CN105391988A - Multi-view unmanned aerial vehicle and multi-view display method thereof - Google Patents
Multi-view unmanned aerial vehicle and multi-view display method thereof Download PDFInfo
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- CN105391988A CN105391988A CN201510917695.4A CN201510917695A CN105391988A CN 105391988 A CN105391988 A CN 105391988A CN 201510917695 A CN201510917695 A CN 201510917695A CN 105391988 A CN105391988 A CN 105391988A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention relates to a multi-view unmanned aerial vehicle and a multi-view display method thereof. The unmanned aerial vehicle includes an image pick-up module (1) for providing view angles and a virtual visual module (2); the image pick-up module (1) at least comprises a first image pick-up device (3) and a second image pick-up device (4), wherein the first image pick-up device (3) shoots first view angle signals which are constantly consistent with the direction of the unmanned aerial vehicle, and the second image pick-up device (4) shoots second view angle signals which are different from the direction of the unmanned aerial vehicle; and the virtual visual module (2) receives and displays the first view angle signals and the second view angle signals from the first image pick-up device (3) and the second image pick-up device (4) respectively.
Description
Technical field
The invention belongs to unmanned vehicle field, particularly relate to a kind of unmanned vehicle and all-round display method thereof of various visual angles.
Background technology
Current along with unmanned vehicle consumption demand ignition, the various application relevant to unmanned vehicle is also flourish.The subjective visual angle unmanned vehicle that make use of virtual vision equipment can bring novel experience to user, but when embody rule, this technology still also has a lot of not enough.Such as, in existing experience of the process, no matter whether controlled the flight course of unmanned vehicle by user simultaneously, visual experience due to subjective visual angle also just means and substituted for the observation ability of user to surrounding enviroment completely, so for the sake of security, usual user must keep safer, a stable posture motionless.In other words, due to camera collection that unmanned vehicle carries to vision signal occupy whole attentivenesss of user, cause the movement of user to be restricted.
In addition, in existing experience of the process, because the picture pick-up device on user and unmanned vehicle shares the visual field, also just mean if control the The Cloud Terrace not conversion direction of picture pick-up device, now user towards being consistent with the direction of unmanned vehicle self; But once be have adjusted the direction of picture pick-up device by The Cloud Terrace, also just mean that the direction of observation of now user and the direction of aircraft self create and depart from.This departing from can bring very big puzzlement to those users of oneself manipulation unmanned vehicle flight course under subjective visual angle.Because, when user shares the visual field by virtual vision equipment and unmanned vehicle, when also utilizing control desk or the flight path of remote controller to unmanned vehicle to control, now user is that the fore-and-aft direction up and down on control desk or remote controller is corresponding with the front and back up and down seen in the visual field simultaneously.Therefore, when camera towards with aircraft towards consistent, user can also realize the first visual angle flight control, once camera there occurs angular deflection, so user just cannot adapt to the conversion of this angle substantially, completely loses the direction feeling flown to unmanned vehicle aloft.Namely institute, for these reasons, if the unmanned vehicle at subjective visual angle is want to be come in person by user to control, so substantially must be locked by The Cloud Terrace, adjusted the range of observation of user completely by the flight of aircraft, this mode also brings inconvenience.
Patent documentation CN102339021A discloses a kind of UAV Scene analogue system, comprise: virtual reality scenario processing module: be responsible for the coordinate information current according to unmanned plane and search corresponding satellite photo and terrain data in the appropriate topographic database in Global Satellite picture data storehouse and the whole world, and the satellite photo found and terrain data are played up, the data obtained after playing up are sent into visual display module; Data after reduction are sent into visual display module by real scene processing module: the video information being responsible for the current environment returned by unmanned plane is reduced; Flight control data processing module: the flight control data be responsible for unmanned plane returns is reduced, and generates HUD data by HUD generating algorithm, then HUD data are sent into visual display module; Visual display module: be responsible for the data after the process of virtual reality scenario processing module, the data after the process of real scene processing module, the Data Synthesis after the process of flight control data processing module are exported to display unit and shown.This patent is by combining current for unmanned plane true visual environment with virtual current visual environment out and current flight control data, and the current what comes into a driver's of real-time simulation unmanned plane, improves fail safe and the accuracy of unmanned aerial vehicle (UAV) control.But the single-view that this patent remains based on unmanned vehicle self direction shows, and cannot obtain more multi-faceted Viewing-angle information, the field of view information observing user self ambient conditions particularly can not be provided.
Patent documentation CN104880177A discloses the unmanned aerial survey system of a kind of multi-angle, and the unmanned aerial survey system of described multi-angle is provided with six rotor wing unmanned aerial vehicles, carries the various visual angles inclined camera be made up of five camera lenses above described six rotor wing unmanned aerial vehicles; Described various visual angles inclined camera comprises: camera unit, control unit and carry unit; For obtaining the camera unit of the image data at Large visual angle angle; Being connected with described camera unit, for providing stable support for various visual angles inclined camera is connected with unmanned plane, reducing the carry unit that unmanned plane produces dither; Be connected with described carry unit, for realizing the control unit of camera data analysis and storage; Comprising of described six rotor wing unmanned aerial vehicles: unmanned plane during flying plateform system, GPS navigation system, flight control system, Aerial Photography system, ground control system, signal transmission system; Being made up of six screws, by regulating six motor speeds to change gyroplane rotate speed, realizing lift variation, thus control the unmanned plane during flying plateform system of attitude of flight vehicle and position; Utilize GPS/INS integrated navigation, determine unmanned plane center position coordinate, coordinate flight control system, allow and unmanned to fly according to planning course line, thus realize the GPS navigation system that unmanned plane controls automatically; For completing the inner-outer loop flight tracking control of unmanned plane, navigation, guidance, aerial mission management, the task loading management of unmanned plane and controlling, unmanned plane is realized to the UAV Flight Control System of full control of authority and management; Realize automatically controlling camera or camera shutter by remote controller, allow camera or video camera carry out the Aerial Photography system of taking according to given pace; By automatic direction finding equipment, guidance computer, radio signal sender and remote-control receiver, flight-control computer, automatic pilot, steering gear system, transmit as radiation source by unmanned plane, ground station uses radio direction finding equipment to record UAV Attitude, adopt radio response mode, record unmanned plane distance, height sensor and telemeter channel is utilized to record unmanned plane height, from the ground control system of the attitude of unmanned plane, Distance geometry height determination unmanned plane during flying parameter; For realizing the signal transmission system of communication between described ground control system and UAV Flight Control System.The unmanned aerial survey system of the multi-angle that this patent provides, carry six rotor aerial survey unmanned planes of 5 camera lens inclined cameras by carrying multiple stage camera on six rotor wing unmanned aerial vehicle platforms, can simultaneously from multiple angle acquisition ground image, thus overcome traditional air photo technique and can only carry out the limitation of taking from vertical angle, the actual conditions of atural object can be reflected more truly, compensate for the deficiency of orthography, by integrating POS, the data such as DSM and vector, set up the dimensional Modeling Technology based on image dense Stereo Matching, rapidly and efficiently set up digital city model, greatly reduce three-dimensional modeling job costs.But the flight of its various visual angles that user cannot be provided real-time controls display, be only the image establishing three-dimensional multi-angle, the field of view information observing user self ambient conditions more cannot be provided.
The anxious technical issues that need to address in existing this area, its real needs are as follows:
1. at least show two kinds of information to user, for manipulating the visual field of aircraft and the visual field for observing, for the user of manipulation unmanned vehicle, the information that user self can be helped to control aircraft and assisting users can see that the information of more multi-faceted displaying content is all extremely important, the two or more information content, the unmanned vehicle at subjective visual angle is provided to user while of needing a kind of.
2. show the information of user's own circumference to user, be supplied to the field of view information that user one observes user self ambient conditions further.
Disclosed above-mentioned information is only for strengthening the understanding to background of the present invention in the background section, therefore may comprise the information not being formed in prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
The object of the invention is to be achieved by the following technical programs.
According to a first aspect of the invention, the invention discloses a kind of unmanned vehicle of various visual angles, described unmanned vehicle comprises photographing module and virtual vision module, described photographing module at least comprises the first picture pick-up device and the second picture pick-up device, wherein, the first angle signals that described first picture pick-up device shooting is consistent all the time with self direction of described unmanned vehicle; Described second picture pick-up device shooting is different from second angle signals in self direction described; Described virtual vision module receives and shows respectively from described first angle signals and described second angle signals of the first picture pick-up device and the second picture pick-up device simultaneously.
Preferably, described second picture pick-up device takes the second angle signals in different angles and/or change in location.
Preferably, described virtual vision module shows the first image from described first angle signals and the second image from described second angle signals side by side or in a form of picture-in-picture and can carry out size switching to any one image on screen.
According to a second aspect of the invention, the invention discloses a kind of unmanned vehicle of various visual angles, described unmanned vehicle comprises photographing module and virtual vision module for providing visual angle, described photographing module at least comprises the first picture pick-up device, the second picture pick-up device and the 3rd picture pick-up device, wherein, the first angle signals that described first picture pick-up device shooting is consistent all the time with self direction of described unmanned vehicle; Described second picture pick-up device shooting is different from second angle signals in self direction described; The 3rd angle signals of user is pointed in described 3rd picture pick-up device shooting all the time, and described virtual vision module receives and shows respectively from the first angle signals of described first picture pick-up device, the second picture pick-up device and the 3rd picture pick-up device, the second angle signals and the 3rd angle signals simultaneously.
Preferably, described second picture pick-up device that The Cloud Terrace adjustable on described unmanned vehicle is mounted thereto is arranged on.
Preferably, described unmanned vehicle comprises shooting control module, and described shooting control module controls position and/or the angle of described second picture pick-up device of described The Cloud Terrace adjustment.
Preferably, second angle signals of user is pointed in described second picture pick-up device shooting all the time.
Preferably, described 3rd picture pick-up device points to user all the time based on locating module.
According to a third aspect of the invention we, the all-round display method of the unmanned vehicle of various visual angles is used to comprise the following steps.
In first step, the first angle signals that the first picture pick-up device shooting is consistent all the time with self direction of described unmanned vehicle.
In second step, described second picture pick-up device shooting is different from second angle signals in self direction described.
In third step, described virtual vision module receives and shows respectively from the first angle signals and second angle signals of described first picture pick-up device and the second picture pick-up device simultaneously.
According to a forth aspect of the invention, the all-round display method of the unmanned vehicle of various visual angles is used to comprise the following steps.
In first step, the first angle signals that described first picture pick-up device shooting is consistent all the time with self direction of described unmanned vehicle.
In second step, described second picture pick-up device takes the second angle signals in different angles and/or change in location.
In third step, the 3rd angle signals of user is pointed in described 3rd picture pick-up device shooting all the time.
In 4th step, described virtual vision module receives and shows respectively from the first angle signals of described first picture pick-up device, the second picture pick-up device and the 3rd picture pick-up device, the second angle signals and the 3rd angle signals simultaneously.
The scheme that the present invention proposes can provide the picture signal at multiple visual angle to virtual visual angle equipment, the information helping user self to control aircraft and assisting users can see more multi-faceted displaying content, particularly obtain the image information of user's ambient conditions so that the movement of user does not limit by the visual field.
Accompanying drawing explanation
Fig. 1 is the structural representation of the unmanned vehicle of various visual angles according to an embodiment of the invention.
Fig. 2 is the structural representation of the unmanned vehicle of various visual angles in accordance with another embodiment of the present invention.
Fig. 3 is the step schematic diagram of the all-round display method of the unmanned vehicle using various visual angles according to an embodiment of the invention.
Fig. 4 is the step schematic diagram of the all-round display method of the unmanned vehicle using various visual angles in accordance with another embodiment of the present invention.
Below in conjunction with drawings and Examples, the present invention is further explained.
Embodiment
Below describe in detail be in fact only exemplary and be not intended to limit application and use., and the theory constraint be not intended to by any clear and definite or hint presented in above technical field, background, brief overview or following detailed description in addition.As used herein, term " module " or " unit " refer to any hardware, software, firmware, electronic control part, processing logic and/or processor device (individually or with any combination), include, without being limited to: the processor of application-specific integrated circuit (ASIC) (ASIC), electronic circuit, the one or more software of execution or firmware program (shared, special or in groups) and memory, combinational logic circuit and/or provide described functional parts that other are applicable to.In addition, unless had contrary description clearly, otherwise word " comprises " and different modification should be understood to implicit and comprises described parts but do not get rid of any miscellaneous part.
Present embodiments describe a kind of unmanned vehicle of various visual angles, the schematic diagram of the unmanned vehicle of various visual angles according to an embodiment of the invention as shown in Figure 1, described unmanned vehicle comprises photographing module 1 and virtual vision module 2 for providing visual angle.
In the art, unmanned vehicle refers to that employing controls automatically, has the unmanned vehicle of self-navigation.This unmanned vehicle can be preferably many rotary wind types unmanned vehicle, and many rotary wind types unmanned vehicle can VTOL.
Described photographing module 1 at least comprises the first picture pick-up device 3 and the second picture pick-up device 4, and wherein, described first picture pick-up device 3 takes first angle signals consistent all the time with self direction of described unmanned vehicle.Due to the aircraft that unmanned vehicle is multiple degrees of freedom activity aloft, so according in remote controller for the definition of space multiaxis, definition has six axis in front and back up and down centered by this aircraft, term " self direction " refers to the forward direction running through unmanned vehicle longitudinal center, i.e. the direction of unmanned vehicle front end sensing.For example, now conventional remote controller adopts two, left and right rocking bar control the flight course of unmanned vehicle, one of common controlling arrangement is, with left rocking bar control aircraft rise and fall and along space Z axis clockwise, be rotated counterclockwise; Control aircraft with right rocking bar and do forward-reverse relative to self direction of this aircraft and to from left to right translation, the direction of now doing forward diving flight in horizontal plane is exactly forward direction.Further, in general, aircraft in order to distinguish self direction, can on fuselage design logo or arrange that some are emitting led.
Described second picture pick-up device 4 shooting is different from second angle signals in self direction described.Second imagination equipment provides the second angle signals except self direction as unmanned vehicle main perspective mode to manipulate unmanned vehicle.
Described virtual vision module 2 receives and shows respectively from described first angle signals and described second angle signals of the first picture pick-up device 3 and the second picture pick-up device 4 simultaneously.
There is provided the unmanned vehicle at the subjective visual angle of two or more signal while of the invention provides a kind of to user, the information that user self can be helped to control aircraft and assisting users can see more multi-faceted displaying content.
In one embodiment, described virtual vision module 2 is wear-type virtual vision glasses.
In one embodiment, described virtual vision module 2 is virtual vision helmets.
In one embodiment, described second picture pick-up device 4 takes the second angle signals in different angles and/or change in location.Second picture pick-up device 4 can adjust angle and/or position as required to take the second required angle signals, and further, described second picture pick-up device 4 takes the second angle signals in continually varying angle and/or position.
The picture material that first picture pick-up device 3 and the second picture pick-up device 4 gather respectively will present to virtual vision module 2 in unmanned vehicle main perspective mode to manipulate the user of unmanned vehicle simultaneously.Now, this picture material both can adopt the mode be presented at side by side on screen; Also the mode of picture-in-picture can be adopted to present.And this picture material, the switching of size can be carried out according to the current focal point difference of user, such as when user focuses one's attention on and carries out aircraft flight control, now amplify given by the first picture pick-up device 3, be convenient to user and carry out the picture controlled that flies, and the image reduced given by the second picture pick-up device 4, even can temporarily cancel this image; When unmanned vehicle is metastable time, such as hover over certain locus when facilitating user to carry out environment perception, now amplify given by the second picture pick-up device 4, be convenient to the picture that user carries out observing, and the image reduced given by the first picture pick-up device 3, even can temporarily cancel this image.As mentioned above, above-mentioned switching shows the opportunity of two kinds of images, can do suitable selection completely according to the state of current flight device.
In one embodiment, described virtual vision module 2 shows the first image from described first angle signals and the second image from described second angle signals side by side or in a form of picture-in-picture and can carry out size switching to any one image on screen.
The whole visuals field occupying user in the flight course of unmanned vehicle are completely controlled user, user is in this case owing to cannot know the situation of surrounding environment, so for the sake of security, usual user must keep safer, a stable posture motionless, such as stands in original place, is sitting in original place etc.In other words, the vision signal collected due to the first picture pick-up device 3 that unmanned vehicle carries occupies whole attentivenesss of user, the movement of user is caused to be restricted, but there is the occasion and demand of suitably carrying out movement in user, in order to address this problem, in one embodiment, described second picture pick-up device 4 takes the second angle signals pointing to user all the time.Second picture pick-up device 4 is supplied to the field of view information that user one observes user self ambient conditions.User receive the second angle signals can clear understanding ambient conditions so that the movement of user is unrestricted.
The schematic diagram of the unmanned vehicle of various visual angles according to another embodiment of the invention as shown in Figure 2, described unmanned vehicle comprises photographing module 1 and virtual vision module 2 for providing visual angle, described photographing module 1 at least comprises the first picture pick-up device 3, second picture pick-up device 4 and the 3rd picture pick-up device 7, wherein, described first picture pick-up device 3 takes first angle signals consistent all the time with self direction of described unmanned vehicle; Described second picture pick-up device 4 shooting is different from second angle signals in self direction described; Described 3rd picture pick-up device 7 takes the 3rd angle signals pointing to user all the time, and described virtual vision module 2 receives and shows respectively from the first angle signals of described first picture pick-up device 3, second picture pick-up device 4 and the 3rd picture pick-up device 7, the second angle signals and the 3rd angle signals simultaneously.
In one embodiment, described virtual vision module 2 comprises scratch pad memory, and described scratch pad memory stores the view data with corresponding shooting.Virtual vision module 2 can compile, organizes or analyze data in memory.Virtual vision module 2 can be with general processor, digital signal processor, application-specific integrated circuit ASIC, the virtual vision equipment of processor of on-site programmable gate array FPGA, analog circuit, digital circuit and combination or other known or later exploitations.Memory can be volatile memory or nonvolatile memory.Memory can comprise the memory of one or more read only memory ROM, random access memory ram, flash memory, Electrical Erasable programmable read only memory EEPROM or other type.
In one embodiment, described second picture pick-up device 4 that The Cloud Terrace 5 adjustable on described unmanned vehicle is mounted thereto is arranged on.Be arranged on the second picture pick-up device 3 that The Cloud Terrace 5 adjustable on described unmanned vehicle is mounted thereto.The Cloud Terrace 5 is responsible for fixing the second picture pick-up device 3, and can provide device location adjustment function and stabilization function, and the second picture pick-up device 3 under circumstances, can effectively complete shooting task.The Cloud Terrace 5 is can the left rotation and right rotation all-directional tripod head that can rotate up and down again.The Cloud Terrace 5 can be applicable to the electric platform to taking on a large scale, and this electric platform high speed attitude can be realized by two operating motors.
In one embodiment, described unmanned vehicle comprises shooting control module 6, and described shooting control module 6 controls position and/or the angle that described The Cloud Terrace 5 adjusts described second picture pick-up device 4.
Described motor accepts accurately to run location from the signal of shooting control module 6.In one embodiment, described The Cloud Terrace 5 comprises the adjusting mechanism for zoom operational, elevating movement and azimuth motion.
Described shooting control module 6 controls the position that described The Cloud Terrace 5 adjusts the second picture pick-up device 3, or described shooting control module 6 control described The Cloud Terrace 5 adjust the second picture pick-up device 3 angle and adjustment the second picture pick-up device 3 acquisition parameters.Second picture pick-up device 3 is mounted on unmanned vehicle by The Cloud Terrace 5, and can rotate freely and be elevated thus realize the shooting of the scope to different angles.
In one embodiment, described 3rd picture pick-up device 7 points to user all the time based on locating module.In locating module can be hand-held remote controller, GPS module that ground station is arranged or other wireless beacons, aerial unmanned vehicle can accurately locate ground user, and using terrestrial user as center, the 3rd picture pick-up device 7 or independent camera are taken towards ground user.Return to user by taking the image got, user just can observe environment and the situation of own circumference by the virtual vision module 2 as wearing type glasses simultaneously.In this case, according to above-mentioned, this passback image is capable of enlarged displaying, and image result such as the shooting results of the first picture pick-up device of other sync pulse jamming can reduce display, or becomes the picture-in-picture of this passback image, even can cancel the image of other sync pulse jamming.
See Fig. 3, the all-round display method of the unmanned vehicle of the various visual angles described in using according to an embodiment of the invention, it comprises the following steps.
In first step S1, the first picture pick-up device 3 takes first angle signals consistent all the time with self direction of described unmanned vehicle.
In second step S2, described second picture pick-up device 4 shooting is different from second angle signals in self direction described.
In third step S3, described virtual vision module 2 receives and shows respectively from the first angle signals and second angle signals of described first picture pick-up device 3 and the second picture pick-up device 4 simultaneously.
See Fig. 4, the all-round display method of the unmanned vehicle of the various visual angles described in using in accordance with another embodiment of the present invention, it comprises the following steps.
In first step S1, described first picture pick-up device 3 takes first angle signals consistent all the time with self direction of described unmanned vehicle.
In second step S2, described second picture pick-up device 4 takes the second angle signals in different angles and/or change in location.
In third step S3, described 3rd picture pick-up device 7 takes the 3rd angle signals pointing to user all the time.
In 4th step S4, described virtual vision module 2 receives and shows respectively from the first angle signals of described first picture pick-up device 3, second picture pick-up device 4 and the 3rd picture pick-up device 7, the second angle signals and the 3rd angle signals simultaneously.
This method can improve the mode of existing manipulation unmanned vehicle further, and solution user that can be suitable manipulates the contradiction that unmanned plane and user observe arbitrarily the image display aspect between these two kinds of demands of surrounding environment; And user can be helped to understand the environment of periphery, allow user when being necessary, move freely.
Although be below described embodiment of the present invention by reference to the accompanying drawings, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art, under the enlightenment of this specification and when not departing from the scope that the claims in the present invention are protected, can also make a variety of forms, and these all belong to the row of the present invention's protection.
Claims (10)
1. the unmanned vehicle of various visual angles, described unmanned vehicle comprises photographing module (1) and virtual vision module (2), described photographing module (1) at least comprises the first picture pick-up device (3) and the second picture pick-up device (4), wherein, the first angle signals that described first picture pick-up device (3) shooting is consistent all the time with self direction of described unmanned vehicle; Described second picture pick-up device (4) shooting is different from second angle signals in self direction described; Described virtual vision module (2) receives and shows respectively from described first angle signals and described second angle signals of the first picture pick-up device (3) and the second picture pick-up device (4) simultaneously.
2. the unmanned vehicle of various visual angles according to claim 1, is characterized in that: be arranged on described second picture pick-up device (4) that The Cloud Terrace (5) adjustable on described unmanned vehicle is mounted thereto.
3. the unmanned vehicle of various visual angles according to claim 2, it is characterized in that: described unmanned vehicle comprises shooting control module (6), and described shooting control module (6) controls position and/or the angle that described The Cloud Terrace (5) adjusts described second picture pick-up device (4).
4. the unmanned vehicle of various visual angles according to claim 1, is characterized in that: described second picture pick-up device (4) takes the second angle signals in different angles and/or change in location.
5. the unmanned vehicle of various visual angles according to claim 1, is characterized in that: described virtual vision module (2) shows the first image from described first angle signals and the second image from described second angle signals side by side or in a form of picture-in-picture and can carry out size switching to wherein any one image on screen.
6. the unmanned vehicle of various visual angles according to claim 1, is characterized in that: second angle signals of user is pointed in described second picture pick-up device (4) shooting all the time.
7. the unmanned vehicle of various visual angles according to claim 1, it is characterized in that: described photographing module (1) also comprises the 3rd picture pick-up device (7), the 3rd angle signals of user is pointed in described 3rd picture pick-up device (7) shooting all the time, and described virtual vision module (2) receives and shows respectively from the first angle signals of described first picture pick-up device (3), the second picture pick-up device (4) and the 3rd picture pick-up device (7), the second angle signals and the 3rd angle signals simultaneously.
8. the unmanned vehicle of various visual angles according to claim 7, is characterized in that: described 3rd picture pick-up device (7) points to user all the time based on locating module.
9. use an all-round display method for the unmanned vehicle of the various visual angles according to any one of claim 1-6, it comprises the following steps:
In first step (S1), the first angle signals that the first picture pick-up device (3) shooting is consistent all the time with self direction of described unmanned vehicle;
In second step (S2), described second picture pick-up device (4) shooting is different from second angle signals in self direction described;
In third step (S3), described virtual vision module (2) receives and shows respectively from the first angle signals and second angle signals of described first picture pick-up device (3) and the second picture pick-up device (4) simultaneously.
10. use an all-round display method for the unmanned vehicle of the various visual angles according to claim 7-8, it comprises the following steps:
In first step (S1), the first angle signals that described first picture pick-up device (3) shooting is consistent all the time with self direction of described unmanned vehicle;
In second step (S2), described second picture pick-up device (4) takes the second angle signals in different angles and/or change in location;
In third step (S3), the 3rd angle signals of user is pointed in described 3rd picture pick-up device (7) shooting all the time;
In 4th step (S4), described virtual vision module (2) receives and shows respectively from the first angle signals of described first picture pick-up device (3), the second picture pick-up device (4) and the 3rd picture pick-up device (7), the second angle signals and the 3rd angle signals simultaneously.
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