CN105242686A - Unmanned aerial vehicle aerial photo system and method - Google Patents
Unmanned aerial vehicle aerial photo system and method Download PDFInfo
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Abstract
The present invention discloses an unmanned aerial vehicle aerial photo system and method. The unmanned aerial vehicle aerial photo system comprises at least two unmanned aerial vehicles and a ground control station; the information mutual communication between the ground control station and the unmanned aerial vehicles are performed through a data transmission link; a wireless communication connection between different unmanned aerial vehicles is established through the arrangement of a mobile video base station task load device; and unmanned aerial vehicles having good channel conditions are taken as mobile communication transfer stations, and taken aerial image information is transferred to the ground control station. According to the unmanned aerial vehicle aerial photo system and method, the unmanned aerial vehicles having good channel conditions are taken as mobile communication transfer stations, therefore the problem of the poor quality of taken aerial images in the prior art is solved, and the transmission effect and the quality of the aerial images are improved.
Description
Technical field
The present invention relates to unmanned flight's machine technique for taking field, particularly relate to a kind of unmanned plane and to take photo by plane system and to take photo by plane method.
Background technology
Along with continuous maturation and the development of unmanned air vehicle technique, because unmanned plane has advantage of lower cost, risk that no one was injured, viability is strong, mobility is good, the advantage such as easy to use, make unmanned plane application in civilian more extensive, main application market comprises: Aerial photography, aeroplane photography, geology and geomorphology is surveyed and drawn, forest fire protection, seismic survey, nuclear radiation detection, border patrol, emergency disaster relief, Crop Estimation, agricultural land information is monitored, pipeline, ultra-high-tension power transmission line is patrolled, the conservation of wildlife, scientific experiment, maritime affairs are scouted, the movement pattern of fish is monitored, environmental monitoring, air samples, increase rain, resource exploration, the prohibition of drug, anti-terrorism, police investigation patrol, security monitoring, fire-fighting is taken photo by plane investigation, communication relaying, city planning, multiple fields such as digitalized city construction, due to the strict demand of aeronautical product to security and the reason of air traffic control, people are not dared to inquire.At a few years from now on, it will be the epoch of General Aviation cause and unmanned plane career development.According to analysis, the market demand of a large amount of civilian unmanned plane of Lai Jinian China, unmanned plane application distant view is better, but present stage related application be also in not yet formed, primary stage of scale.Existing many rotor wing unmanned aerial vehicles, major advantage is can vertical takeoff and landing, and lower to site requirements, have Safety Redundancy, security is higher, can the total class of load extensive, therefore will obtain widespread adoption market.
Method of taking photo by plane of the prior art, flight environment of vehicle due to unmanned plane is difficult to control, and the signal to noise ratio (S/N ratio) of image return path instability causes taking photo by plane, obtained picture quality is poor, is difficult to meet application demand, limits unmanned plane and takes photo by plane in work, application agriculturally.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of unmanned plane and to take photo by plane system and to take photo by plane method, improve the laser propagation effect of Aerial Images, improve the quality of Aerial Images.
Technical scheme: for achieving the above object, unmanned plane of the present invention is taken photo by plane system, comprise at least two frame unmanned plane and ground control stations, data transmission link is provided with between described ground control station and described unmanned plane, described ground control station according to the task of taking photo by plane to unmanned plane sending controling instruction, and receive described unmanned plane send data message;
Described unmanned plane comprises mobile video base station mission payload device, sets up radio communication connect between different described unmanned plane by mobile video base station mission payload device.
Correspondingly, present invention also offers a kind of unmanned plane and to take photo by plane method, what be applied to existence at least two frame unmanned plane takes photo by plane in system, comprises the following steps:
(1) aloft unmanned plane is with the cycle preset control station transmission data message earthward, and described data message comprises: state of flight information, take photo by plane pictorial information and mobile communication transfer load information;
(2) described ground control station stores described data message, and upgrades store list according to the described cycle preset;
(3) if described ground control station detects that unmanned plane enters region of taking photo by plane, then send instruction of taking photo by plane, and send flight steering order according to the shooting demand preset to unmanned plane;
(4) on described unmanned plane according to flight steering order adjustment state of flight to photograph the image information meeting shooting demand, according to taking photo by plane instruction acquisition image taking photo by plane pictorial information to the transmission of described ground control station after carrying out compression process to image;
(5) if described ground control station detects that the received signal to noise ratio of described unmanned plane is lower than the channel SNRs preset, be then that described unmanned plane finds mobile communication terminal according to described mobile communication transfer load information;
(6) taken pictorial information of taking photo by plane is synchronized to described mobile communication terminal by described unmanned plane, described mobile communication terminal is other unmanned planes different from described unmanned plane in system, and described mobile communication terminal sends described pictorial information of taking photo by plane to described ground control station.
Beneficial effect: take photo by plane system and the unmanned plane method of taking photo by plane of the unmanned plane in the present invention utilizes idle unmanned plane in system as mobile communication terminal, to improve the laser propagation effect of Aerial Images, improves the quality of Aerial Images; Unmanned plane of the present invention system of taking photo by plane carries out cooperation control to the servomechanism in unmanned plane, mobile video base station mission payload device, filming apparatus and radio communication device, make each device on the basis completing self function, can cooperatively interact again, control station sends pictorial information of taking photo by plane earthward, improves the data transmission efficiency between unmanned plane and ground control station and data transmission quality; Unmanned plane of the present invention takes photo by plane method using unmanned plane good for channel as mobile communication terminal, further increase data transmission efficiency and data transmission quality, improve aerial photography effect, contribute to unmanned plane to take photo by plane the popularization of application and use, for industry, agriculture field brings larger economic benefit.
Accompanying drawing explanation
Fig. 1 is that unmanned plane of the present invention is taken photo by plane system schematic;
Fig. 2 is the high-level schematic functional block diagram of unmanned plane;
Fig. 3 is the module diagram of unmanned plane servomechanism;
Fig. 4 is the module diagram of unmanned plane mobile video base station mission payload device;
Fig. 5 is the module diagram of unmanned plane filming apparatus.
Embodiment
Below in conjunction with embodiment, the present invention is further described.
The unmanned plane system of taking photo by plane in Fig. 1 comprises: at least 2 frame unmanned planes 1 and ground control station 2, unmanned plane 1 and ground control station 2 pass through communicating wireless signals, by communicating wireless signals between different unmanned planes 1, arbitrary frame unmanned plane 1 can be used as the mobile communication terminal of other unmanned planes 1.Ground control station 2 according to the task of taking photo by plane to unmanned plane 1 sending controling instruction, this steering order comprises: flight steering order, take photo by plane instruction and information transfer instruction, and receiving the data message of unmanned plane 1 transmission, this data message comprises: state of flight information, take photo by plane pictorial information and mobile communication transfer load information.
Above-mentioned unmanned plane 1 comprises as shown in Figure 2: servomechanism 11, mobile video base station mission payload device 12, filming apparatus 13 and radio communication device 14, radio communication device 14 is connected by serial ports with servomechanism 11, mobile video base station mission payload device 12, filming apparatus 13 respectively, radio communication device 14 receives the steering order that ground control station 2 sends, and control station 2 sends data message earthward; The state of flight of the flight steering order adjustment unmanned plane 1 that servomechanism 11 1 aspect receives according to radio communication device 14, on the other hand by radio communication device 14 earthward control station 2 send state of flight information; The information transfer instruction that mission payload device 12 1 aspect, mobile video base station receives according to radio communication device 14 serves as mobile communication terminal for other unmanned planes 1, on the other hand by radio communication device 14 earthward control station 2 send mobile communication transfer load information; Image acquisition and process are carried out in the instruction of taking photo by plane that filming apparatus 13 1 aspect receives according to radio communication device 14, on the other hand by radio communication device 14 earthward control station 2 send pictorial information of taking photo by plane.
Ground control station 2 is provided with radio communication device (not shown), and set up data transmission link between the radio communication device 14 on arbitrary unmanned plane 1, in order to avoid interference, the information transmission link frequency of the different unmanned plane 1 of synchronization is different, and above-mentioned data link comprises up-link L
uwith downlink L
d: up-link L
ufor ground control station 2 to unmanned plane 1 sending controling instruction, realize the control to unmanned plane 1 and airborne device; Downlink L
dhave two passages, first passage is state telemetering channel, for unmanned plane 1 earthward control station 2 transmit current state of flight information and to take photo by plane pictorial information; Second channel is used for control station 2 earthward and transmits mobile communication transfer load information.
As shown in Figure 3, the servomechanism 11 of above-mentioned unmanned plane 1 comprises: survey appearance and navigation module 111, fly control module 112 and manipulation module 113.On the one hand, this servomechanism 11 can adjust the state of flight of unmanned plane 1 automatically according to current flight state, survey appearance and navigation module 111 measure the state of flight of unmanned plane 1, comprise pitch angle, the angle of pitch, course angle, highly, speed and course line, and send guidance command and guide unmanned plane 1 according to predetermined airline operation or assigned address hovering; Surveying appearance and navigation module 111 with flying to control between module 112 adopts serial line interface to be connected; Fly to control measured state of flight and the guidance command that module 112 real-time reception surveys appearance and navigation module 111, form the first steering order according to measurement data and guidance command and send to manipulation module 113; Manipulation module 113 is electromechanical topworks, according to the state of flight flying the first steering order adjustment unmanned plane 1 controlling module 112, realizes controlling the flight of unmanned plane 1.
On the other hand, the servomechanism 11 of above-mentioned unmanned plane 1 can carry out according to the flight steering order of ground control station 2 state of flight adjusting unmanned plane 1.Fly control module 112 to be electrically connected with radio communication device 14, fly control module 112 and state of flight is sent to ground control station 2 by radio communication device 14; Fly to control the flight steering order that module 112 receives radio communication device 14 transmission, form the second steering order according to flight steering order and send to manipulation module 113; Manipulation module 113 is according to the state of flight of the second steering order adjustment unmanned plane 1.
The mobile video base station mission payload device 12 of unmanned plane 1 for other unmanned planes 1 earthward control station 2 transmission take photo by plane pictorial information time, its downlink L
dfirst passage second-rate when, for other unmanned planes 1 provide information gangway for transhipment.Above-mentioned mobile communication transfer load information comprises: the maximum transfer load of corresponding unmanned plane, and current transfer load, for judging whether this unmanned plane 1 can as the mobile communication terminal of other unmanned planes 1, such as: the maximum transfer load of a unmanned plane is 5, namely this unmanned plane can be at most that 5 other unmanned planes are as mobile communication terminal, if the current transfer load <5 of this unmanned plane, then can also be that a frame unmanned plane serves as mobile communication terminal again.As shown in Figure 4, mobile video base station mission payload device 12 comprises base station equipment 121 and antenna for base station 123, mobile video base station mission payload device 12 is integrated on unmanned plane 1, base station equipment 121 adopts lightweight base station, integrated installation is in driving cabin, and antenna for base station 123 is arranged on driving cabin bottom.Antenna for base station 123 is used for setting up radio communication between the mobile video base station mission payload device 12 of other unmanned planes 1 as wireless transmitting-receiving equipments, synchronously to take photo by plane pictorial information, base station equipment 121 is for passing through antenna for base station 123 to other unmanned plane 1 intercommunicated wireless connection setup orders, record and upgrade transfer task list, in transfer task list, describing the relaying pairing situation of corresponding unmanned plane 1.
As shown in Figure 5, the filming apparatus 13 of unmanned plane 1 comprises: image capture module 131, image coding module 132, image compression module 133, image storage module 134 and micro-control module 135, owing to limitting by the load of SUAV (small unmanned aerial vehicle) 1, image capture module 131 adopts the high resolving power analog video camera of lighter in weight to gather vision signal, and the vision signal of collection is sent to image coding module 132, this vision signal is the set of a series of analog image; The analog image received is encoded by image coding module 132, transforms and generates the higher digital picture of resolution and send to image compression module 133; Image compression module 133 sends image storage module 134 to after carrying out compression coding to the digital video image received and stores; Micro-control module 135 is all electrically connected with image capture module 131, image coding module 132, image compression module 133, image storage module 134, micro-control module 135 controls image capture module 131 and gathers vision signal, camera lens as controlled image capture module 131 changes shooting angle, zoom, zoom etc.; Micro-control module 135 coordinated scheduling image coding module 132 carries out Image Coding, image compression module 133 encode after compression of images, image storage module 134 pairs of compressed images store.Micro-control module 135 is electrically connected with radio communication device 14, and receive the shooting instruction sent from ground control station 2, the compressed image extracting storage from image storage module 134 sends to ground control station 2 by radio communication device 14.
Because the Digital Image Data amount after coding is huge, and the limited bandwidth of radio communication channel, be difficult to the real-time Transmission ensureing video image, therefore the image through overcompression process can reduce data volume under the prerequisite ensureing certain image quality, and compression work can select software or specialized hardware usually.But own coding compressed software code size is comparatively large, equipment requirement is high, and the airborne microprocessor function of unmanned plane is limited, makes it apply and is restricted.For ensureing system optimal functional status, select MPEG-4 own coding chip to carry out hardware encoding compression to the digital picture obtained after collection, generate MPEG-4 code stream, real-time is good, and reliability is high.
When utilizing the unmanned plane system of taking photo by plane in Fig. 1 to take photo by plane, can preset software program utilize ground control station 2 plan unmanned plane 1 aerial mission, demarcate and revise flight path, monitor flight position, control aircraft, control & monitor mobile video base station mission payload, store and process mobile communication base station mission payload data, launch and reclaim many rotor wing unmanned aerial vehicles, detailed process is as follows:
(1) aloft unmanned plane 1 with the cycle preset earthward control station 2 send data message, this data message comprises: state of flight information, take photo by plane pictorial information and mobile communication transfer load information;
(2) ground control station 2 stores this data message, and upgrades store list according to the above-mentioned cycle preset;
(3) when ground control station 2 detects that unmanned plane 1 enters region of taking photo by plane, then send instruction of taking photo by plane, and send flight steering order according to the shooting demand preset to unmanned plane 1;
(4) servomechanism 11 on unmanned plane 1 is according to flight steering order adjustment state of flight to photograph the image information meeting shooting demand, and the filming apparatus 13 on unmanned plane 1 is according to taking photo by plane instruction acquisition image taking photo by plane pictorial information to ground control station 2 transmission after carrying out compression process to image;
(5) if ground control station 2 detects downlink L
dthe data-signal signal to noise ratio (S/N ratio) that first passage receives is lower than the channel SNRs preset, then judge the second-rate transmission that can not meet image information of the first passage of this unmanned plane 1, now judge this unmanned plane 1(main frame according to stored mobile communication transfer load information) whether around have can as other unmanned planes 1(subsidiary engine of mobile communication terminal), if any then selecting one of them unmanned plane 1(subsidiary engine) as mobile communication terminal; Then to two unmanned plane 1(main frames and selected subsidiary engine) send information transfer instruction, set up wireless connections between two unmanned planes 1;
(6) taken pictorial information of taking photo by plane is synchronized to the subsidiary engine of mobile communication terminal by main frame, and subsidiary engine utilizes the downlink L between self and ground control station 2
dfirst passage transmission main frame pictorial information of taking photo by plane.
In order to improve the transmission quality of pictorial information of taking photo by plane, above-mentioned subsidiary engine is downlink L between ground control station 2
dthe highest unmanned plane 1 of the channel SNRs of first passage.Utilize unmanned plane of the present invention to take photo by plane system and to take photo by plane method, making can cooperatively interact between multiple unmanned plane carries out data transmission, can reach the object of the remote HD video real-time Transmission of low emissive power.
More than describe the preferred embodiment of the present invention in detail; but the present invention is not limited to the detail in above-mentioned embodiment, within the scope of technical conceive of the present invention; can carry out multiple equivalents to technical scheme of the present invention, these equivalents all belong to protection scope of the present invention.
Claims (10)
1. unmanned plane is taken photo by plane a system, it is characterized in that, comprises at least two frame unmanned planes (1) and ground control station (2),
Be provided with data transmission link between described ground control station (2) and described unmanned plane (1), described ground control station (2) according to taking photo by plane task to unmanned plane (1) sending controling instruction, and receives the data message that described unmanned plane (1) sends;
Described unmanned plane (1) comprises mobile video base station mission payload device (12), sets up radio communication connect between different described unmanned plane (1) by mobile video base station mission payload device (12).
2. unmanned plane according to claim 1 is taken photo by plane system, it is characterized in that, described steering order comprises: flight steering order, take photo by plane instruction and information transfer instruction, described data message comprises: state of flight information, take photo by plane pictorial information and mobile communication transfer load information.
3. unmanned plane according to claim 2 is taken photo by plane system, and it is characterized in that, described unmanned plane (1) also comprises:
Servomechanism (11), filming apparatus (13) and radio communication device (14), described radio communication device (14) receives the steering order that described ground control station (2) sends, and sends data message to described ground control station (2); The flight steering order that described servomechanism (11) receives according to described radio communication device (14) on the one hand adjusts the state of flight of described unmanned plane (1), sends state of flight information on the other hand by described radio communication device (14) to described ground control station (2); The information transfer instruction that described mobile video base station mission payload device (12) receives according to described radio communication device (14) on the one hand serves as mobile communication terminal for other unmanned planes (1), sends mobile communication transfer load information on the other hand by radio communication device (14) to described ground control station (2); Image acquisition and process are carried out in the instruction of taking photo by plane that described filming apparatus (13) receives according to described radio communication device (14) on the one hand, send pictorial information of taking photo by plane on the other hand by described radio communication device (14) to described ground control station 2.
4. unmanned plane according to claim 3 is taken photo by plane system, and it is characterized in that, described radio communication device (14) is connected by serial ports with described servomechanism (11), mobile video base station mission payload device (12), filming apparatus (13) respectively.
5. unmanned plane according to claim 3 is taken photo by plane system, it is characterized in that, described servomechanism (11) comprises to be surveyed appearance and navigation module (111), fly control module (112) and manipulation module (113); Described survey appearance and navigation module (111) and manipulation module (113) fly to control module (112) be electrically connected with described respectively, described in fly control module and be electrically connected with radio communication device (14).
6. unmanned plane according to claim 5 is taken photo by plane system, and it is characterized in that, described survey appearance and navigation module (111) obtain the state of flight information of described unmanned plane (1) and send described state of flight and guidance command; Described fly control module (112) receive described state of flight information and guidance command, form the first steering order according to described state of flight information and guidance command and send to described manipulation module (113); Described manipulation module (113), according to the state of flight of described first steering order adjustment unmanned plane (1), realizes certainly controlling described unmanned plane (1).
7. unmanned plane according to claim 5 is taken photo by plane system, and it is characterized in that, described survey appearance and navigation module (111) obtain the state of flight information of described unmanned plane (1), and flies control module (112) described in described state of flight information being sent to; Describedly fly to control module (112) and receive the described flight steering order that described radio communication device (14) transmits, form the second steering order according to described flight steering order and send to described manipulation module (113); Described manipulation module (113) adjusts the state of flight of described unmanned plane (1) according to described second steering order.
8. unmanned plane according to claim 3 is taken photo by plane system, it is characterized in that, described filming apparatus (13) comprising: image capture module (131), image coding module (132), image compression module (133), image storage module (134) and micro-control module (135), described image capture module (131) gathers vision signal, and described vision signal is the set of a series of analog image; It is digital picture that described image coding module (132) is carried out encoded translated to described analog image; Described image compression module (133) forms compressed image and sends described image storage module (134) to and store after carrying out compression coding to described digital picture; Described micro-control module (135) controls described image capture module (131) and gathers described vision signal, image coding module described in cooperation control (132) carries out Image Coding, described image compression module (133) carries out compression of images, and described image storage module (134) stores described compressed image.
9. unmanned plane according to claim 8 is taken photo by plane system, it is characterized in that, described micro-control module (135) is electrically connected with described radio communication device (14), receive described shooting instruction, from described image storage module (134), extract the described compressed image stored and send to described ground control station (2) by radio communication device (14).
10. unmanned plane is taken photo by plane a method, and what be applied to existence at least two frame unmanned plane takes photo by plane in system, it is characterized in that, comprises the following steps:
(1) aloft unmanned plane is with the cycle preset control station transmission data message earthward, and described data message comprises: state of flight information, take photo by plane pictorial information and mobile communication transfer load information;
(2) described ground control station stores described data message, and upgrades store list according to the described cycle preset;
(3) if described ground control station detects that unmanned plane enters region of taking photo by plane, then send instruction of taking photo by plane, and send flight steering order according to the shooting demand preset to unmanned plane;
(4) on described unmanned plane according to flight steering order adjustment state of flight to photograph the image information meeting shooting demand, according to taking photo by plane instruction acquisition image taking photo by plane pictorial information to the transmission of described ground control station after carrying out compression process to image;
(5) if described ground control station detects that the received signal to noise ratio of described unmanned plane is lower than the channel SNRs preset, be then that described unmanned plane finds mobile communication terminal according to described mobile communication transfer load information;
(6) taken pictorial information of taking photo by plane is synchronized to described mobile communication terminal by described unmanned plane, described mobile communication terminal is other unmanned planes different from described unmanned plane in system, and described mobile communication terminal sends described pictorial information of taking photo by plane to described ground control station.
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