CN104828256A - Intelligent multi-mode flying shooting equipment and flying control method thereof - Google Patents
Intelligent multi-mode flying shooting equipment and flying control method thereof Download PDFInfo
- Publication number
- CN104828256A CN104828256A CN201510198727.XA CN201510198727A CN104828256A CN 104828256 A CN104828256 A CN 104828256A CN 201510198727 A CN201510198727 A CN 201510198727A CN 104828256 A CN104828256 A CN 104828256A
- Authority
- CN
- China
- Prior art keywords
- shooting
- strategy
- capture apparatus
- flight
- control
- 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
- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000009471 action Effects 0.000 claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 19
- 230000001143 conditioned effect Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 20
- 238000005516 engineering process Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 235000007926 Craterellus fallax Nutrition 0.000 description 3
- 240000007175 Datura inoxia Species 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 239000002002 slurry Substances 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002301 combined effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000037023 motor activity Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- G05D1/12—Target-seeking control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses intelligent multi-mode flying shooting equipment and a flying control method thereof, and belongs to the technical field of aviation. The flying shooting equipment comprises a rack, a flying mechanism, a shooting device and a control mechanism; the control mechanism also comprises an automatic tracking module, a shooting action setting module and a shooting strategy setting module, wherein the automatic tracking module is used for recognizing a target object, and realizing track tracing and follow shooting in allusion to the target object; the shooting action setting module is used for predefining at least one shooting action of the flying shooting equipment; the shooting strategy setting module is used for setting a corresponding shooting strategy according to the preset condition of the target object, and executing a corresponding shooting action when the preset condition is met. According to the intelligent multi-mode flying shooting equipment and the flying control method thereof disclosed by the invention, on the technological base of the traditional automatic follow shooting on the target object, intelligent situational shooting is completed with a rich shooting mode; under the condition that artificial control is not needed completely, a shooting effect with a lens sense and a shocking effect can be generated.
Description
Technical field
The present invention relates to aviation and automatic control technology field, be specifically related to a kind of intelligent multi-control flight capture apparatus and flight control method thereof.
Background technology
Unmanned plane Aerial photography, demonstration flight, take precautions against natural calamities recover, there is wide application in the field such as scientific investigation.Along with the develop rapidly of Eltec, small-sized, Micro Aerial Vehicle has had obvious breakthrough in Remote, cruise duration, flight quality, becomes the General Aviation field focus of rising in recent years, is generally considered and has good development prospect.
The Chinese invention patent application that application number is 201310059457.5, denomination of invention is " a kind of unmanned plane dynamic target tracking of view-based access control model and localization method " discloses a kind of unmanned plane dynamic target tracking and localization method of view-based access control model, described method comprises video processing, carries out detection and the image trace of dynamic object; The Cloud Terrace servocontrol; Set up the corresponding relation of target in target and actual environment in image, measure the distance between pick up camera and dynamic object further, complete the accurate location of dynamic object; System for flight control computer independently follows the tracks of ground dynamic object flight.The present invention completes detection to moving target, image trace, automatic deflection optical axis, dynamic object is made to be presented on imaging plane central authorities all the time, the distance between unmanned plane and dynamic object is measured in real time according to the model set up in the basis obtaining unmanned plane elevation information, thus the location realized dynamic object, in this, as feedback signal, form closed loop control, guide the tracking flight of unmanned plane.But the present invention can only realize to object from motion tracking, can not complete on the basis from motion tracking and the intelligence of object is taken.
The Chinese invention patent application that application number is 201410076366.7, denomination of invention is " a kind of no-manned plane three-dimensional aerial photography tree survey method " discloses a kind of no-manned plane three-dimensional aerial photography tree survey method.Adopt many rotor wing unmanned aerial vehicles as remote sensing platform, integrate 3D digital camera, differential GPS and gyropanel, utilize digital photography, obtain high ground resolution, the unmanned remote sensing image in large-scale low latitude, the image data realizing obtaining is by force ageing, and resolution is high.But the present invention just takes for fixing object, can not complete equally and take the intelligence of object.
Existing flight capture apparatus can pass through the combination such as remote sensing technology, automatic positioning technology, realize automatically track target object, and carry out the function continuing shooting, but the effect of automatic tracing object is single in prior art, general is exactly in the preset height of wide object and angle, carry out continuing take according to the moving velocity suitable with target, the video display effect that obtains of shooting is single, shocking weak like this.
Summary of the invention
Goal of the invention of the present invention is to provide a kind of intelligent multi-control flight capture apparatus and flight control method thereof, for the problems referred to above, in tradition automatically with clapping in the technical foundation of object, the shooting of intelligent scene type is completed with abundant screening-mode, without the need to carrying out manual control to object, the shooting achievement with camera lens sense, shock effect just can be generated.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of intelligent multi-control flight capture apparatus, described flight capture apparatus comprises frame, aviation mechanism, filming apparatus and control mechanism, and described control mechanism also comprises automatic tracking module, shooting action arranges module and shooting strategy setting module,
Wherein, described automatic tracking module is by described filming apparatus identification object, and the motion track according to described object realizes tracks tracing, track shot;
Described shooting action arranges at least one shooting action that module predefines described flight capture apparatus;
Described shooting strategy setting module takes strategy accordingly according to pre-conditioned setting of described object, meet described pre-conditioned time, perform corresponding described shooting action.
Further, the shooting action that described shooting action arranges module installation comprises the combination of flare maneuver and/or The Cloud Terrace action and/or flare maneuver and The Cloud Terrace action.
Further, the shooting strategy that described shooting strategy setting module is arranged comprises scene strategy and/or time parameter method.
Further, described flight capture apparatus also comprises arbitration mechanism execution module, is applicable to, when described scene strategy and described time parameter method meet executive condition simultaneously, judge current shooting action by described arbitration mechanism execution module.
According to a further aspect in the invention, additionally provide the flight control method of a kind of intelligent multi-control flight capture apparatus, comprise the following steps:
Step (1), by being installed on the filming apparatus captured target object on described flight capture apparatus;
Step (2), when performing basic screening-mode after the success of captured target object, and start that real-time judge is whether satisfied takes strategy accordingly; If met, then perform downwards; Otherwise, continue to perform described basic screening-mode;
Step (3), control described flight capture apparatus perform described shooting strategy corresponding shooting action.
Further, described shooting strategy comprises scene strategy, pre-conditioned using the scene characteristic of described object as described scene strategy, when meeting a certain scene characteristic, described flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
Further, described default shooting strategy comprises time parameter method, namely based on the time shaft preset, arranges corresponding shooting action.
Further, also comprising arbitration mechanism and perform step, namely when described scene strategy and described time parameter method meet executive condition simultaneously, judging current shooting action by performing arbitration mechanism.
Further, described arbitration mechanism preferentially performs the current shooting strategy performed.
Further, described shooting action comprises the combination of flare maneuver and/or The Cloud Terrace action and/or flare maneuver and The Cloud Terrace action.
The invention discloses a kind of intelligent multi-control flight capture apparatus and flight control method thereof, in the technical foundation of traditional auto-tracking shooting object, increase the screening-mode compared with horn of plenty, introduce and there is regular shooting action and shooting strategy, without any need for manual operation, intelligence shooting the video achievement with camera lens sense, shock effect can be obtained.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, clearly understand in order to technological means of the present invention can be made, reach the degree that those skilled in the art can be implemented according to the content of specification sheets, and in order to above and other objects of the present invention, feature and advantage can be allowed to become apparent, be illustrated with the specific embodiment of the present invention below.
Accompanying drawing explanation
By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Figure of description only for illustrating the object of preferred implementation, and does not think limitation of the present invention.Apparently, accompanying drawing described below is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, represent identical parts by identical reference symbol.In the accompanying drawings:
Fig. 1 shows the intelligent multi-control flight capture apparatus structured flowchart according to the embodiment of the present invention one;
Fig. 2 shows the flight control method diagram of circuit of the intelligent multi-control flight capture apparatus according to the embodiment of the present invention two;
Fig. 3 shows the flight control method diagram of circuit of the intelligent multi-control flight capture apparatus according to the embodiment of the present invention three.
Detailed description of the invention
In more detail specific embodiments of the invention are described below with reference to accompanying drawings.Although show specific embodiments of the invention in accompanying drawing, however should be appreciated that can realize the present invention in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the present invention can be understood, and complete for scope of the present invention can be conveyed to those skilled in the art.
It should be noted that, in the middle of specification sheets and claim, employ some vocabulary to censure specific components.Those skilled in the art should be appreciated that hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of noun the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " or " comprising " as mentioned in the middle of specification sheets and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to ".Specification sheets subsequent descriptions is for implementing better embodiment of the present invention, and right described description is for the purpose of the rule of specification sheets, and is not used to limit scope of the present invention.Protection scope of the present invention is when being as the criterion depending on the claims person of defining.
For ease of the understanding to the embodiment of the present invention, be further explained explanation below in conjunction with accompanying drawing for several specific embodiment, and each accompanying drawing does not form the restriction to the embodiment of the present invention.
Before the embodiment of the present invention is described in detail, first a description is carried out to the intelligent multi-control flight capture apparatus in the present invention.
Flight capture apparatus of the present invention is described for unmanned plane, and robot airplane is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the process controller provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.
In the embodiment of the present invention, preferred unmanned plane is many rotor wing unmanned aerial vehicles (or being called multi-rotor aerocraft), can be four rotors, six rotors and rotor quantity is greater than six and is the unmanned plane of even number, described many rotor wing unmanned aerial vehicles comprise in rectangular fleetline fuselage, fuselage is roughly rectangular structure, its corner and corner are flowing transition, to make air show as laminar flow when the surface of fuselage is flow through, thus reduce the resistance of many rotor wing unmanned aerial vehicles in flight course.Preferably, fuselage is made up of carbon fibre material, under the prerequisite meeting higher working strength and rigidity, significantly can alleviate the weight of fuselage, thus reduces the power demand of many rotor wing unmanned aerial vehicles and improve the manoevreability of many rotor wing unmanned aerial vehicles.Certainly, in other embodiments of the invention, fuselage can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple slurry arm be symmetric relative to the symmetrical plane in described fuselage, each slurry arm is provided with paddle components away from one end of described fuselage, described paddle components comprises the motor be arranged on described slurry arm and the blade be connected on the output shaft of described motor, and the rotation axis of every a slice blade is all positioned on the same face of cylinder.
Certainly, the explanation of described many rotor wing unmanned aerial vehicles is a simple declaration, specifically also comprises other composition components many, also also has other many kinds of unmanned plane types, all may be used for realizing object of the present invention, do not repeat them here.
But, from the development tendency of the manipulation convenience that demand and the user in consumer level market take for flight, the flight capture apparatus of technical solution of the present invention mainly refers to little, miniature many rotor wing unmanned aerial vehicles, this unmanned plane is because volume is little, cost is low, flight stability is better, flight shooting cost is low, has captured the market of taking photo by plane of consumer level gradually.
Embodiment one, a kind of intelligent multi-control flight capture apparatus.
Fig. 1 is the intelligent multi-control flight capture apparatus structured flowchart of the embodiment of the present invention one, and composition graphs 1 is specifically described by the embodiment of the present invention.
As shown in Figure 1, embodiments provide a kind of intelligent multi-control flight capture apparatus, described flight capture apparatus comprises frame 101, aviation mechanism 105, filming apparatus 103 and control mechanism 104, described control mechanism 104 also comprises automatic tracking module 102, shooting action arranges module 106 and shooting strategy setting module 107, wherein:
Described automatic tracking module 102 identifies object by described filming apparatus 103, and the motion track according to described object realizes tracks tracing, track shot;
Described shooting action arranges at least one shooting action that module 106 predefines described flight capture apparatus;
Described shooting strategy setting module 107 takes strategy accordingly according to pre-conditioned setting of described object, meet described pre-conditioned time, perform corresponding described shooting action.
Preferred in the embodiment of the present invention, described flight capture apparatus is unmanned plane, and described unmanned plane is multi-rotor aerocraft, is particularly useful for small-sized, Miniature multi-rotor aircraft.
Preferred in the embodiment of the present invention, described aviation mechanism 105 comprises electronic governor, motor and screw propeller, the mouth of described electronic governor connects described motor, and described screw propeller is connected with described motor, and described in described electric machine control, screw propeller rotates with different rotating speeds.
Preferred in the embodiment of the present invention, described flight capture apparatus can also comprise cradle head mechanism, described filming apparatus 103 is arranged on described cradle head mechanism, thus the flexible motion of described filming apparatus 103 can be realized, instead of being fixed on described flight capture apparatus, wherein said cradle head mechanism comprises carry part, fixed support, motor, The Cloud Terrace frame, camera support and camera.
Be illustrated with four rotor wing unmanned aerial vehicles below, described four rotor wing unmanned aerial vehicles comprise frame, aviation mechanism, cradle head mechanism and control mechanism, frame stretches out four horns along its body, underpart is provided with foot rest, horn and foot rest all can be lightweight fixed sturcture or lightweight folding structure, aviation mechanism is arranged at the end of four horns, cradle head mechanism passes through carry bar carry in unmanned plane organism bottom, cradle head mechanism is provided with camera, cradle head mechanism is for regulating the shooting angle of camera optical axis and ground, control mechanism is for controlling unmanned plane during flying to specified altitude assignment and the upset of adjustment cradle head mechanism.This aviation mechanism comprises electronic governor, motor and screw propeller, and the mouth of electronic governor connects motor, and the bottom of screw propeller is provided with a Fast detachable unit, and screw propeller is connected with motor activity by this Fast detachable unit, and electric machine control screw propeller rotates with different rotating speeds.Described cradle head mechanism comprises carry part, fixed support, X-axis motor, The Cloud Terrace frame, camera support, y-axis motor and camera, one end of described carry part is provided with bayonet socket, carry part is sticked on carry bar by this bayonet socket, the other end and the fixed support of carry part are connected, support bracket fastened bottom is connected X-axis motor, the output shaft of X-axis motor is connected with The Cloud Terrace frame, and X-axis electric machine control The Cloud Terrace frame rotates; Described The Cloud Terrace frame is U-shaped structure, and one end of this The Cloud Terrace frame is fixed with y-axis motor, and the other end of The Cloud Terrace frame is symmetrically arranged with rotating shaft; Described camera support is also U-shaped structure, and one end of this camera support is connected with the output shaft of y-axis motor, and the other end of camera support is connected with rotating shaft, and y-axis motor controls camera support and rotates; Described camera is fixed on camera support.
Described cradle head mechanism also comprises gyroscope, X-axis electronic governor and Y-axis electronic governor, described gyrostatic input end is connected with described receiver, this gyroscope controls described X-axis electronic governor and the action of described Y-axis electronic governor respectively, described X-axis electronic governor connects described X-axis motor, and described Y-axis electronic governor connects described y-axis motor.
Preferred in the embodiment of the present invention, described control mechanism 104 also comprises master controller, battery, GPS navigator, IMU module (Inertial measurement unit, Inertial Measurement Unit) and receiver, the input end of described master controller is connected with the mouth of described GPS navigator, described IMU module respectively, the mouth of described master controller connects described electronic governor and described receiver, the mouth of described electronic governor connects described motor, the mouth of described receiver connects described gyroscope, and described battery is that unmanned plane action is powered.
Described frame, carry part, fixed support, The Cloud Terrace frame and camera support are carbon fibre materials, small in volume.
Can the current geographical location information of accurate feedback by the location of described GPS navigator, by described IMU module then accurate feedback angular rate and acceleration information, flight attitude information is then fed back by gyroscope, described master controller is according to above-mentioned feedback information, automatically X-axis motor and the y-axis motor of cradle head mechanism is driven in conjunction with the strategy preset, thus control camera moves in X, Y both direction, the shooting angle of camera optical axis and Earth Surface can be adjusted automatically according to anticipation, realize the various shooting action wanted.
Described camera is Canon S120 digital camera.
Preferred in the embodiment of the present invention, described shooting action comprises the combination of flare maneuver and/or The Cloud Terrace action and/or flare maneuver and The Cloud Terrace action.
Concrete, described flare maneuver, namely by the control to described flight capture apparatus, realize the regulation flare maneuver that presets, upwards fly while such as comprising surrounding target object circumaviate, the object that follows the trail of the objective, fly downwards while the object that follows the trail of the objective, follow the trail of the objective while to while flight on the left of self, the object that follows the trail of the objective to flying on the right side of self; Described The Cloud Terrace action, namely realizes the The Cloud Terrace action preset by signal control, such as The Cloud Terrace adjusts shooting angle, The Cloud Terrace upward and adjusts shooting angle, The Cloud Terrace downwards to adjusting shooting angle, The Cloud Terrace on the left of self to adjusting shooting angle etc. on the right side of self; The combination of described flare maneuver and The Cloud Terrace action, namely by while the control realization flare maneuver to described flight capture apparatus, The Cloud Terrace completes the action preset simultaneously, and both coordinate jointly, completes specific shooting effect.
Such as, when controlling described flight capture apparatus surrounding target object circumaviate, cradle head mechanism remains the steady shot to object; Again such as, control while described flight capture apparatus upwards flies, cradle head mechanism is to adjusting shooting angle, rotating 360 degrees on the left of self; For another example, the direction that described flight capture apparatus advances towards target can also be controlled, overshoot object.
Utilize the combination of above-mentioned flare maneuver and/or The Cloud Terrace action, just can realize some specific scene type shoot functions.
If be basic screening-mode by following the trail of the mode-definition of taking of flying, described basic screening-mode can be the screening-mode of the object of automatically track target described in background technology, and the signal source that can also carry according to object realizes signal tracing etc.So, the function around object flight shooting can be defined as around shooting contextual model; The function that rotating 360 degrees is taken can be defined as pan-shot contextual model; In addition, can also have the combination of more flare maneuvers and The Cloud Terrace action, such as limit rising edge follows the trail of the objective object shooting, and such as wigwag motion shooting, such as fly overshoot object, photographic subjects object front etc.
In another embodiment of the present invention, described The Cloud Terrace action not necessarily.In fact, when simplifying for some, such as in order to reduce equipment cost, part of functions can be sacrificed.The capture apparatus that such as flies does not arrange The Cloud Terrace, and filming apparatus adopts basic fixing mode, is fixed on described flight capture apparatus, now, by the control of flight capture apparatus flare maneuver, can complete abundant shooting task equally.Track up, zoom out the shooting that furthers, around shooting, around front shooting etc., all can be realized equally by the control of flying speed, flying height, heading etc. to described flight capture apparatus.
Preferred in the embodiment of the present invention, the shooting strategy that described shooting strategy setting module is arranged comprises scene strategy and/or time parameter method.
Preferred in the embodiment of the present invention, described flight capture apparatus also comprises arbitration mechanism execution module, is applicable to, when described scene strategy and described time parameter method meet executive condition simultaneously, judge current shooting action by described arbitration mechanism execution module.
Described four rotor wing unmanned aerial vehicles are above further described with concrete example, but example is here only easier to understand in order to illustrate, instead of for limiting Applicable scope of the present invention.
The flight control method of embodiment two, intelligent multi-control flight capture apparatus.
Unmanned plane is used for taking photo by plane and has found broad application, have the unmanned plane that tracking target object carries out taking at present, its cardinal principle make use of visual pursuit system, judged by filming apparatus and identify object, filming apparatus described here can be camera, also can be camera, then according to the motion track identifying object, realize tracks tracing, track shot.In addition, also have a lot of other to select for realizing from the technology of motion tracking, such as at tracked object signalization projector with it, the signal that unmanned plane sends according to this signal transmitter carries out target tracking etc.But existing tracking chases after bat technology, only pay close attention to object and do not lose, no matter target how to move, and angle of taking photo by plane relatively is fixed substantially.Such mode is taken photo by plane, and its effect of the shot film finally obtained is single, shortage presence.
In fact, if not the technique for taking adopted from motion tracking, prior art also mainly realizes shooting process by artificial remotely pilotless machine, this remote control process had both comprised the flight line of unmanned plane, also the shooting angle of picture pick-up device on unmanned plane is comprised, rely on experienced manipulator, can realize ground cannot be taken the angle and combined effect that obtain.
Above-mentioned two kinds of mode Problems existing are, these two kinds of styles of shooting respectively have its feature, and the artistic feeling of automatically following the convenience of clapping and science and technology sense and artificial controlled to clap and alerting ability can not get both.
Fig. 2 is the flight control method diagram of circuit of the intelligent multi-control flight capture apparatus of the embodiment of the present invention two, comprises the following steps:
Step S201: by being installed on the filming apparatus captured target object on described flight capture apparatus;
Step S202: judge that whether captured target object is successful; If success, then perform next step; Otherwise, jump to step S206;
Step S203: when performing basic screening-mode after the success of captured target object;
Step S204: whether real-time judge meets is taken strategy accordingly; If met, then perform downwards; Otherwise, jump back to step S203;
Step S205: control the corresponding shooting action that described flight capture apparatus performs described shooting strategy;
Step S206: terminate.
Preferred in the embodiment of the present invention, described shooting strategy comprises scene strategy, that is, using pre-conditioned as described scene strategy of the scene characteristic of described object, when meeting a certain scene characteristic, described flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
Preferred in the embodiment of the present invention, described scene characteristic can comprise the moving velocity of object, moving direction, translational acceleration, obstacle situation and/or object quantity etc.
Preferred in the embodiment of the present invention, described shooting strategy comprises time parameter method, namely based on the time shaft preset, arranges corresponding shooting action.
Except being used alone above-mentioned two kinds of shooting strategies, above-mentioned two kinds of shooting strategies can also be combined, now, also should comprise an arbitration mechanism, namely, when described scene strategy and described time parameter method meet executive condition simultaneously, current shooting action is judged by performing arbitration mechanism.
Preferred in the embodiment of the present invention, described arbitration mechanism preferentially performs the current shooting strategy performed.Certainly, in other embodiments, the described scene strategy of preferential execution or time parameter method also can be set.
The shooting of contextual model described in the embodiment of the present invention one both can be the pre-designed shooting strategy based on time shaft, and also can be that strategy is taken in the intellectuality carrying out judging according to the particular case of object, be also scene strategy.
About the time parameter method implemented according to time shaft, be exemplified below:
Such as pre-designed, under basic screening-mode, follow the trail of flight shooting after 5 seconds, perform 10 seconds around shooting, then continue to follow the trail of flight shooting 5 seconds, then perform 2 seconds wave shooting, then continue to follow the trail of flight shooting 3 seconds, then perform pan-shot, make a return voyage after completing pan-shot.
Taking strategy about intellectuality is also described scene strategy, is exemplified below:
Using the moving velocity of object, environmental aspect etc. as condition, can preset corresponding shooting strategy, flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
Such as:
Under basic screening-mode, perform automatic tracing object and the task of shooting, flying speed and object moving velocity match, and flying height is 5 meters;
When object moving velocity is at more than 5m/s, perform basic screening-mode, namely follow the trail of flight shooting;
When object moving velocity is within the scope of 3-5m/s, and when continuing more than 5 seconds, perform flight overshoot, and control The Cloud Terrace and remain " clapping positive face " pattern to object;
When object stops mobile maintenance more than 3 seconds, perform once around shooting;
When after the shooting completing 5 not substantially screening-modes, perform order of making a return voyage.
By adjusting the design parameter of above-mentioned shooting strategy, different intellectuality shootings can be realized, the simplest, only just basic screening-mode and the combination around pattern also can allow dull uninteresting track up effect improve to become one and have " sheet " that enrich bandwagon effect.
Such as, only need flight capture apparatus to be simply set to the track up performing basic screening-mode, after target stops mobile 5 seconds, implement around shooting, the mode of operation of then making a return voyage.Then user allows flight capture apparatus start flight shooting, user only need complete and jog 1 minute afterwards, approach trestle arrives at island, then stop motionless motion process, then the capture apparatus that flies can complete track up on the way automatically, and, after user arrives at island, carry out, around the effect of shooting, under the easiest condition, user can being helped to complete the shooting effect of design to user locus.
Again such as, when described unmanned plane detect to occur around the current object taken multiple with object similar individual time, be judged as entering group photo screening-mode, now adjusting focal length and shooting angle, shooting distance, complete group photo shooting.
Adjustable strategy and parameter, determine the intelligence degree of this flight capture apparatus, and user can use familiarity to determine freely according to it, has been simple direct shooting effect ingenious, or the full length shot shooting of specialty.No matter for the user of what type, the enjoyment of shooting therefrom fully can be experienced.
These predefined contextual models, have different shooting and present effect.If in the process following the trail of the objective shooting, be combined these sight screening-modes, just can be implemented in when coordinating without the need to professional, complete and there is the various user enriching shooting effect from shooting the video, greatly reduce shooting cost, and also improve experience.
Preferred in the embodiment of the present invention, the shooting strategy based on time shaft and the shooting strategy based on scene, can also be combined, and only needs to formulate suitable conflict ruling mechanism, just can realize coexisting of multiple strategy.In fact, mode the most common, is exactly there is conflict ruling mechanism, if ruling mechanism is effectively, then performs corresponding strategy according to ruling result, if ruling mechanism failure, then and the flight of the basic screening-mode of Predicated execution.
Although the shooting strategy that the embodiment of the present invention provides and shooting action are limited, relatively-stationary, in conjunction with the use of user and the situation of object, the consumption market with unlimited demand can be derived.
In a word, the embodiment of the present invention proposes a kind of method, on the basis of automatic tracking technology, propose the screening-mode increased compared with horn of plenty, by introducing, there is regular shooting action and shooting strategy, when complete without the need to artificially manipulating, also can realize splendid shooting effect.Once sense that object is within a schedule time (such as 5 seconds), does not have occurrence positions to convert, then proceeds to the pattern of surrounding target object rotary taking; Or when the moving velocity of induction targets object reduces by half, automatically proceed to the pattern around front shooting; So without the need to object manual control, the shooting effect with camera lens sense, shock effect just can be generated.
The flight control method of embodiment three, intelligent multi-control flight capture apparatus.
Fig. 3 is the flight control method diagram of circuit of the intelligent multi-control flight capture apparatus of the embodiment of the present invention three, comprises the following steps:
Step S301: start;
Step S302: camera captured target object;
Step S303: judge that whether captured target object is successful; If success, then enter next step; Otherwise, jump to step S315;
Step S304: obtain timing strategies, timer is set;
Step S305: described intelligent multi-control flight capture apparatus performs accompanying flying pattern;
Step S306: judge whether described flight capture apparatus triggers intelligent screening-mode; If so, then next step is entered; Otherwise, jump to step S311;
Step S307: judge whether the shooting action that will perform according to scene strategy conflicts mutually with the shooting action of the existing strategy performed; If there is conflict, then jump to step S309; Otherwise, enter next step;
Step S308: described flight capture apparatus performs the shooting action that scene strategy is preset;
Step S309: described flight capture apparatus performs arbitration mechanism;
Step S310: pre-set and preferably perform current strategies;
Step S311: judge whether timer triggers; If so, then next step is entered; Otherwise, jump to step 314;
Step S312: judge whether the time parameter method preset conflicts mutually with existing implementation strategy; If there is conflict, then jump back to step S309; Otherwise, enter next step;
Step S313: the shooting action that execution time strategy is preset;
Step S314: judge whether to terminate accompanying flying pattern; If so, then step S316 is jumped to; Otherwise, jump back to step S305 and continue to perform accompanying flying pattern;
Step S315: prompting catches unsuccessfully;
Step S316: terminate.
In the method flow diagram shown in Fig. 3, be divided into scene strategy (using the moving velocity of target, environmental aspect etc. as condition described shooting strategy, preset corresponding shooting strategy) and time parameter method (being predefined in the strategy that after performing accompanying flying pattern, set time point will perform), flight capture apparatus carrys out the execution of trigger scenario strategy in flight course by poll scene policy condition, carried out the execution of activation time strategy by timer.When a collision occurs (namely scene strategy and time parameter method at a time all meet executive condition), need to judge by performing arbitration mechanism.Client can meet oneself demand (as preferentially performed scene strategy or time parameter method, preferential perform current executed strategy etc.) by customizing resolving strategy.The current strategy performed of preferential execution is have employed exemplarily in Fig. 3.
In several embodiment provided by the present invention, should be understood that, disclosed equipment and method, can realize by another way.Such as, apparatus embodiments described above is only schematic, such as, the division of described module or unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed on multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be Personal Computer, server, or the network equipment etc.) or treater (processor) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only memory (ROM) (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
The present invention can bring these useful technique effects: intelligent multi-control flight capture apparatus and flight control method thereof disclosed in the embodiment of the present invention, on the basis of automatic tracking technology, preset shooting strategy and comprise scene strategy and time parameter method, by the moving velocity of described object, environmental aspect is pre-conditioned as described scene strategy, described flight capture apparatus implements shooting according to the countermeasures preset, described time parameter method arranges corresponding shooting action based on the time shaft preset, add the screening-mode compared with horn of plenty, by introducing, there is regular shooting action and shooting strategy, when complete without the need to artificially manipulating, also splendid shooting effect can be realized.
One of ordinary skill in the art will appreciate that: accompanying drawing is the schematic diagram of an embodiment, the module in accompanying drawing or flow process might not be that enforcement the present invention is necessary.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize specification sheets of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. an intelligent multi-control flight capture apparatus, described flight capture apparatus comprises frame, aviation mechanism, filming apparatus and control mechanism, it is characterized in that: described control mechanism also comprises automatic tracking module, shooting action arranges module and shooting strategy setting module
Wherein, described automatic tracking module identification object, realizes tracks tracing for described object, track shot;
Described shooting action arranges at least one shooting action that module predefines described flight capture apparatus;
Described shooting strategy setting module takes strategy accordingly according to pre-conditioned setting of described object, meet described pre-conditioned time, perform corresponding described shooting action.
2. intelligent multi-control according to claim 1 flight capture apparatus, is characterized in that: the described shooting action that described shooting action arranges module installation comprises the combination of flare maneuver and/or The Cloud Terrace action and/or flare maneuver and The Cloud Terrace action.
3. intelligent multi-control flight capture apparatus according to claim 1 and 2, is characterized in that: the shooting strategy that described shooting strategy setting module is arranged comprises scene strategy and/or time parameter method.
4. intelligent multi-control flight capture apparatus according to claim 3, it is characterized in that: described flight capture apparatus also comprises arbitration mechanism execution module, be applicable to, when described scene strategy and described time parameter method meet executive condition simultaneously, judge current shooting action by described arbitration mechanism execution module.
5. a flight control method for intelligent multi-control flight capture apparatus, comprises the following steps:
Step (1), by being installed on the filming apparatus captured target object on described flight capture apparatus;
Step (2), when performing basic screening-mode after the success of captured target object, and start that real-time judge is whether satisfied takes strategy accordingly; If met, then perform downwards; Otherwise, continue to perform described basic screening-mode;
Step (3), control described flight capture apparatus perform described shooting strategy corresponding shooting action.
6. the flight control method of intelligent multi-control flight capture apparatus according to claim 5, it is characterized in that: described shooting strategy comprises scene strategy, pre-conditioned using the scene characteristic of described object as described scene strategy, when meeting a certain scene characteristic, described flight capture apparatus implements corresponding shooting action according to the scene strategy preset.
7. the flight control method of the intelligent multi-control flight capture apparatus according to claim 5 or 6, is characterized in that: described shooting strategy comprises time parameter method, namely based on the time shaft preset, arranges corresponding shooting action.
8. the flight control method of intelligent multi-control flight capture apparatus according to claim 7, it is characterized in that: also comprise arbitration mechanism and perform step, namely, when described scene strategy and described time parameter method meet executive condition simultaneously, current shooting action is judged by performing arbitration mechanism.
9. the flight control method of intelligent multi-control flight capture apparatus according to claim 8, is characterized in that: described arbitration mechanism preferentially performs the current shooting strategy performed.
10. the flight control method of intelligent multi-control flight capture apparatus according to claim 5, is characterized in that: described shooting action comprises the combination of flare maneuver and/or The Cloud Terrace action and/or flare maneuver and The Cloud Terrace action.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510198727.XA CN104828256B (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
| CN201610836975.7A CN106155092A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
| CN201610838994.3A CN106292720A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510198727.XA CN104828256B (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838994.3A Division CN106292720A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
| CN201610836975.7A Division CN106155092A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104828256A true CN104828256A (en) | 2015-08-12 |
| CN104828256B CN104828256B (en) | 2016-09-28 |
Family
ID=53806542
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838994.3A Pending CN106292720A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
| CN201610836975.7A Pending CN106155092A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
| CN201510198727.XA Expired - Fee Related CN104828256B (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838994.3A Pending CN106292720A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
| CN201610836975.7A Pending CN106155092A (en) | 2015-04-21 | 2015-04-21 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106292720A (en) |
Cited By (46)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068554A (en) * | 2015-09-16 | 2015-11-18 | 唐山天乐智能科技有限公司 | Intelligent follow-up shooting flying equipment |
| CN105116859A (en) * | 2015-08-21 | 2015-12-02 | 杨珊珊 | UAV-based smart home system and method |
| CN105138126A (en) * | 2015-08-26 | 2015-12-09 | 小米科技有限责任公司 | Unmanned aerial vehicle shooting control method and device and electronic device |
| CN105204517A (en) * | 2015-09-24 | 2015-12-30 | 杨珊珊 | Personal service method and system for small and mini-type unmanned aerial vehicles |
| CN105204349A (en) * | 2015-08-19 | 2015-12-30 | 杨珊珊 | Unmanned aerial vehicle for intelligent household control and control method thereof |
| CN105391939A (en) * | 2015-11-04 | 2016-03-09 | 腾讯科技（深圳）有限公司 | Unmanned aerial vehicle shooting control method, device, unmanned aerial vehicle shooting method and unmanned aerial vehicle |
| CN105430261A (en) * | 2015-11-16 | 2016-03-23 | 杨珊珊 | Photographing method of unmanned aerial vehicle and photographing device of unmanned aerial vehicle |
| CN105549605A (en) * | 2015-12-16 | 2016-05-04 | 深圳市中航佳智能科技有限公司 | Object aiming flight method of unmanned plane |
| CN105759839A (en) * | 2016-03-01 | 2016-07-13 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle (UAV) visual tracking method, apparatus, and UAV |
| CN105938372A (en) * | 2016-06-03 | 2016-09-14 | 南京奇蛙智能科技有限公司 | Combined type wearable unmanned aerial vehicle controller |
| CN106184793A (en) * | 2016-08-29 | 2016-12-07 | 上海理工大学 | A kind of overlook image monitoring system in the air for automobile |
| CN106295695A (en) * | 2016-08-08 | 2017-01-04 | 中国民用航空总局第二研究所 | A kind of takeoff and landing process automatic tracing image pickup method and device |
| WO2017045145A1 (en) * | 2015-09-16 | 2017-03-23 | SZ DJI Technology Co., Ltd. | System and method for supporting photography with different effects |
| WO2017076240A1 (en) * | 2015-11-05 | 2017-05-11 | 丰唐物联技术（深圳）有限公司 | Smart flight device and security method thereof |
| CN106708070A (en) * | 2015-08-17 | 2017-05-24 | 深圳市道通智能航空技术有限公司 | Aerial photographing control method and apparatus |
| CN106791443A (en) * | 2017-01-24 | 2017-05-31 | 上海瞬动科技有限公司合肥分公司 | A kind of unmanned plane photographic method |
| CN106814742A (en) * | 2016-12-29 | 2017-06-09 | 湖南创动智能科技有限公司 | A kind of control method of unmanned plane, control device and unmanned plane |
| CN107000839A (en) * | 2016-12-01 | 2017-08-01 | 深圳市大疆创新科技有限公司 | The control method of unmanned plane, device, the control system of equipment and unmanned plane |
| CN107071285A (en) * | 2017-05-16 | 2017-08-18 | 广东交通职业技术学院 | One kind is with shooting method, memory and unmanned plane with clapping device |
| CN107087427A (en) * | 2016-11-30 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Control method, device and the equipment and aircraft of aircraft |
| WO2017166725A1 (en) * | 2016-03-30 | 2017-10-05 | 乐视控股（北京）有限公司 | Photographing control method, device, and system |
| CN107305374A (en) * | 2016-04-22 | 2017-10-31 | 优利科技有限公司 | Unmanned plane system |
| CN107450573A (en) * | 2016-11-17 | 2017-12-08 | 广州亿航智能技术有限公司 | Flight shoot control system and method, intelligent mobile communication terminal, aircraft |
| CN107539477A (en) * | 2016-06-23 | 2018-01-05 | 卡西欧计算机株式会社 | Camera device, image capture method and recording medium |
| CN107765709A (en) * | 2016-08-22 | 2018-03-06 | 广州亿航智能技术有限公司 | The method and device of self-timer is realized based on aircraft |
| WO2018072063A1 (en) * | 2016-10-17 | 2018-04-26 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling flight of aircraft, and aircraft |
| CN108153325A (en) * | 2017-11-13 | 2018-06-12 | 上海顺砾智能科技有限公司 | The control method and device of Intelligent unattended machine |
| CN108351649A (en) * | 2015-09-15 | 2018-07-31 | 深圳市大疆创新科技有限公司 | System and method for UAV interactive instructions and control |
| CN108475074A (en) * | 2017-04-10 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Holder follow-up control method and control device |
| CN108521866A (en) * | 2017-12-29 | 2018-09-11 | 深圳市大疆创新科技有限公司 | A kind of video acquiring method, control terminal, aircraft and system |
| WO2018178756A1 (en) * | 2017-03-31 | 2018-10-04 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for providing autonomous photography and videography |
| CN108645403A (en) * | 2018-05-15 | 2018-10-12 | 中国人民解放军海军工程大学 | A kind of unmanned plane based on satellite navigation and attitude measurement is automatically with shooting system |
| CN108683840A (en) * | 2018-03-28 | 2018-10-19 | 深圳臻迪信息技术有限公司 | Filming control method, image pickup method and unmanned machine end |
| WO2018205104A1 (en) * | 2017-05-08 | 2018-11-15 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle capture control method, unmanned aerial vehicle capturing method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle |
| CN108965689A (en) * | 2017-05-27 | 2018-12-07 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane image pickup method and device, unmanned plane and ground control unit |
| CN109238240A (en) * | 2018-10-22 | 2019-01-18 | 武汉大势智慧科技有限公司 | A kind of unmanned plane oblique photograph method that taking landform into account and its camera chain |
| CN109828274A (en) * | 2019-01-07 | 2019-05-31 | 深圳市道通智能航空技术有限公司 | Adjust the method, apparatus and unmanned plane of the main detection direction of airborne radar |
| CN110077593A (en) * | 2019-04-25 | 2019-08-02 | 苏州臻迪智能科技有限公司 | With the unmanned vehicle for showing imaging function in distal flat surface |
| TWI669000B (en) * | 2017-06-30 | 2019-08-11 | 國立政治大學 | Multi-axis aerial camera self-timer mode control method |
| CN110336939A (en) * | 2019-05-29 | 2019-10-15 | 努比亚技术有限公司 | A kind of method for snap control, wearable device and computer readable storage medium |
| WO2019210462A1 (en) * | 2018-05-02 | 2019-11-07 | 深圳市大疆创新科技有限公司 | Pan and tilt head shooting method, pan and tilt head shooting system, and recording medium |
| US10587790B2 (en) | 2015-11-04 | 2020-03-10 | Tencent Technology (Shenzhen) Company Limited | Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle |
| CN111316636A (en) * | 2019-03-27 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Rotary shooting method, control device, movable platform and storage medium |
| CN111355893A (en) * | 2020-03-31 | 2020-06-30 | 广东利元亨智能装备股份有限公司 | Flying shooting control method and system |
| WO2021168678A1 (en) * | 2020-02-26 | 2021-09-02 | 深圳市大疆创新科技有限公司 | Path planning method, tracking device, storage medium, and computer program product |
| CN114697554A (en) * | 2022-04-01 | 2022-07-01 | 深圳互酷科技有限公司 | Unmanned aerial vehicle shooting method and system, terminal device and storage medium |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108632524B (en) * | 2017-03-22 | 2020-08-07 | 刘丽娜 | Cloud deck control method and cloud deck system |
| WO2018214075A1 (en) * | 2017-05-24 | 2018-11-29 | 深圳市大疆创新科技有限公司 | Video image generation method and device |
| CN107817813B (en) * | 2017-11-07 | 2021-06-22 | 苏州九号电子科技有限公司 | Unmanned aerial vehicle shooting control method and device |
| WO2019119434A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Information processing method, unmanned aerial vehicle, remote control apparatus, and non-volatile storage medium |
| CN108196572B (en) * | 2017-12-28 | 2023-07-25 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle tracking flight control method, unmanned aerial vehicle and unmanned aerial vehicle tracking flight control system |
| CN108255198B (en) * | 2017-12-28 | 2023-04-28 | 广州亿航智能技术有限公司 | Shooting cradle head control system and control method under unmanned aerial vehicle flight state |
| WO2019227352A1 (en) * | 2018-05-30 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Flight control method and aircraft |
| WO2020019193A1 (en) * | 2018-07-25 | 2020-01-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and system, and unmanned aerial vehicle |
| CN111247791B (en) * | 2019-01-30 | 2021-10-26 | 深圳市大疆创新科技有限公司 | Load control method and device and control equipment |
| CN110110804B (en) * | 2019-05-15 | 2021-06-25 | 上海飞机客户服务有限公司 | Flight control system residual life prediction method based on CNN and LSTM |
| CN112217983A (en) * | 2019-07-09 | 2021-01-12 | 北京小米移动软件有限公司 | Method and device for acquiring image |
| CN110312078B (en) * | 2019-08-02 | 2021-06-29 | 睿魔智能科技（深圳）有限公司 | Automatic surrounding target shooting method and system |
| CN113784050B (en) * | 2021-09-17 | 2023-12-12 | 深圳市道通智能航空技术股份有限公司 | Image acquisition method and device, aircraft and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201235938Y (en) * | 2008-07-04 | 2009-05-13 | 中国船舶重工集团公司第七一七研究所 | Machine-carried visible light image apparatus |
| US8140200B2 (en) * | 2006-11-09 | 2012-03-20 | Insitu, Inc. | Turret assemblies for small aerial platforms, including unmanned aircraft, and associated methods |
| CN103149939A (en) * | 2013-02-26 | 2013-06-12 | 北京航空航天大学 | Dynamic target tracking and positioning method of unmanned plane based on vision |
| CN103395497A (en) * | 2013-08-14 | 2013-11-20 | 武汉华中天经光电系统有限公司 | Small-sized shooting gondola for unmanned aerial vehicle |
| CN103795918A (en) * | 2013-11-29 | 2014-05-14 | 深圳市中兴移动通信有限公司 | Shooting method and shooting device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8718838B2 (en) * | 2007-12-14 | 2014-05-06 | The Boeing Company | System and methods for autonomous tracking and surveillance |
| CN102809969A (en) * | 2011-06-03 | 2012-12-05 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle control system and method |
| CN104156901A (en) * | 2014-08-01 | 2014-11-19 | 江苏恒创软件有限公司 | People searching and basic material conveying method based on unmanned aerial vehicle in special environment |
| 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 |
-
2015
- 2015-04-21 CN CN201610838994.3A patent/CN106292720A/en active Pending
- 2015-04-21 CN CN201610836975.7A patent/CN106155092A/en active Pending
- 2015-04-21 CN CN201510198727.XA patent/CN104828256B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8140200B2 (en) * | 2006-11-09 | 2012-03-20 | Insitu, Inc. | Turret assemblies for small aerial platforms, including unmanned aircraft, and associated methods |
| CN201235938Y (en) * | 2008-07-04 | 2009-05-13 | 中国船舶重工集团公司第七一七研究所 | Machine-carried visible light image apparatus |
| CN103149939A (en) * | 2013-02-26 | 2013-06-12 | 北京航空航天大学 | Dynamic target tracking and positioning method of unmanned plane based on vision |
| CN103395497A (en) * | 2013-08-14 | 2013-11-20 | 武汉华中天经光电系统有限公司 | Small-sized shooting gondola for unmanned aerial vehicle |
| CN103795918A (en) * | 2013-11-29 | 2014-05-14 | 深圳市中兴移动通信有限公司 | Shooting method and shooting device |
Cited By (86)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106708070A (en) * | 2015-08-17 | 2017-05-24 | 深圳市道通智能航空技术有限公司 | Aerial photographing control method and apparatus |
| CN105204349A (en) * | 2015-08-19 | 2015-12-30 | 杨珊珊 | Unmanned aerial vehicle for intelligent household control and control method thereof |
| CN105204349B (en) * | 2015-08-19 | 2017-11-07 | 杨珊珊 | A kind of unmanned vehicle and its control method for Intelligent housing |
| CN105116859A (en) * | 2015-08-21 | 2015-12-02 | 杨珊珊 | UAV-based smart home system and method |
| CN105116859B (en) * | 2015-08-21 | 2018-01-16 | 杨珊珊 | A kind of intelligent domestic system realized using unmanned vehicle and method |
| RU2679199C1 (en) * | 2015-08-26 | 2019-02-06 | Сяоми Инк. | Method and device for controlling photoshoot of unmanned aircraft |
| CN105138126A (en) * | 2015-08-26 | 2015-12-09 | 小米科技有限责任公司 | Unmanned aerial vehicle shooting control method and device and electronic device |
| CN105138126B (en) * | 2015-08-26 | 2018-04-13 | 小米科技有限责任公司 | Filming control method and device, the electronic equipment of unmanned plane |
| US20170064181A1 (en) * | 2015-08-26 | 2017-03-02 | Xiaomi Inc. | Method and apparatus for controlling photography of unmanned aerial vehicle |
| WO2017032126A1 (en) * | 2015-08-26 | 2017-03-02 | 小米科技有限责任公司 | Unmanned aerial vehicle photographing control method and apparatus, and electronic device |
| US11635775B2 (en) | 2015-09-15 | 2023-04-25 | SZ DJI Technology Co., Ltd. | Systems and methods for UAV interactive instructions and control |
| CN108351649B (en) * | 2015-09-15 | 2022-03-18 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling a movable object |
| US10928838B2 (en) | 2015-09-15 | 2021-02-23 | SZ DJI Technology Co., Ltd. | Method and device of determining position of target, tracking device and tracking system |
| CN108351649A (en) * | 2015-09-15 | 2018-07-31 | 深圳市大疆创新科技有限公司 | System and method for UAV interactive instructions and control |
| US10976753B2 (en) | 2015-09-15 | 2021-04-13 | SZ DJI Technology Co., Ltd. | System and method for supporting smooth target following |
| CN105068554A (en) * | 2015-09-16 | 2015-11-18 | 唐山天乐智能科技有限公司 | Intelligent follow-up shooting flying equipment |
| US10104300B2 (en) | 2015-09-16 | 2018-10-16 | Sz Dji Osmo Technology Co., Ltd. | System and method for supporting photography with different effects |
| WO2017045145A1 (en) * | 2015-09-16 | 2017-03-23 | SZ DJI Technology Co., Ltd. | System and method for supporting photography with different effects |
| CN107208836A (en) * | 2015-09-16 | 2017-09-26 | 深圳市大疆创新科技有限公司 | System and method for supporting the photography with different-effect |
| CN110427020A (en) * | 2015-09-16 | 2019-11-08 | 深圳市大疆灵眸科技有限公司 | System and method for supporting the photography with different-effect |
| CN107208836B (en) * | 2015-09-16 | 2019-09-06 | 深圳市大疆灵眸科技有限公司 | System and method for supporting the photography with different-effect |
| CN105068554B (en) * | 2015-09-16 | 2018-11-06 | 近易（上海）信息科技有限公司 | Intelligent track shot flight equipment |
| CN105204517A (en) * | 2015-09-24 | 2015-12-30 | 杨珊珊 | Personal service method and system for small and mini-type unmanned aerial vehicles |
| CN105391939B (en) * | 2015-11-04 | 2017-09-29 | 腾讯科技（深圳）有限公司 | Unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane |
| US10863073B2 (en) | 2015-11-04 | 2020-12-08 | Tencent Technology (Shenzhen) Company Limited | Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle |
| US10674062B2 (en) | 2015-11-04 | 2020-06-02 | Tencent Technology (Shenzhen) Company Limited | Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle |
| US10623621B2 (en) | 2015-11-04 | 2020-04-14 | Tencent Technology (Shenzhen) Company Limited | Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle |
| US10587790B2 (en) | 2015-11-04 | 2020-03-10 | Tencent Technology (Shenzhen) Company Limited | Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle |
| CN105391939A (en) * | 2015-11-04 | 2016-03-09 | 腾讯科技（深圳）有限公司 | Unmanned aerial vehicle shooting control method, device, unmanned aerial vehicle shooting method and unmanned aerial vehicle |
| CN106686340A (en) * | 2015-11-05 | 2017-05-17 | 丰唐物联技术（深圳）有限公司 | Intelligent flight device based security protection method and intelligent flight device |
| WO2017076240A1 (en) * | 2015-11-05 | 2017-05-11 | 丰唐物联技术（深圳）有限公司 | Smart flight device and security method thereof |
| CN105430261A (en) * | 2015-11-16 | 2016-03-23 | 杨珊珊 | Photographing method of unmanned aerial vehicle and photographing device of unmanned aerial vehicle |
| CN105549605B (en) * | 2015-12-16 | 2018-08-17 | 深圳市中航佳智能科技有限公司 | A method of it is winged to realize that unmanned plane is stared at |
| CN105549605A (en) * | 2015-12-16 | 2016-05-04 | 深圳市中航佳智能科技有限公司 | Object aiming flight method of unmanned plane |
| CN105759839B (en) * | 2016-03-01 | 2018-02-16 | 深圳市大疆创新科技有限公司 | Unmanned plane visual tracking method, device and unmanned plane |
| CN105759839A (en) * | 2016-03-01 | 2016-07-13 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle (UAV) visual tracking method, apparatus, and UAV |
| WO2017166725A1 (en) * | 2016-03-30 | 2017-10-05 | 乐视控股（北京）有限公司 | Photographing control method, device, and system |
| CN107305374A (en) * | 2016-04-22 | 2017-10-31 | 优利科技有限公司 | Unmanned plane system |
| CN105938372A (en) * | 2016-06-03 | 2016-09-14 | 南京奇蛙智能科技有限公司 | Combined type wearable unmanned aerial vehicle controller |
| CN107539477A (en) * | 2016-06-23 | 2018-01-05 | 卡西欧计算机株式会社 | Camera device, image capture method and recording medium |
| CN106295695B (en) * | 2016-08-08 | 2019-08-16 | 中国民用航空总局第二研究所 | A kind of takeoff and landing process automatic tracing image pickup method and device |
| CN106295695A (en) * | 2016-08-08 | 2017-01-04 | 中国民用航空总局第二研究所 | A kind of takeoff and landing process automatic tracing image pickup method and device |
| CN107765709A (en) * | 2016-08-22 | 2018-03-06 | 广州亿航智能技术有限公司 | The method and device of self-timer is realized based on aircraft |
| CN107765709B (en) * | 2016-08-22 | 2021-12-31 | 广州亿航智能技术有限公司 | Method and device for realizing self-shooting based on aircraft |
| CN106184793A (en) * | 2016-08-29 | 2016-12-07 | 上海理工大学 | A kind of overlook image monitoring system in the air for automobile |
| CN108351650B (en) * | 2016-10-17 | 2021-01-12 | 深圳市大疆创新科技有限公司 | Flight control method and device for aircraft and aircraft |
| CN108351650A (en) * | 2016-10-17 | 2018-07-31 | 深圳市大疆创新科技有限公司 | A kind of flight control method, device and aircraft to aircraft |
| WO2018072063A1 (en) * | 2016-10-17 | 2018-04-26 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling flight of aircraft, and aircraft |
| CN107450573A (en) * | 2016-11-17 | 2017-12-08 | 广州亿航智能技术有限公司 | Flight shoot control system and method, intelligent mobile communication terminal, aircraft |
| WO2018090807A1 (en) * | 2016-11-17 | 2018-05-24 | 亿航智能设备（广州）有限公司 | Flight photographing control system and method, intelligent mobile communication terminal, aircraft |
| CN107087427A (en) * | 2016-11-30 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Control method, device and the equipment and aircraft of aircraft |
| CN107087427B (en) * | 2016-11-30 | 2019-06-07 | 深圳市大疆创新科技有限公司 | Control method, device and the equipment and aircraft of aircraft |
| US11188101B2 (en) | 2016-11-30 | 2021-11-30 | SZ DJI Technology Co., Ltd. | Method for controlling aircraft, device, and aircraft |
| WO2018098678A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳市大疆创新科技有限公司 | Aircraft control method, device, and apparatus, and aircraft |
| CN107000839A (en) * | 2016-12-01 | 2017-08-01 | 深圳市大疆创新科技有限公司 | The control method of unmanned plane, device, the control system of equipment and unmanned plane |
| CN107000839B (en) * | 2016-12-01 | 2019-05-03 | 深圳市大疆创新科技有限公司 | The control method of unmanned plane, device, equipment and unmanned plane control system |
| CN106814742A (en) * | 2016-12-29 | 2017-06-09 | 湖南创动智能科技有限公司 | A kind of control method of unmanned plane, control device and unmanned plane |
| CN106791443A (en) * | 2017-01-24 | 2017-05-31 | 上海瞬动科技有限公司合肥分公司 | A kind of unmanned plane photographic method |
| US10979615B2 (en) | 2017-03-31 | 2021-04-13 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for providing autonomous photography and videography |
| WO2018178756A1 (en) * | 2017-03-31 | 2018-10-04 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for providing autonomous photography and videography |
| US10375289B2 (en) | 2017-03-31 | 2019-08-06 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for providing autonomous photography and videography |
| CN108475074A (en) * | 2017-04-10 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Holder follow-up control method and control device |
| WO2018187916A1 (en) * | 2017-04-10 | 2018-10-18 | 深圳市大疆创新科技有限公司 | Cradle head servo control method and control device |
| WO2018205104A1 (en) * | 2017-05-08 | 2018-11-15 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle capture control method, unmanned aerial vehicle capturing method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle |
| US11722647B2 (en) | 2017-05-08 | 2023-08-08 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle imaging control method, unmanned aerial vehicle imaging method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle |
| US11290692B2 (en) | 2017-05-08 | 2022-03-29 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle imaging control method, unmanned aerial vehicle imaging method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle |
| CN107071285A (en) * | 2017-05-16 | 2017-08-18 | 广东交通职业技术学院 | One kind is with shooting method, memory and unmanned plane with clapping device |
| CN108965689A (en) * | 2017-05-27 | 2018-12-07 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane image pickup method and device, unmanned plane and ground control unit |
| TWI669000B (en) * | 2017-06-30 | 2019-08-11 | 國立政治大學 | Multi-axis aerial camera self-timer mode control method |
| CN108153325A (en) * | 2017-11-13 | 2018-06-12 | 上海顺砾智能科技有限公司 | The control method and device of Intelligent unattended machine |
| WO2019127376A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Video acquisition method, control terminal, aircraft, and system |
| CN114205536A (en) * | 2017-12-29 | 2022-03-18 | 深圳市大疆创新科技有限公司 | Video acquisition method, control terminal, aircraft and system |
| CN108521866A (en) * | 2017-12-29 | 2018-09-11 | 深圳市大疆创新科技有限公司 | A kind of video acquiring method, control terminal, aircraft and system |
| CN108683840A (en) * | 2018-03-28 | 2018-10-19 | 深圳臻迪信息技术有限公司 | Filming control method, image pickup method and unmanned machine end |
| US11102411B2 (en) | 2018-05-02 | 2021-08-24 | SZ DJI Technology Co., Ltd. | Gimbal photographing method, gimbal camera system, and storage medium |
| WO2019210462A1 (en) * | 2018-05-02 | 2019-11-07 | 深圳市大疆创新科技有限公司 | Pan and tilt head shooting method, pan and tilt head shooting system, and recording medium |
| CN108645403A (en) * | 2018-05-15 | 2018-10-12 | 中国人民解放军海军工程大学 | A kind of unmanned plane based on satellite navigation and attitude measurement is automatically with shooting system |
| CN109238240B (en) * | 2018-10-22 | 2021-01-08 | 武汉大势智慧科技有限公司 | Unmanned aerial vehicle oblique photography method considering terrain and photography system thereof |
| CN109238240A (en) * | 2018-10-22 | 2019-01-18 | 武汉大势智慧科技有限公司 | A kind of unmanned plane oblique photograph method that taking landform into account and its camera chain |
| CN109828274A (en) * | 2019-01-07 | 2019-05-31 | 深圳市道通智能航空技术有限公司 | Adjust the method, apparatus and unmanned plane of the main detection direction of airborne radar |
| CN111316636A (en) * | 2019-03-27 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Rotary shooting method, control device, movable platform and storage medium |
| CN110077593A (en) * | 2019-04-25 | 2019-08-02 | 苏州臻迪智能科技有限公司 | With the unmanned vehicle for showing imaging function in distal flat surface |
| CN110336939A (en) * | 2019-05-29 | 2019-10-15 | 努比亚技术有限公司 | A kind of method for snap control, wearable device and computer readable storage medium |
| WO2021168678A1 (en) * | 2020-02-26 | 2021-09-02 | 深圳市大疆创新科技有限公司 | Path planning method, tracking device, storage medium, and computer program product |
| CN111355893A (en) * | 2020-03-31 | 2020-06-30 | 广东利元亨智能装备股份有限公司 | Flying shooting control method and system |
| CN114697554A (en) * | 2022-04-01 | 2022-07-01 | 深圳互酷科技有限公司 | Unmanned aerial vehicle shooting method and system, terminal device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104828256B (en) | 2016-09-28 |
| CN106155092A (en) | 2016-11-23 |
| CN106292720A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104828256B (en) | A kind of intelligent multi-control flight capture apparatus and flight control method thereof | |
| CN204697171U (en) | A kind of intelligent multi-control flight capture apparatus | |
| Giernacki et al. | Crazyflie 2.0 quadrotor as a platform for research and education in robotics and control engineering | |
| CN107087427B (en) | Control method, device and the equipment and aircraft of aircraft | |
| US10416669B2 (en) | Mechanical effects by way of software or real world engagement | |
| Galvane et al. | Automated cinematography with unmanned aerial vehicles | |
| Bouabdallah | Design and control of quadrotors with application to autonomous flying | |
| Gebhardt et al. | Airways: Optimization-based planning of quadrotor trajectories according to high-level user goals | |
| Mademlis et al. | Autonomous UAV cinematography: A tutorial and a formalized shot-type taxonomy | |
| US20180098052A1 (en) | Translation of physical object viewed by unmanned aerial vehicle into virtual world object | |
| Boudjit et al. | Detection and implementation autonomous target tracking with a Quadrotor AR. Drone | |
| US20220237928A1 (en) | Method for detecting road diseases by intelligent cruise via unmanned aerial vehicle, unmanned aerial vehicle and detecting system therefor | |
| Kang et al. | Flycam: Multitouch gesture controlled drone gimbal photography | |
| CN110498039A (en) | A kind of intelligent monitor system based on bionic flapping-wing flying vehicle | |
| CN109062252A (en) | Quadrotor drone cluster control method and its device based on Artificial Potential Field Method | |
| Rodríguez-Gómez et al. | The GRIFFIN perception dataset: Bridging the gap between flapping-wing flight and robotic perception | |
| Levin et al. | Agile maneuvering with a small fixed-wing unmanned aerial vehicle | |
| Lin et al. | Development of an unmanned coaxial rotorcraft for the DARPA UAVForge challenge | |
| CN110139038A (en) | It is a kind of independently to surround image pickup method, device and unmanned plane | |
| Sanchez-Lopez et al. | A vision based aerial robot solution for the mission 7 of the international aerial robotics competition | |
| Towaha | Building Smart Drones with ESP8266 and Arduino: Build exciting drones by leveraging the capabilities of Arduino and ESP8266 | |
| CN109417609A (en) | For combining and editing the method and system of UAV operation data and video data | |
| Yu et al. | An implementation framework for vision-based bat-like inverted perching with bi-directionalthrust quadrotor | |
| CN109283942A (en) | For controlling the flying method and device that unmanned plane is tracked | |
| Grobler | Automated recharging and vision-based improved localisation for a quadrotor UAV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160919 Address after: 100020 Beijing City West Road No. 12 Chaoyang District Building No. 2 (national advertising Industrial Park incubator 25978) Patentee after: GAOYU (BEIJING) INTELLIGENT TECHNOLOGY RESEARCH INSTITUTE CO.,LTD. Address before: 200032 Dongan Road, Xuhui District, Lane 149, building No. 8, No., No. 1201 Patentee before: Yang Shanshan |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160928 |