CN105388905B - UAV Flight Control method and device - Google Patents
UAV Flight Control method and device Download PDFInfo
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- CN105388905B CN105388905B CN201510733350.3A CN201510733350A CN105388905B CN 105388905 B CN105388905 B CN 105388905B CN 201510733350 A CN201510733350 A CN 201510733350A CN 105388905 B CN105388905 B CN 105388905B
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Abstract
The invention discloses a kind of UAV Flight Control methods, this method comprises: obtaining the characteristic information of target object；It is determined according to the characteristic information of the target object around radius and around mode；Shooting destination is determined according to the circular radius and around mode, and in shooting destination of the unmanned plane during flying to determination, is shot.The present invention also provides a kind of UAV Flight Control devices.Using the present invention, it can automatically control unmanned plane and carry out surrounding flight towards target object, and be shot, reduce human intervention.
Description
Technical field
The present invention relates to unmanned plane field more particularly to a kind of UAV Flight Control method and devices.
Background technique
Currently, unpiloted aircraft (also known as unmanned plane) is widely applied, such as in mapping of taking photo by plane, search and rescue etc.
Field.In mapping of taking photo by plane, it is sometimes desirable to which skill is imaged including current 3D in the scanning for carrying out 360 degrees omnidirection to target object
Art requires and carries out comprehensive scanning without dead point to target object；In the prior art, ground controller is manual by remote controler
Beating bar control unmanned plane, 360 degree of flights have feasibility in the sky, but its operation is more complicated, because general unmanned plane executes
Task is all rectilinear flight, it is therefore desirable to which professional operator operates, and does not flow even if still will appear flight course in this way
Freely, when the disadvantages of shooting time is long, and shooting effect is poor, especially unmanned plane and target object are closer, occur colliding, fall
The case where machine or even aircraft bombing, is relatively more.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is to provide a kind of UAV Flight Control method and devices, it is intended to automatically control nothing
It is man-machine to carry out surrounding flight towards target object, and shot, reduce human intervention.
To achieve the above object, the present invention provides a kind of UAV Flight Control method, this method comprises:
Obtain the characteristic information of target object；
It is determined according to the characteristic information of the target object around radius and around mode；
Shooting destination is determined according to the circular radius and around mode, and in unmanned plane during flying to determining shooting destination
When, it is shot.
Preferably, the characteristic information of the target object includes the location information and shape information of target object, wherein is obtained
The step of taking the location information of the target object include:
Location information acquisition request is sent to target object, and receives the target object and obtains according to the positional information
Request the location information returned；Or
The unmanned plane during flying is controlled to the surface of target object, obtains the difference in height of the unmanned plane and target object
And the current location information of the unmanned plane is obtained, and according to the current location information determination of the difference in height and unmanned plane
The location information of target object；Or
The location information of target object is obtained in the controlling terminal with map function with the UAV Communication.
Preferably, it is determined according to the characteristic information of the target object and includes: around the step of radius
Location information of the unmanned plane when opening around mode is obtained, and is being opened according to the unmanned plane around mould
The location information of location information and the target object when formula is determined around radius；Or
According to the volume size of the target object and the image or video quality of selection, in preset mapping relations
In, find corresponding circular radius.
Preferably, it is determined according to the characteristic information of the target object and includes: around the step of mode
The height value of the target object is obtained, and obtains target object in the perspective plane product value of horizontal plane；
Determine that, around mode, the circular mode includes with half according to the height value of the target object and perspective plane product value
The contour circular mode of diameter, the contour circular mode of different radii surround mode with radial spi.
Preferably, shooting destination is determined described according to the circular radius and around mode, and arrive in unmanned plane during flying
When determining shooting destination, after carrying out shooting step further include:
The 3D information of target object is determined according to captured picture or video data；
3D printer is sent by the 3D information；
The 3D printer is printed after receiving the 3D information, to obtain the 3D model of target object.
In addition, to achieve the above object, the present invention also provides a kind of UAV Flight Control device, which includes:
Module is obtained, for obtaining the characteristic information of target object；
First determining module, for being determined according to the characteristic information of the target object around radius and around mode；
Control module module for determining shooting destination according to the circular radius and around mode, and flies in unmanned plane
When row arrives determining shooting destination, shot.
Preferably, the characteristic information of the target object includes the location information and shape information of target object, described to obtain
Modulus block is also used to send location information acquisition request to target object, and receives the target object and believed according to the position
Cease the location information that acquisition request returns；Or for controlling the unmanned plane during flying to the surface of target object, described in acquisition
The current location information of the difference in height and the acquisition unmanned plane of unmanned plane and target object, and according to the difference in height and nobody
The current location information of machine determines the location information of the target object；Or for the UAV Communication have map
The location information of target object is obtained in the controlling terminal of function.
Preferably, first determining module includes radius determination unit, is surround for obtaining the unmanned plane in unlatching
Location information when mode, and the position of the location information and the target object according to the unmanned plane when opening around mode
Confidence breath, determines around radius；Or for according to the volume size of the target object and the image or video quality of selection,
In preset mapping relations, corresponding circular radius is found.
Preferably, first determining module further includes surrounding pattern determining unit, for obtaining the target object
Height value, and target object is obtained in the perspective plane product value of horizontal plane, and according to the height value of the target object and perspective plane
Product value determines that around mode, the circular mode includes the contour circular mode of same radius, the contour circular mode of different radii, with half
Diameter spiral surrounding mode.
Preferably, described device further include:
Second determining module, for the picture of shooting or video data to be determined to the 3D information of target object；
Sending module, for the 3D information to be sent to 3D printer；
3D printer, for being printed after receiving the 3D information, to obtain the 3D model of target object.
UAV Flight Control method and device of the invention, this method comprises: obtaining the characteristic information of target object；Root
It determines according to the characteristic information of the target object around radius and around mode；It is determined according to the circular radius and around mode
Destination is shot, and in shooting destination of the unmanned plane during flying to determination, is shot；Unmanned plane can automatically be controlled towards target
Object carries out surrounding flight, and is shot, and human intervention is reduced.
Detailed description of the invention
Fig. 1 is the flow diagram of the first embodiment of UAV Flight Control method of the present invention；
Fig. 2 is the flow diagram of the second embodiment of UAV Flight Control method of the present invention；
Fig. 3 is the structural schematic diagram of the first embodiment of UAV Flight Control device of the present invention；
Fig. 4 is the structural schematic diagram of the second embodiment of UAV Flight Control device of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig.1, Fig. 1 is the flow diagram of the first embodiment of UAV Flight Control method of the present invention, this method
Include:
S10, the characteristic information for obtaining target object.
In one embodiment, the characteristic information of the target object includes the location information and shape information of target object, also
The step of may include the volume size of target object, that is, obtaining the characteristic information of target object are as follows: obtain the position of target object
Information and shape information can also obtain the volume size of target object.The location information longitude and latitude and height of the target object
It indicates, the height of the target object refers to the height of the target object with respect to the horizontal plane.
Optionally, the location information of target object can be obtained in the following manner: being sent location information to target object and obtained
Request is taken, and receives the location information that the target object is returned according to the location information acquisition request.It is placed in target object
Position detecting module, such as GPS module, target object measure the longitude and latitude and height of the target object, the target by GPS module
For object when receiving location information acquisition request, the longitude and latitude and height that measurement is read from the GPS module return to the transmission
The request end of information acquisition request.
Optionally, the location information of target object can be obtained in the following manner: control unmanned plane during flying to target object
Surface, obtain the difference in height of the unmanned plane and target object and obtain the current location information of the unmanned plane, and according to this
Difference in height and the current location information of unmanned plane determine the location information of the target object.Unmanned plane during flying is controlled to target object
Surface image recognition is carried out to the image of shooting, so specifically, can shoot by the unmanned plane to target object
Determine the center of the target object afterwards, then control the aircraft flight to the center of target object top, namely
Aircraft flight is controlled to the surface of target object.At the surface of unmanned plane during flying to target object, by this nobody
Height sensor (such as ultrasonic sensor) on machine measures the difference in height between the unmanned plane and target object, while passing through nothing
Position detecting module on man-machine, such as GPS module measure the longitude and latitude of the unmanned plane by the GPS module built in the unmanned plane
And height, the longitude and latitude of the unmanned plane are the longitude and latitude of target object, the height of the height of the unmanned plane and unmanned plane measurement
The difference of degree difference is the height of target object.
Optionally, the location information of target object can be obtained in the following manner: with the UAV Communication have ground
The location information of target object is obtained in the controlling terminal of figure function.Specifically, there is map to what is connect with UAV Communication
Controlling terminal (such as mobile phone, tablet computer or ground control station terminal) send target object position information acquisition request, and
Receive the location information that the controlling terminal is returned according to the target object information acquisition request.The controlling terminal is receiving target
After object location information acquisition request, target object is determined in controlling terminal, knows target from the map of the controlling terminal
The longitude and latitude of target object and height are returned to and send target object position letter by the longitude and latitude and height of object, the controlling terminal
Cease the request end of acquisition request.
S20, it is determined according to the characteristic information of the target object around radius and around mode.
In this step, it is determined according to the characteristic information of target object around radius and around mode, to the target pair
As taking suitable image or video.
Optionally, the step of which determines around radius are as follows: obtain the unmanned plane and exist
Location information when opening around mode, and location information and the target object according to the unmanned plane when opening around mode
Location information, determine around radius.Location information of the unmanned plane when opening around mode can be by built in the unmanned plane
Position detecting module obtain, the location information coordinate points A (X when opening around mode of the unmanned planep, Yp, Zp) table
Show, the location information coordinate points B (X of the target objectt, Yt, Zt) indicate, it can be calculated by the following formula around radius R
It arrives:
Optionally, the step of which determines around radius are as follows: according to the target object
Volume size and selection image or video quality, preset volume size and the image or video quality of selection with
In the mapping relations of radius, determine around radius.Preset volume size and image or video quality and around half
The mapping relations of diameter, as shown in Table 1.According to the volume size of the target object and the image or video quality of selection, at this
Volume size and image or video quality find corresponding circular radius in the mapping relations of radius；Specifically,
It first determines volume range belonging to the volume size of the target object, then finds volume range belonging to this and selection
Image or the corresponding circular radius of video quality, the as corresponding circular radius of the target object, such as the volume of the target object
Volume range belonging to size v is [V2, V3), the image or video quality selected is q2, then from the volume size and image or
Video quality is R with that in the mapping relations of radius, can find circular radius2。
Table one:
| Volume size V | Image or video quality | Around radius R |
| [V1, V2) | q1 | r1 |
| [V2, V3) | q2 | r2 |
| [V3, V4) | q3 | r3 |
| …… | …… |
The shape information of the target object include target object height value and target object horizontal plane projected area
Value.The height value of the target object refers to target object upper surface to the shortest distance of lower surface.
The target object is when the perspective plane product value of horizontal plane is that the target object is just put, in the projected area of horizontal plane
Value.
Optionally, the step of being determined according to the characteristic information of the target object around mode are as follows: obtain the height of target object
Angle value, and target object is obtained in the perspective plane product value of horizontal plane；According to the height value of the target object and perspective plane product value
Determine that the circular mode includes the contour circular mode of same radius, the contour circular mode of different radii, same radial spi around mode
Around mode.Specifically, according to the target object horizontal plane perspective plane product value and height value square relationship determine ring
Around mode, the unit of the perspective plane product value and height value square unit it is identical；If specifically, the following steps are included: S21,
The perspective plane product value of the target object is greater than or equal to square of the height value, and the perspective plane product value of the target object and the height
Angle value square difference be less than or equal to the first difference threshold, it is determined that around mode be with the contour circular mode of radius；
If the perspective plane product value of S22, the target object is greater than or equal to square of the height value, and the perspective plane product value of the target object
With the height value square difference be greater than the first difference threshold, it is determined that around mode be the contour circular mould of different radii
Formula；If the perspective plane product value of S23, the target object is less than square of the height value, and square of the height value of the target object
It is less than or equal to the first difference threshold with the difference of the perspective plane product value, it is determined that around mode for the contour circular mould of radius
Formula；If the perspective plane product value of S24, the target object is less than square of the height value, and square of the height value of the target object
It is greater than the first difference threshold with the difference for projecting the area value, it is determined that the mode that surround is with radial spi around mode.
First difference threshold can be set as needed.If the perspective plane product value of the target object is greater than or equal to the height
Square of value, and the perspective plane product value of the target object and the height value square difference be less than or equal to the first difference valve
Value, then it is assumed that the perspective plane product value of the target object is suitable with height value, can use to the target object contour circular with radius
Mode.
If the perspective plane product value of the target object is greater than or equal to square of the height value, and the perspective plane of the target object
Product value and the height value square difference be greater than the first difference threshold, then it is assumed that the target object, can be to the mesh in flat
It marks object and uses the contour circular mode of different radii.
If the perspective plane product value of the target object is less than square of the height value, and square of the height value of the target object
It is less than or equal to the first difference threshold with the difference of the perspective plane product value, then it is assumed that the perspective plane product value and height of the target object
Value quite, can use with radius contour circular mode the target object.
If the perspective plane product value of the target object is less than square of the height value, and square of the height value of the target object
It is greater than the first difference threshold with the difference of the perspective plane product value, then it is assumed that the target object is in strip column, can be to the target pair
As surrounding mode using radial spi.
S30, shooting destination is determined according to the circular radius and around mode, and navigate in unmanned plane during flying to determining shooting
When point, shot.
In this step, the shooting destination determined includes the number for shooting destination and the coordinate information of each shooting destination.
In one embodiment, when the circular mode is circular mode contour with radius, shooting is calculated in the following manner
The number of destination and the coordinate information of shooting destination, calculate minimum angles θ, θ=2* according to the detour radius R of above-mentioned determination
Arcsin (l/2R) determines shooting destination number N further according to the θ, and number N, which is calculated by the following formula, to be obtained:
The coordinate of each shooting destination is (Xt+ R*cos (2 π/N*n), Yt+ R*sin (2 π/N*n), Zt), wherein n=0,
1,2 ..., N-1,2 π/N indicate unit radian.
In one embodiment, it in the circular mode circular mode contour for different radii, calculates clap in the following manner
The number of destination and the coordinate information of shooting destination are taken the photograph, is determined according to preset rules need circular circle number i, two adjacent rings first
Interval g, the radius R respectively enclosedj=R+ (j-1) * g, j=1,2 ..., i；Further according to the detour radius R of above-mentioned determinationjIt calculates each
The minimum angles θ of circlej, θj=2*arcsin (l/2Rj), further according to the θjDetermine the shooting destination number N of each circlej, number NjIt is logical
Following formula is crossed to be calculated:
Total shooting destination number N are as follows:The coordinate of each shooting destination respectively enclosed is ((Xt+Rj*cos
(2π/Nj* n), Yt+Rj*sin(2π/Nj* n), Zt)), wherein n=0,1,2 ..., Nj- 1,2 π/NjIndicate unit radian.
In one embodiment, when the circular mode is to surround mode with radial spi, shooting is calculated in the following manner
The number of destination and the coordinate information of shooting destination, need circular circle number i according to preset rules determination, two adjacent rings
It is spaced h；Minimum angles θ, θ=2*arcsin (l/2R) are calculated according to the detour radius R of above-mentioned determination, is determined further according to the θ every
The shooting destination number N of one circle0, number N0It is calculated by the following formula and obtains:
Total shooting destination number N are as follows: N=i*N0.The coordinate of each shooting destination respectively enclosed is (Xt+R*cos(2π/N0*
N), Yt+R*sin(2π/N0* n), Zt+ (j-1) * h), wherein n=0,1,2 ..., N0- 1,2 π/N0Expression unit radian, j=1,
2……、i。
Using above-described embodiment, by the characteristic information for obtaining target object；It is true according to the characteristic information of the target object
Surely around radius and around mode；Shooting destination is determined according to the circular radius and around mode, and in unmanned plane during flying to really
When fixed shooting destination, shot；Unmanned plane can automatically be controlled to carry out surrounding flight towards target object, and clapped
It takes the photograph, reduces human intervention.
It is the flow diagram of the second embodiment of UAV Flight Control method of the present invention referring to Fig. 2, Fig. 2.
Based on the second embodiment of above-mentioned UAV Flight Control method, after step S30, this method further include:
S40, the 3D information that target object is determined according to captured picture or video data.
The picture or video data of the shooting are analyzed, the 3D information of the target object is obtained.
S50,3D printer is sent by the 3D information.
The 3D information can be sent to 3D printer by wired or wireless way, can such as be incited somebody to action by 2.4G, 5.8G, wifi
3D information is sent to 3D printer.
S60, the 3D printer are printed after receiving the 3D information, to obtain the 3D model of target object.
It is the structural schematic diagram of the first embodiment of UAV Flight Control device of the present invention, the device referring to Fig. 3, Fig. 3
Include:
Module 10 is obtained, for obtaining the characteristic information of target object；
First determining module 20, for being determined according to the characteristic information of the target object around radius and around mode；
Control module 30, for determining shooting destination according to around radius and around mode, and in unmanned plane during flying to really
When fixed shooting destination, shot.
In one embodiment, the characteristic information of the target object includes the location information and shape information of target object, also
It may include the volume size of target object, i.e., the acquisition module 10 is also used to obtain the location information of target object and shape is believed
Breath.The location information longitude and latitude and height of the target object indicate that the height of the target object refers to that the target object is opposite
In the height of horizontal plane.
Optionally, which can obtain the location information of target object in the following manner: send out to target object
Location information acquisition request is sent, and receives the location information that the target object is returned according to the location information acquisition request.Target
Position detecting module, such as GPS module are built-in in object, target object measures the target object by built-in GPS module
Longitude and latitude and height, the target object read the longitude and latitude of measurement when receiving location information acquisition request from the GPS module
Degree and height return to the request end of the transmission information acquisition request.
Optionally, which can obtain the location information of target object in the following manner: control unmanned plane flies
Row arrives the surface of target object, obtains the difference in height of the unmanned plane and target object and obtains the current position letter of the unmanned plane
It ceases, and determines the location information of the target object according to the current location information of the difference in height and unmanned plane.Unmanned plane is controlled to fly
Row arrives the surface of target object, specifically, can be shot by the unmanned plane to target object, carries out to the image of shooting
Image recognition, then determines the center of the target object, then controls the aircraft flight to the center of target object
Top, namely control aircraft flight is to the surface of target object.At the surface of unmanned plane during flying to target object,
The difference in height between the unmanned plane and target object is measured by the height sensor (such as ultrasonic sensor) on the unmanned plane,
Simultaneously by the position detecting module on unmanned plane, such as GPS module, measure this nobody by the GPS module built in the unmanned plane
The longitude and latitude and height of machine, the longitude and latitude of the unmanned plane are the longitude and latitude of target object, the height of the unmanned plane and this nobody
The difference of the difference in height of machine measurement is the height of target object.
Optionally, which can also obtain the location information of target object in the following manner: with this nobody
The location information of target object is obtained in the controlling terminal with map function of machine communication.Specifically, the acquisition module 10 to
The controlling terminal (such as mobile phone, tablet computer or ground control station terminal) with map connecting with UAV Communication sends mesh
Object location information acquisition request is marked, and receives the controlling terminal and is believed according to the position that the target object information acquisition request returns
Breath.The controlling terminal determines target object, from this after receiving target object position information acquisition request in controlling terminal
Know the longitude and latitude and height of target object on the map of controlling terminal, the controlling terminal is by the longitude and latitude and height of target object
Return to the request end for sending target object position information acquisition request.
First determining module 20 is determined according to the characteristic information of target object around radius and around mode, to the mesh
Mark object takes suitable image or video.
First determining module 20 includes radius determination unit, which is opening for obtaining the unmanned plane
Location information when around mode, and the position of the location information and the target object according to the unmanned plane when opening around mode
Confidence breath, determines around radius；Or for according to the volume size of the target object and the image or video quality of selection,
In preset mapping relations, corresponding circular radius is found.
Location information of the unmanned plane when opening around mode can be obtained by the position detecting module built in the unmanned plane
, location information coordinate points A (X of the unmanned plane when opening around modep, Yp, Zp) indicate, the position of the target object
Information coordinate points B (Xt, Yt, Zt) indicate, it can be calculated by the following formula to obtain around radius R:
The preset mapping relations are as follows: volume size and image or video quality and the mapping relations around radius, in advance
Volume size and image or video quality and the mapping relations around radius are first set, as shown in Table 1.According to the target pair
The volume size of elephant and the image or video quality of selection, in the volume size and image or video quality and around radius
Mapping relations in, find corresponding circular radius；Specifically, first determining volume belonging to the volume size of the target object
Then range finds the image or the corresponding circular radius of video quality of the volume range belonging to this and selection, as should
The corresponding circular radius of target object, the volume range as belonging to the volume size v of the target object are [V2, V3), the figure of selection
Picture or video quality are q2, then can look into from the volume size and image or video quality in the mapping relations of radius
Finding around radius is R2。
The shape information of the target object include target object height value and target object horizontal plane projected area
Value.The height value of the target object refers to target object upper surface to the shortest distance of lower surface.
The target object is when the perspective plane product value of horizontal plane is that the target object is just put, in the projected area of horizontal plane
Value.
In one embodiment, which further includes surrounding pattern determining unit, for obtaining the target pair
The height value of elephant, and obtain target object in the perspective plane product value of horizontal plane, and according to the area-altitude value of the target object and
Perspective plane product value determines around mode, the circular mode include the contour circular mode of same radius, the contour circular mode of different radii,
With radial spi around mode.
Specifically, the circular pattern determining unit according to the target object horizontal plane perspective plane product value and height value
Square relationship determine around mode, the unit of the perspective plane product value and height value square unit it is identical；Specifically, if should
The perspective plane product value of target object is greater than or equal to square of the height value, and the perspective plane product value of the target object and the height
Value square difference be less than or equal to the first difference threshold, then the circular pattern determining unit determines that around mode be with half
The contour circular mode of diameter；If the perspective plane product value of the target object is greater than or equal to square of the height value, and the target object
Perspective plane product value and the height value square difference be greater than the first difference threshold, then the circular pattern determining unit determines
It is the contour circular mode of different radii around mode；If the perspective plane product value of the target object is less than square of the height value, and
The height value of the target object square is less than or equal to the first difference threshold with the difference of the perspective plane product value, then the circular mould
Formula determination unit determines that around mode be with the contour circular mode of radius；If the perspective plane product value of the target object is less than the height
Value square, and the height value of the target object square with project the area value difference be greater than the first difference threshold, then this
Determine that around mode be with radial spi around mode around pattern determining unit.
First difference threshold can be set as needed.If the perspective plane product value of the target object is greater than or equal to the height
Square of value, and the perspective plane product value of the target object and the height value square difference be less than or equal to the first difference valve
Value, then it is assumed that the perspective plane product value of the target object is suitable with height value, which can determine to the target
Object is used with the contour circular mode of radius.
If the perspective plane product value of the target object is greater than or equal to square of the height value, and the perspective plane of the target object
Product value and the height value square difference be greater than the first difference threshold, then it is assumed that the target object is in flat, the circular mould
Formula determination unit can determine to the target object using the contour circular mode of different radii.
If the perspective plane product value of the target object is less than square of the height value, and square of the height value of the target object
It is less than or equal to the first difference threshold with the difference of the perspective plane product value, then it is assumed that the perspective plane product value and height of the target object
Quite, which can determine uses with radius contour circular mode the target object to value.
If the perspective plane product value of the target object is less than square of the height value, and square of the height value of the target object
It is greater than the first difference threshold with the difference of the perspective plane product value, then it is assumed that the target object is in strip column, and the circular mode is true
Order member can determine to the target object using radial spi around mode.
The shooting destination that the control module 30 determines includes the number for shooting destination and the coordinate information of each shooting destination.
In one embodiment, when the circular mode is circular mode contour with radius, which passes through following
Mode calculates the number of shooting destination and the coordinate information of shooting destination, calculates minimum angle according to the detour radius R of above-mentioned determination
θ, θ=2*arcsin (l/2R) are spent, determines shooting destination number N further according to the θ, number N, which is calculated by the following formula, to be obtained:
The coordinate of each shooting destination is (Xt+ R*cos (2 π/N*n), Yt+ R*sin (2 π/N*n), Zt), wherein n=0,
1,2 ..., N-1,2 π/N indicate unit radian.
In one embodiment, when the circular mode is the contour circular mode of different radii, the control module 30 by with
Under type calculates the number of shooting destination and the coordinate information of shooting destination, is determined according to preset rules need to surround first
Circle number i, the interval g of two adjacent rings, the radius R respectively enclosedj=R+ (j-1) * g, j=1,2 ..., i；Further according to above-mentioned determination
Detour radius RjCalculate the minimum angles θ of each circlej, θj=2*arcsin (l/2Rj), further according to the θjDetermine the shooting destination of each circle
Number Nj, number NjIt is calculated by the following formula and obtains:
Total shooting destination number N are as follows:The coordinate of each shooting destination respectively enclosed is ((Xt+Rj*cos
(2π/Nj* n), Yt+Rj*sin(2π/Nj* n), Zt)), wherein n=0,1,2 ..., Nj- 1,2 π/NjIndicate unit radian.
In one embodiment, when the circular mode is to surround mode with radial spi, which passes through following
Mode calculates the number of shooting destination and the coordinate information of shooting destination, needs circular circle number according to preset rules determination
I, the interval h of two adjacent rings；Minimum angles θ, θ=2*arcsin (l/2R), then root are calculated according to the detour radius R of above-mentioned determination
The shooting destination number N of each circle is determined according to the θ0, number N0It is calculated by the following formula and obtains:
Total shooting destination number N are as follows: N=i*N0.The coordinate of each shooting destination respectively enclosed is (Xt+R*cos(2π/N0*
N), Yt+R*sin(2π/N0* n), Zt+ (j-1) * h), wherein n=0,1,2 ..., N0- 1,2 π/N0Expression unit radian, j=1,
2……、i。
It is the structural schematic diagram of the second embodiment of UAV Flight Control device of the present invention referring to Fig. 4, Fig. 4.
Based on the first embodiment of above-mentioned UAV Flight Control device, the device further include:
Second determining module 40, for the picture of shooting or video data to be determined to the 3D information of target object；
Sending module 50, for the 3D information to be sent to 3D printer；
3D printer 60, for being printed after receiving the 3D information, to obtain the 3D model of target object.
Second determining module 40 analyzes the picture or video data of the shooting, obtains the 3D letter of the target object
Breath.
The 3D information can be sent to 3D printer by wired or wireless way by the sending module 50, can such as pass through wifi
3D information is sent to 3D printer.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (6)
1. a kind of UAV Flight Control method, which is characterized in that this method comprises:
The characteristic information of target object is obtained, the step of obtaining the location information of the target object includes:
Location information acquisition request is sent to target object, and receives target object acquisition request according to the positional information
The location information of return；Or
The unmanned plane during flying is controlled to the surface of target object, the difference in height of the unmanned plane and target object is obtained and obtains
The location information for taking the unmanned plane current, and the target is determined according to the current location information of the difference in height and unmanned plane
The location information of object；Or
The location information of target object is obtained in the controlling terminal with map function with the UAV Communication；
It is determined according to the characteristic information of the target object around radius and around mode, wherein the step of determining around mode
Include:
The height value of the target object is obtained, and obtains target object in the perspective plane product value of horizontal plane；
Determine that the circular mode includes same radius etc. around mode according to the height value of the target object and perspective plane product value
Epipodium is around mode, the contour circular mode of different radii, with radial spi around mode；
Shooting destination is determined according to the circular radius and around mode, and in shooting destination of the unmanned plane during flying to determination,
It is shot.
2. UAV Flight Control method as described in claim 1, which is characterized in that believed according to the feature of the target object
Breath is determined includes: around the step of radius
Location information of the unmanned plane when opening around mode is obtained, and according to the unmanned plane when opening around mode
Location information and the target object location information, determine around radius；Or
It is looked into preset mapping relations according to the image or video quality of the volume size of the target object and selection
Find corresponding circular radius.
3. UAV Flight Control method as described in claim 1, which is characterized in that it is described according to the circular radius and
Shooting destination is determined around mode, and in shooting destination of the unmanned plane during flying to determination, after carrying out shooting step further include:
The 3D information of target object is determined according to captured picture or video data；
3D printer is sent by the 3D information；
The 3D printer is printed after receiving the 3D information, to obtain the 3D model of target object.
4. a kind of UAV Flight Control device, which is characterized in that the device includes:
Module is obtained, for obtaining the characteristic information of target object, the characteristic information of the target object includes target object
Location information and shape information, the acquisition module are also used to send location information acquisition request to target object, and receive institute
State the target object location information that acquisition request returns according to the positional information；Or for controlling the unmanned plane during flying to mesh
The surface for marking object obtains the difference in height of the unmanned plane and target object and obtains the current position letter of the unmanned plane
It ceases, and determines the location information of the target object according to the current location information of the difference in height and unmanned plane；Or it is used for
With the location information for obtaining target object in the controlling terminal with map function of the UAV Communication；
First determining module, for being determined according to the characteristic information of the target object around radius and around mode, wherein really
It surely include: to obtain the height value of the target object, and obtain target object on the perspective plane of horizontal plane around the step of mode
Product value, and determine that, around mode, the circular mode includes with half according to the height value of the target object and perspective plane product value
The contour circular mode of diameter, the contour circular mode of different radii surround mode with radial spi；
Control module module for determining shooting destination according to the circular radius and around mode, and is arrived in unmanned plane during flying
When determining shooting destination, shot.
5. UAV Flight Control device as claimed in claim 4, which is characterized in that first determining module includes radius
Determination unit for obtaining location information of the unmanned plane when opening around mode, and is being opened according to the unmanned plane
The location information of location information and the target object when around mode, determines around radius；Or for according to the target
The volume size of object and the image or video quality of selection are found corresponding around half in preset mapping relations
Diameter.
6. UAV Flight Control device as claimed in claim 4, which is characterized in that described device further include:
Second determining module, for the picture of shooting or video data to be determined to the 3D information of target object；
Sending module, for the 3D information to be sent to 3D printer；
3D printer, for being printed after receiving the 3D information, to obtain the 3D model of target object.
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| CN201510733350.3A CN105388905B (en) | 2015-10-30 | 2015-10-30 | UAV Flight Control method and device |
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| CN201510733350.3A CN105388905B (en) | 2015-10-30 | 2015-10-30 | UAV Flight Control method and device |
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| CN107765709B (en) * | 2016-08-22 | 2021-12-31 | 广州亿航智能技术有限公司 | Method and device for realizing self-shooting based on aircraft |
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