CN105388905A - Unmanned aerial vehicle flight control method and device - Google Patents
Unmanned aerial vehicle flight control method and device Download PDFInfo
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- CN105388905A CN105388905A CN201510733350.3A CN201510733350A CN105388905A CN 105388905 A CN105388905 A CN 105388905A CN 201510733350 A CN201510733350 A CN 201510733350A CN 105388905 A CN105388905 A CN 105388905A
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Abstract
The invention discloses an unmanned aerial vehicle flight control method. the method comprises steps: feature information of a target object is acquired; according to the feature information of the target object, a surrounding radius and a surrounding mode are determined; and according to the surrounding radius and the surrounding mode, a shooting waypoint is determined, and shooting is carried out when the unmanned aerial vehicle flies to the determined shooting waypoint. The invention also provides an unmanned aerial vehicle flight control device. By adopting the method and the device, the unmanned aerial vehicle can be automatically controlled to carry out surrounding flight towards the target object and carry out shooting, and human intervention is reduced.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of UAV Flight Control method and device.
Background technology
At present, unpiloted aircraft (also known as unmanned plane) is widely applied, such as, in the fields such as mapping, search and rescue of taking photo by plane.Taking photo by plane in mapping, sometimes needing to carry out 360 degree of omnibearing scannings to destination object, comprising current 3D imaging technique, all require the comprehensive scanning carrying out without dead point to destination object; In prior art, ground controller manually plays the 360 degree of flights aloft of bar control unmanned plane by telepilot and has feasibility, but it operates more complicated, because it is all rectilinear flight that general unmanned plane is executed the task, the operating personnel of specialty are therefore needed to operate, even if it is not smooth still to there will be flight course like this, shooting time is long, the shortcomings such as shooting effect difference, especially when unmanned plane and destination object close together, occur colliding, to fall the machine even situation of aircraft bombing many.
Foregoing, only for auxiliary understanding technical scheme of the present invention, does not represent and admits that foregoing is prior art.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of UAV Flight Control method and device, is intended to control unmanned plane automatically and carries out circumaviate towards destination object, and take, and reduces human intervention.
For achieving the above object, the invention provides a kind of UAV Flight Control method, the method comprises:
Obtain the characteristic information of destination object;
Determine around radius and around pattern according to the characteristic information of described destination object;
Determine to take destination around radius with around pattern according to described, and when unmanned plane during flying is to the shooting destination determined, take.
Preferably, the characteristic information of described destination object comprises positional information and the shape information of destination object, and wherein, the step obtaining the positional information of described destination object comprises:
Send positional information to destination object and obtain request, and receive described destination object and obtain the positional information asking to return according to described positional information; Or
Control directly over described unmanned plane during flying to destination object, obtain the difference in height of described unmanned plane and destination object and obtain the current positional information of described unmanned plane, and determining the positional information of described destination object according to described difference in height and the current positional information of unmanned plane; Or
With the control terminal with map function of described UAV Communication on obtain the positional information of destination object.
Preferably, determine to comprise around the step of radius according to the characteristic information of described destination object:
Obtain described unmanned plane in unlatching around positional information during pattern, and according to described unmanned plane opening the positional information around positional information during pattern and described destination object, determine around radius; Or
According to the volume size of described destination object and the image of selection or video quality, in the mapping relations preset, find corresponding to radius.
Preferably, determine to comprise around the step of pattern according to the characteristic information of described destination object:
Obtain the height value of described destination object, and obtain the projecting plane product value of destination object at surface level;
Determine around pattern according to the height value of described destination object and projecting plane product value, described around pattern comprise same radius contour around pattern, different radii contour around pattern, with radial spi around pattern.
Preferably, determine to take destination around radius with around pattern described in described basis, and when unmanned plane during flying is to the shooting destination determined, also comprise after carrying out shooting step:
According to the 3D information of captured picture or video data determination destination object;
Described 3D information is sent to 3D printer;
Described 3D printer prints after receiving described 3D information, to obtain the 3D model of destination object.
In addition, for achieving the above object, the present invention also provides a kind of UAV Flight Control device, and this device comprises:
Acquisition module, for obtaining the characteristic information of destination object;
First determination module, for determining around radius and around pattern according to the characteristic information of described destination object;
Control module module, for determining to take destination around radius with around pattern according to described, and when unmanned plane during flying is to the shooting destination determined, takes.
Preferably, the characteristic information of described destination object comprises positional information and the shape information of destination object, described acquisition module, also obtains request for sending positional information to destination object, and receives described destination object and obtain the positional information asking to return according to described positional information; Or for controlling directly over described unmanned plane during flying to destination object, obtain the difference in height of described unmanned plane and destination object and obtain the current positional information of described unmanned plane, and determining the positional information of described destination object according to described difference in height and the current positional information of unmanned plane; Or for the control terminal with map function of described UAV Communication on obtain the positional information of destination object.
Preferably, described first determination module comprises radius determining unit, for obtaining described unmanned plane in unlatching around positional information during pattern, and according to described unmanned plane opening the positional information around positional information during pattern and described destination object, determine around radius; Or for according to the volume size of described destination object and the image of selection or video quality, in the mapping relations preset, find corresponding to radius.
Preferably, described first determination module also comprises around pattern determining unit, for obtaining the height value of described destination object, and obtain the projecting plane product value of destination object at surface level, and determine around pattern according to the height value of described destination object and projecting plane product value, described around pattern comprise same radius contour around pattern, different radii contour around pattern, with radial spi around pattern.
Preferably, described device also comprises:
Second determination module, for will the picture of shooting or the 3D information of video data determination destination object;
Sending module, for sending to 3D printer by described 3D information;
3D printer, for printing after receiving described 3D information, to obtain the 3D model of destination object.
UAV Flight Control method of the present invention and device, the method comprises: the characteristic information obtaining destination object; Determine around radius and around pattern according to the characteristic information of described destination object; Determine to take destination around radius with around pattern according to described, and when unmanned plane during flying is to the shooting destination determined, take; Unmanned plane can be controlled automatically and carry out circumaviate towards destination object, and take, reduce human intervention.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the first embodiment of UAV Flight Control method of the present invention;
Fig. 2 is the schematic flow sheet of the second embodiment of UAV Flight Control method of the present invention;
Fig. 3 is the structural representation of the first embodiment of UAV Flight Control device of the present invention;
Fig. 4 is the structural representation of the second embodiment of UAV Flight Control device of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
With reference to the schematic flow sheet that Fig. 1, Fig. 1 are the first embodiment of UAV Flight Control method of the present invention, the method comprises:
The characteristic information of S10, acquisition destination object.
In one embodiment, the characteristic information of this destination object comprises positional information and the shape information of destination object, also can comprise the volume size of destination object, namely the step obtaining the characteristic information of destination object is: the positional information and the shape information that obtain destination object, also can obtain the volume size of destination object.The positional information of this destination object is with longitude and latitude and highly represent, the height of this destination object refers to this destination object height with respect to the horizontal plane.
Optionally, by obtaining the positional information of destination object with under type: send positional information to destination object and obtain request, and receive this destination object and obtain the positional information asking to return according to this positional information.Position detecting module is placed with in destination object, as GPS module, destination object measures longitude and latitude and the height of this destination object by GPS module, this destination object, when receiving positional information and obtaining request, reads the longitude and latitude of measurement and highly returns to the request end of this transmission information acquisition request from this GPS module.
Optionally, by obtaining the positional information of destination object with under type: control directly over unmanned plane during flying to destination object, obtain the difference in height of this unmanned plane and destination object and obtain the current positional information of this unmanned plane, and determining the positional information of this destination object according to this difference in height and the current positional information of unmanned plane.Control directly over unmanned plane during flying to destination object, concrete, by this unmanned plane, destination object is taken, image recognition is carried out to the image of shooting, then the center of this destination object is determined, control the top of this aircraft flight to the center of destination object again, also namely control directly over aircraft flight to destination object.Time directly over unmanned plane during flying to destination object, the difference in height between this unmanned plane and destination object is measured by the height sensor (as ultrasonic sensor) on this unmanned plane, simultaneously by the position detecting module on unmanned plane, as GPS module, longitude and latitude and the height of this unmanned plane is measured by the GPS module that this unmanned plane is built-in, the longitude and latitude of this unmanned plane is the longitude and latitude of destination object, the difference in height that the height of this unmanned plane and this unmanned plane are measured difference be the height of destination object.
Optionally, by obtaining the positional information of destination object with under type: with the control terminal with map function of this UAV Communication on obtain the positional information of destination object.Concrete, send target object position information acquisition request to the control terminal (as terminals such as mobile phone, panel computer or ground control stations) with map be connected with UAV Communication, and receive this control terminal and obtain according to this target object information and ask the positional information that returns.This control terminal is after receiving target object position information acquisition request, control terminal determines destination object, know longitude and latitude and the height of destination object from the map of this control terminal, this control terminal is by the longitude and latitude of destination object and highly return to the request end sending target object position information acquisition request.
S20, to determine around radius and around pattern according to the characteristic information of this destination object.
In this step, determine around radius and around pattern according to the characteristic information of destination object, to photograph suitable image or video to this destination object.
Optionally, this is determined according to the characteristic information of this destination object: obtain this unmanned plane in unlatching around positional information during pattern, and according to this unmanned plane opening the positional information around positional information during pattern and this destination object, determine around radius.This unmanned plane obtains by the built-in position detecting module of this unmanned plane around positional information during pattern opening, this unmanned plane in unlatching around the coordinate points A (X of positional information during pattern
p, Y
p, Z
p) represent, the positional information coordinate points B (X of this destination object
t, Y
t, Z
t) represent, obtain by following formulae discovery around radius R:
Optionally, this is determined according to the characteristic information of this destination object: according to the volume size of this destination object and the image of selection or video quality, at the volume size preset and the image of selection or video quality and around in the mapping relations of radius, determine around radius.Pre-set volume size and image or video quality and the mapping relations around radius, as shown in Table 1.According to the volume size of this destination object and the image of selection or video quality, at this volume size and image or video quality and around in the mapping relations of radius, find corresponding to radius; Concrete, first determine the volume range belonging to volume size of this destination object, then find the image of this affiliated volume range and selection or video quality corresponding around radius, be this destination object corresponding around radius, the volume range belonging to the volume size v of this destination object is [V
2, V
3), the image of selection or video quality are q2, then from this volume size and image or video quality and around the mapping relations of radius, can find around radius is R
2.
Table one:
| Volume size V | Image or video quality | Around radius R |
| [V 1，V 2) | q1 | r 1 |
| [V 2，V 3) | q2 | r 2 |
| [V 3，V 4) | q3 | r 3 |
| …… | …… |
The shape information of this destination object comprises the height value of destination object and the destination object projecting plane product value at surface level.The height value of this destination object refers to the bee-line of destination object upper surface to lower surface.
This destination object surface level projecting plane product value for this destination object just put time, in the projecting plane product value of surface level.
Optionally, determine according to the characteristic information of this destination object around the step of pattern be: obtain the height value of destination object, and obtain the projecting plane product value of destination object at surface level; According to this destination object height value and projecting plane product value determine around pattern, should around pattern comprise same radius contour around pattern, different radii contour around pattern, with radial spi around pattern.Concrete, according to this destination object the projecting plane product value of surface level and height value square relation determine around pattern, the unit of this projecting plane product value and height value square unit identical; Concrete, comprise the following steps: if the projecting plane product value of this destination object of S21 be more than or equal to this height value square, and the projecting plane product value of this destination object and this height value square difference be less than or equal to the first difference threshold, then determine around pattern for contour around pattern with radius; If the projecting plane product value of this destination object of S22 be more than or equal to this height value square, and the projecting plane product value of this destination object and this height value square difference be greater than the first difference threshold, then determine around pattern to be that different radii is contour around pattern; If the projecting plane product value of this destination object of S23 be less than this height value square, and the height value of this destination object square be less than or equal to the first difference threshold with the difference of this projecting plane product value, then determine around pattern for contour around pattern with radius; If the projecting plane product value of this destination object of S24 be less than this height value square, and the height value of this destination object square with projection this area value difference be greater than the first difference threshold, then determine around pattern for radial spi around pattern.
This first difference threshold can be arranged as required.If the projecting plane product value of this destination object be more than or equal to this height value square, and the projecting plane product value of this destination object and this height value square difference be less than or equal to the first difference threshold, then think that the projecting plane product value of this destination object is suitable with height value, can adopt contour around pattern with radius to this destination object.
If the projecting plane product value of this destination object be more than or equal to this height value square, and the projecting plane product value of this destination object and this height value square difference be greater than the first difference threshold, then think that this destination object is flat, different radii can be adopted contour around pattern to this destination object.
If the projecting plane product value of this destination object be less than this height value square, and the height value of this destination object square be less than or equal to the first difference threshold with the difference of this projecting plane product value, then think that the projecting plane product value of this destination object is suitable with height value, can adopt contour around pattern with radius to this destination object.
If the projecting plane product value of this destination object be less than this height value square, and the height value of this destination object square be greater than the first difference threshold with the difference of this projecting plane product value, then think that this destination object is rectangular column, radial spi can be adopted around pattern to this destination object.
S30, basis should be determined to take destination around radius with around pattern, and when unmanned plane during flying is to the shooting destination determined, took.
In this step, the shooting destination determined comprises the number of shooting destination and the coordinate information of each shooting destination.
In one embodiment, this around pattern be same radius contour around pattern time, calculate the number of shooting destination and the coordinate information of shooting destination in the following manner, minimum angles θ is calculated according to the above-mentioned radius R that detours determined, θ=2*arcsin (l/2R), determine shooting destination number N according to this θ again, number N is drawn by following formulae discovery:
The coordinate of each shooting destination is (X
t+ R*cos (2 π/N*n), Y
t+ R*sin (2 π/N*n), Z
t), wherein, n=0,1,2 ..., N-1,2 π/N representation unit radians.
In one embodiment, this around pattern be different radii contour around pattern time, in the following manner calculate shooting destination number and shooting destination coordinate information, first according to preset rules determine need around number of turns i, the interval g of two adjacent rings, the radius R of each circle
j=R+ (j-1) * g, j=1,2 ..., i; Again according to the above-mentioned radius R that detours determined
jcalculate the minimum angles θ of each circle
j, θ
j=2*arcsin (l/2R
j), then according to this θ
jdetermine the shooting destination number N of each circle
j, number N
jdrawn by following formulae discovery:
Total shooting destination number N is:
the coordinate of each shooting destination of each circle is ((X
t+ R
j* cos (2 π/N
j* n), Y
t+ R
j* sin (2 π/N
j* n), Z
t)), wherein, n=0,1,2 ..., N
j-1,2 π/N
jrepresentation unit radian.
In one embodiment, this around pattern be same radial spi around pattern time, in the following manner calculate shooting destination number and shooting destination coordinate information, according to preset rules determine need need around number of turns i, the interval h of two adjacent rings; Calculate minimum angles θ, θ=2*arcsin (l/2R) according to the above-mentioned radius R that detours determined, then determine each shooting destination number N enclosed according to this θ
0, number N
0drawn by following formulae discovery:
Total shooting destination number N is: N=i*N
0.The coordinate of each shooting destination of each circle is (X
t+ R*cos (2 π/N
0* n), Y
t+ R*sin (2 π/N
0* n), Z
t+ (j-1) * h), wherein, n=0,1,2 ..., N
0-1,2 π/N
0representation unit radian, j=1,2 ..., i.
Adopt above-described embodiment, by obtaining the characteristic information of destination object; Determine around radius and around pattern according to the characteristic information of this destination object; Determine to take destination around radius with around pattern according to this, and when unmanned plane during flying is to the shooting destination determined, take; Unmanned plane can be controlled automatically and carry out circumaviate towards destination object, and take, reduce human intervention.
With reference to the schematic flow sheet that Fig. 2, Fig. 2 are the second embodiment of UAV Flight Control method of the present invention.
Based on the second embodiment of above-mentioned UAV Flight Control method, after step S30, the method also comprises:
S40,3D information according to captured picture or video data determination destination object.
The picture of this shooting or video data are analyzed, obtains the 3D information of this destination object.
S50, this 3D information is sent to 3D printer.
By wired or wireless mode, this 3D information is sent to 3D printer, as 3D information sent to 3D printer by 2.4G, 5.8G, wifi.
S60, this 3D printer print after receiving this 3D information, to obtain the 3D model of destination object.
With reference to the structural representation that Fig. 3, Fig. 3 are the first embodiment of UAV Flight Control device of the present invention, this device comprises:
Acquisition module 10, for obtaining the characteristic information of destination object;
First determination module 20, for determining around radius and around pattern according to the characteristic information of this destination object;
Control module 30, for determining to take destination according to around radius with around pattern, and when unmanned plane during flying is to the shooting destination determined, takes.
In one embodiment, the characteristic information of this destination object comprises positional information and the shape information of destination object, also can comprise the volume size of destination object, and namely this acquisition module 10 is also for obtaining positional information and the shape information of destination object.The positional information of this destination object is with longitude and latitude and highly represent, the height of this destination object refers to this destination object height with respect to the horizontal plane.
Optionally, this acquisition module 10 is by obtaining the positional information of destination object with under type: send positional information to destination object and obtain request, and receives this destination object and obtain the positional information asking to return according to this positional information.Position detecting module is built-in with in destination object, as GPS module, destination object measures longitude and latitude and the height of this destination object by built-in GPS module, this destination object, when receiving positional information and obtaining request, reads the longitude and latitude of measurement and highly returns to the request end of this transmission information acquisition request from this GPS module.
Optionally, this acquisition module 10 is by obtaining the positional information of destination object with under type: control directly over unmanned plane during flying to destination object, obtain the difference in height of this unmanned plane and destination object and obtain the current positional information of this unmanned plane, and determining the positional information of this destination object according to this difference in height and the current positional information of unmanned plane.Control directly over unmanned plane during flying to destination object, concrete, by this unmanned plane, destination object is taken, image recognition is carried out to the image of shooting, then the center of this destination object is determined, control the top of this aircraft flight to the center of destination object again, also namely control directly over aircraft flight to destination object.Time directly over unmanned plane during flying to destination object, the difference in height between this unmanned plane and destination object is measured by the height sensor (as ultrasonic sensor) on this unmanned plane, simultaneously by the position detecting module on unmanned plane, as GPS module, longitude and latitude and the height of this unmanned plane is measured by the GPS module that this unmanned plane is built-in, the longitude and latitude of this unmanned plane is the longitude and latitude of destination object, the difference in height that the height of this unmanned plane and this unmanned plane are measured difference be the height of destination object.
Optionally, this acquisition module 10 is also by obtaining the positional information of destination object with under type: with the control terminal with map function of this UAV Communication on obtain the positional information of destination object.Concrete, this acquisition module 10 sends target object position information acquisition request to the control terminal (as terminals such as mobile phone, panel computer or ground control stations) with map be connected with UAV Communication, and receives this control terminal and obtain according to this target object information and ask the positional information that returns.This control terminal is after receiving target object position information acquisition request, control terminal determines destination object, know longitude and latitude and the height of destination object from the map of this control terminal, this control terminal is by the longitude and latitude of destination object and highly return to the request end sending target object position information acquisition request.
This first determination module 20 is determined around radius and around pattern according to the characteristic information of destination object, to photograph suitable image or video to this destination object.
This first determination module 20 comprises radius determining unit, this radius determining unit is for obtaining this unmanned plane in unlatching around positional information during pattern, and according to this unmanned plane opening the positional information around positional information during pattern and this destination object, determine around radius; Or for according to the volume size of this destination object and the image of selection or video quality, in the mapping relations preset, find corresponding to radius.
This unmanned plane obtains by the built-in position detecting module of this unmanned plane around positional information during pattern opening, this unmanned plane in unlatching around the coordinate points A (X of positional information during pattern
p, Y
p, Z
p) represent, the positional information coordinate points B (X of this destination object
t, Y
t, Z
t) represent, obtain by following formulae discovery around radius R:
These mapping relations preset are: volume size and image or video quality and the mapping relations around radius, pre-set volume size and image or video quality and the mapping relations around radius, as shown in Table 1.According to the volume size of this destination object and the image of selection or video quality, at this volume size and image or video quality and around in the mapping relations of radius, find corresponding to radius; Concrete, first determine the volume range belonging to volume size of this destination object, then find the image of this affiliated volume range and selection or video quality corresponding around radius, be this destination object corresponding around radius, the volume range belonging to the volume size v of this destination object is [V
2, V
3), the image of selection or video quality are q2, then from this volume size and image or video quality and around the mapping relations of radius, can find around radius is R
2.
The shape information of this destination object comprises the height value of destination object and the destination object projecting plane product value at surface level.The height value of this destination object refers to the bee-line of destination object upper surface to lower surface.
This destination object surface level projecting plane product value for this destination object just put time, in the projecting plane product value of surface level.
In one embodiment, this first determination module 20 also comprises around pattern determining unit, for obtaining the height value of this destination object, and obtain the projecting plane product value of destination object at surface level, and determine around pattern according to the area-altitude value of this destination object and projecting plane product value, should around pattern comprise same radius contour around pattern, different radii contour around pattern, with radial spi around pattern.
Concrete, should around pattern determining unit according to this destination object the projecting plane product value of surface level and height value square relation determine around pattern, the unit of this projecting plane product value and height value square unit identical; Concrete, if the projecting plane product value of this destination object be more than or equal to this height value square, and the projecting plane product value of this destination object and this height value square difference be less than or equal to the first difference threshold, then should determine around pattern for contour around pattern with radius around pattern determining unit; If the projecting plane product value of this destination object be more than or equal to this height value square, and the projecting plane product value of this destination object and this height value square difference be greater than the first difference threshold, then should determine around pattern to be that different radii is contour around pattern around pattern determining unit; If the projecting plane product value of this destination object be less than this height value square, and the height value of this destination object square be less than or equal to the first difference threshold with the difference of this projecting plane product value, then should determine around pattern for contour around pattern with radius around pattern determining unit; If the projecting plane product value of this destination object be less than this height value square, and the height value of this destination object square with projection this area value difference be greater than the first difference threshold, then should around pattern determining unit determine around pattern for radial spi around pattern.
This first difference threshold can be arranged as required.If the projecting plane product value of this destination object be more than or equal to this height value square, and the projecting plane product value of this destination object and this height value square difference be less than or equal to the first difference threshold, then think that the projecting plane product value of this destination object is suitable with height value, can should determine to adopt contour around pattern with radius to this destination object around pattern determining unit.
If the projecting plane product value of this destination object be more than or equal to this height value square, and the projecting plane product value of this destination object and this height value square difference be greater than the first difference threshold, then think that this destination object is flat, can should determine to adopt different radii contour around pattern to this destination object around pattern determining unit.
If the projecting plane product value of this destination object be less than this height value square, and the height value of this destination object square be less than or equal to the first difference threshold with the difference of this projecting plane product value, then think that the projecting plane product value of this destination object is suitable with height value, can should determine to adopt contour around pattern with radius to this destination object around pattern determining unit.
If the projecting plane product value of this destination object be less than this height value square, and the height value of this destination object square be greater than the first difference threshold with the difference of this projecting plane product value, then think that this destination object is rectangular column, can should determine to adopt radial spi around pattern to this destination object around pattern determining unit.
The shooting destination that this control module 30 is determined comprises the number of shooting destination and the coordinate information of each shooting destination.
In one embodiment, this around pattern be same radius contour around pattern time, this control module 30 calculates the number of shooting destination and the coordinate information of shooting destination in the following manner, minimum angles θ is calculated according to the above-mentioned radius R that detours determined, θ=2*arcsin (l/2R), determine shooting destination number N according to this θ again, number N is drawn by following formulae discovery:
The coordinate of each shooting destination is (X
t+ R*cos (2 π/N*n), Y
t+ R*sin (2 π/N*n), Z
t), wherein, n=0,1,2 ..., N-1,2 π/N representation unit radians.
In one embodiment, this around pattern be different radii contour around pattern time, this control module 30 calculates the number of shooting destination and the coordinate information of shooting destination in the following manner, first according to preset rules determine need need around number of turns i, the interval g of two adjacent rings, the radius R of each circle
j=R+ (j-1) * g, j=1,2 ..., i; Again according to the above-mentioned radius R that detours determined
jcalculate the minimum angles θ of each circle
j, θ
j=2*arcsin (l/2R
j), then according to this θ
jdetermine the shooting destination number N of each circle
j, number N
jdrawn by following formulae discovery:
Total shooting destination number N is:
the coordinate of each shooting destination of each circle is ((X
t+ R
j* cos (2 π/N
j* n), Y
t+ R
j* sin (2 π/N
j* n), Z
t)), wherein, n=0,1,2 ..., N
j-1,2 π/N
jrepresentation unit radian.
In one embodiment, this around pattern be same radial spi around pattern time, this control module 30 calculate in the following manner shooting destination number and shooting destination coordinate information, according to preset rules determine need need around number of turns i, the interval h of two adjacent rings; Calculate minimum angles θ, θ=2*arcsin (l/2R) according to the above-mentioned radius R that detours determined, then determine each shooting destination number N enclosed according to this θ
0, number N
0drawn by following formulae discovery:
Total shooting destination number N is: N=i*N
0.The coordinate of each shooting destination of each circle is (X
t+ R*cos (2 π/N
0* n), Y
t+ R*sin (2 π/N
0* n), Z
t+ (j-1) * h), wherein, n=0,1,2 ..., N
0-1,2 π/N
0representation unit radian, j=1,2 ..., i.
With reference to the structural representation that Fig. 4, Fig. 4 are the second embodiment of UAV Flight Control device of the present invention.
Based on the first embodiment of above-mentioned UAV Flight Control device, this device also comprises:
Second determination module 40, for will the picture of shooting or the 3D information of video data determination destination object;
Sending module 50, for sending to 3D printer by this 3D information;
3D printer 60, for printing after receiving this 3D information, to obtain the 3D model of destination object.
This second determination module 40 is analyzed the picture of this shooting or video data, obtains the 3D information of this destination object.
This 3D information is sent to 3D printer by wired or wireless mode by this sending module 50, as 3D information sent to 3D printer by wifi.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a UAV Flight Control method, is characterized in that, the method comprises:
Obtain the characteristic information of destination object;
Determine around radius and around pattern according to the characteristic information of described destination object;
Determine to take destination around radius with around pattern according to described, and when unmanned plane during flying is to the shooting destination determined, take.
2. UAV Flight Control method as claimed in claim 1, it is characterized in that, the characteristic information of described destination object comprises positional information and the shape information of destination object, and wherein, the step obtaining the positional information of described destination object comprises:
Send positional information to destination object and obtain request, and receive described destination object and obtain the positional information asking to return according to described positional information; Or
Control directly over described unmanned plane during flying to destination object, obtain the difference in height of described unmanned plane and destination object and obtain the current positional information of described unmanned plane, and determining the positional information of described destination object according to described difference in height and the current positional information of unmanned plane; Or
With the control terminal with map function of described UAV Communication on obtain the positional information of destination object.
3. UAV Flight Control method as claimed in claim 2, is characterized in that, determine to comprise around the step of radius according to the characteristic information of described destination object:
Obtain described unmanned plane in unlatching around positional information during pattern, and according to described unmanned plane opening the positional information around positional information during pattern and described destination object, determine around radius; Or
According to the volume size of described destination object and the image of selection or video quality, in the mapping relations preset, find corresponding to radius.
4. UAV Flight Control method as claimed in claim 1, is characterized in that, determine to comprise around the step of pattern according to the characteristic information of described destination object:
Obtain the height value of described destination object, and obtain the projecting plane product value of destination object at surface level;
Determine around pattern according to the height value of described destination object and projecting plane product value, described around pattern comprise same radius contour around pattern, different radii contour around pattern, with radial spi around pattern.
5. UAV Flight Control method as claimed in claim 1, is characterized in that, determines to take destination, and when unmanned plane during flying is to the shooting destination determined, also comprise after carrying out shooting step described in described basis around radius with around pattern:
According to the 3D information of captured picture or video data determination destination object;
Described 3D information is sent to 3D printer;
Described 3D printer prints after receiving described 3D information, to obtain the 3D model of destination object.
6. a UAV Flight Control device, is characterized in that, this device comprises:
Acquisition module, for obtaining the characteristic information of destination object;
First determination module, for determining around radius and around pattern according to the characteristic information of described destination object;
Control module module, for determining to take destination around radius with around pattern according to described, and when unmanned plane during flying is to the shooting destination determined, takes.
7. UAV Flight Control device as claimed in claim 6, it is characterized in that, the characteristic information of described destination object comprises positional information and the shape information of destination object, described acquisition module, also obtain request for sending positional information to destination object, and receive described destination object and obtain the positional information asking to return according to described positional information; Or for controlling directly over described unmanned plane during flying to destination object, obtain the difference in height of described unmanned plane and destination object and obtain the current positional information of described unmanned plane, and determining the positional information of described destination object according to described difference in height and the current positional information of unmanned plane; Or for the control terminal with map function of described UAV Communication on obtain the positional information of destination object.
8. UAV Flight Control device as claimed in claim 7, it is characterized in that, described first determination module comprises radius determining unit, for obtaining described unmanned plane in unlatching around positional information during pattern, and according to described unmanned plane opening the positional information around positional information during pattern and described destination object, determine around radius; Or for according to the volume size of described destination object and the image of selection or video quality, in the mapping relations preset, find corresponding to radius.
9. the UAV Flight Control device as described in any one of claim 6 to 8, it is characterized in that, described first determination module also comprises around pattern determining unit, for obtaining the height value of described destination object, and obtain the projecting plane product value of destination object at surface level, and determine around pattern according to the height value of described destination object and projecting plane product value, described around pattern comprise same radius contour around pattern, different radii contour around pattern, with radial spi around pattern.
10. UAV Flight Control device as claimed in claim 6, it is characterized in that, described device also comprises:
Second determination module, for will the picture of shooting or the 3D information of video data determination destination object;
Sending module, for sending to 3D printer by described 3D information;
3D printer, for printing after receiving described 3D information, to obtain the 3D model of destination object.
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