify that visitor is accurate, guide's function
It is stronger, simple to operate.
Brief description of the drawings
The disclosure can be by reference to preferably being managed below in association with the description given by accompanying drawing
Solution, accompanying drawing include in this manual together with following detailed description and form this specification
A part.In the accompanying drawings：
Fig. 1 a are the schematic diagrames according to the system for being used to conduct a sightseeing tour of one embodiment of the disclosure；
Fig. 1 b are the example arrangements of the control device in Fig. 1 a according to one embodiment of the disclosure
Block diagram；
Fig. 1 c are the example arrangements of the control device in Fig. 1 a according to another embodiment of the present disclosure
Block diagram；
Fig. 1 d are the example arrangements of visitor's platform in Fig. 1 a according to one embodiment of the disclosure
Block diagram；
Fig. 1 e are the example arrangement frames of the unmanned plane in Fig. 1 a according to one embodiment of the disclosure
Figure；
Fig. 1 f are the example arrangement frames of the unmanned plane in Fig. 1 a according to another embodiment of the present disclosure
Figure；
Fig. 2 is the flow chart of the exemplary partial workflow of system shown in Fig. 1 a；And
Fig. 3 is according to the schematic of the equipment for being used to control unmanned plane of one embodiment of the disclosure
Structured flowchart.
Embodiment
The exemplary embodiment of the disclosure is described hereinafter in connection with accompanying drawing.In order to clear and
For the sake of simplicity, all features of practical embodiments are not described in the description.It should be understood, however, that
It can be made during any this practical embodiments are developed much specific to the decision of embodiment,
To realize the objectives of developer, and these decisions may with the difference of embodiment and
Change.
Herein, in the case of feasible, embodiment can be mutually combined, between different embodiments
Feature replacement or borrow, omit one or more features in one embodiment.
Herein, it is also necessary to which explanation is a bit, in order to avoid having obscured this public affairs because of unnecessary details
Open, illustrate only in the accompanying drawings and according to the closely related apparatus structure of the scheme of the disclosure, and save
The other details little with disclosure relation are omited.
It should be understood that the disclosure is not compromised by description as follows referring to the drawings and is only limited to described
Form of implementation.
The basic composition of the system for guide is explained below.The system has the control of control unmanned plane
Device processed, the image of target visitor of the control device according to captured by unmanned plane is to identify and position target
Visitor, the guide for going out according to the image recognition of target visitor visitor ask and control unmanned plane to be led for visitor
Trip.
Fig. 1 a are the schematic diagrames according to the system 10 for being used to conduct a sightseeing tour of one embodiment of the disclosure.
System 10 includes：Control device 110, unmanned plane 150 and visitor's platform 130.Control dress
110 are put to be used to control unmanned plane 150.Unmanned plane 150 includes video camera 1501.Video camera 1501
For catching the image information of visitor's platform 130.
Video camera 1501 is configured to shoot the image of the underlying space of unmanned plane 150.Preferably,
Video camera 1501 is further configured to shoot the image of the surrounding volume of unmanned plane 150.For example,
Video camera 1501 is arranged on the controlled rotation device with two rotary freedoms, so as to image
The camera lens of machine 1501 can be rotated around vertical axes, rotated around a trunnion axis.So, video camera 1501
Camera lens can as needed below the unmanned plane, surrounding volume find a view, such as camera lens is along trunnion axis
Incline direction orientation between vertical axes.During guide, control device 110 can be adjusted and taken the photograph
The orientation of the camera lens of camera 1501 is to shoot the image of LED array, take pictures for visitor, shoot sight spot photograph
Piece.
Visitor's platform 130 includes wearable indicator 1301, speech player 1305, visitor's platform
Controller (not shown in Fig. 1 a).
Wearable indicator 1301 has the LED battle arrays for being used for showing predetermined flag pattern at the top of it
Row.Speech player 1305 is pre-stored or wireless receiving for being played during guide to visitor
Various tour guide informations.In one alternate embodiment, visitor's platform can not include speech player.
Visitor is shown by the controller control LED array of visitor's platform is used as pattern or the generation that visitor indicates
The pattern of indicator difference visitor request.Visitor's mark is as pre- shown by wearable indicator 1301
Determine pattern, wearable indicator 1301 has at the top of it to be used to show predetermined flag pattern
LED array.
Wearable indicator 1301 is illustrated as the cap with LED array, LED battle arrays in Fig. 1 a
Row are positioned at the top of cap.In use, this there is the cap of LED array to be worn on the head by visitor,
The various patterns shown in order to unmanned plane seizure LED array.So, video camera 1501 can be clapped
Take the photograph predetermined flag pattern, the visitor's request pattern that clear, complete LED array is shown.Pattern
Composition include but is not limited to color, shape, each luminous point turns on/off and combinations thereof in LED array.
Synchronization, based on predetermined flag pattern, unmanned plane 150 and visitor have one-to-one relationship, so as to
Ensure smooth, the accurate execution of guide.
As an alternative, wearable indicator 1301 can be the epaulet with LED array, LED battle arrays
Row are positioned at the top of epaulet.
In visitor's platform 130, LED array, speech player 1305 and visitor's platform 130
Controller connects.Controller can be implemented as and LED array, speech player 1305 is wireless or has
Such as remote control, keyboard, the input equipment of touch-screen of line communication, for controlling LED array to show
The pattern shown.
Exemplary operation field between visitor's platform, unmanned plane, control device is described below in the system
Scape.
After visitor's platform 130 is opened, the firstth area of the controller instruction LED array of visitor's platform
Domain shows visitor's mark (such as representing the pattern of the numbering of visitor) all the time.The shooting of unmanned plane 150
(such as every 1 second) shoots picture to unmanned plane underlying space to machine 1501 at a predetermined interval, and will
Picture sends (such as wirelessly sending) and gives control device 110.Control device 110 performs
Graphical analysis, identify that visitor indicates from picture, and determine whether visitor's mark is corresponding to mesh
Mark visitor's mark of visitor., can be according to the video camera of shooting picture if identifying target visitor
Angle and the position of unmanned plane determine the position of visitor, and indicate the video camera of unmanned plane to target
Visitor keeps locking, so as to provide the image for including LED array display pattern for control device,
In order to control unmanned plane, guide is realized.
Instruction request is carried out in visitor to controller (such as please to take pictures, take pictures to sight spot, hang to visitor
Stop the scheduled time, play sight spot introduce, go to next sight spot, skip when foreground point or return) it is defeated
After entering, the controller instruction of visitor's platform is asked in the second area display instruction visitor of LED array
Visitor ask pattern.Request pattern can equally be taken and be sent to control device with graphic form
110.Control device 110 identifies respective request from the image comprising pattern, and to unmanned plane 150
Send corresponding control instruction.Unmanned plane 150 is accused according to instruction by voice or action (being such as diversion)
Know that visitor's request has identified, and perform the action corresponding to the request and (e.g., taken pictures to visitor, to scape
Point take pictures, the scheduled time of hover, broadcasting sight spot introduce/transmit wirelessly voice messaging, go to next scape
Point, guiding visitor return) to meet the request of target visitor.
The request of target visitor be satisfied after or visitor know request identified after, target visitor can lead to
Cross controller instruction and eliminate visitor's request pattern that the second area of LED array is shown.Swum in target
After the request of visitor is satisfied, target visitor can also make the second area of LED array by controller
Show that new visitor asks pattern.
Additionally or alternatively, unmanned plane 150 can be after the request of target visitor be met to control device
110 send the signal that request has been satisfied, so that control device 110 can continue to handle new request.
Additionally or alternatively, after control device 110 identifies a request, control device 110 can
To be configured to no longer identify the pattern of second area, the signal being satisfied until receiving request.
In the embodiment shown in Fig. 1 a, for visitor's pattern, control device 110 is according to this
The object of visitor's landmark identification guide, in order to realize guide.For asking pattern, unmanned plane 150
After startup, video camera 1501 can catch image.Unmanned plane 150 sends an image to control device 110,
After control device 110 identifies that the visitor in image asks pattern, instruction unmanned plane performs corresponding actions
(e.g., take pictures to visitor, taken pictures to sight spot, the scheduled time of hovering, playing sight spot and introduce/wireless hair
Sending voice information, next sight spot or guiding visitor is gone to return).
In fig 1 a, control device 110 is arranged at the information that can be communicated with unmanned plane 150
Manage on device (for example, computer).Information processor is away from unmanned plane 150.In such case
Under, between information processor and unmanned plane can by wirelessly or non-wirelessly/wireless combine to realize each other
Between communication.Communication can be for example with the following manner：Unmanned plane 150 has the first nothing
Line signal transceiver, being provided with the information processor of control device 110 has second wireless singal receipts
Device is sent out, by two wireless signal transceivers, control device 110 and unmanned plane 150 realize signal, number
According to interaction.(such as information processor when second wireless singal transceiver is away from information processor
At certain sight spot in scenic spot Central Control Room, second wireless singal transceiver scenic spot), control device is sent
Instruction first pass through that signal wire is wired to send second wireless singal transceiver to, then second wireless singal
Transceiver is wirelessly sent to unmanned plane, so as to realize the communication mode of wire/wireless combination.
Wired communication mode can be for example with the following manner：It is provided with the information processing apparatus of control device 110
Put on unmanned plane 150, original control unit of information processor and unmanned plane passes through data
Line, signal wire connection, realization are in communication with each other.
It should be appreciated that the speech player 1305 shown in Fig. 1 a is selective component.Speech player
1305 can include earphone.The information that speech player 1305 plays can be pre-stored or wirelessly connect
The various tour guide informations received.For example, the language of speech player 1305 can be accomplished by the following way
Sound plays：Visitor has carried out the input that instruction request plays voice to controller, and unmanned plane is by video camera
The image of shooting sends control device to, is identified in the picture shot in response to control device from video camera
Go out the request, control device sends corresponding voice messaging to unmanned plane, and unmanned plane receives voice letter
Breath, and controller of the voice messaging received using voice transmission device wireless transmission to visitor's platform, control
Device processed in response to the voice messaging that receives and instruction voice player 1305 plays the voice received and believed
Breath.For another example speech player 1305 can be realized by way of the following less data volume of transmission
Speech play：Visitor has carried out the defeated of voice introduction of the instruction request broadcasting when foreground point to controller
Enter, unmanned plane sends the image that video camera is shot to control device, in response to control device from shooting
The request is identified in the picture of machine shooting, control device asks for the current location of unmanned plane to unmanned plane
Information, after obtaining current location information, control device sight spot according to where the positional information determines visitor
Numbering, and the numbering is sent to unmanned plane, unmanned plane will the wireless hair of numbering after receiving the numbering
The controller of visitor's platform is given, controller plays phase according to the numbering instruction voice player 1305
The pre-stored voice messaging answered.
As mentioned earlier, as a kind of modification of the embodiment in Fig. 1 a, control device 110 can also
It is arranged on unmanned plane 150.In the case where control device 110 is arranged on unmanned plane 150, when
When control device is implemented as control routine, processor operation control routine, with realize routine to nobody
The former control unit of machine 150 sends control instruction/data and routine receives what unmanned plane 150 was sent
Information.As further modification, can be controlled so that the function of control device is added into unmanned plane original
Mode in routine changes the former control routine of unmanned plane, directly may be used so as to the new control routine of unmanned plane
To realize function of conducting a sightseeing tour, accordingly, the communication between control device and unmanned aerial vehicle (UAV) control device is eliminated
Interface.
Below, control device in system 10, visitor's platform, the composition of unmanned plane are further described
And its modification.
Fig. 1 b are the example arrangement frames of the control device 110 in Fig. 1 a.Control device 110 includes：
Recognition unit 1101 and navigation elements 1103.Recognition unit 1101 comes from unmanned plane reception
Identify that visitor indicates in image captured by 130 video camera 1501.Navigation elements 1103 respond
In identifying visitor's mark, life is planned according to the current position signal received from unmanned plane 130 and guide
Cheng Bingxiang unmanned planes 130 send navigation signal to guide unmanned plane 130 with reaching the target in scenic spot
Point, so as to conduct a sightseeing tour for visitor.
Preferably, navigation elements 1103 are according to the distance of the Image estimation distance objective visitor received,
Signal is adjusted to unmanned plane transmission speed (size and Orientation for including speed), to ensure unmanned plane
Flying speed and visitor's gait of march are adapted.
Alternatively, navigation elements 1103 can have the function by place in image recognition scenic spot,
Wherein, the image is that the unmanned plane that the video camera 1501 provided in real time by unmanned plane 150 is shot is current
The image of site.So as to generate navigation signal according to the place of the identification.
Fig. 1 c are the example arrangements of the control device in Fig. 1 a according to another embodiment of the present disclosure
Block diagram.Except recognition unit 1101', navigation elements 1103'(its function respectively with recognition unit 1101,
Navigation elements 1103) outside, control device 110' can also include speech control unit 1105', by with
It is set in response to being identified in the image captured by the video camera 1501' from unmanned plane 150' in reception
Out work as from the playing request of visitor's platform or receive with objective identical unmanned plane 150'
Front position signal and instruct unmanned plane 150' voice transmission device to transmit wirelessly corresponding voice messaging, or
Person instructs the voice playing unit 1507' of the unmanned plane 150' to play the (reference of corresponding voice messaging
Fig. 1 f).The voice messaging can be the introduction when foreground point.
Control device 110' can also include sight spot instruction control unit 1109', be configured to control nothing
Man-machine 150' laser designator 1509' refers to the position that eye-catching laser is launched at sight spot or controls unmanned plane
Indicating will 1511' points to sight spot (refer to Fig. 1 f).
Control device 110' can also include camera control unit 1107', be configured to control nobody
The action of the video camera 1501 of machine 150, for example, control video camera 1501 is taken pictures to visitor.
Fig. 1 d are the exemplary of visitor's platform 130 in Fig. 1 a according to one embodiment of the disclosure
Structured flowchart.
Visitor's platform 130 includes controller 1303, and controller 1303 can control LED array to show
The visitor for the instruction visitor's request shown asks pattern.For example, controller 1303 includes some correspondences not
The button and display screen of congenerous.Visitor makes LED array display different by clicking on different buttons
Pattern, while the preview image of the pattern is shown on a display screen.
Visitor's platform 130 can also include receiving and playing the voice messaging from unmanned plane
Speech player 1305.
Fig. 1 e are the exemplary knots of the unmanned plane 150 in Fig. 1 a according to one embodiment of the disclosure
Structure block diagram.Unmanned plane 150 includes video camera 1501 and positioning unit 1503.
Unmanned plane 150 can transmit the real-time high-definition Aerial Images of the shooting of video camera 1501, the image
The original of the image processing tasks such as identification can be instructed as unmanned plane vision guided navigation, visitor's positioning, visitor
Beginning image, while can be that visitor is taken pictures, there is provided there is the tourism photo of unique perspective.Shooting
The image that machine 1501 is shot can be the image for including the pattern shown by LED array, can be trip
The image of visitor or the image at sight spot.
Positioning unit 1503 is used for the current location for providing unmanned plane, and the current location can be sent to control
Device processed, and be navigated unit and used, to be guided with generation to the navigation signal of unmanned plane transmission
Unmanned plane reaches the objective in scenic spot.Positioning unit 1503 can be specifically implemented as GPS and connect
Receive device.
Fig. 1 f are the example arrangement frames of the unmanned plane in Fig. 1 a according to another embodiment of the present disclosure
Figure.Unmanned plane 150' includes video camera 1501' and positioning unit 1513', in its function and Fig. 1 e
It is identical.Unmanned plane 150' also includes voice transmission device 1505', voice playing unit 1507', head
1513'.Head 1513' is used to install the component for needing to ensure stability.Voice transmission device 1505' is fitted
In wireless transmission voice messaging.Voice playing unit 1507' is suitable to play voice messaging.Preferably,
By video camera 1501', laser designator 1509' and/or position indicator 1511'(for example, having
The eye-catching bar of direction indication effect) it is arranged on head 1513', so as to：Ensure the stabilization of shooting
Property and angle；Ensure that the laser beam that laser designator 1509' is launched is stable, accurately point to sight spot；
Ensure that position indicator 1511' is stable, accurately point to sight spot.It should be noted that：Laser refers to
It is selective component to show device 1509' and position indicator 1511', and unmanned plane 150' can select above-mentioned
It is at least one in component, naturally it is also possible to neither to select.Unmanned plane 150' can for example its
The position of belly has display device (such as LED permutations), so as to show necessary information to visitor,
For example, display device shows the visitor's mark for the visitor to be guided, the numbering of unmanned plane, so that
When there are multiple unmanned planes, ground to have multiple visitors on high, each visitor can identify the nothing to be followed
It is man-machine, the guiding target visitor that unmanned plane can be controlled is realized, visitor can also identify the unmanned plane of oneself
Guide, so as to which visitor can actively follow the unmanned plane of oneself to conduct a sightseeing tour.
Unmanned plane 150 can be connected to the specific instruction of control device, have ever made hovering, swing up and down,
The action such as swing, be diversion, with the attention to attract tourists.
View of the above, it will be seen that in the disclosure, it can lead between unmanned plane and control device
Wired, wireless or its combination communication is crossed, visitor's platform is not to unmanned plane or control device wireless transmission letter
Number or data.Control device is to position visitor, identification by the LED array pattern of visitor's platform
Visitor asks.
Fig. 2 is the flow chart of the exemplary partial workflow 200 of system 10 shown in Fig. 1 a.
In step 201, tour guide information is inputted to control device.Tour guide information is selected from：Visitor's mark,
Sight spot positional information, visitor current location.The sight spot positional information can be the GPS information at sight spot.
In step 203, start guide's platform, start unmanned plane.Specifically, visitor's wearing can be worn
Indicator is worn, opens LED array, shows predetermined flag pattern；Unmanned plane from parking takes off,
Video camera is opened, is flown to predetermined starting point,.Visitor now needs to go to predetermined starting point or in predetermined starting point etc.
Treat unmanned plane 150.
In step 205, by being identified in the image of the shot by camera from unmanned plane of reception
Go out visitor's mark to position visitor.If in the picture without visitor is found, unmanned plane is made predetermined
Starting point hovering waits.
In step 209, in response to identifying that visitor indicates, according to the current location received from unmanned plane
Signal and guide plan generation and send navigation signal to unmanned plane to guide unmanned plane to reach in scenic spot
Objective.
In step 211, carry out sight spot introduction and meet the request of visitor.Specifically, in response to receiving
To playing request from visitor's platform or receive current with objective identical unmanned plane
Position signalling and instruct the voice transmission device of unmanned plane to transmit wirelessly corresponding voice messaging, or instruction
The voice playing unit of unmanned plane plays corresponding voice messaging.In this step, control device can refer to
The laser designator that the stable head of order carries refers to according to sight spot to strengthen explanation effect；When visitor needs self-timer
When, the self-timer button of visitor's platform is pinned, the display pattern of LED array, which will be shown, to be corresponded to certainly
After the visitor of bat asks pattern, control device identification visitor to ask pattern, guiding unmanned plane is flown to trip
The front of visitor, adjusting stable head angle makes wireless camera face visitor and takes pictures.
During guide, can control the laser designator of unmanned plane to sight spot launch eye-catching laser or
The position indicator of unmanned plane is controlled to point to sight spot.
After having been gone sight-seeing when foreground point, visitor can go to by controller wearable indicator for displaying
The request at next sight spot.After control device receives the request, control unmanned plane guiding visitor goes to next
Sight spot.
After having gone sight-seeing all sight spots, unmanned plane, which can be returned voluntarily, to be parked ground or draws according to predetermined row journey
Conduct a sightseeing tour objective return to origin.
Fig. 3 is the equipment 300 for being used to control unmanned plane according to an exemplary embodiment of the disclosure
Schematic block diagram.In figure 3, the basis of CPU (CPU) 301 is stored in only
Read the program in memory (ROM) 302 or be loaded into random access memory from storage part 308
The program of device (RAM) 303 carries out various processing.It is next also according to needing in RAM 303
It is stored in CPU 301 and performs data required during various processing etc..
CPU 301, ROM 302 and RAM 303 are connected to each other via bus 304.Input/
Output interface 305 is also connected to bus 304.
Components described below is connected to input/output interface 305：Include the importation of keyboard, mouse etc.
306；Including display such as cathode-ray tube (CRT), liquid crystal display (LCD) etc. and raise
The output par, c 307 of sound device etc.；Storage part 308 including hard disk etc.；And including network interface
Block the communications portion 309 of such as LAN card, modem.Communications portion 309 is via such as English
Special net, the network of LAN perform communication process.
Driver 310 is also connected to input/output interface 305 as needed.Detachable media 311 is such as
Disk, CD, magnetooptical disc, semiconductor memory etc. are arranged on driver 310 as needed,
So that the computer program read therefrom is installed to storage part 308 as needed.
In the case where realizing the above-mentioned control device for unmanned plane by software, the software is formed
Program be stored in equipment 300 from network such as internet or storage medium such as detachable media 311
In.CPU 301 performs the software to control unmanned plane to be conducted a sightseeing tour.
In one embodiment, present disclosure also provides a kind of program product.Program product includes machine
The executable instruction of device, when in execute instruction on message processing device, instruction causes information processing to set
Standby control unmanned plane is conducted a sightseeing tour, so as to realize the function of the above-mentioned control device for unmanned plane.
In one embodiment, present disclosure also provides a kind of storage medium.Stored in storage medium
There is the program code that message processing device is readable, when in configuration processor code on message processing device,
Program code make it that message processing device control unmanned plane is conducted a sightseeing tour, and above-mentioned is used for nobody so as to realize
The function of the control device of machine.Storage medium includes but is not limited to floppy disk, CD, magneto-optic disk, storage
Card, memory stick etc..
Technology disclosed in this invention is using rotor wing unmanned aerial vehicle as elementary cell, with reference to computer vision technique
And hardware device, at least with one of following advantageous effects：Unmanned plane is realized to swim from motion tracking
Visitor, guiding visitor, sight spot information guide's function is explained for visitor；Visitor indicates request to unmanned plane
Mode is simple, equipment cost is low, easy operation；For visitor, control the mode of unmanned plane simple,
It is easily mastered；Between visitor and corresponding unmanned plane to be mutually distinguishable mode simple and accurate；Displaying side
The more flexible fashion of formula, can preferably attract tourists.
Although the present invention is draped over one's shoulders by the description of the specific embodiment to the present invention above
Dew, however, it is to be understood that those skilled in the art can be in spirit and scope of the appended claims
Various modifications, improvement or equivalent of the interior design to the present invention.These modifications, improve or be equal
Thing should also be as being to be considered as included in protection scope of the present invention.
It should be emphasized that term "comprises/comprising" refers to feature, key element, step or group when being used herein
The presence of part, but it is not precluded from the presence of one or more further features, key element, step or component
It is or additional.
In addition, the method for various embodiments of the present invention be not limited to specifications described in or accompanying drawing
In the time sequencing that shows perform, can also according to other time sequencings, concurrently or independently
Perform.Therefore, the execution sequence of the method described in this specification is not to the technical scope structure of the present invention
Into limitation.
Note
1. a kind of control device for unmanned plane, including：
Recognition unit, it is configured to the image in the shot by camera from the unmanned plane of reception
In identify visitor indicate；And
Navigation elements, it is configured in response to identify visitor's mark, according to received from the nothing
Man-machine current position signal and guide plan generation and send navigation signal to the unmanned plane to draw
The objective in the unmanned plane arrival scenic spot is led, so as to conduct a sightseeing tour for visitor；
Wherein, visitor's mark be as the predetermined flag pattern shown by wearable indicator, it is described
Wearable indicator has the LED array for being used for showing predetermined flag pattern at the top of it.
2. according to note 1 described in control device, wherein, the wearable indicator for it is following it
One：
Cap with the LED array, the LED array are located at the top of the cap；With
And
Epaulet with the LED array, the LED array are located at the top of the epaulet.
3. according to the control device described in note 1, in addition to：
Speech control unit, it is configured in response to the institute of the video camera from the unmanned plane in reception
Identify from the playing request of visitor's platform or receive and the target in the image of shooting
The current position signal of unmanned plane described in the identical of place and instruct the voice transmission device of the unmanned plane
Corresponding voice messaging is transmitted wirelessly, or the voice playing unit of the instruction unmanned plane plays accordingly
Voice messaging.
4. according to the control device described in note 1, in addition to：
Sight spot indicates control unit, is configured to control the directional bea con of the unmanned plane to point to sight spot.
5. according to the control device described in note 1, in addition to：
Camera control unit, it is configured to control the action of the video camera of the unmanned plane.
6. a kind of system for being used to conduct a sightseeing tour, including：
It is attached the control device described in one of 1-5；
The unmanned plane controlled by the control device；And
Visitor's platform, it is controlled from the visitor and visitor's mark can be shown to the unmanned plane
Will, visitor's platform include the wearable indicator.
7. according to the system described in note 6, wherein, the control device is arranged on the unmanned plane
On.
8. according to the system described in note 6, in addition to：
Can be with the information processor of the UAV Communication, described information processing unit is away from described
Unmanned plane, the control device are arranged in described information processing unit.
9. according to the system described in note 6, wherein, visitor's platform includes controller, described
The visitor that the instruction visitor that controller can control the LED array to show asks asks pattern.
10. according to note 9 described in system, wherein, visitor's platform also include can receive and
Play the speech player of the voice messaging from the unmanned plane.
11. according to the system of note 6, the unmanned plane also includes stablizing head.
Claims (10)
1. a kind of control device for unmanned plane, including：
Recognition unit, it is configured to the image in the shot by camera from the unmanned plane of reception
In identify visitor indicate；And
Navigation elements, it is configured in response to identify visitor's mark, according to received from the nothing
Man-machine current position signal and guide plan generation and send navigation signal to the unmanned plane to draw
The objective in the unmanned plane arrival scenic spot is led, so as to conduct a sightseeing tour for visitor；
Wherein, visitor's mark be as the predetermined flag pattern shown by wearable indicator, it is described
Wearable indicator has the LED array for being used for showing the predetermined flag pattern at the top of it.
2. control device according to claim 1, wherein, the wearable indicator be with
It is one of lower：
Cap with the LED array, the LED array are located at the top of the cap；With
And
Epaulet with the LED array, the LED array are located at the top of the epaulet.
3. control device according to claim 1, in addition to：
Speech control unit, it is configured in response to the institute of the video camera from the unmanned plane in reception
Identify from the playing request of visitor's platform or receive and the target in the image of shooting
The current position signal of unmanned plane described in the identical of place and instruct the voice transmission device of the unmanned plane
Corresponding voice messaging is transmitted wirelessly, or the voice playing unit of the instruction unmanned plane plays accordingly
Voice messaging.
4. control device according to claim 1, in addition to：
Sight spot indicates control unit, is configured to control the directional bea con of the unmanned plane to point to sight spot.
5. control device according to claim 1, in addition to：
Camera control unit, it is configured to control the action of the video camera of the unmanned plane.
6. a kind of system for being used to conduct a sightseeing tour, including：
Control device described in one of claim 1-5；
The unmanned plane controlled by the control device；And
Visitor's platform, it is controlled from the visitor and visitor's mark can be shown to the unmanned plane
Will, visitor's platform include the wearable indicator.
7. system according to claim 6, wherein, the control device is arranged on the nothing
On man-machine.
8. system according to claim 6, in addition to：
Can be with the information processor of the UAV Communication, described information processing unit is away from described
Unmanned plane, the control device are arranged in described information processing unit.
9. system according to claim 6, wherein, visitor's platform includes controller,
Visitor's request figure that the instruction visitor that the controller can control the LED array to show asks
Case.
10. system according to claim 9, wherein, visitor's platform also includes connecing
Receive and play the speech player of the voice messaging from the unmanned plane.
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| CN201610357114.0A CN107436608A (en) | 2016-05-26 | 2016-05-26 | Control device for unmanned plane and the system for guide |
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| CN201610357114.0A CN107436608A (en) | 2016-05-26 | 2016-05-26 | Control device for unmanned plane and the system for guide |
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| NO345215B1 (en) * | 2019-05-02 | 2020-11-09 | Marie Wærnes Blom | Flying flag fan and birthday robot |
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Application publication date: 20171205 |