CN105242685A - Unmanned plane flight accompanying aerial photographing system and method - Google Patents
Unmanned plane flight accompanying aerial photographing system and method Download PDFInfo
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Abstract
The invention discloses an unmanned plane flight accompanying aerial photographing system and method, and belongs to the application field of unmanned planes. The system comprises a main flight aircraft and a flight accompanying unmanned plane carrying aerial photographing equipment. The main flight aircraft and the flight accompanying unmanned plane are provided with a first flight controller and a second flight controller respectively. The system also comprises a flight instruction synchronization device. The first flight controller receives a first flight control instruction, and controls the flight of the main flight aircraft. The flight instruction synchronization device obtains the first flight control instruction, and generates a second flight control instruction in a synchronous manner according to the first flight control instruction. The second flight controller receives the second flight control instruction, and controls the flight of the flight accompanying unmanned plane. The aerial photographing equipment automatically tracks and photographs the main flight aircraft. The flight accompanying unmanned plane carrying the aerial photographing equipment is utilized to photograph the main flight aircraft that is flying, and a flight control instruction synchronization mechanism is also adopted, so a photographing process can be effectively completed.
Description
Technical field
The present invention relates to unmanned plane applied technical field, be specifically related to a kind of accompanying flying unmanned plane and take photo by plane system and method.
Background technology
Along with the development of unmanned air vehicle technique, take photo by plane and start the more and more extensive of application.Especially along with little miniature unmanned vehicle, as four-axle aircraft etc. has started to enter consumer level market widely, domestic consumer starts more and more to touch market of taking photo by plane, and understands technology of taking photo by plane.
Little Micro Aerial Vehicle especially many rotary wind types unmanned vehicle yields unusually brilliant results in the application in the field of taking photo by plane, and professional person uses it to take film, live events etc., and domestic consumer also very interesting use its take pictures, recording ceremony etc.The characteristic feature of this application mode is: user manipulates while unmanned plane flies aloft, and user also manipulates the capture apparatus that carries on unmanned plane from taking a crane shot earthward in the air.By the content of shooting that unmanned plane obtains, its angle is that existing common ground style of shooting is difficult to realize, and better of overall importance, by shooting condition less-restrictive, so achievement of taking photo by plane is once share, can be subject to extensive concern, popular.
Such as: application number is 201510081882.3, the Chinese invention patent application that denomination of invention is " a kind of filming apparatus for holder for aerial photographing " discloses a kind of filming apparatus for holder for aerial photographing, comprise housing, camera, camera mounting shell, rotary drive mechanism, described camera mounting shell is located at below housing, what described camera tilted is fixedly installed in the inner chamber of camera mounting shell, its boresight direction of described camera downwards and and vertical direction have angle, its position corresponding to the camera lens of described camera of described camera mounting shell offers viewport, described rotary drive mechanism is located on housing, described rotary drive mechanism connects with described camera mounting shell and drives described camera mounting shell to rotate in surface level relative to described housing.
Again such as, the Chinese invention patent application that application number is 201280030283.3, denomination of invention is " for removing the method and apparatus of artifact from Aerial Images " discloses a kind of computer system, for generation of area-of-interest without artifact Aerial Images.Computer system is received in one or more input Aerial Images that different time obtains.Pseudo color image is produced by two or more input Aerial Images are applied to the different color channels input of pseudo color image.Based on the pixel color in pseudo color image, the pixel in two or more input Aerial Images is classified as representative and knows region, territory, cloud sector or shadow region.Output image is produced from being classified as represent the pixel of knowing region of two or more input Aerial Images by combination.Or the Chinese invention patent application that application number is 201410858106.5, denomination of invention is " make foundation drawing picture and Aerial Images aim at " provide for make from the foundation drawing picture of the geographic area be positioned at or obtain close to the perspective angle of ground level with from the system and method such as tilting to have an X-rayed one group of Aerial Images that angle obtains and aim at.
But, existing unmanned plane is taken photo by plane in technology, only use at present unmanned plane to take the specific objective on ground, main pay close attention to be how to improve unmanned plane aerial device shooting effect or image procossing is carried out to Aerial Images, thus improve the sharpness etc. of image.
Along with user to unmanned plane use deeply and the extension of demand, user to be not content be only use unmanned plane to take the special object on ground.User finds, the shooting of the flight course of unmanned plane itself is also very interesting.How can take the flight course of unmanned plane, active procedure from third party visual angle and become a new problem.
By adopting mode that is remote, extensive angle to take, because coverage is large, so the whole flight course of unmanned plane substantially can be photographed on the ground in prior art.But this style of shooting causes unmanned plane in whole viewfinder range, be only a very little point, even when light condition is slightly poor, be all difficult to pick out unmanned plane from whole picture.
If want to take for aloft unmanned plane, so will solve camera lens and relatively in-plantly in real time can capture unmanned plane.But due to the object of unmanned plane inherently a kind of high speed activities aloft, especially many rotary aircraft, they are different from common Fixed Wing AirVehicle, and its flight course is more flexible, turn to behavior to be more difficult to expect in the air.Therefore, if use third-party equipment of taking photo by plane to be very difficult to take the flight course of unmanned plane, photographer can only adjust the coverage of camera lens according to the judgement of oneself and reaction, be easy to lose subject, cause the discontinuous of shooting effect, even lose key exercise.
Summary of the invention
Goal of the invention of the present invention is to provide a kind of accompanying flying unmanned plane and takes photo by plane system and method, uses the accompanying flying unmanned plane having carried equipment of taking photo by plane to fly aircraft to the master taken in flight course, effectively completes the shooting process of aloft aircraft.
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 accompanying flying unmanned plane is taken photo by plane system, comprises mainly flying aircraft and accompanying flying unmanned plane, and described accompanying flying unmanned plane is mounted with the equipment of taking photo by plane, described master flies aircraft and accompanying flying unmanned plane has the first flight controller and the second flight controller respectively, also comprise flight directive synchronous device, wherein
Described first flight controller is applicable to reception first and flies steering order, controls the flight that described master flies aircraft;
Described flight directive synchronous device is applicable to obtain described first flight steering order, and synchronously generates the second flight steering order according to described first flight steering order;
Described second flight controller is applicable to the described second flight steering order receiving the generation of described flight directive synchronous device, controls the flight of described accompanying flying unmanned plane;
The equipment of taking photo by plane on described accompanying flying unmanned plane is applicable to when the relative position relation that described accompanying flying unmanned plane and described master fly aircraft is in preset range, and automatic tracing and the described master of shooting fly aircraft.
Further, described flight directive synchronous device comprises flight steering order judging unit, it is applicable to judge whether described first flight steering order meets pre-conditioned, if met, then described first flight steering order is converted into described second flight steering order; Otherwise, then described first flight steering order is ignored.
Further, describedly pre-conditionedly comprise described first flight steering order and change described master and fly aircraft flight flight path.
Further, described flight directive synchronous device also comprises flight directive converting unit, it is applicable to that described first flight steering order is flown to preset relative position relation between aircraft and described accompanying flying unmanned plane according to described master and revises, and generates described second flight steering order.
Further, also comprise lens regulating module, it is applicable to described accompanying flying unmanned plane in flight course, and the camera lens of equipment of taking photo by plane described in maintenance is aimed at described master with the shooting angle preset and flown aircraft.
Further, described lens regulating module comprises The Cloud Terrace, fixation and recognition device and cradle head controllor, equipment of taking photo by plane described in described The Cloud Terrace is provided with, and described cradle head controllor is connected with described The Cloud Terrace and fixation and recognition device respectively, wherein,
Described fixation and recognition device is applicable to described accompanying flying unmanned plane and obtains the relative position relation change information that described master flies aircraft;
Described cradle head controllor is applicable to generate cradle head control instruction according to described relative position relation change information;
Described The Cloud Terrace is applicable to the camera lens adjustment of equipment of taking photo by plane according to described cradle head control instruction control, makes described master fly aircraft and is arranged in the fixed position relative taking viewfinder range.
According to another aspect of the present invention, provide a kind of accompanying flying unmanned plane and to take photo by plane method, comprise the following steps:
Start main flying and accompanying flying pattern;
Receive the first flight steering order, control the flight that described master flies aircraft;
The second flight steering order is synchronously generated according to described first flight steering order;
The flight of described accompanying flying unmanned plane is controlled according to described second flight steering order;
When the relative position relation that described accompanying flying unmanned plane and described master fly aircraft is in preset range, described accompanying flying unmanned plane automatic tracing and the described master of shooting fly aircraft.
Further, described according to described first flight steering order synchronously generate the second flight steering order step, specifically comprise the following steps:
Judge whether described first flight steering order meets pre-conditioned;
If met, then described first flight steering order is converted into described second flight steering order;
If do not met, then described first flight steering order is ignored.
Further, also comprise equipment of the taking photo by plane camera lens set-up procedure on accompanying flying unmanned plane, specifically comprise the following steps:
Described accompanying flying unmanned plane obtains the relative position relation change information that described master flies aircraft;
Cradle head control instruction is generated according to described relative position relation change information;
To take photo by plane described in controlling according to described cradle head control instruction the camera lens adjustment of equipment, described master is flown fixed position relative that aircraft is arranged in shooting viewfinder range.
Further, also comprise reset process, when described master fly relative position relation between aircraft and described accompanying flying unmanned plane not in described preset range time, start replacement pattern, recover initial relative position relation between the two.
The invention discloses a kind of accompanying flying unmanned plane to take photo by plane system and method, use the accompanying flying unmanned plane having carried equipment of taking photo by plane to fly aircraft to the master taken in flight course, effectively complete based on flight directive synchronization mechanism accompanying flying unmanned plane to fly aircraft shooting process to aloft master.This shooting can not only for generation of the displaying content having enjoying value, also can be applied to other derivative fields such as the monitoring of airbound target simultaneously.
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 instructions, 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 the detailed description in hereafter preferred embodiment, the present invention 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 with identical Reference numeral.In the accompanying drawings:
Fig. 1 shows and to take photo by plane system architecture schematic diagram according to the accompanying flying unmanned plane of the embodiment of the present invention one;
Fig. 2 shows and to take photo by plane method flow diagram according to the accompanying flying unmanned plane of the embodiment of the present invention three;
Fig. 3 shows and to take photo by plane method flow diagram according to the accompanying flying unmanned plane of the embodiment of the present invention four.
Embodiment
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 instructions 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 instructions and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to ".Instructions subsequent descriptions is for implementing better embodiment of the present invention, and right described description is for the purpose of the rule of instructions, 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.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV (unmannedaerialvehicle) ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus 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 recent years, along with the increase of the raising of sensor process, the progress of microprocessor technology, the improvement of propulsion system and battery durable ability, make it constantly expand at a high speed in the purposes in military, civilian, unmanned plane market has bright prospects.
In the embodiment of the present invention, preferred unmanned plane is many rotor unmanned aircrafts (or being called multi-rotor aerocraft), can be four rotors, six rotors and the rotor quantity unmanned vehicle that is greater than six.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 unmanned aircrafts and improve the maneuverability of many rotor unmanned aircrafts.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 of every a slice blade is all positioned on the same face of cylinder.
The unmanned plane that technical solution of the present invention adopts mainly refers to little, miniature many rotor unmanned aircrafts, and this unmanned vehicle volume is little, cost is low, flight stability is better, and flight cost is low.The present invention use aircraft, typically with four axle multi-rotor aerocrafts for representative.
Embodiment one, a kind of accompanying flying unmanned plane are taken photo by plane system.
Fig. 1 is that the accompanying flying unmanned plane of the embodiment of the present invention one is taken photo by plane system architecture schematic diagram, and composition graphs 1 is specifically described by the embodiment of the present invention.
As shown in Figure 1, embodiments provide a kind of accompanying flying unmanned plane to take photo by plane system, comprise master and fly aircraft 101 and accompanying flying unmanned plane 102, described accompanying flying unmanned plane 102 is mounted with the equipment of taking photo by plane 104, described master flies aircraft 101 and accompanying flying unmanned plane 102 has the first flight controller 1011 and the second flight controller 1021 respectively, also comprise flight directive synchronous device 103, wherein
Described first flight controller 1011 is applicable to reception first and flies steering order, controls the flight that described master flies aircraft 101;
Described flight directive synchronous device 103 is applicable to obtain described first flight steering order, and synchronously generates the second flight steering order according to described first flight steering order;
Described second flight controller 1021 is applicable to the described second flight steering order receiving the generation of described flight directive synchronous device 103, controls the flight of described accompanying flying unmanned plane 102;
Equipment of taking photo by plane 104 on described accompanying flying unmanned plane 102 is applicable to when the relative position relation that described accompanying flying unmanned plane 101 and described master fly aircraft 102 is in preset range, and automatic tracing and the described master of shooting fly aircraft 101.
Preferred in the embodiment of the present invention, when the telecommand that the flight steering order that described master flies aircraft 101 sends from the control desk on ground, described flight directive synchronous device 103 can be arranged in the control desk on described ground; And when described master fly aircraft 101 be fly from main control time, described flight directive synchronous device 103 can be arranged at described accompanying flying unmanned plane 102 or described master flies on aircraft 101.
Preferred in the embodiment of the present invention, it can be any aircraft that described master flies aircraft 101, such as Fixed Wing AirVehicle, rotary-wing aircraft, piloted vehicle or be unmanned plane for taking photo by plane equally, described master flies aircraft self also can carry its equipment of taking photo by plane, just the reference object of unmanned plane of taking photo by plane now is other photographic subjects except unmanned plane, the forest on such as ground or participate in the people of certain activity.
Preferred in the embodiment of the present invention, described flight directive synchronous device 103 comprises flight steering order judging unit, it is applicable to judge whether described first flight steering order meets pre-conditioned, if met, then described first flight steering order is converted into described second flight steering order; Otherwise, then described first flight steering order is ignored.
Preferred in the embodiment of the present invention, describedly pre-conditionedly comprise described first flight steering order and change described master and fly aircraft flight flight path.
Preferred in the embodiment of the present invention, described flight directive synchronous device 103 also comprises flight directive converting unit, it is applicable to that described first flight steering order is flown to preset relative position relation between aircraft 101 and described accompanying flying unmanned plane 102 according to described master and revises, and generates described second flight steering order.
In the embodiment of the present invention, described flight directive converting unit is mainly used in the enterprising row relax in relative position relation basis described first flight steering order being flown to aircraft 101 at the described accompanying flying unmanned plane 102 preset and described master.Wherein, namely described default relative position relation can comprise default relative distance, also can comprise default relative angle; Also default relative distance can only be comprised.
Preferred in the embodiment of the present invention, only flying accompanying flying between aircraft 101 apart from time restricted to described accompanying flying unmanned plane 102 and described master, after the initial gap distance flying aircraft 101 as described accompanying flying unmanned plane 102 and described master is determined, described accompanying flying unmanned plane 102 can perform the described first flight steering order that described master flies aircraft 101 by Complete Synchronization, now, described second flight steering order be only neglect those do not affect described master fly the flight track of aircraft 101 described first flight steering order after flight steering order, such as, for described master fly instruction that aircraft 101 receives be 360 degree, original place rotate time, described accompanying flying unmanned plane 102 directly ignores this type of instruction, as long as keep the position that can be good at taking propulsion device.
Preferred in the embodiment of the present invention, when flying the accompanying flying Distance geometry track shot angle between aircraft 101 to described accompanying flying unmanned plane 102 and described master and being all restricted, when the flight track that described master flies aircraft 101 does not change, such as described master fly aircraft 101 aloft do 360 degree rotate time, described accompanying flying unmanned plane 102 just flies aircraft 101 rotary taking around described master.
In the embodiment of the present invention, by adding flight directive conversion, add the effect that the present invention realizes, adjoint shooting is allowed can automatically to generate intelligentized shooting effect, as mentioned above, present adjoint shooting, can main fly aircraft complete fancy perform their routines rotate as 360 time, accompanying flying unmanned plane just carries out the shooting around formula to this perform their routines automatically, in other words, operation bidirectional is done without the need to manipulator, only need one to fly hand to control voluntarily mainly to fly aircraft and carry out demonstration flight, just can obtain that there is the shooting results that intelligent taking lens angle switches effect.
Preferred in the embodiment of the present invention, also comprise lens regulating module, it is applicable to described accompanying flying unmanned plane 102 in flight course, and the camera lens of equipment of taking photo by plane described in maintenance is aimed at described master with the shooting angle preset and flown aircraft 101.
Preferred in the embodiment of the present invention, described lens regulating module comprises The Cloud Terrace, fixation and recognition device and cradle head controllor, equipment 104 of taking photo by plane described in described The Cloud Terrace is provided with, and described cradle head controllor is connected with described The Cloud Terrace and fixation and recognition device respectively, wherein,
Described fixation and recognition device is applicable to described accompanying flying unmanned plane 102 and obtains the relative position relation change information that described master flies aircraft 101;
Described cradle head controllor is applicable to generate cradle head control instruction according to described relative position relation change information;
To take photo by plane described in described The Cloud Terrace is applicable to control according to described cradle head control instruction the camera lens adjustment of equipment 104, described master is flown fixed position relative that aircraft 101 is arranged in shooting viewfinder range.
Preferred in the embodiment of the present invention, described accompanying flying unmanned plane and/or described in take photo by plane equipment and/or described master fly aircraft and can also comprise sensor module, it comprises one or more sensor, for for accompanying flying unmanned plane and/or described in take photo by plane equipment and/or described master fly the state estimation that aircraft provides various aspects.Such as, sensor module can detect assembly relative positioning, the position that can also detect accompanying flying unmanned plane or an accompanying flying unmanned plane assembly change, the temperature variation of accompanying flying unmanned plane orientation or acceleration/deceleration and accompanying flying unmanned plane.Described sensor module can comprise optical sensor, as CMOS or ccd image sensor, for using in imaging applications.In certain embodiments, this sensor module can also comprise acceleration transducer, gyro sensor, Magnetic Sensor, pressure transducer or temperature sensor.
Preferred in the embodiment of the present invention, for the aircraft of two or more same model, the cost adopting instruction collaborative is lower, and, flight range short in aerial mission is little, can obtain good shooting effect.Described fixation and recognition device be the relative position difference between described aircraft and described unmanned plane too large time, be used for carry out correct or carry out reset.Described fixation and recognition device can be to determine that described accompanying flying unmanned plane and described master fly aircraft coordinate position and determine any location technology of relative position relation between the two according to described coordinate position, does not cause restriction at this to goal of the invention of the present invention.Such as, GPS or the such satnav recognition technology of the Big Dipper can mainly be adopted.By carrying wireless beacon on board the aircraft, and the location for wireless device can be done at the equipment being similar to base station of flight site layout project more than 3, but in flight place, outdoor, this precision comparison difficulty is carried out.Therefore, be generally outdoor use satnav, indoor architecture technology.The embodiment of the present invention can also carry sensor on unmanned plane and aircraft, then on flying field, is provided with beacon as a reference, and the beacon that unmanned plane and aircraft are arranged according to place calculates self-position.But, due to inertia conduction location technology along with time integral, precision worse and worse, so be generally as a supplement with verification use.
Preferred in the embodiment of the present invention, described fixation and recognition device also comprises change-over switch, described change-over switch to be applicable to independently switch to as the case may be in vision sensor, GPS unit, beacon locating module and/or inertial sensor any one, or combination in any, or in wherein a kind of fixation and recognition mode, select another kind of fixation and recognition mode for auxiliary corrective.
Preferred in the embodiment of the present invention, described fixation and recognition device also comprises relative position computing unit, and its positional information calculation being applicable to fly aircraft and described accompanying flying unmanned plane according to described master obtains actual relative offset amount between the two.
Preferred in the embodiment of the present invention, described system also comprises communications component.Described communications component comprises and is positioned at described master and flies carry-on first communication module, be positioned at the second communication module on described accompanying flying unmanned plane and be positioned at the third communication module of described control desk, and it is configured to be convenient to described master and flies aircraft, accompanying flying unmanned plane, communication wired or wireless between control desk and other equipment.This system can access the wireless network based on communication standard, as WiFi, 2G or 3G, or their combination.
Preferred in the embodiment of the present invention, described system also comprises resetting means.Described resetting means is used for described accompanying flying unmanned plane and loses and follow the trail of giving for change after photographic subjects and described master fly aircraft.
Ideally, described accompanying flying unmanned plane perfectly can complete the adjoint flight and the shooting work that fly aircraft for described master.But in extreme circumstances, because some is unexpected, described accompanying flying unmanned plane can be made to lost the position that described master flies aircraft, cause relative position relation cannot continue to keep.
Now, user can open a reset mode by described resetting means, so according to location and the synchronous various modes of foregoing description, all can realize allowing main aircraft and the accompanying flying unmanned plane of flying complete locking position and synchronous each other each other, reenter the Job readiness pattern that can continue enforcement accompanying flying and take.
Preferred in the embodiment of the present invention, described system also comprises initialization module.Described initialization module in described accompanying flying unmanned plane can prestore the standard logo object of the destination object of required locating and tracking; This system acquisition destination object and described master fly the standard logo information of aircraft, and wherein, standard logo information is the identifying information of destination object, can be the identification informations such as the model of destination object, color, fuselage size, flying speed; The position of standard logo information to described destination object according to described destination object positions.
Concrete, comprising: send information by the control desk on ground, described accompanying flying unmanned plane record also stores the basic target identification information needing the destination object positioning tracking; The basic identification information that the standard logo information of obtained described destination object and stored needs position the destination object of tracking is mated; If the two matches, then the position of standard logo information to destination object according to the destination object obtained positions.
Preferred in the embodiment of the present invention, described system also comprises memory module, and described memory module can be arranged at described accompanying flying unmanned plane and/or described control desk, and it is for storing data of taking photo by plane.
Preferred in the embodiment of the present invention, described system also comprises display module, and described display module connects described memory module, and it is applicable to extract the unmanned plane stored data of taking photo by plane and carries out real-time exhibition.
Preferred in the embodiment of the present invention, the equipment of taking photo by plane flying aircraft for described accompanying flying unmanned plane and/or described master can comprise hero3 etc. and focus moving camera, micro-single, single anti-etc., equipment self of taking photo by plane can support that controlled in wireless is to realize the Long-distance Control of equipment of taking photo by plane, its camera used also can support that WIFI controls or infrared control, to realize the Long-distance Control to camera, carry out taking pictures or recording a video of camera accordingly.Camera remote controllers can comprise the various functions such as shutter function, camera zoom, pattern.
Preferred in the embodiment of the present invention, described camera remote controllers include control command executive circuit, wherein, this control command executive circuit comprises single-chip microcomputer and peripheral circuit, its corresponding output end connects to the corresponding trigger pin wire of camera control panel, the input signal of this single-chip microcomputer and peripheral circuit monitoring unmanned plane, when monitoring camera control commands, change the level signal on the trigger pin of the corresponding function of the camera control panel of having drawn, trigger corresponding camera function, such as far away burnt, nearly Jiao, focusing, take pictures, video recording, operation stops etc.Corresponding, on the telepilot that unmanned plane is corresponding, can customize command switch, launch camera control commands, such as: far away burnt, near burnt, focus, take pictures, record a video, operate stopping etc.
Preferred in the embodiment of the present invention, the described equipment of taking photo by plane comprises camera and video camera, described camera is for taking image, described video camera is used for recorded video, it is installed on a The Cloud Terrace, after unmanned plane hovering, controlled by the direction of motor to The Cloud Terrace, thus realize the full angle image collection to this region.
Preferred in the embodiment of the present invention, described equipment of taking photo by plane also comprises cradle head controllor, described cradle head controllor is connected with unmanned plane embedded type control module by RS232 serial ports, by the communication instruction data integration of described cradle head controllor in the data link between unmanned plane embedded type control module and the control and management device on ground, cradle head controllor described in the control and management device far distance controlled realizing ground.The camera interface of described cradle head controllor is connected with the fast door interface of camera.Video camera is connected with the camera interface of described cradle head controllor by LANC interface.The main control chip that described cradle head controllor adopts is AVR chip, after receiving the shooting instruction of the control and management device on ground, carry out instructions parse, perform the associative operation of instruction, the frequency that the square wave frequency, dutycycle and then the control camera that export by controlling camera interface (i.e. I/O interface) are taken pictures and shutter half trip time.Described cradle head controllor by video camera protocol conversion chip by zoom, start with terminate to make a video recording, whether autozoom, camera status check that instruction transformation is the cognizable LANC instruction of video camera, and then control camera operation.
Preferred in the embodiment of the present invention, described accompanying flying unmanned plane and described master fly aircraft and also comprise power supply unit and flying power unit.Preferably, described power supply unit is dynamic lithium battery.
Preferred in the embodiment of the present invention, described communication unit (comprising the first transmitting element and the second receiving element) comprises 3G/4G communicator.
In the embodiment of the present invention, preferred described accompanying flying unmanned plane and described master fly aircraft and also comprise automatic obstacle-avoiding module.Preferably, described automatic obstacle-avoiding module is laser range finder or ultrasonic listening sensor.
In the embodiment of the present invention preferably, described in, the equipment of taking photo by plane can be video camera, web video camera, camera, camera or infrared static camera network.Network can be deployed as the network of any type, include spider lines and wireless network and in various environment by LAN (Local Area Network) that various mode realizes.
Preferred in the embodiment of the present invention, described flight control units can pass through central processing unit (CPU) and/or coprocessor, field programmable gate array (FPGA), digital signal processor (DSP), special-purpose tandem circuit (ASIC) and embedded microprocessor (ARM), controller, microcontroller, microprocessor or other electronic components realize.Preferably, described flight control units can be server, comprises processing components, and it comprises one or more processor further, and the memory resource representated by storer, such as, for storing the instruction that can be performed by processing components, application program.The application program stored in storer can comprise each module corresponding to one group of instruction one or more.Preferred in the embodiment of the present invention, also comprise reset process, when described master fly relative position relation between aircraft and described accompanying flying unmanned plane not in described preset range time, start replacement pattern, recover initial relative position relation between the two.
In the embodiment of the present invention, memory module is configured to store various types of data to be supported in the operation of system.These data comprise the instruction of any application program for operating on this system or method, registered user's data, contact data, message, picture, video etc.Memory module can be realized, as static RAM (SRAM), electricallyerasable ROM (EEROM) (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), ROM (read-only memory) (ROM), magnetic store, flash memory, disk or CD by the volatibility of any type or non-volatile memory device or their combination.
The embodiment of the invention discloses a kind of accompanying flying unmanned plane to take photo by plane system, the accompanying flying unmanned plane having carried equipment of taking photo by plane is used to fly aircraft to the master taken in flight course, by introducing flight directive synchronization mechanism, realize described accompanying flying unmanned plane flies aircraft accompanying flying to described master, effectively complete relatively in-plant, with the aircraft in suitable shooting angle automatic shooting flight course, artificial participation is not needed to high-speed flight, the control of the tracking shooting of aircraft that turns to flexibly, to guarantee to lose the key exercise following the trail of the objective and follow the trail of the objective.This shooting can not only for generation of the displaying content having enjoying value, also can be applied to other derivative fields such as the monitoring of airbound target simultaneously.
Embodiment two, a kind of accompanying flying unmanned plane are taken photo by plane method.
Fig. 2 is that the accompanying flying unmanned plane of the embodiment of the present invention two is taken photo by plane method flow diagram, and composition graphs 2 is specifically described by the embodiment of the present invention.
As shown in Figure 2, embodiments provide a kind of accompanying flying unmanned plane and to take photo by plane method, the method comprises the following steps:
Step S201: start main flying and accompanying flying pattern;
Step S202: receive the first flight steering order, control the flight that described master flies aircraft;
Step S203: synchronously generate the second flight steering order according to described first flight steering order;
Step S204: the flight controlling described accompanying flying unmanned plane according to described second flight steering order;
Step S205: when the relative position relation that described accompanying flying unmanned plane and described master fly aircraft is in preset range, described accompanying flying unmanned plane automatic tracing and the described master of shooting fly aircraft.
Preferred in the embodiment of the present invention, described relative position can be only the relative distance that described accompanying flying unmanned plane and described master fly between unmanned plane, shooting angle can keep described master to fly unmanned plane by camera lens adjustment being in the centre of viewfinder range all the time or shooting angle change is also acceptable, such as master flies unmanned plane can aerobatics, and accompanying flying unmanned plane can not need, only need to keep at a distance in preset range, the basic like this object that can realize the aloft unmanned plane of adjoint shooting of the present invention, mainly can be applied to the informal occasions obtaining recreational capture video or image, described relative position can also comprise relative distance and relative angle, namely not only require that described accompanying flying unmanned plane and described master fly distance between unmanned plane within the scope of predeterminable range, described master flies unmanned plane and also should be in described master and fly unmanned plane and take photo by plane within the scope of the predetermined angle of equipment, like this by the management to relative distance and relative angle, the 3rd viewing angles of optional Distance geometry selectable angle that is that user selectes or systemic presupposition can be realized, particularly in monitoring application, in order to obtain specific information, shooting angle is had to the occasion of strict restriction.As long as described accompanying flying unmanned plane flies real-time and described master the relative position keeping relative constancy between unmanned plane, comprise relative distance and the relative angle of relative constancy, achieve accompanying flying flight program.
Preferred in the embodiment of the present invention, describedly synchronously generate the second flight steering order step according to described first flight steering order, specifically comprise the following steps:
Judge whether described first flight steering order meets pre-conditioned;
If met, then described first flight steering order is converted into described second flight steering order;
If do not met, then described first flight steering order is ignored.
Preferred in the embodiment of the present invention, describedly pre-conditionedly comprise described first flight steering order and change described master and fly aircraft flight flight path.
Preferred in the embodiment of the present invention, describedly synchronously generate in the second flight steering order step the step also comprised changing described first flight steering order according to described first flight steering order.
Manage about the flight course of multiple stage unmanned plane in prior art, there is the design proposal of formation flight, the realization of this formation flight is generally based on two kinds of thinkings: the first is on basis multiple stage unmanned aerial vehicle design being kept away to barrier mechanism, implement the layout of roads to all unmanned planes, thus realize flight formation; Another kind is using wherein a certain or a few unmanned planes as standard, is set to by other unmanned planes carry out the control mode of flying according to certain side-play amount with reference to this unmanned plane.
But, no matter be which kind of mode above-mentioned, achieve in prior art and the formation flight of unmanned plane is managed, its object itself is focus on the formation flight bandwagon effect of unmanned plane, namely prior art also only considers the interaction between unmanned plane and unmanned plane, and does not consider completely on the unmanned plane of multiple stage flight, if be provided with other utility appliance, by the interaction between these utility appliance, other demand can be realized.
The embodiment of the present invention is based on the extension in the field of taking photo by plane, and unmanned plane also exists by the demand of Aerial photography.
Preferred in the embodiment of the present invention, also comprise equipment of the taking photo by plane camera lens set-up procedure on accompanying flying unmanned plane, specifically comprise the following steps:
Described accompanying flying unmanned plane obtains the relative position relation change information that described master flies aircraft;
Cradle head control instruction is generated according to described relative position relation change information;
To take photo by plane described in controlling according to described cradle head control instruction the camera lens adjustment of equipment, described master is flown fixed position relative that aircraft is arranged in shooting viewfinder range.
In the embodiment of the present invention, catch the problem explanation of angle about camera lens.So-called camera lens catches and refers to, accompanying flying object due to described accompanying flying unmanned plane will fly unmanned plane to described master to take, needing all the time described master to be flown unmanned plane is placed within its coverage, when ensure that relative position relation is basically identical by accompanying flying, described accompanying flying unmanned plane also needs to have automatic camera lens adjustment capability, to guarantee better shooting effect.
Need that there is camera lens adjustment capability, at least for the reason of three aspects:
One, along with accompanying flying time lengthening, relative position between two unmanned planes can because there is skew to a certain degree in the reason such as environmental impact, the accumulation of error, although the relative position between two unmanned planes can be recalibrated with certain frequency, avoid sending and depart from largely, thus cause photographic subjects to be lost, but to depart from be normal to the position in the short time, in this case, the position of less degree is departed from needs the adjustment by lens shooting angle to compensate;
They are two years old, the position relationship that described accompanying flying unmanned plane and described master fly between unmanned plane also may adjust according to the demand of user, such as user is allowing described accompanying flying unmanned plane after described master to fly directly over unmanned plane flight shooting a period of time, user may need described accompanying flying unmanned plane to adjust shooting angle and distance, the position relationship allowing described accompanying flying unmanned plane and described master fly between unmanned plane changes, now need the shooting angle of adjusted in concert camera lens, all the time can catch photographic subjects, be placed on most suitable position in viewfinder range;
They are three years old, although the flight course of unmanned plane is substantially steady, but because the flight theory of many rotor unmanned aircrafts determines, when unmanned plane generation space displacement, its flight attitude will change, if do not do any compensation to angle lens, in extreme circumstances, the viewfinder range of camera lens may be made to point to the undesirable direction of user, by adjusting the camera lens of accompanying flying unmanned plane, no matter how accompanying flying unmanned plane flies, the shooting angle that camera lens all can preset relatively, keeps an automatic angle calibration system.
About the lens moving how making described accompanying flying unmanned plane, removable The Cloud Terrace just well can realize the angular setting of camera lens, key is how to allow camera lens know how this moves, by image recognition or beacon location or the mode such as inertial navigation or GPS location all can realize this function.
In the embodiment of the present invention, be described for image recognition:
Preferred in the embodiment of the present invention, described fixation and recognition device comprises vision sensor and image analyzing unit, described vision sensor is installed on described accompanying flying unmanned plane, it is for when accompanying flying, the described master caught in real time in flight course flies the dynamic image of unmanned plane, and utilizes described image analyzing unit to do analysis of image data.
Preferred in the embodiment of the present invention, described image analyzing unit adopts the method extracting moving target in image data sequence to realize.Moving target is the object followed the trail of all the time, and keep it in the middle of screen, concrete tracing movement order calibration method has a lot, such as, tracing movement target can be carried out by the image feature value extracting moving target, Kalman filter tracking and/or the particle filter algorithm based on foreground detection can also be adopted, or adopt the particle filter algorithm improved, characteristic matching is carried out according to movement destination image and color template, employing is in conjunction with foreground target detection improvement particle filter tracking, introduce intersection shadowing, set up state transition equation, complete motion target tracking, ensure that reliability and the diversity of particle, the motion state of good description target, the real-time of algorithm is also improved while reducing calculated amount, resampling is stopped when intersecting, particle around target can not be interfered.
Said method is only a kind of citing, and the in fact similar image recognition technology implemented based on object's position change also has a lot of selection, is not construed as limiting the present invention.
Preferred in the embodiment of the present invention, described accompanying flying unmanned plane and the described master object's position flown between unmanned plane judges also to provide based on the beacon preset, fly unmanned plane to be provided with tracked beacon described master, then described accompanying flying unmanned plane implements location and camera lens adjustment according to beacon, is also feasible.
According to aforesaid way, if described accompanying flying unmanned plane can know that described master flies position and the relative position relation change of unmanned plane, so corresponding adjustment camera lens, makes described master fly unmanned plane and is arranged in the fixed position taking viewfinder range all the time, can accomplish.
Preferred in the embodiment of the present invention, GPS can be adopted to locate and/or beacon locator meams synchronous to the relative position realizing described master and fly between unmanned plane and described accompanying flying unmanned plane, simultaneously described accompanying flying unmanned plane adopts image recognition mode to perform camera lens automatically to adjust, comprehensively realize described accompanying flying unmanned plane flies unmanned plane synchronous accompanying flying shooting to described master.
Preferred in the embodiment of the present invention, image recognition technology also can be used to realize the camera lens adjustment that described master flies the synchronous and described accompanying flying unmanned plane of relative position between unmanned plane and described accompanying flying unmanned plane simultaneously.
The embodiment of the invention discloses a kind of accompanying flying unmanned plane to take photo by plane method, the accompanying flying unmanned plane having carried equipment of taking photo by plane is used to fly aircraft to the master taken in flight course, it on the one hand can in track shot process, keep unmanned plane for shooting constant with the relative position relation of the unmanned plane that is taken by flight steering order synchronization mechanism, so just substantially achieve accompanying flying function; Be on the other hand when unmanned plane for shooting and the relative position relation that is taken between unmanned plane occur to adjust, can guarantee that the camera lens of unmanned plane for shooting can be taken unmanned plane in automatic tracing and seizure by the mode of camera lens automatic tracing.This shooting can not only for generation of the displaying content having enjoying value, also can be applied to other derivative fields such as the monitoring of airbound target simultaneously.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment three, a kind of accompanying flying unmanned plane are taken photo by plane method.
Fig. 3 is that the accompanying flying unmanned plane of the embodiment of the present invention three is taken photo by plane method flow diagram, and composition graphs 3 is specifically described by the embodiment of the present invention.
As shown in Figure 3, embodiments provide a kind of accompanying flying unmanned plane and to take photo by plane method, complete accompanying flying based on instruction identification, and implement accompanying flying shooting, comprise the following steps:
Step S301: start main flying and accompanying flying pattern;
Step S302: control desk produces flight steering order;
Step S303: described flight steering order is carried out impact damper;
Step S304: send to described master to fly unmanned plane described flight steering order; Meanwhile,
Step S305: judge whether described flight steering order can affect flight track; If do not affected, then enter next step; Otherwise, jump to step S307;
Step S306: ignore described flight steering order;
Step S307: described flight steering order is sent to described accompanying flying unmanned plane;
Step S308: judge that described master flies relative position between unmanned plane and described accompanying flying unmanned plane whether in preset range, if in described preset range, then jump back to step S302; Otherwise, enter next step;
Step S309: if exceed described preset range, then enter reset mode, continues to jump back to step S301 afterwards.
The flight performance flying unmanned plane and accompanying flying unmanned plane main and close to time, and when such environmental effects is little, also directly can apply the mode of flight directive identification.
In the embodiment of the present invention, the synchronous mode of direct use flight directive realizes the accompanying flying of unmanned plane, by obtaining the flight steering order flying unmanned plane from control desk to described master and send, then direct according to described flight steering order, same go to control described accompanying flying unmanned plane and fly.As long as when starting most, the relative position that described master flies unmanned plane and described accompanying flying unmanned plane is suitable, based on the relative position relation that described accompanying flying unmanned plane also can remain and described master flies between unmanned plane of identical flight steering order flight.
In view of the object of accompanying flying is mainly in order to realize track up, in the instruction performed by described accompanying flying unmanned plane, will ignore the action that those do not affect flight track, this process is called direct flight directive deterministic process.Through judging, by only selecting those can directly change the flight steering order that described master flies unmanned plane and described accompanying flying unmanned plane relative space position, to allow described accompanying flying unmanned plane perform.Such as: described master flies unmanned plane when performing original place turn over 360 deg instruction, neglects this instruction in the flight steering order of now described accompanying flying unmanned plane.
The present invention can bring these useful technique effects: accompanying flying unmanned plane disclosed in the embodiment of the present invention is taken photo by plane system and method, the accompanying flying unmanned plane having carried equipment of taking photo by plane is used to fly aircraft to the master taken in flight course, and introduce flight steering order synchronization mechanism even camera lens automatic tracking technology, guarantee in-advance to catch the aircraft that is taken, effectively complete shooting process.This shooting can not only for generation of the displaying content having enjoying value, also can be applied to other derivative fields such as the monitoring of airbound target simultaneously.
All parts embodiment of the present invention with hardware implementing, or can realize with the software module run on one or more processor, or realizes with their combination.It will be understood by those of skill in the art that the some or all functions that microprocessor or digital signal processor (DSP) can be used in practice to realize according to the some or all parts in the equipment of the embodiment of the present invention.The present invention can also be embodied as part or all equipment for performing method as described herein or device program (such as, computer program and computer program).
The present invention will be described instead of limit the invention to it should be noted above-described embodiment, and those skilled in the art can design alternative embodiment when not departing from the scope of claims.Word "a" or "an" before being positioned at element is not got rid of and be there is multiple such element.The present invention can by means of including the hardware of some different elements and realizing by means of the computing machine of suitably programming.In the unit claim listing some devices, several in these devices can be carry out imbody by same hardware branch.The use of first, second grade of word does not represent any order, can be noun by these word explanations.
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 accompanying flying unmanned plane is taken photo by plane system, comprise master and fly aircraft and accompanying flying unmanned plane, described accompanying flying unmanned plane is mounted with the equipment of taking photo by plane, described master flies aircraft and accompanying flying unmanned plane has the first flight controller and the second flight controller respectively, it is characterized in that: also comprise flight directive synchronous device, wherein
Described first flight controller is applicable to reception first and flies steering order, controls the flight that described master flies aircraft;
Described flight directive synchronous device is applicable to obtain described first flight steering order, and synchronously generates the second flight steering order according to described first flight steering order;
Described second flight controller is applicable to the described second flight steering order receiving the generation of described flight directive synchronous device, controls the flight of described accompanying flying unmanned plane;
The equipment of taking photo by plane on described accompanying flying unmanned plane is applicable to when the relative position relation that described accompanying flying unmanned plane and described master fly aircraft is in preset range, and automatic tracing and the described master of shooting fly aircraft.
2. accompanying flying unmanned plane according to claim 1 is taken photo by plane system, it is characterized in that: described flight directive synchronous device comprises flight steering order judging unit, it is applicable to judge whether described first flight steering order meets pre-conditioned, if met, then described first flight steering order is converted into described second flight steering order; Otherwise, then described first flight steering order is ignored.
3. accompanying flying unmanned plane according to claim 2 is taken photo by plane system, it is characterized in that: describedly pre-conditionedly comprise described first flight steering order and change described master and fly aircraft flight flight path.
4. accompanying flying unmanned plane according to claim 1 is taken photo by plane system, it is characterized in that: described flight directive synchronous device also comprises flight directive converting unit, it is applicable to that described first flight steering order is flown to preset relative position relation between aircraft and described accompanying flying unmanned plane according to described master and revises, and generates described second flight steering order.
5. accompanying flying unmanned plane according to claim 1 is taken photo by plane system, it is characterized in that: also comprise lens regulating module, it is applicable to described accompanying flying unmanned plane in flight course, and the camera lens of equipment of taking photo by plane described in maintenance is aimed at described master with the shooting angle preset and flown aircraft.
6. accompanying flying unmanned plane according to claim 5 is taken photo by plane system, it is characterized in that: described lens regulating module comprises The Cloud Terrace, fixation and recognition device and cradle head controllor, to take photo by plane described in described The Cloud Terrace is provided with equipment, described cradle head controllor is connected with described The Cloud Terrace and fixation and recognition device respectively, wherein
Described fixation and recognition device is applicable to described accompanying flying unmanned plane and obtains the relative position relation change information that described master flies aircraft;
Described cradle head controllor is applicable to generate cradle head control instruction according to described relative position relation change information;
Described The Cloud Terrace is applicable to the camera lens adjustment of equipment of taking photo by plane according to described cradle head control instruction control, makes described master fly aircraft and is arranged in the fixed position relative taking viewfinder range.
7. accompanying flying unmanned plane is taken photo by plane a method, comprises the following steps:
Start main flying and accompanying flying pattern;
Receive the first flight steering order, control the flight that described master flies aircraft;
The second flight steering order is synchronously generated according to described first flight steering order;
The flight of described accompanying flying unmanned plane is controlled according to described second flight steering order;
When the relative position relation that described accompanying flying unmanned plane and described master fly aircraft is in preset range, described accompanying flying unmanned plane automatic tracing and the described master of shooting fly aircraft.
8. accompanying flying unmanned plane according to claim 7 is taken photo by plane method, it is characterized in that: describedly synchronously generate the second flight steering order step according to described first flight steering order, specifically comprises the following steps:
Judge whether described first flight steering order meets pre-conditioned;
If met, then described first flight steering order is converted into described second flight steering order;
If do not met, then described first flight steering order is ignored.
9. accompanying flying unmanned plane according to claim 7 is taken photo by plane method, it is characterized in that: also comprise equipment of the taking photo by plane camera lens set-up procedure on accompanying flying unmanned plane, specifically comprise the following steps:
Described accompanying flying unmanned plane obtains the relative position relation change information that described master flies aircraft;
Cradle head control instruction is generated according to described relative position relation change information;
To take photo by plane described in controlling according to described cradle head control instruction the camera lens adjustment of equipment, described master is flown fixed position relative that aircraft is arranged in shooting viewfinder range.
10. accompanying flying unmanned plane according to claim 7 is taken photo by plane method, it is characterized in that: also comprise reset process, when described master fly relative position relation between aircraft and described accompanying flying unmanned plane not in described preset range time, start replacement pattern, recover initial relative position relation between the two.
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| CN113156985B (en) * | 2021-03-18 | 2022-06-28 | 南京航空航天大学 | Fixed-wing unmanned aerial vehicle obstacle avoidance robust anti-interference flight control method based on preset performance |
| CN113238568A (en) * | 2021-04-26 | 2021-08-10 | 天津小鲨鱼智能科技有限公司 | Following method, aircraft and first equipment |
| CN114020029A (en) * | 2021-11-09 | 2022-02-08 | 深圳大漠大智控技术有限公司 | Automatic generation method and device of aerial route for cluster and related components |
| 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 |
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