CN105141851A - Control system and control method for unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Control system and control method for unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN105141851A CN105141851A CN201510634746.2A CN201510634746A CN105141851A CN 105141851 A CN105141851 A CN 105141851A CN 201510634746 A CN201510634746 A CN 201510634746A CN 105141851 A CN105141851 A CN 105141851A
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Abstract
The invention provides a control system and control method for an unmanned aerial vehicle, wherein the control system and the method are used for shooting a specific target. And the unmanned aerial vehicle is equipped with a camera for shooting. The control system comprises a communication unit, a parsing unit, a positioning unit, and a target identification unit. To be specific, the communication unit is used for receiving an external shooting instruction; the parsing unit is used for parsing position information of a to-be-shot specific target and course track information of predetermined flight in the shooting instruction received by the communication unit; the positioning information is used for controlling the unmanned aerial vehicle to fly to a designated position for shooting according to the predetermined flight course track information based on the parsed position information and the predetermined flight course track information by the parsing unit, wherein the predetermined flight course track information is stored in the control system in advance according to an environment where the specific target is located; and the target identification unit is used for identifying the specific target when the unmanned aerial vehicle arrives at a position designated by the positioning unit. Therefore, the unmanned aerial vehicle can be controlled to find the specific target accurately according to the shooting instruction to prepare for shooting of the specific target.
Description
Technical field
The present invention relates to a kind of technical field of unmanned vehicle, particularly relate to a kind of unmanned vehicle control system to specific objective shooting, unmanned vehicle, management system and control method.
Background technology
Along with the progress of electronic science and technology and the development of computer industry level, unmanned vehicle progressively enters the sphere of life of people, and especially the commercialization of four-axle aircraft, obtains tremendous expansion; Such as in occasions such as some shooting, article transmission, demonstration flights, just often need unmanned vehicle to perform corresponding task.
Why unmanned vehicle can obtain development and commercialization fast greatly, and main cause comprises picture for the shooting of traditional aircraft high-altitude, and unmanned vehicle own vol is smaller and more exquisite, cost is low; And for common camera, it can perform aerial photographing, and shooting angle also can be taken pictures to special object according to desired trajectory, predetermined angular well.
Such as, be in the patent application of CN201510092249.4 in Chinese Patent Application No., disclose kind many rotor flyings capture apparatus and image pickup method, it is without the need to the operation of complexity, also computer control that need not be loaded down with trivial details, only by the simple instruction of user and parameters input, just can realize from special angle and orientation the shooting effect of specific reference object; But also can, by pre-seting Common Parameters, make user when without the need to inputting any parameter or carrying out any extra flight control operation, shooting control operation, just can realize fixed point flight shoot function.
Another part of Chinese Patent Application No. is in the patent application of CN201410221759.2, disclose the devices and methods therefor of a kind of unmanned vehicle movement locus prediction on a surface target, its moving target data acquisition module is by the data of the airborne sensor system acquisition mobile surface targets in the airborne device of unmanned vehicle; Mobile surface targets track three-dimensional polar is converted into three-dimensional rectangular coordinate by moving target data processing module, and carries out analyses and prediction after carrying out standardization to target trajectory data; Moving target Track Pick-up module calls the method for the mobile surface targets trajectory predictions in Forecasting Methodology storehouse, carries out analyses and prediction to the track standardized data of moving target, and generation forecast result; The combining standardized data of moving target track recommending module calculate the recommendation degree of current moving target trajectory predictions result with predicting the outcome; These innovation and creation have effectively can predict mobile surface targets track, provide the advantages such as authentic communication for unmanned plane task grouping.
Inventor is realizing finding in process of the present invention, although above-mentioned two parts of patents provide unmanned vehicle done significant improvement in the problem of accurately taking specific objective, only these improvement can not meet the demand of user; Inventor is by finding in the design of unmanned vehicle, in some public situation, how to allow more user can send the application request such as shooting, article transmission, demonstration flight to unmanned vehicle, and unmanned vehicle can identify the solicited message of user fast, and performs corresponding action according to solicited message.
Summary of the invention
Inventor is realizing finding in process of the present invention, although above-mentioned two parts of patents provide unmanned vehicle done significant improvement in the problem of accurately taking specific objective, only these improvement can not meet the demand of user; Inventor is by finding in the design of unmanned vehicle, in some public situation, how to allow more user can send the application request such as shooting, article transmission, demonstration flight to unmanned vehicle, and unmanned vehicle can identify the solicited message of user fast, and performs corresponding action according to solicited message; User friendly can be improved better like this.
In order to solve the technical problem of the user friendly difference existed in prior art, the invention provides a kind of unmanned vehicle control system to specific objective shooting and control method, can communicate with unmanned vehicle better by allowing user, unmanned vehicle can according to the solicited message of user, perform corresponding actions rapidly, improve the friendly of user.
In order to realize above-mentioned effect, technical scheme provided by the invention is:
On the one hand, provide a kind of unmanned vehicle control system to specific objective shooting, this unmanned vehicle is provided with the camera for taking, and it is characterized in that, this control system comprises:
Communication unit, for receiving outside shooting instruction; Wherein, described shooting instruction comprises the navigation channel track that the positional information of specific objective to be captured and unmanned vehicle complete the predetermined flight of shooting task needs;
Resolution unit, for resolving the positional information of specific objective to be captured and the navigation channel trace information of predetermined flight in shooting instruction that communication unit receives;
Positioning unit, for positional information and the navigation channel trace information of predetermined flight of resolving according to resolution unit, controls described unmanned vehicle and flies to take to the position of specifying according to the navigation channel trace information of predetermined flight; And the navigation channel trace information of described predetermined flight is stored in advance in described control system according to the environment at specific objective place;
Object-recognition unit, for unmanned vehicle arrive positioning unit specify position time, identify specific target.
Further, described control system also comprises authorization identifying unit, when described communication unit receives shooting order, after being identified by described authorization identifying unit, is just resolved shooting order by described resolution unit.
Further, described communication unit is provided with third party's instant communication software log-in module, and user can send shooting command information by the third party's instant communication software in mobile device to described unmanned vehicle.
Further, described control command comprises the predetermined translational speed of specific objective and moving direction, described control system controls described unmanned vehicle when taking specific target, the speed identical with moving direction according to specific objective translational speed in control command and direction flight.
Further, described control system also comprises photo and/or visual classification unit, for classifying to the photo taken in camera and/or video according to user and/or shooting time and/or spot for photography.
Further, described control system also comprises user management module, for judging that the user whether belonging to legal user and/or paid the fees is formulated in described shooting; And the parsing of shooting instruction is performed selectively according to the result judged.
Second aspect, the present invention also provides a kind of unmanned vehicle to comprise aircraft body and the camera for taking, and it is characterized in that, described unmanned vehicle also comprises the above-mentioned unmanned vehicle control system to specific objective shooting described in any one.
The third aspect, the present invention also provides a kind of unmanned vehicle management system to specific objective shooting, and it is characterized in that, this management system comprises:
At least one the unmanned vehicle being provided with described control system;
Navigation channel trajectory planning unit, for the positional information according to unmanned vehicle and instruction target to be captured, plans that described unmanned vehicle of sening as an envoy to can perform the navigation channel track of the predetermined flight of flight; And the navigation channel trace information of described predetermined flight is stored in advance in described control system according to the environment at specific objective place.
Further, described management system is also provided with user management module, user log-in block and service management unit; Wherein, described service management unit takes instruction for resolving the user comprising distance specified target position information, and takes instruction according to described user, the unmanned vehicle execution shooting task that specific objective described in command range is nearest.
Fourth aspect, the present invention also provides a kind of unmanned vehicle control method to specific objective shooting, and this unmanned vehicle is provided with the camera for taking, and it is characterized in that, this control method comprises:
Receive the shooting instruction that user sends; Wherein, described shooting instruction comprises the navigation channel track that the positional information of specific objective to be captured and unmanned vehicle complete the predetermined flight of shooting task needs;
Resolve the positional information of specific objective to be captured in shooting instruction and the navigation channel trace information of predetermined flight;
The navigation channel trace information of the positional information of resolving according to resolution unit and predetermined flight, controls described unmanned vehicle and flies to prepare shooting to the position of specifying according to the navigation channel trace information of predetermined flight; And the navigation channel trace information of described predetermined flight is stored in advance in described control system according to the environment at specific objective place;
When the position that unmanned vehicle arrival positioning unit is specified, identify specific target; And shooting task is performed to described specific objective.
Adopt technique scheme provided by the invention, can at least obtain one of following beneficial effect:
1, user can send shooting instruction by above-mentioned unmanned vehicle control system and/or the direct subtend unmanned vehicle of control method, control system just can control unmanned vehicle and accurately find specific objective according to shooting instruction, prepares shooting to specific objective; Such user just can in some specific occasions, such as, on roller-coaster, wedding ceremony, celebration activity be on-the-spot, unmanned vehicle is allowed to help oneself to take specific objective according to the demand of oneself, and taken by unmanned vehicle, the impact of specific objective position and angle can not be subject to, the angle that conventional camera cannot be taken can be shot, thus better meet the demand of user.
2, can authorization identifying unit be passed through, facilitate user's one-time consumption, and do not need to buy a unmanned vehicle separately.
3, in control system, third party's instant communication software can be set, can user be allowed better to send control command by intelligent movable equipment such as mobile phones to unmanned vehicle like this, user-friendly; Further raising user friendly.
4, the predetermined translational speed of specific objective can be comprised in the shooting instruction that control system receives, and according to this information, and then target carries out moving finding a view; Thus the shoot function that conventional camera cannot complete can be completed, for user provides a kind of better screening-mode.
5, user can send the shooting instruction of taking specific objective, and unmanned vehicle management system can be taken by the nearest unmanned vehicle of distance to a declared goal specific objective, like this can completing user shooting request more rapidly.
Further feature and the advantage of invention will be set forth in the following description, and, partly become apparent from specification, or understand by implementing technical scheme of the present invention.Object of the present invention and other advantages realize by structure specifically noted in specification, claims and accompanying drawing and/or flow process and obtain.
Accompanying drawing explanation
The structured flowchart of a kind of unmanned vehicle control system that Fig. 1 provides for the embodiment of the present invention one;
The flow chart of a kind of unmanned vehicle control method that Fig. 2 provides for the embodiment of the present invention one;
The structured flowchart of a kind of unmanned vehicle management system that Fig. 3 provides for the embodiment of the present invention one;
A kind of user that Fig. 4 provides for the embodiment of the present invention one is by the flow chart of unmanned vehicle management system application shooting task;
The flow chart of a kind of unmanned vehicle execution shooting task that Fig. 5 provides for the embodiment of the present invention one;
The structured flowchart of a kind of unmanned vehicle control system that Fig. 6 provides for the embodiment of the present invention two;
The flow chart of a kind of unmanned vehicle control method that Fig. 7 provides for the embodiment of the present invention two;
The structured flowchart of a kind of unmanned vehicle control system that Fig. 8 provides for the embodiment of the present invention three;
The flow chart of a kind of unmanned vehicle control method that Fig. 9 provides for the embodiment of the present invention three.
Embodiment
Describe embodiments of the present invention in detail below with reference to drawings and Examples, to the present invention, how application technology means solve technical problem whereby, and the implementation procedure reaching technique effect can fully understand and implement according to this.It should be noted that, these specific descriptions just allow those of ordinary skill in the art be more prone to, clearly understand the present invention, but not limitation of the invention is explained; And only however form conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other, and the technical scheme formed is all within protection scope of the present invention.
In addition, can perform in the control system of a such as group controller executable instruction in the step shown in the flow chart of accompanying drawing, and, although show logical order in flow charts, but in some cases, can be different from the step shown or described by order execution herein.
It should be noted that, this following unmanned vehicle can be multi-rotor aerocraft, comprises small-sized, Miniature multi-rotor aircraft; Especially four axle multi-rotor aerocrafts; Certainly other types can also be set to.
Below by the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Embodiment one
As shown in Figure 1, the present embodiment provides a kind of unmanned vehicle control system 110 to specific objective shooting, this unmanned vehicle is provided with performance element 120, performance element 120 includes but not limited to: for the camera 124 taken and the The Cloud Terrace 123 supporting camera, and for the rotor 121 that flies and the motor 122 providing actuating force to rotor; This control system for shooting (hereinafter referred control system) 110 comprises:
Communication unit 111, for receiving outside shooting instruction; Wherein, take instruction and comprise the navigation channel track that the positional information of specific objective to be captured and unmanned vehicle complete the predetermined flight of shooting task needs; And navigation channel Track Pick-up can according to built-in mapping module in the controls, and the management system (hereafter having detailed explanation) that also can connect due to control system is carried out storing map module in management system and generated;
Resolution unit 112, for resolving the positional information of specific objective to be captured and the navigation channel trace information of predetermined flight in shooting instruction that communication unit receives;
Positioning unit 113, for positional information and the navigation channel trace information of predetermined flight of resolving according to resolution unit, controls described unmanned vehicle and flies to take to the position of specifying according to the navigation channel trace information of predetermined flight; And the navigation channel trace information of predetermined flight is stored in advance in control system 110 according to the environment at specific objective place, the memory cell of the navigation channel trace information storing predetermined flight namely in control system 110, can be provided with; More specifically, when unmanned vehicle is applied to the roller-coaster project shooting of recreation ground, control system 100 is first according to geography and the environmental quality of roller-coaster project, the fixing flight line of targeted design unmanned vehicle, preferably, flight line follows the track of roller-coaster all the time, take from track oblique upper, on this basis, can also according to track feature, shooting angle needs, the flight line of design unmanned vehicle, because the flight degree of freedom of unmanned vehicle is high, thus can realize a lot of fixing camera be difficult to realize angle; This targeted design is adopted to comprise, for the design of the flight frequency of unmanned vehicle, flight opportunity, flying speed, the simplest mode, the startup of frequency of flying exactly and flight opportunity and each time roller-coaster adapts; The design of flying speed is then match with the speed of roller-coaster, thus obtains best shooting effect; And the control system 100 that provides of the present embodiment can also allow unmanned vehicle on default fixation locus in flight course, according to the instruction that user sends, temporaryly leave this fixation locus, go track up task, after completing track up task, return on default fixation locus, continued original fixation locus task;
Object-recognition unit 114, for unmanned vehicle arrive positioning unit specify position time, identify specific target.
Further, control system 110 also comprises authorization identifying unit, when communication unit receives shooting order, after being identified by authorization identifying unit, is just resolved shooting order by resolution unit; Wherein, authorization identifying unit can judge that by the charging identification code sent user this is used for whether there is shooting authority, and authorization identifying unit therefore also can be claimed to be accounting code recognition unit.
Further, communication unit 111 comprises the single channel or dual-channels communication transducer that can be identified.
Further, the positional information of the specific objective that control system 110 can recognize according to object-recognition unit, regulates the shooting angle of camera by The Cloud Terrace.
Further, the control command that communication unit 111 receives comprises the predetermined translational speed of specific objective and moving direction, control system controls unmanned vehicle when taking specific target, the speed identical with moving direction according to specific objective translational speed in control command and direction flight.
Further, control system 111 also comprises photo and/or visual classification unit, for classifying to the photo taken in camera and/or video according to user and/or shooting time and/or spot for photography.Preferably, allow control system is unified to be processed, in fixing aerial mission or take the photo without special object obtained other opportunitys, can sort out according to shooting time or spot for photography, wait user calls; For the photo taken according to number-mark, the user corresponding to number-mark can sort out, wait for that corresponding user calls.
Further, control system also comprises user management module, takes for judging the user formulating and whether belong to legal user and/or paid the fees; And the parsing of shooting instruction is performed selectively according to the result judged.
Further, take instruction also comprise intended target to be captured self attributes, shooting duration, shooting latency period at least one information.User can be made like this can to arrange more acquisition parameters according to self-defined, and style of shooting is hommization more.
On the other hand, the present embodiment also provides a kind of unmanned vehicle 100, this unmanned vehicle 100 comprises the above-mentioned unmanned vehicle control system 110 to specific objective shooting, and this unmanned vehicle is also provided with performance element 120, performance element 120 includes but not limited to: for the camera 124 taken and the The Cloud Terrace 123 supporting camera, and for the rotor 121 that flies and the motor 122 providing actuating force to rotor.
As shown in Figure 3, the present embodiment also provides a kind of unmanned vehicle management system to specific objective shooting, and this management system 300 comprises:
At least one is provided with as any one the unmanned vehicle of control system above-mentioned;
Be provided with the unit of user management of user registration module, user's log-in module, namely the Subscriber Management System in Fig. 3, this Subscriber Management System comprises three modules: for the managing caller module 311 with casual user's exchange message, for the registered user's administration module 312 with member user's exchange message, for Admin Administration's module 313 of managing user information;
Aircraft calling system 320, for sending shooting and aerial mission to unmanned vehicle, aircraft calling system comprises four modules: according to user's request, send the unmanned vehicle task allocating module 321 of task to the unmanned vehicle of specifying; According to user's request, need the unmanned vehicle task modified module 322 of revising of task to the unmanned vehicle transmission user specified; According to user's request, send to the unmanned vehicle of specifying the unmanned vehicle task cancellation module 322 that user cancels task; And comprehensive descision unmanned vehicle aerial mission cumulative amount, the isoparametric unmanned vehicle data processing module 324 of flying distance;
Aircraft login system 330, for managing the state information of unmanned vehicle, this aircraft login system 330 comprises: the unmanned vehicle carrying out logging in or mark according to the aerial mission received logs in, mark module 331, carry out the unmanned vehicle cancellation module 332 nullified according to aerial mission performance, carry out according to user request information unmanned vehicle that unmanned vehicle authorizes cancellation task and authorize and cancel module 333;
And service management unit (not illustrating), take instruction for resolving the user comprising distance specified target position information, and take instruction according to user, the unmanned vehicle execution shooting task that command range specific objective is nearest.
And the unmanned vehicle that management system 300 system can also manage is not limited to a frame simultaneously, it also can be multi rack; These unmanned vehicles also can be not limited to be a circuit, can be on different circuit, but are no matter that when sensing identifying user, namely unmanned vehicle completes specific aim shooting on opportunity on which kind of and which bar circuit.
As shown in Figure 2, the present embodiment also provides a kind of unmanned vehicle control method to specific objective shooting, and this unmanned vehicle is provided with the camera for taking, and this control method comprises:
S201, reception shooting instruction:
The communication unit of unmanned vehicle control system receives the shooting instruction that user sends; Wherein, described shooting instruction comprises the navigation channel track that the positional information of specific objective to be captured and unmanned vehicle complete the predetermined flight of shooting task needs;
S202, parsing shooting instruction:
The resolution unit of unmanned vehicle control system resolves the positional information of specific objective to be captured in shooting instruction and the navigation channel trace information of predetermined flight;
S203, the flight of control unmanned vehicle are to precalculated position:
The navigation channel trace information of the positional information of resolving according to resolution unit and predetermined flight, controls described unmanned vehicle and flies to prepare shooting to the position of specifying according to the navigation channel trace information of predetermined flight;
S204, identification specific objective:
When the position that unmanned vehicle arrival positioning unit is specified, identify specific target;
S205, complete shooting task:
Shooting task is performed to specific objective.
As shown in Figure 4, what preferably provide further for the present embodiment allows user by the flow chart of unmanned vehicle management system application shooting task, and concrete steps comprise:
S401, beginning
User prepares to communicate with unmanned vehicle;
S402, user's application
If can select to log in unmanned vehicle management system in the mode of casual user temporarily, also can select to log in unmanned vehicle management system in the mode of member user; Can according to the actual requirements, member user be arranged to have more authority than casual user, such as, member user can pay after first to file, and the necessary prepayment expense of casual user, control command could be sent to unmanned vehicle.
S403, user management management system judge whether user has permission
Subscriber Management System verifies the user identity sending shooting instruction, and whether whether such as defrayment, belong to the information such as member user.If meet the user of corresponding authority, perform S404; Otherwise be back to S402.
Wherein, whether user management management system also can examine this application legal (such as, the user type whether system allows, whether paying etc.), when user management management system examine this application legal time, result from the unique encodings mark that this user is corresponding, and send to all execution to fix the unmanned vehicle of aerial mission this mark, after unmanned vehicle receives this code identification, Real time identification will have the special object of code identification, be identified as reference object, implemented specific aim shooting; And when user files an application to nullify flight shooting demand, system, by after this application, sends the instruction of nullifying described code identification to unmanned vehicle.
S404, aircraft login system allocation identification
The shooting instruction that unmanned vehicle login system arrives according to unmanned vehicle control system system analysis, the unmanned vehicle distributing distance specific objective nearest performs shooting task.
Preferably, the single channel that realization mechanism employing about code identification can simple and easyly be carried, can be identified or binary channels signaling equipment, this equipment and code identification are uniquely corresponding, and single work or duplex communication can be completed with the special signal transducer arranged on unmanned vehicle, after unmanned vehicle senses this signaling equipment, implement to take targetedly by according to the pattern preset.
The mechanism that the mobile phone carried with user matches can also be adopted, unique code identification is issued the hand-held mobile phone of user by system, mobile phone according to this code identification constantly outwards send can the id signal that accepts by the signal transducer arranged special on unmanned vehicle and recognize, unmanned vehicle is according to the communication acknowledgement shooting demand between the hand-held mobile phone of authorized user, and on suitable signal strength signal intensity and opportunity, implement specific aim shooting.
S405, aircraft login system send mark
Shooting instruction is sent to the unmanned vehicle of respective identification (can be numbering or the title of unmanned vehicle) by aircraft login system.
S406, unmanned vehicle receive mark (mandate)
The unmanned vehicle of response identification receives shooting instruction, namely authorizes this unmanned vehicle to perform shooting task.
S407, Subscriber Management System receive user's application and nullify
If user wants suddenly to cancel shooting instruction, application/log-out instruction can be nullified to the application of picture Subscriber Management System; Then can be verified, by unmanned vehicle control system system analysis log-out instruction the user identity sending shooting instruction by Subscriber Management System successively; Then Subscriber Management System reception user application is nullified.Certain Subscriber Management System directly can receive the cancellation shooting instruction sent from user, can perform cancellation task quickly like this.
Nullify application if do not received in predetermined amount of time, then unmanned vehicle performs and takes task accordingly; And after completing shooting task, be directly back to predetermined initial position.
S408, (unmanned) aircraft login system send user's application and nullify
Log-out instruction/application is sent to the unmanned vehicle of respective identification (can be numbering or the title of unmanned vehicle) by unmanned vehicle login system.
S409, unmanned vehicle receive instruction (remove and authorize)
The unmanned vehicle of response identification receives log-out instruction, the shooting task received before namely authorizing the cancellation of this unmanned vehicle.
S410, end
Therefore, user at any time according to the demand of oneself, can cancel the shooting task sent, improves user friendly further.
As shown in Figure 5, be the flow chart of the unmanned vehicle execution shooting task that the present embodiment preferably provides further, comprise particularly:
S501, beginning
The self-inspection of unmanned vehicle state is complete, and state is ready, waits pending shooting instruction.
S502, aircraft calling system distribute aerial mission
The shooting instruction that unmanned vehicle login system arrives according to unmanned vehicle control system system analysis, the unmanned vehicle distributing distance specific objective nearest performs shooting task.
Aerial mission implemented by S503, unmanned vehicle
Unmanned vehicle is according to the positional information of specific objective in shooting instruction, and flight is to the position of distance specific objective preset distance.
S504, unmanned vehicle real time scan specific objective
After unmanned vehicle arrives the position of distance specific objective preset distance, start to scan specific objective and whether taking around instruction correspondence position.Scan mode can pass through face recognition technology, or detection of obstacles mode, has judged whether specific objective.
S505, determine whether specific objective
Judge whether specific objective is being taken around instruction correspondence position; If so, S506 is performed, otherwise, be back to S504.
Shooting task implemented by S506, unmanned vehicle
Unmanned vehicle is taken specific objective by camera disposed thereon, such as, take N pictures continuously, or the shooting video of N minute, or predetermined point of time pictures taken or video etc.
Certainly default regular logical can also be adopted to take, in addition, also can realize according to identifier mechanism described later.So-called regular logical refers to, the shooting of unmanned vehicle can be that also can be take according to predetermined frequency, also can be the combination of these modes in shooting predetermined opportune moment.Take by default regular logical mode the photo obtained, generally without specific reference object, after having taken, can display, select for domestic consumer.
S507, unmanned vehicle are finished the work and are maked a return voyage
Unmanned vehicle is back to predetermined initial position after completing shooting task, if certainly in the process of making a return voyage, receives new shooting task and can continue to perform new shooting task.
S508, end
Unmanned vehicle is back to predetermined initial position.
Unmanned vehicle performs shooting task can also be as follows:
At site of activity, unmanned vehicle flies in site of activity overhead according to the mode of 8 word wraparounds preset all the time, in a default distance range, sense that one when having the destination object of number-mark, then depart from and fix 8 word wraparound circuits and fly to destination object, and implement shooting action, after completing shooting action, continue to get back to predetermined 8 word wraparound offline mode.
The technique scheme adopting the present embodiment to provide, can at least obtain one of following beneficial effect:
1, user can send shooting instruction by above-mentioned unmanned vehicle control system and/or the direct subtend unmanned vehicle of control method, control system just can control unmanned vehicle and accurately find specific objective according to shooting instruction, prepares shooting to specific objective; Such user just can in some specific occasions, such as, on roller-coaster, wedding ceremony, celebration activity be on-the-spot, unmanned vehicle is allowed to help oneself to take specific objective according to the demand of oneself, and taken by unmanned vehicle, the impact of specific objective position and angle can not be subject to, the angle that conventional camera cannot be taken can be shot, thus better meet the demand of user.
2, can authorization identifying unit be passed through, facilitate user's one-time consumption, and do not need to buy a unmanned vehicle separately.
3, the predetermined translational speed of specific objective can be comprised in the shooting instruction that control system receives, and according to this information, and then target carries out moving finding a view; Thus the shoot function that conventional camera cannot complete can be completed, for user provides a kind of better screening-mode.
4, user's shooting instruction that specific objective is taken that can send, and unmanned vehicle management system can be taken by the nearest unmanned vehicle of distance to a declared goal specific objective, like this can completing user shooting request more rapidly.
Embodiment two
The present embodiment can be provided with unmanned vehicle control system in embodiment one and/or control method equally, and the unmanned vehicle management system to specific objective shooting.
Difference is, as shown in Figure 6, the unmanned vehicle set-up of control system that the present embodiment provides has third party software login unit 211, preferably, this third party software login unit 211 is instant communication software, the QQ of such as company of Tengxun, micro-letter, the Wang Wang of Ali group, Alipay, the MSN etc. of Microsoft.Even if this third party's communication software can be arranged to a part for communication unit 212 certainly.
For convenience of description, the present embodiment preferably adopts micro-letter software to be described; If the communication unit 212 of unmanned vehicle is provided with micro-letter and logs in entrance, such user just directly can pass through intelligent movable equipment (can be smart mobile phone, pad etc.) and send shooting command information to unmanned vehicle; Then, after communication unit receives shooting instruction, unmanned vehicle can perform the shooting task identical with embodiment one.
Correspondingly, as shown in Figure 7, in the unmanned vehicle control method that the present embodiment provides, before reception shooting instruction, add step S701, even if log in third party's communication software, receive the shooting instruction from user by third party's communication software.
Further, user not only can send shooting instruction by third party software, by the payment function carried in third party software, directly can also pay the fees.
The technique scheme adopting the present embodiment to provide, can at least obtain one of following beneficial effect:
In control system, third party's instant communication software can be set, can user be allowed better to send control command by intelligent movable equipment such as mobile phones to unmanned vehicle like this, user-friendly; Further raising user friendly.
Embodiment three
The present embodiment can be provided with embodiment one or unmanned vehicle control system in implementing in two and/or control method equally, and the unmanned vehicle management system to specific objective shooting.
Difference is, as shown in Figure 8, the unmanned vehicle set-up of control system that the present embodiment provides has map unit 313, this map unit can be third-party map (such as Baidu's map or high moral map) interface unit, and user also can by the smart machine with map unit, whether have around quick discovery specific objective can unmanned vehicle, while being user-friendly to like this, can allow the resolution unit of unmanned vehicle can the accurate location of quick position specific objective.
Correspondingly, as shown in Figure 9, in the unmanned vehicle control method that the present embodiment provides, before unmanned vehicle scanning, identifying specific objective, first in map unit, the accurate location (S903) of quick pre-determined bit specific objective; Then according to the map in the position of specific objective, scanning specific objective (S904); The speed can improve scanning like this, identifying.
Finally it should be noted that, above-mentioned explanation is only most preferred embodiment of the present invention, not does any pro forma restriction to the present invention.Any those of ordinary skill in the art; do not departing within the scope of technical solution of the present invention; the way of above-mentioned announcement and technology contents all can be utilized to make many possible variations and simple replacement etc. to technical solution of the present invention, and these all belong to the scope of technical solution of the present invention protection.
Claims (10)
1., to a unmanned vehicle control system for specific objective shooting, this unmanned vehicle is provided with the camera for taking, and it is characterized in that, this control system comprises:
Communication unit, for receiving outside shooting instruction; Wherein, described shooting instruction comprises the navigation channel track that the positional information of specific objective to be captured and unmanned vehicle complete the predetermined flight of shooting task needs;
Resolution unit, for resolving the positional information of specific objective to be captured and the navigation channel trace information of predetermined flight in shooting instruction that communication unit receives;
Positioning unit, for positional information and the navigation channel trace information of predetermined flight of resolving according to resolution unit, controls described unmanned vehicle and flies to take to the position of specifying according to the navigation channel trace information of predetermined flight; And the navigation channel trace information of described predetermined flight is stored in advance in described control system according to the environment at specific objective place;
Object-recognition unit, for unmanned vehicle arrive positioning unit specify position time, identify specific target.
2. control system according to claim 1, it is characterized in that, described control system also comprises authorization identifying unit, when described communication unit receives shooting order, after being identified by described authorization identifying unit, just by described resolution unit, shooting order is resolved.
3. control system according to claim 1, it is characterized in that, described unmanned vehicle is also provided with the The Cloud Terrace for supporting described camera, the positional information of the specific objective that described control system can recognize according to described object-recognition unit, regulates the shooting angle of described camera by described The Cloud Terrace.
4. control system according to claim 1, it is characterized in that, described communication unit is provided with third party's instant communication software log-in module, and user can send shooting command information by the third party's instant communication software in mobile device to described unmanned vehicle.
5. control system according to claim 1, it is characterized in that, described control system also comprises photo and/or visual classification unit, for classifying to the photo taken in camera and/or video according to user and/or shooting time and/or spot for photography.
6. control system according to claim 1, is characterized in that, described control system also comprises user management module, for judging that the user whether belonging to legal user and/or paid the fees is formulated in described shooting; And the parsing of shooting instruction is performed selectively according to the result judged.
7. unmanned vehicle comprises aircraft body and the camera for taking, and it is characterized in that, described unmanned vehicle also comprises as the unmanned vehicle control system to specific objective shooting in claim 1 ~ 6 as described in any one.
8., to a unmanned vehicle management system for specific objective shooting, it is characterized in that, this management system comprises:
At least one the unmanned vehicle being provided with control system as claimed in claim 7;
Navigation channel trajectory planning unit, for the positional information according to unmanned vehicle and instruction target to be captured, plans that described unmanned vehicle of sening as an envoy to can perform the navigation channel track of the predetermined flight of flight; And the navigation channel trace information of described predetermined flight is stored in advance in described control system according to the environment at specific objective place.
9. management system according to claim 8, is characterized in that, described management system is also provided with user management module, user log-in block and service management unit; Wherein, described service management unit takes instruction for resolving the user comprising distance specified target position information, and takes instruction according to described user, the unmanned vehicle execution shooting task that specific objective described in command range is nearest.
10., to a unmanned vehicle control method for specific objective shooting, this unmanned vehicle is provided with the camera for taking, and it is characterized in that, this control method comprises:
Receive the shooting instruction that user sends; Wherein, described shooting instruction comprises the navigation channel track that the positional information of specific objective to be captured and unmanned vehicle complete the predetermined flight of shooting task needs;
Resolve the positional information of specific objective to be captured in shooting instruction and the navigation channel trace information of predetermined flight;
The navigation channel trace information of the positional information of resolving according to resolution unit and predetermined flight, controls described unmanned vehicle and flies to prepare shooting to the position of specifying according to the navigation channel trace information of predetermined flight; And the navigation channel trace information of described predetermined flight is stored in advance in described control system according to the environment at specific objective place;
When the position that unmanned vehicle arrival positioning unit is specified, identify specific target; And shooting task is performed to described specific objective.
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