CN102156481A - Intelligent tracking control method and system for unmanned aircraft - Google Patents
Intelligent tracking control method and system for unmanned aircraft Download PDFInfo
- Publication number
- CN102156481A CN102156481A CN 201110025672 CN201110025672A CN102156481A CN 102156481 A CN102156481 A CN 102156481A CN 201110025672 CN201110025672 CN 201110025672 CN 201110025672 A CN201110025672 A CN 201110025672A CN 102156481 A CN102156481 A CN 102156481A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- target
- video camera
- data
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent tracking control method for an unmanned aircraft, which comprises the following steps: hovering and acquiring the position of the unmanned aircraft and a video signal of a target; transmitting the position of the unmanned aircraft and the video signal of the target to a video analyzing module on the ground in a wireless communication manner; analyzing the video signal so as to acquire the position and size of the target; calculating the position adjusting data of the unmanned aircraft according to the position of the target; and adjusting the position of the unmanned aircraft according to the position adjusting data of the unmanned aircraft. The invention also discloses an intelligent tracking control system for the unmanned aircraft, comprising a camera, a GPS (global position system), a wireless communication module, a video analyzing module, a control module and an execution module. By using the intelligent tracking control method and system for the unmanned aircraft provided by the invention, the unmanned aircraft can automatically finish the task of tracking the target, the precision of tracking the target of the unmanned aircraft is increased and the high-precision tracking for the target is realized.
Description
Technical field
The present invention relates to a kind of intelligent tracing control method and system, relate in particular to a kind of intelligent tracing control method and system of following the trail of the high unmanned vehicle of precision, belong to artificial intelligence field.
Background technology
Since mid-term in 20th century, unmanned vehicle equipment has been widely used in the war, and some countries once carried out the operations such as landform detection of battlefield investigation and dangerous area with unmanned vehicle.Nowadays, growing field need be used the Unmanned Systems, thereby the flight control research of unmanned vehicle more and more is subject to people's attention.
Some present unmanned vehicles have entered the epoch of auto-flare system, adopt pre-set course line to fly, and have broken away from manual remote control, and its advantage is to finish the high-altitude detection task of appointment automatically, need not manual control.
In addition, also have on some unmanned vehicles video camera is housed, can monitor in real time and record a video at the air to surface face of height, and the vision signal that collects is sent to ground base station by modes such as microwave or WiFi.Generally, these unmanned vehicles adopt according to pre-set airline operation, thereby finish the high-altitude monitoring of inner region on a large scale and cruise.
Yet, requirement intelligent to security protection along with people and the unattended duty monitoring is more and more higher, how to improve the artificial intelligence characteristic of unmanned vehicle supervisory system, make unmanned vehicle can break away from predefined course line and artificial Long-distance Control, automatically finish detecting, cruise or tracking task, make unmanned vehicle have more, strong functions more, unmanned vehicle is higher to the precision of target following, becomes the vital task of artificial intelligence scientific research.
Summary of the invention
The purpose of one aspect of the present invention provides a kind of intelligent tracing control method of unmanned vehicle, makes unmanned vehicle can finish following the trail of the objective of task automatically, improves the precision of unmanned vehicle tracking target.
The purpose of another aspect of the present invention provides a kind of intelligent Tracing Control system of unmanned vehicle, makes unmanned vehicle can finish following the trail of the objective of task automatically, to realize the accurate tracking of unmanned vehicle to target.
For realizing the purpose of one aspect of the invention, the intelligent tracing control method of unmanned vehicle of the present invention may further comprise the steps:
Hover and obtain the position of unmanned vehicle and the vision signal of target;
By wireless telecommunications with the video signal transmission of the position of unmanned vehicle and target analysis module to ground;
Vision signal analysis is obtained the position and the size of target;
According to the position of target, data are adjusted in the position that calculates unmanned vehicle;
Data are adjusted in position according to unmanned vehicle, adjust the position of unmanned vehicle.
Be to realize the purpose of another aspect of the present invention, the intelligent Tracing Control system of unmanned vehicle of the present invention comprises: video camera, GPS, wireless communication module, analysis module, control module and execution module;
Video camera is installed on the unmanned vehicle, is used for obtaining when unmanned vehicle hovers the vision signal of target;
GPS is installed on the unmanned vehicle, is used for obtaining when unmanned vehicle hovers the position of unmanned vehicle;
Wireless communication module is used for the video signal transmission of the position of unmanned vehicle and the target analysis module to ground, and data transmission is adjusted to described execution module in the position of the unmanned vehicle that described control module is calculated;
Analysis module is arranged on ground base station, is used for the vision signal analysis of target is obtained the position and the size of target;
Control module is arranged on ground base station, is used for the position according to target, and data are adjusted in the position that calculates unmanned vehicle;
Execution module is installed on the unmanned vehicle, is used for adjusting data according to the position of unmanned vehicle, adjusts the position of unmanned vehicle.
In the intelligent tracing control method and the system of unmanned vehicle of the present invention, when unmanned vehicle hovers, be installed in the vision signal that video camera on the unmanned vehicle obtains target; Simultaneously, be installed in the position that the GPS on the unmanned vehicle measures unmanned vehicle this moment.The vision signal of the target of obtaining and the position of unmanned vehicle are transferred to the analysis module on ground by wireless communication module.Analysis module is analyzed the vision signal that receives, and identifies target and obtains the size of target and information such as position, and the size and the position of target sent to the control module that is arranged on ground base station.Control module is used for the position according to target, data are adjusted in the position that calculates unmanned vehicle, and data are adjusted in the position send to the execution module that is installed in unmanned vehicle by wireless communication module, execution module is adjusted data according to the position, regulate the course of unmanned vehicle and/or the flying distance of unmanned vehicle, thereby realized that unmanned vehicle is to automatic, the accurate tracking of target.
More preferably, the intelligent tracing control method of unmanned vehicle of the present invention, the position of unmanned vehicle comprises height, longitude and the latitude of location in space when unmanned vehicle hovers.
More preferably, the intelligent tracing control method of unmanned vehicle of the present invention, the position and the size that vision signal analysis are obtained target specifically may further comprise the steps:
Static pixel region in the vision signal is distinguished as a setting, and the pixel region of motion is as preceding scenic spot;
Indicate preceding scenic spot with rectangle frame;
The most similar rectangle frame in the consecutive frame image is judged to be same target;
With the location confirmation of the most similar rectangle frame range image central point is the position of target, and the size of similar rectangle frame is the size of target.
More preferably, the intelligent tracing control method of unmanned vehicle of the present invention, according to the position of target, the position adjustment data that calculate unmanned vehicle specifically may further comprise the steps:
According to the visible angle of the height of unmanned vehicle, airborne video camera and the setting angle of airborne video camera, calculate developed width and the true altitude of video camera visual angle on ground;
According to target in image the change in location value and the pixel value of image, calculate the position of unmanned vehicle and adjust data.
More preferably, the intelligent tracing control method of unmanned vehicle of the present invention, according to the visible angle of the height of unmanned vehicle, airborne video camera and the setting angle of airborne video camera, calculate developed width and the true altitude of video camera visual angle on ground and be specially:
The video camera visual angle is in the true altitude on ground
For:
, wherein
Be the height of unmanned vehicle,
Be vertical visible angle of airborne video camera,
Setting angle for airborne video camera;
The video camera visual angle is at the developed width on ground
For:
, wherein
Horizontal visible angle for video camera.
More preferably, the intelligent tracing control method of unmanned vehicle of the present invention, according to target in image the change in location value and the pixel value of image, the position of calculating unmanned vehicle is adjusted data and is specially:
The horizontal displacement of unmanned vehicle
For:
, wherein Δ x is the pixel value that laterally move of target in image,
Be the picture traverse pixel value;
Unmanned vehicle vertically move distance
For:
, wherein Δ y is the pixel value that vertically move of target in image,
Be the picture altitude pixel value.
More preferably, the intelligent tracing control method of unmanned vehicle of the present invention, vision signal analysis is obtained the position of target and big or small step and position according to target, and the position that calculates unmanned vehicle is adjusted between the data step, also further may further comprise the steps:
According to the size of the target that obtains, judge whether the size of target exceeds the scope of setting;
If, then adjust aircraft to the ideal height place, return the position that carrying out hovers obtains unmanned vehicle and the vision signal step of target;
If not, then continue to carry out the position according to target, data step is adjusted in the position that calculates unmanned vehicle.
More preferably, the intelligent tracing control method of unmanned vehicle of the present invention also further may further comprise the steps:
The position of record unmanned vehicle is converted into the flight path signal with the position;
The vision signal of record object;
With the corresponding link of the vision signal of position, flight path signal and the target of unmanned vehicle.
More preferably, the intelligent Tracing Control system of unmanned vehicle of the present invention, control module comprises an ALU, ALU is logical circuit of arithmetic, software or logical circuit of arithmetic and the combining of software.
More preferably, the intelligent Tracing Control system of unmanned vehicle of the present invention also comprises storer and display.
Description of drawings
Fig. 1 is the process flow diagram of intelligent tracing control method first embodiment of unmanned vehicle of the present invention;
Fig. 2 is the video signal analysis process flow diagram of intelligent tracing control method second embodiment of unmanned vehicle of the present invention;
Fig. 3 for intelligent tracing control method the 3rd embodiment video camera visual angle of unmanned vehicle of the present invention at the true altitude on ground and the synoptic diagram of width;
Fig. 4 calculates the process flow diagram of the position adjustment data of unmanned vehicle for intelligent tracing control method the 4th embodiment of unmanned vehicle of the present invention;
Fig. 5 is the process flow diagram of intelligent tracing control method the 5th embodiment of unmanned vehicle of the present invention;
Fig. 6 is the structural representation of intelligent Tracing Control first embodiment of system of unmanned vehicle of the present invention;
Fig. 7 is the structural representation of the ground base station of the unmanned vehicle of intelligent Tracing Control second embodiment of system of unmanned vehicle of the present invention.
Embodiment
For purpose, technical scheme and the advantage of the intelligent tracing control method that makes unmanned vehicle of the present invention and system clearer, below in conjunction with concrete drawings and the specific embodiments, the intelligent tracing control method and the system of unmanned vehicle of the present invention is further elaborated.
The specific embodiment of the intelligent tracing control method of unmanned vehicle
Fig. 1 is the process flow diagram of intelligent tracing control method first embodiment of unmanned vehicle of the present invention, and as shown in Figure 1, the intelligent tracing control method of unmanned vehicle of the present invention may further comprise the steps:
Step 101: hover and obtain the position of unmanned vehicle and the vision signal of target.
Unmanned vehicle is manually let fly away specified altitude assignment, begins to hover after waiting to stablize, to keep relative static state with ground.At this moment, be installed in the picture on the video camera real-time recording ground on the unmanned vehicle, the vision signal that obtains terrain object is an image; The GPS that is installed on the unmanned vehicle measures the position that obtains unmanned vehicle this moment.
Step 102: by wireless telecommunications with the position of unmanned vehicle and video signal transmission analysis module to ground.
Unmanned vehicle sends to the receiving trap of the wireless communication module on ground with the vision signal of the target of acquisition and the position of unmanned vehicle by the emitter of wireless communication module, and further the vision signal of target and the position of unmanned vehicle is sent to analysis module.
Step 103: the position and the size that vision signal analysis are obtained target.
Analysis module is analyzed consecutive frame or continuous a few two field picture of target, obtains the position of target in image, and (x y) represents the coordinate of the pixel at the available targets center, position of target; And the size that in image, shows of target, the number of horizontal and vertical pixel of the big or small available targets of target is represented.
Step 104: according to the position of target, data are adjusted in the position that calculates unmanned vehicle.
Control module obtains the change in location value of target according to the position of the target in consecutive frame or the continuous a few two field picture, thereby data are adjusted in the position that further calculates unmanned vehicle.
Step 105: adjust data according to the position, adjust the position of unmanned vehicle.
Execution module is adjusted data according to the position of the unmanned vehicle of control module output, further adjusts course and the flying distance of unmanned vehicle at the certain altitude place, or further adjusts the horizontal and vertical flying distance of unmanned vehicle at certain altitude.
So far, unmanned vehicle is realized an intelligent tracking cycle of target is finished, and begins circulation and carries out the next intelligent tracking cycle.
More preferably,, can adopt the position of Airborne GPS GPS acquisition unmanned vehicle, specifically comprise height, longitude and the latitude of location in space when unmanned vehicle hovers in order accurately and timely to obtain the position of unmanned vehicle when hovering.
Fig. 2 is the video signal analysis process flow diagram of intelligent tracing control method second embodiment of unmanned vehicle of the present invention, and as shown in Figure 2, present embodiment is analyzed vision signal, specifically may further comprise the steps with position and the size that obtains target:
Step 201: the static pixel region in the vision signal is distinguished as a setting, and the pixel region of motion is as preceding scenic spot.Usually adopt consecutive frame image or continuous a few two field picture to do background area and the preceding scenic spot that difference can obtain image.
Step 202: indicate preceding scenic spot with rectangle frame.In the process that indicates rectangle frame, the micro rectangle frame that does not satisfy condition is filtered out with template and other filtrators.
Step 203: the most similar rectangle frame in consecutive frame or the continuous a few two field picture is judged to be same target.According to the variation and the difference in size of the distance of rectangle frame, judge whether the rectangle frame in consecutive frame or the continuous a few two field picture is similar, if similar, then be judged to be same target.
Step 204: the location confirmation of rectangle frame range image central point that will be the most similar is the position of target, and the size of similar rectangle frame is confirmed as the size of target.The position of target can represent that the number of horizontal and vertical pixel of the big or small available rectangle frame of target is represented with the coordinate of the central pixel point of rectangle frame.
Further, in the intelligent tracing control method of unmanned vehicle of the present invention, according to the position of target, the position adjustment data that calculate unmanned vehicle specifically may further comprise the steps:
Steps A 1:, calculate developed width and the true altitude of video camera visual angle on ground according to the visible angle of the height of unmanned vehicle, airborne video camera and the setting angle of airborne video camera;
Steps A 2: according to target in image the change in location value and the pixel value of image, calculate the position of unmanned vehicle and adjust data.
Fig. 3 is the synoptic diagram of intelligent tracing control method the 3rd embodiment video camera visual angle actual size on the ground of unmanned vehicle of the present invention.
As shown in Figure 3, suppose that the height that unmanned vehicle hovers is
, vertical visible angle of airborne video camera is
, the setting angle of airborne video camera is
, the horizontal visible angle of video camera is
, then can calculate video camera visual angle true altitude on the ground
And developed width
Be respectively:
Fig. 4 calculates the process flow diagram of the position adjustment data of unmanned vehicle for intelligent tracing control method the 4th embodiment of unmanned vehicle of the present invention.
Height when hovering as shown in Figure 4, by known unmanned vehicle
, vertical visible angle of airborne video camera is
, the setting angle of airborne video camera is
, the horizontal visible angle of video camera is
, then can calculate video camera visual angle true altitude on the ground
And developed width
Again according to the horizontal change value Δ x of target location in image, picture traverse pixel value
, can calculate the horizontal displacement of target
, i.e. the lateral attitude of unmanned vehicle adjustment data are:
In like manner, according to the vertical changing value Δ y of target location in image, picture altitude pixel value
, can calculate the distance that vertically moves of target
, promptly the lengthwise position of unmanned vehicle adjustment data are:
Fig. 5 is the process flow diagram of intelligent tracing control method the 5th embodiment of unmanned vehicle of the present invention.
As shown in Figure 5, in order to ensure photographing desirable target video information, improve the precision of Flame Image Process and analysis, thereby realize the accurate and real-time tracking to target, the intelligent tracing control method of unmanned vehicle of the present invention may further comprise the steps:
Step 501: hover and obtain the position of unmanned vehicle and the vision signal of target.
Unmanned vehicle is manually let fly away specified altitude assignment, begins to hover after waiting to stablize, to keep relative static state with ground.At this moment, be installed in the picture on the video camera real-time recording ground on the unmanned vehicle, the vision signal that obtains ground is an image; The GPS that is installed on the unmanned vehicle measures the position that obtains unmanned vehicle this moment.
Step 502: by wireless telecommunications with the position of unmanned vehicle and video signal transmission analysis module to ground.
Unmanned vehicle sends to the receiving trap of the wireless communication module on ground with the vision signal of the target of acquisition and the position of unmanned vehicle by the emitter of wireless communication module, and further the vision signal of target and the position of unmanned vehicle is sent to analysis module.
Step 503: the position and the size that vision signal analysis are obtained target.
Analysis module is analyzed consecutive frame or continuous a few two field picture of target, obtain the numerical value of the position of target in image, the coordinate of the pixel at the center of the rectangle frame of the position serviceable indicia target of target represents that the number of horizontal and vertical pixel of the rectangle frame of the big or small serviceable indicia target of target is represented.
Step 504:, judge whether the size of target exceeds the scope of setting according to the size of the target that obtains.
Parameters such as the height of the set basis unmanned vehicle of scope, the size of image and the sharpness of image or performance are determined.If exceed the scope of setting, then adjust aircraft to the preset height place, then return the position that carrying out hovers obtains unmanned vehicle and the vision signal step of target; If do not exceed the scope of setting, then continue to carry out position according to target, data step is adjusted in the position that calculates unmanned vehicle.Wherein preset height is obtained according to certain mapping relations mapping by the scope of the size of the target of setting.
Step 505: according to the position of target, data are adjusted in the position that calculates unmanned vehicle.
Control module obtains the change in location value of target according to the position of the target in consecutive frame or the continuous a few two field picture, thereby data are adjusted in the position that further calculates unmanned vehicle.
Step 506: adjust data according to the position, adjust the position of unmanned vehicle.
Execution module is adjusted data according to the position of the unmanned vehicle of control module output, further adjusts course and the flying distance of unmanned vehicle at the certain altitude place, or further adjusts the horizontal and vertical flying distance of unmanned vehicle at certain altitude.
So far, unmanned vehicle is realized an intelligent tracking cycle of target is finished, and begins circulation and carries out the next intelligent tracking cycle.
More preferably, the intelligent tracing control method of unmanned vehicle of the present invention, further the video to target carries out visual analyzing, realizes target video inquiry, the inquiry of unmanned vehicle flight path and three kinds of inquiry modes of unmanned vehicle position enquiring, specifically may further comprise the steps:
Step B1: the position of record unmanned vehicle is converted into the flight path signal with the position;
Step B2: the vision signal of record object;
Step B3: with the corresponding link of the vision signal of position, flight path signal and the target of unmanned vehicle.
Enter state of flight from unmanned vehicle, Airborne GPS with unmanned vehicle the position send to ground base station, control module is noted the real-time position information of the unmanned vehicle that receives, and is converted into the flight path signal, is kept in the storer.The real-time position information record unmanned vehicle of unmanned vehicle is at residing longitude, latitude and the height of some flight time points.In control module, set up an electric map module, the positional information of unmanned vehicle is converted to a point on the map, and under drawing on the map, is being used as a tracing point.
With the corresponding link of the vision signal of position, flight path signal and the target of unmanned vehicle, thereby the video of flight enquiry module of system can provide three kinds of inquiry modes afterwards: target video inquiry, the inquiry of unmanned vehicle flight path and unmanned vehicle position enquiring.
Wherein, target query can carry out the playback inquiry to the target video that obtains in the unmanned vehicle flight course.Unmanned vehicle route inquiry can be carried out the flight path inquiry by the unmanned vehicle position of storing in the electronic chart set up and the unmanned vehicle flight course.
Unmanned vehicle flight path inquiry can be synchronous with the flight path of the vision signal of target and unmanned vehicle.During the video of one section target of playback, will show the particular location of unmanned vehicle this moment on the electronic chart.
The intelligent tracing control method of unmanned vehicle of the present invention provides by the route demonstration and by time point and shows two kinds of display modes.
Press the route display mode promptly selects in the unmanned vehicle flight path one section or whole section route on electronic chart after, display routine will carry out audio video synchronization according to selected flight path section to be play, and the physical location of the unmanned vehicle of the corresponding time point correspondence in the real-time display video.
Press the i.e. time point of a needs inquiry of input in the video playback control panel of time point display mode, display routine will show the vision signal of target this moment in display, and will show the physical location of the unmanned vehicle of corresponding time point on electronic chart.The input external command can carry out continuous videos and play the location, also will demonstrate the physical location of corresponding time point and unmanned vehicle continuously on the electronic chart simultaneously.
The specific embodiment of the intelligent Tracing Control system of unmanned vehicle
Fig. 6 is the structural representation of intelligent Tracing Control first embodiment of system of unmanned vehicle of the present invention, as shown in Figure 6, the structure of intelligent Tracing Control first embodiment of system of unmanned vehicle of the present invention comprises: video camera, GPS, wireless communication module, analysis module, control module and execution module.
Video camera is installed on the unmanned vehicle, is used for obtaining when unmanned vehicle hovers the vision signal of target.
GPS is installed on the unmanned vehicle, is used for obtaining when unmanned vehicle hovers the position of unmanned vehicle.
Wireless communication module, be installed on unmanned vehicle and the ground base station, be used for the data transmission between unmanned vehicle and the ground base station, with the video signal transmission of the position of unmanned vehicle and the target analysis module to ground, the execution module that data transmission is provided with to the unmanned vehicle is adjusted in the position of the unmanned vehicle that control module is calculated.
Analysis module is arranged on ground base station, is used for vision signal analysis is obtained the position and the size of target.
Control module is arranged on ground base station, is used for the position according to target, and data are adjusted in the position that calculates unmanned vehicle.
Execution module is installed on the unmanned vehicle, is used for adjusting data according to the position, adjusts the position of unmanned vehicle.
The intelligent Tracing Control system of this unmanned vehicle when unmanned vehicle hovers, is installed in the vision signal that video camera on the unmanned vehicle obtains target; Simultaneously, be installed in the position that the GPS on the unmanned vehicle measures unmanned vehicle this moment.The vision signal of the target of obtaining and the position of unmanned vehicle are transferred to the analysis module on ground by wireless communication module.Analysis module is analyzed the vision signal that receives, and identifies target and obtains the size of target and information such as position, and the size and the positional information of target sent to the control module that is arranged on ground base station.Control module is used for the position according to target, data are adjusted in the position that calculates unmanned vehicle, and data are adjusted in the position send to the execution module that is installed in unmanned vehicle by wireless communication module, execution module is adjusted data according to the position, regulate the course of unmanned vehicle and/or the flying distance of unmanned vehicle, thereby realized that unmanned vehicle is to automatic, the accurate tracking of target.
In order to realize accurate and real-time tracking to target, the control module of the intelligent Tracing Control system of unmanned vehicle of the present invention comprises an ALU, described ALU is logical circuit of arithmetic, software or logical circuit of arithmetic and the combining of software, to realize that the judgement whether size of data computing and target exceeds the scope of setting is adjusted in the position of unmanned vehicle.
Fig. 7 is the structural representation of the ground base station of the unmanned vehicle of intelligent Tracing Control second embodiment of system of unmanned vehicle of the present invention, as shown in Figure 7, demonstration and analysis for the flight path of the positional information that realizes vision signal, unmanned vehicle and unmanned vehicle to target, the intelligent Tracing Control system of unmanned vehicle of the present invention, the ground base station of unmanned vehicle also comprises storer and display, the data that storer receives and storage is exported from wireless communication module, analysis module and control module respectively; Display is connected with storer, is used for transferring and showing the data that are stored in storer.Storer is used to store the position of the unmanned vehicle that the position of target of positional information, analysis module output of vision signal, the unmanned vehicle of target and target sizes and/or control module calculate and adjusts signal, when display receives outside idsplay order, transfer corresponding signal from storer and show.
The above only is a preferred example of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improve, all should be included in protection scope of the present invention.
Claims (11)
1. the intelligent tracing control method of a unmanned vehicle is characterized in that, this method may further comprise the steps:
Hover and obtain the position of unmanned vehicle and the vision signal of target;
By wireless telecommunications with the video signal transmission of the position of unmanned vehicle and target analysis module to ground;
Vision signal analysis is obtained the position and the size of target;
According to the position of target, data are adjusted in the position that calculates unmanned vehicle;
Data are adjusted in position according to unmanned vehicle, adjust the position of unmanned vehicle.
2. the intelligent tracing control method of unmanned vehicle according to claim 1 is characterized in that, the position of described unmanned vehicle comprises height, longitude and the latitude of location in space when unmanned vehicle hovers.
3. the intelligent tracing control method of unmanned vehicle according to claim 2 is characterized in that, described position and the size that vision signal analysis is obtained target specifically may further comprise the steps:
Static pixel region in the vision signal is distinguished as a setting, and the pixel region of motion is as preceding scenic spot;
Indicate preceding scenic spot with rectangle frame;
The most similar rectangle frame in consecutive frame or the continuous a few two field picture is judged to be same target;
With the location confirmation of the most similar rectangle frame range image central point is the position of target, and the size of similar rectangle frame is the size of target.
4. the intelligent tracing control method of unmanned vehicle according to claim 3 is characterized in that, described position according to target, and the position adjustment data that calculate unmanned vehicle specifically may further comprise the steps:
According to the visible angle of the height of unmanned vehicle, airborne video camera and the setting angle of airborne video camera, calculate developed width and the true altitude of video camera visual angle on ground;
According to target in image the change in location value and the pixel value of image, calculate the position of unmanned vehicle and adjust data.
5. the intelligent tracing control method of unmanned vehicle according to claim 4, it is characterized in that, the visible angle of described height according to unmanned vehicle, airborne video camera and the setting angle of airborne video camera, calculate developed width and the true altitude of video camera visual angle on ground and be specially:
The video camera visual angle is in the true altitude on ground
For:
, wherein
Be the height of unmanned vehicle,
Be vertical visible angle of airborne video camera,
Setting angle for airborne video camera;
The developed width at video camera visual angle
For:
, wherein
Horizontal visible angle for video camera.
6. the intelligent tracing control method of unmanned vehicle according to claim 5 is characterized in that, described
According to target in image the change in location value and the pixel value of image, the position of calculating unmanned vehicle is adjusted data and is specially:
The horizontal displacement of unmanned vehicle
For:
, wherein Δ x is the horizontal change value of target location in image,
Width for image;
Unmanned vehicle vertically move distance
For:
, wherein Δ y is the vertical changing value of target location in image,
Height for image.
7. the intelligent tracing control method of unmanned vehicle according to claim 1, it is characterized in that, described position and big or small step and the described position that vision signal analysis is obtained target according to target, the position that calculates unmanned vehicle is adjusted between the step of data, also further may further comprise the steps:
The size of the target that obtains according to analysis judges whether the size of described target exceeds the scope of setting;
If, then adjust aircraft to the preset height place, return the step of the vision signal of carrying out described the hover position that obtains unmanned vehicle and target;
If not, then continue to carry out described position according to target, the step of data is adjusted in the position that calculates unmanned vehicle.
8. the intelligent tracing control method of unmanned vehicle according to claim 1 is characterized in that, also further may further comprise the steps:
The position of record unmanned vehicle is converted into the flight path signal with the position;
The vision signal of record object;
With the corresponding link of the vision signal of position, flight path signal and the target of unmanned vehicle.
9. the intelligent Tracing Control system of a unmanned vehicle is characterized in that, comprising: video camera, GPS, wireless communication module, analysis module, control module and execution module;
Described video camera is installed on the unmanned vehicle, is used for when unmanned vehicle hovers, and obtains the vision signal of target;
Described GPS is installed on the unmanned vehicle, is used for when unmanned vehicle hovers, and obtains the position of unmanned vehicle;
Described wireless communication module is used for the video signal transmission of the position of unmanned vehicle and the target described analysis module to ground, and data transmission is adjusted to described execution module in the position of the unmanned vehicle that described control module is calculated;
Described analysis module is arranged on ground base station, is used for the vision signal analysis of target is obtained the position and the size of target;
Described control module is arranged on ground base station, is used for the position according to target, and data are adjusted in the position that calculates unmanned vehicle;
Described execution module is installed on the unmanned vehicle, is used for adjusting data according to the position of unmanned vehicle, adjusts the position of unmanned vehicle.
10. the intelligent Tracing Control system of unmanned vehicle according to claim 9, it is characterized in that, described control module comprises an ALU, described ALU is logical circuit of arithmetic, software or logical circuit of arithmetic and the combining of software, in order to realize that the judgement whether size of data computing and target exceeds the scope of setting is adjusted in the position of unmanned vehicle.
11. intelligent Tracing Control system according to claim 9 or 10 described unmanned vehicles, it is characterized in that, also comprise storer and display, the data that storer receives and storage is exported from described wireless communication module, described analysis module and described control module respectively; Display is connected with storer, is used for transferring and showing the data that are stored in described storer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110025672 CN102156481B (en) | 2011-01-24 | 2011-01-24 | Intelligent tracking control method and system for unmanned aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110025672 CN102156481B (en) | 2011-01-24 | 2011-01-24 | Intelligent tracking control method and system for unmanned aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102156481A true CN102156481A (en) | 2011-08-17 |
| CN102156481B CN102156481B (en) | 2013-06-05 |
Family
ID=44438015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110025672 Expired - Fee Related CN102156481B (en) | 2011-01-24 | 2011-01-24 | Intelligent tracking control method and system for unmanned aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102156481B (en) |
Cited By (49)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102739780A (en) * | 2012-06-06 | 2012-10-17 | 北京工业大学 | Control method and system, server and terminal |
| CN104106012A (en) * | 2011-09-16 | 2014-10-15 | 航空集团联合控股公司 | Information and control system for a multifunctional aircraft |
| CN104157165A (en) * | 2014-08-11 | 2014-11-19 | 江苏恒创软件有限公司 | Unmanned helicopter-based urban area motor vehicle parking planning method |
| CN104516355A (en) * | 2014-12-31 | 2015-04-15 | 深圳雷柏科技股份有限公司 | Self-photographing aircraft and self-photographing method thereof |
| CN104537898A (en) * | 2015-01-08 | 2015-04-22 | 西北工业大学 | Air-ground coordination unmanned aerial vehicle sensing and avoiding system and method |
| CN104679873A (en) * | 2015-03-09 | 2015-06-03 | 深圳市道通智能航空技术有限公司 | Aircraft tracing method and aircraft tracing system |
| CN104881650A (en) * | 2015-05-29 | 2015-09-02 | 成都通甲优博科技有限责任公司 | Vehicle tracking method based on unmanned aerial vehicle (UAV) dynamic platform |
| CN104965522A (en) * | 2015-07-17 | 2015-10-07 | 深圳市浩瀚卓越科技有限公司 | GPS-based automatic multi-rotor unmanned aerial vehicle tracking system |
| CN105068556A (en) * | 2015-07-16 | 2015-11-18 | 深圳市前海疆域智能科技股份有限公司 | Aircraft automatic tracking method, mobile intelligent equipment, aircraft, and mobile intelligent system |
| CN105182994A (en) * | 2015-08-10 | 2015-12-23 | 普宙飞行器科技（深圳）有限公司 | Unmanned-aerial-vehicle fixed-point landing method |
| CN105245846A (en) * | 2015-10-12 | 2016-01-13 | 西安斯凯智能科技有限公司 | Multi-unmanned aerial vehicle cooperative tracking type shooting system and shooting method |
| CN105357484A (en) * | 2015-11-20 | 2016-02-24 | 西安斯凯智能科技有限公司 | Target positioning and tracking system, apparatus, and positioning and tracking method |
| CN105518487A (en) * | 2014-10-27 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Method and apparatus for prompting position of air vehicle |
| CN105554480A (en) * | 2016-03-01 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle image shooting control method and device, user device and unmanned aerial vehicle |
| CN105678289A (en) * | 2016-03-07 | 2016-06-15 | 谭圆圆 | Control method and device of unmanned aerial vehicle |
| CN105929850A (en) * | 2016-05-18 | 2016-09-07 | 中国计量大学 | Unmanned plane system and method with capabilities of continuous locking and target tracking |
| WO2016138687A1 (en) * | 2015-03-03 | 2016-09-09 | 广州亿航智能技术有限公司 | Control system, terminal and airborne flight control system of multi-rotor craft |
| CN106054924A (en) * | 2016-07-06 | 2016-10-26 | 北京北方猎天科技有限公司 | Unmanned aerial vehicle accompanying method, unmanned aerial vehicle accompanying device and unmanned aerial vehicle accompanying system |
| CN106296860A (en) * | 2016-08-16 | 2017-01-04 | 上海许继电气有限公司 | Pilotless automatic aircraft is utilized to carry out the visualized O&M method that photovoltaic plant is patrolled and examined |
| CN106292721A (en) * | 2016-09-29 | 2017-01-04 | 腾讯科技（深圳）有限公司 | A kind of aircraft that controls follows the tracks of the method for destination object, equipment and system |
| CN106500714A (en) * | 2016-09-22 | 2017-03-15 | 福建网龙计算机网络信息技术有限公司 | A kind of robot navigation method and system based on video |
| WO2017071044A1 (en) * | 2015-10-30 | 2017-05-04 | 小米科技有限责任公司 | Method and device for controlling unmanned aerial vehicle |
| CN106657973A (en) * | 2017-01-21 | 2017-05-10 | 上海量明科技发展有限公司 | Method and system for displaying image |
| CN106843278A (en) * | 2016-11-24 | 2017-06-13 | 腾讯科技（深圳）有限公司 | A kind of aircraft tracking, device and aircraft |
| CN106909170A (en) * | 2017-04-26 | 2017-06-30 | 北京小米移动软件有限公司 | The method and apparatus for controlling aircraft |
| CN107094245A (en) * | 2017-06-05 | 2017-08-25 | 北京天承遥感科技有限公司 | A kind of artificial intelligence unmanned plane city management target identification and alarm supplying system |
| CN107168352A (en) * | 2014-07-30 | 2017-09-15 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| TWI602433B (en) * | 2016-04-29 | 2017-10-11 | 和碩聯合科技股份有限公司 | Object tracking method and unmanned aerial vehicle using the same |
| CN107367726A (en) * | 2017-07-13 | 2017-11-21 | 重庆埃默科技有限责任公司 | A kind of flying object three-dimensional simulation positioning display method and system |
| CN107430404A (en) * | 2015-03-25 | 2017-12-01 | 菲力尔无人机系统公司 | Flight control system based on path |
| CN107707808A (en) * | 2016-08-09 | 2018-02-16 | 英业达科技有限公司 | Camera chain and method for imaging |
| CN108025808A (en) * | 2015-09-04 | 2018-05-11 | 松下电器（美国）知识产权公司 | Flight path generation method, flight path generating means, flight path generation program and terminal installation |
| CN108459335A (en) * | 2017-02-20 | 2018-08-28 | 株式会社拓普康 | Follow-up mechanism, method for tracing, tracing system and the program of unmanned vehicle |
| CN108628337A (en) * | 2017-03-21 | 2018-10-09 | 株式会社东芝 | Coordinates measurement device, contouring system and path generating method |
| CN108628340A (en) * | 2017-03-22 | 2018-10-09 | 三星电子株式会社 | Based on the method and electronic equipment of the mobile determining shift position of external object |
| CN108885469A (en) * | 2016-09-27 | 2018-11-23 | 深圳市大疆创新科技有限公司 | System and method for the initialized target object in tracking system |
| CN109144052A (en) * | 2017-07-07 | 2019-01-04 | 肖建雄 | Navigation system and its method for automatic driving vehicle |
| CN109362228A (en) * | 2017-10-31 | 2019-02-19 | 深圳市大疆创新科技有限公司 | Unmanned vehicle, unmanned vehicle pedestal and unmanned vehicle system |
| CN109644233A (en) * | 2017-02-24 | 2019-04-16 | 深圳市大疆创新科技有限公司 | More head assemblies |
| CN109697776A (en) * | 2018-12-24 | 2019-04-30 | 绿瘦健康产业集团有限公司 | A kind of intelligent control method, device, equipment and the medium of unmanned gymnasium |
| CN109716256A (en) * | 2016-08-06 | 2019-05-03 | 深圳市大疆创新科技有限公司 | System and method for tracking target |
| CN109814588A (en) * | 2017-11-20 | 2019-05-28 | 深圳富泰宏精密工业有限公司 | Aircraft and object tracing system and method applied to aircraft |
| CN110053772A (en) * | 2013-08-26 | 2019-07-26 | X开发有限责任公司 | Unmanned aerial vehicle |
| CN110300938A (en) * | 2016-12-21 | 2019-10-01 | 杭州零零科技有限公司 | System and method for exempting from the interaction of controller formula user's unmanned plane |
| WO2020029084A1 (en) * | 2018-08-07 | 2020-02-13 | 北京小米移动软件有限公司 | Information transmission method and device |
| WO2020143676A1 (en) * | 2019-01-08 | 2020-07-16 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle data processing method and apparatus, device and storage medium |
| CN111457895A (en) * | 2020-03-31 | 2020-07-28 | 彩虹无人机科技有限公司 | Target size calculation and display method for photoelectric load of unmanned aerial vehicle |
| WO2021098453A1 (en) * | 2019-11-20 | 2021-05-27 | 深圳市道通智能航空技术股份有限公司 | Target tracking method and unmanned aerial vehicle |
| CN114096931A (en) * | 2020-04-27 | 2022-02-25 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1953547A (en) * | 2006-09-21 | 2007-04-25 | 上海大学 | A low-altitude follow-up system and method aiming at the mobile ground object by unmanned aircraft |
| WO2009029051A1 (en) * | 2007-08-24 | 2009-03-05 | Stratech Systems Limited | Runway surveillance system and method |
| CN101445156A (en) * | 2008-05-15 | 2009-06-03 | 龚文基 | Technology for integrating intelligent aerial robotic system |
| CN101667032A (en) * | 2008-09-03 | 2010-03-10 | 中国科学院自动化研究所 | Vision-based target tracking system using unmanned helicopter |
| CN101909206A (en) * | 2010-08-02 | 2010-12-08 | 复旦大学 | Video-based intelligent flight vehicle tracking system |
-
2011
- 2011-01-24 CN CN 201110025672 patent/CN102156481B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1953547A (en) * | 2006-09-21 | 2007-04-25 | 上海大学 | A low-altitude follow-up system and method aiming at the mobile ground object by unmanned aircraft |
| WO2009029051A1 (en) * | 2007-08-24 | 2009-03-05 | Stratech Systems Limited | Runway surveillance system and method |
| CN101445156A (en) * | 2008-05-15 | 2009-06-03 | 龚文基 | Technology for integrating intelligent aerial robotic system |
| CN101667032A (en) * | 2008-09-03 | 2010-03-10 | 中国科学院自动化研究所 | Vision-based target tracking system using unmanned helicopter |
| CN101909206A (en) * | 2010-08-02 | 2010-12-08 | 复旦大学 | Video-based intelligent flight vehicle tracking system |
Cited By (73)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104106012A (en) * | 2011-09-16 | 2014-10-15 | 航空集团联合控股公司 | Information and control system for a multifunctional aircraft |
| CN104106012B (en) * | 2011-09-16 | 2016-10-12 | 航空集团联合控股公司 | Information and control system for multifunction aircraft |
| CN102739780A (en) * | 2012-06-06 | 2012-10-17 | 北京工业大学 | Control method and system, server and terminal |
| CN110053772A (en) * | 2013-08-26 | 2019-07-26 | X开发有限责任公司 | Unmanned aerial vehicle |
| CN110053772B (en) * | 2013-08-26 | 2022-07-05 | X开发有限责任公司 | Unmanned aerial vehicle |
| CN107703963B (en) * | 2014-07-30 | 2020-12-01 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| CN107577247A (en) * | 2014-07-30 | 2018-01-12 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| CN107703963A (en) * | 2014-07-30 | 2018-02-16 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| CN107168352A (en) * | 2014-07-30 | 2017-09-15 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| US11194323B2 (en) | 2014-07-30 | 2021-12-07 | SZ DJI Technology Co., Ltd. | Systems and methods for target tracking |
| US11106201B2 (en) | 2014-07-30 | 2021-08-31 | SZ DJI Technology Co., Ltd. | Systems and methods for target tracking |
| CN107168352B (en) * | 2014-07-30 | 2020-07-14 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| CN107577247B (en) * | 2014-07-30 | 2021-06-25 | 深圳市大疆创新科技有限公司 | Target tracking system and method |
| CN104157165A (en) * | 2014-08-11 | 2014-11-19 | 江苏恒创软件有限公司 | Unmanned helicopter-based urban area motor vehicle parking planning method |
| CN104157165B (en) * | 2014-08-11 | 2016-07-06 | 江苏恒创软件有限公司 | A kind of urban area motor vehicle parking planing method based on unmanned plane |
| US10181211B2 (en) | 2014-10-27 | 2019-01-15 | SZ DJI Technology Co., Ltd. | Method and apparatus of prompting position of aerial vehicle |
| WO2016065513A1 (en) * | 2014-10-27 | 2016-05-06 | 深圳市大疆创新科技有限公司 | Method and apparatus for prompting position of air vehicle |
| CN105518487A (en) * | 2014-10-27 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Method and apparatus for prompting position of air vehicle |
| CN104516355A (en) * | 2014-12-31 | 2015-04-15 | 深圳雷柏科技股份有限公司 | Self-photographing aircraft and self-photographing method thereof |
| CN104537898A (en) * | 2015-01-08 | 2015-04-22 | 西北工业大学 | Air-ground coordination unmanned aerial vehicle sensing and avoiding system and method |
| CN104537898B (en) * | 2015-01-08 | 2017-11-28 | 西北工业大学 | A kind of unmanned plane of air-ground coordination perceives avoidance system and its bypassing method |
| WO2016138687A1 (en) * | 2015-03-03 | 2016-09-09 | 广州亿航智能技术有限公司 | Control system, terminal and airborne flight control system of multi-rotor craft |
| CN104679873A (en) * | 2015-03-09 | 2015-06-03 | 深圳市道通智能航空技术有限公司 | Aircraft tracing method and aircraft tracing system |
| CN107430404A (en) * | 2015-03-25 | 2017-12-01 | 菲力尔无人机系统公司 | Flight control system based on path |
| CN104881650A (en) * | 2015-05-29 | 2015-09-02 | 成都通甲优博科技有限责任公司 | Vehicle tracking method based on unmanned aerial vehicle (UAV) dynamic platform |
| CN105068556A (en) * | 2015-07-16 | 2015-11-18 | 深圳市前海疆域智能科技股份有限公司 | Aircraft automatic tracking method, mobile intelligent equipment, aircraft, and mobile intelligent system |
| CN104965522A (en) * | 2015-07-17 | 2015-10-07 | 深圳市浩瀚卓越科技有限公司 | GPS-based automatic multi-rotor unmanned aerial vehicle tracking system |
| CN105182994B (en) * | 2015-08-10 | 2018-02-06 | 普宙飞行器科技（深圳）有限公司 | A kind of method of unmanned plane pinpoint landing |
| CN105182994A (en) * | 2015-08-10 | 2015-12-23 | 普宙飞行器科技（深圳）有限公司 | Unmanned-aerial-vehicle fixed-point landing method |
| CN108025808A (en) * | 2015-09-04 | 2018-05-11 | 松下电器（美国）知识产权公司 | Flight path generation method, flight path generating means, flight path generation program and terminal installation |
| CN105245846A (en) * | 2015-10-12 | 2016-01-13 | 西安斯凯智能科技有限公司 | Multi-unmanned aerial vehicle cooperative tracking type shooting system and shooting method |
| WO2017071044A1 (en) * | 2015-10-30 | 2017-05-04 | 小米科技有限责任公司 | Method and device for controlling unmanned aerial vehicle |
| CN105357484A (en) * | 2015-11-20 | 2016-02-24 | 西安斯凯智能科技有限公司 | Target positioning and tracking system, apparatus, and positioning and tracking method |
| CN105554480B (en) * | 2016-03-01 | 2018-03-16 | 深圳市大疆创新科技有限公司 | Control method, device, user equipment and the unmanned plane of unmanned plane shooting image |
| CN105554480A (en) * | 2016-03-01 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle image shooting control method and device, user device and unmanned aerial vehicle |
| CN105678289A (en) * | 2016-03-07 | 2016-06-15 | 谭圆圆 | Control method and device of unmanned aerial vehicle |
| TWI602433B (en) * | 2016-04-29 | 2017-10-11 | 和碩聯合科技股份有限公司 | Object tracking method and unmanned aerial vehicle using the same |
| CN105929850A (en) * | 2016-05-18 | 2016-09-07 | 中国计量大学 | Unmanned plane system and method with capabilities of continuous locking and target tracking |
| CN106054924A (en) * | 2016-07-06 | 2016-10-26 | 北京北方猎天科技有限公司 | Unmanned aerial vehicle accompanying method, unmanned aerial vehicle accompanying device and unmanned aerial vehicle accompanying system |
| CN106054924B (en) * | 2016-07-06 | 2019-08-30 | 北京大为远达科技发展有限公司 | A kind of unmanned plane accompanying flying method, accompanying flying device and accompanying flying system |
| US11906983B2 (en) | 2016-08-06 | 2024-02-20 | SZ DJI Technology Co., Ltd. | System and method for tracking targets |
| US11148804B2 (en) | 2016-08-06 | 2021-10-19 | SZ DJI Technology Co., Ltd. | System and method for tracking targets |
| CN109716256A (en) * | 2016-08-06 | 2019-05-03 | 深圳市大疆创新科技有限公司 | System and method for tracking target |
| CN107707808A (en) * | 2016-08-09 | 2018-02-16 | 英业达科技有限公司 | Camera chain and method for imaging |
| CN106296860A (en) * | 2016-08-16 | 2017-01-04 | 上海许继电气有限公司 | Pilotless automatic aircraft is utilized to carry out the visualized O&M method that photovoltaic plant is patrolled and examined |
| CN106500714B (en) * | 2016-09-22 | 2019-11-29 | 福建网龙计算机网络信息技术有限公司 | A kind of robot navigation method and system based on video |
| CN106500714A (en) * | 2016-09-22 | 2017-03-15 | 福建网龙计算机网络信息技术有限公司 | A kind of robot navigation method and system based on video |
| CN108885469A (en) * | 2016-09-27 | 2018-11-23 | 深圳市大疆创新科技有限公司 | System and method for the initialized target object in tracking system |
| CN106292721A (en) * | 2016-09-29 | 2017-01-04 | 腾讯科技（深圳）有限公司 | A kind of aircraft that controls follows the tracks of the method for destination object, equipment and system |
| CN106843278A (en) * | 2016-11-24 | 2017-06-13 | 腾讯科技（深圳）有限公司 | A kind of aircraft tracking, device and aircraft |
| CN110300938A (en) * | 2016-12-21 | 2019-10-01 | 杭州零零科技有限公司 | System and method for exempting from the interaction of controller formula user's unmanned plane |
| CN106657973A (en) * | 2017-01-21 | 2017-05-10 | 上海量明科技发展有限公司 | Method and system for displaying image |
| CN108459335A (en) * | 2017-02-20 | 2018-08-28 | 株式会社拓普康 | Follow-up mechanism, method for tracing, tracing system and the program of unmanned vehicle |
| CN109644233A (en) * | 2017-02-24 | 2019-04-16 | 深圳市大疆创新科技有限公司 | More head assemblies |
| US11233943B2 (en) | 2017-02-24 | 2022-01-25 | SZ DJI Technology Co., Ltd. | Multi-gimbal assembly |
| CN108628337A (en) * | 2017-03-21 | 2018-10-09 | 株式会社东芝 | Coordinates measurement device, contouring system and path generating method |
| CN108628340A (en) * | 2017-03-22 | 2018-10-09 | 三星电子株式会社 | Based on the method and electronic equipment of the mobile determining shift position of external object |
| CN106909170A (en) * | 2017-04-26 | 2017-06-30 | 北京小米移动软件有限公司 | The method and apparatus for controlling aircraft |
| CN106909170B (en) * | 2017-04-26 | 2020-04-07 | 北京小米移动软件有限公司 | Method and device for controlling an aircraft |
| CN107094245A (en) * | 2017-06-05 | 2017-08-25 | 北京天承遥感科技有限公司 | A kind of artificial intelligence unmanned plane city management target identification and alarm supplying system |
| CN109144052A (en) * | 2017-07-07 | 2019-01-04 | 肖建雄 | Navigation system and its method for automatic driving vehicle |
| CN107367726B (en) * | 2017-07-13 | 2019-07-05 | 重庆埃默科技有限责任公司 | A kind of flying object three-dimensional simulation positioning display method and system |
| CN107367726A (en) * | 2017-07-13 | 2017-11-21 | 重庆埃默科技有限责任公司 | A kind of flying object three-dimensional simulation positioning display method and system |
| CN109362228A (en) * | 2017-10-31 | 2019-02-19 | 深圳市大疆创新科技有限公司 | Unmanned vehicle, unmanned vehicle pedestal and unmanned vehicle system |
| CN109362228B (en) * | 2017-10-31 | 2022-04-26 | 深圳市大疆创新科技有限公司 | Unmanned vehicles, unmanned vehicles base and unmanned vehicles system |
| CN109814588A (en) * | 2017-11-20 | 2019-05-28 | 深圳富泰宏精密工业有限公司 | Aircraft and object tracing system and method applied to aircraft |
| WO2020029084A1 (en) * | 2018-08-07 | 2020-02-13 | 北京小米移动软件有限公司 | Information transmission method and device |
| CN109697776A (en) * | 2018-12-24 | 2019-04-30 | 绿瘦健康产业集团有限公司 | A kind of intelligent control method, device, equipment and the medium of unmanned gymnasium |
| WO2020143676A1 (en) * | 2019-01-08 | 2020-07-16 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle data processing method and apparatus, device and storage medium |
| WO2021098453A1 (en) * | 2019-11-20 | 2021-05-27 | 深圳市道通智能航空技术股份有限公司 | Target tracking method and unmanned aerial vehicle |
| CN111457895A (en) * | 2020-03-31 | 2020-07-28 | 彩虹无人机科技有限公司 | Target size calculation and display method for photoelectric load of unmanned aerial vehicle |
| CN111457895B (en) * | 2020-03-31 | 2022-04-22 | 彩虹无人机科技有限公司 | Target size calculation and display method for photoelectric load of unmanned aerial vehicle |
| CN114096931A (en) * | 2020-04-27 | 2022-02-25 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102156481B (en) | 2013-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102156481B (en) | Intelligent tracking control method and system for unmanned aircraft | |
| US11086324B2 (en) | Structure from motion (SfM) processing for unmanned aerial vehicle (UAV) | |
| CN110446159B (en) | System and method for accurate positioning and autonomous navigation of indoor unmanned aerial vehicle | |
| US11604479B2 (en) | Methods and system for vision-based landing | |
| EP3077879B1 (en) | Imaging method and apparatus | |
| CN105182992A (en) | Unmanned aerial vehicle control method and device | |
| CN112130579A (en) | Tunnel unmanned aerial vehicle inspection method and system | |
| CN108227751A (en) | The landing method and system of a kind of unmanned plane | |
| CN105245846A (en) | Multi-unmanned aerial vehicle cooperative tracking type shooting system and shooting method | |
| KR101692709B1 (en) | Digital Mapping imaging system using drones | |
| EP3077880B1 (en) | Imaging method and apparatus | |
| CN112162565B (en) | Uninterrupted self-main-pole tower inspection method based on multi-machine collaborative operation | |
| CN105182319A (en) | Target positioning system and target positioning method based on radio frequency and binocular vision | |
| CN110879617A (en) | Infrared-guided unmanned aerial vehicle landing method and device | |
| EP3077760A1 (en) | Payload delivery | |
| CN105388908A (en) | Machine vision-based unmanned aerial vehicle positioned landing method and system | |
| CN113156998A (en) | Unmanned aerial vehicle flight control system and control method | |
| Kwak et al. | Emerging ICT UAV applications and services: Design of surveillance UAVs | |
| CN112422927A (en) | Real-time combination method and system for unmanned aerial vehicle shooting video and map | |
| CN112344930A (en) | Indoor positioning navigation system for unmanned aerial vehicle | |
| CN106708081A (en) | Control system for multi-rotor unmanned aerial vehicle | |
| CN113063401A (en) | Unmanned aerial vehicle aerial survey system | |
| KR101349380B1 (en) | Air shooting system for processing image with photograph and edit shooting image | |
| KR101342633B1 (en) | Video geographic information management system based on division of screen using time series orthophotograph | |
| CN113311855B (en) | Aircraft monitoring method and device, computer storage medium and computer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 Termination date: 20210124 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |