CN105511488A - Unmanned aircraft-based continuous shooting method and unmanned aircraft - Google Patents
Unmanned aircraft-based continuous shooting method and unmanned aircraft Download PDFInfo
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- CN105511488A CN105511488A CN201510884003.0A CN201510884003A CN105511488A CN 105511488 A CN105511488 A CN 105511488A CN 201510884003 A CN201510884003 A CN 201510884003A CN 105511488 A CN105511488 A CN 105511488A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The embodiment of the invention provides an unmanned aircraft-based continuous shooting method and an unmanned aircraft. The method comprises the steps of acquiring the flight state information of a second unmanned aircraft during the flight and one or more frames of photographed candidate image data when a first unmanned aircraft receives a replacement instruction; enabling the flight according to the flight state information; when the first unmanned aircraft flies to be within a certain range from the second unmanned aircraft, the first unmanned aircraft photographs one or more frames of feature image data according to the flight state information; judging whether the one or more frames of feature image data are matched with the one or more frames of candidate image data or not; if yes, enabling the continuous shooting operation of the first unmanned aircraft. Two video files, obtained before and after the interruption of the continuous shooting process, can be linked up based on the matched frame candidate image data and the feature image data, so that the fault phenomena is avoided.
Description
Technical field
The present invention relates to the technical field of unmanned vehicle, particularly relate to a kind of continuous shooting method based on unmanned vehicle and a kind of unmanned vehicle.
Background technology
Along with the fast development of science and technology, unmanned vehicle is extensively popularized, and in fields such as Natural calamity monitoring and assessment, city planning and municipal administration, digital earth and advertisement photography, often needs unmanned plane to take photo by plane.
Under a lot of scene, the time of taking photo by plane is generally long, but due to the limited battery capacity of unmanned vehicle, its flying power is limited, takes photo by plane about 20 minutes, and often electric power supply is not enough, causes continuing shooting.
Therefore, take photo by plane to complete, unmanned vehicle needs repeatedly to take photo by plane, and recorded multistage video.
Due to interruption of taking photo by plane, cause two sections, front and back video difference comparatively large, often cannot be connected, do not plan a successor problem.
Summary of the invention
In view of the above problems, the present invention is proposed to provide a kind of overcoming the problems referred to above or a kind of continuous shooting method based on unmanned vehicle solved the problem at least in part and corresponding a kind of unmanned vehicle.
According to one aspect of the present invention, provide a kind of continuous shooting method based on unmanned vehicle, comprising:
When receiving replacement instruction in the first unmanned vehicle, obtain the state of flight information of the second unmanned vehicle when flying and a frame of shooting or multiframe candidate image data;
Fly according to described state of flight information;
When flying to distance the second unmanned vehicle certain limit, take a frame or multiframe character image data according to described state of flight information;
Judge whether whether a described frame or multiframe character image data mate with a described frame or multiframe candidate image data, if so, then carry out continuous bat for the first unmanned vehicle and operate.
Alternatively, described when receiving replacement instruction in the first unmanned vehicle, obtain the state of flight information of the second unmanned vehicle when flying and a frame of shooting or the step of multiframe candidate image data and comprise:
Receive telepilot forwarding in the first unmanned vehicle, that the second unmanned vehicle sends when meeting the continuous bat condition preset replacement instruction;
Obtain a frame or the multiframe candidate image data of that telepilot forwards, that the second unmanned vehicle is when flying state of flight information and shooting.
Alternatively, described continuous bat condition comprises following one or more:
Electricity is lower than the power threshold preset, and flying height is lower than the height threshold preset.
Alternatively, described state of flight information comprises flight path information;
Described step of carrying out flying according to described state of flight information comprises:
According to described flight path information, fly with the first flying speed;
Wherein, the first flying speed of described first unmanned vehicle is greater than the second flying speed of the second unmanned vehicle.
Alternatively, described state of flight information comprises shooting angle;
Describedly to comprise according to a frame of described state of flight information shooting or the step of multiframe character image data:
According to described shooting angle adjustment filming apparatus;
Filming apparatus after calling adjustment obtains a frame or multiframe character image data.
Alternatively, describedly also to comprise according to a frame of described state of flight information shooting or the step of multiframe character image data:
First flying speed of the first unmanned vehicle is adjusted to identical with the second flying speed of the second unmanned vehicle.
Alternatively, describedly judge whether a described frame or multiframe character image data comprise with the step whether a described frame or multiframe candidate image data mate:
Extract the first area view data at a described frame or multiframe character image data edge;
Extract the second area view data of a described frame or multiframe candidate image data edges;
Judge whether described first area view data mates with described second area view data;
If so, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and mated;
If not, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and do not mated.
Alternatively, describedly carry out continuous step of clapping operation for the first unmanned vehicle and comprise:
Send the complete signal of adjustment to telepilot, to drive telepilot to control the second unmanned vehicle landing, and obtain the remote control authority of the first unmanned vehicle.
According to a further aspect in the invention, provide a kind of unmanned vehicle, comprising:
Continuous beat of data acquisition module, when being suitable for receiving replacement instruction in the first unmanned vehicle, obtains a frame or the multiframe candidate image data of the state of flight information of the second unmanned vehicle when flying and shooting;
Flight module, is suitable for flying according to described state of flight information;
Taking module, is suitable for, when flying to distance the second unmanned vehicle certain limit, taking a frame or multiframe character image data according to described state of flight information;
Images match module, is suitable for judging whether whether a described frame or multiframe character image data mate with a described frame or multiframe candidate image data, if so, then call continuation module of taking photo by plane;
To take photo by plane continuation module, be suitable for carrying out continuously clapping operation for the first unmanned vehicle.
Alternatively, described continuous beat of data acquisition module is also suitable for:
Receive telepilot forwarding in the first unmanned vehicle, that the second unmanned vehicle sends when meeting the continuous bat condition preset replacement instruction;
Obtain a frame or the multiframe candidate image data of that telepilot forwards, that the second unmanned vehicle is when flying state of flight information and shooting.
Alternatively, described continuous bat condition comprises following one or more:
Electricity is lower than the power threshold preset, and flying height is lower than the height threshold preset.
Alternatively, described state of flight information comprises flight path information;
Described flight module is also suitable for:
According to described flight path information, fly with the first flying speed;
Wherein, the first flying speed of described first unmanned vehicle is greater than the second flying speed of the second unmanned vehicle.
Alternatively, described state of flight information comprises shooting angle;
Described taking module is also suitable for:
According to described shooting angle adjustment filming apparatus;
Filming apparatus after calling adjustment obtains a frame or multiframe character image data.
Alternatively, described taking module is also suitable for:
First flying speed of the first unmanned vehicle is adjusted to identical with the second flying speed of the second unmanned vehicle.
Alternatively, described images match module is also suitable for:
Extract the first area view data at a described frame or multiframe character image data edge;
Extract the second area view data of a described frame or multiframe candidate image data edges;
Judge whether described first area view data mates with described second area view data;
If so, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and mated;
If not, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and do not mated.
Alternatively, continuation module of taking photo by plane described in is also suitable for:
Send the complete signal of adjustment to telepilot, to drive telepilot to control the second unmanned vehicle landing, and obtain the remote control authority of the first unmanned vehicle.
In the embodiment of the present invention, when first unmanned vehicle flies to distance the second unmanned vehicle certain limit according to the state of flight information of the second unmanned vehicle, and take a frame or multiframe character image data, mate with the candidate image data of the second unmanned vehicle, to continue in suitable state operation of taking photo by plane, therefore, the continuous two sections of video files interrupting front and back of clapping can be connected with character image data by the frame candidate image data of coupling, avoid fault-layer-phenomenon.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of instructions, and can become apparent, below especially exemplified by the specific embodiment of the present invention to allow above and other objects of the present invention, feature and advantage.
Accompanying drawing explanation
By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Accompanying drawing only for illustrating the object of preferred implementation, and does not think limitation of the present invention.And in whole accompanying drawing, represent identical parts by identical reference symbol.In the accompanying drawings:
Fig. 1 shows a kind of according to an embodiment of the invention flow chart of steps of the continuous shooting method embodiment based on unmanned vehicle;
Fig. 2 shows a kind of according to an embodiment of the invention structural representation of unmanned vehicle;
Fig. 3 A to Fig. 3 F shows a kind of according to an embodiment of the invention flight theory figure of unmanned vehicle; And
Fig. 4 shows a kind of according to an embodiment of the invention structured flowchart of unmanned vehicle embodiment.
Embodiment
Below with reference to accompanying drawings exemplary embodiment of the present disclosure is described in more detail.Although show exemplary embodiment of the present disclosure in accompanying drawing, however should be appreciated that can realize the disclosure in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the disclosure can be understood, and complete for the scope of the present disclosure can be conveyed to those skilled in the art.
With reference to Fig. 1, show a kind of according to an embodiment of the invention flow chart of steps of the continuous shooting method embodiment based on unmanned vehicle, specifically can comprise the steps:
Step 101, when receiving replacement instruction in the first unmanned vehicle, obtains the state of flight information of the second unmanned vehicle when flying and a frame of shooting or multiframe candidate image data;
It should be noted that, the embodiment of the present invention can be applied to unmanned vehicle (UnmannedAerialVehicle, UAV) in, namely utilize wireless remote control or programmed control to perform the aircraft of specific aviation mission, it does not carry operating personnel, adopt aerodynamic force to provide required lift for aircraft, can automatically fly or remote boot.
In specific implementation, unmanned vehicle has multiple sensors and camera, when taking photo by plane, can pass through the sensor record state of flight information information of state (namely during record-setting flight), and, call camera and take a frame or multiple image data.
In embodiments of the present invention, if the first unmanned vehicle receives replacement instruction, then automatically can carry out the replacement of taking photo by plane of unmanned vehicle.
Furthermore, the second unmanned vehicle is when the continuous bat condition meeting and preset being detected, and can send replacement instruction to telepilot, replacement instruction can be forwarded to the first unmanned vehicle by telepilot.
Comparatively speaking, telepilot forwarding can be received in the first unmanned vehicle, that the second unmanned vehicle sends when meeting the continuous bat condition preset replacement instruction;
In specific implementation, this continuous bat condition can comprise following one or more:
Electricity is lower than the power threshold preset, and flying height is lower than the height threshold preset.
Certainly, except above-mentioned continuous bat condition, those skilled in the art can also arrange other continuous bat conditions according to actual conditions, and the embodiment of the present invention is not limited this.
In addition, except the second unmanned vehicle sends replacement instruction, telepilot also directly can send replacement instruction to the first unmanned vehicle, and the embodiment of the present invention is not also limited this.
After triggering is taken photo by plane and replaced it, can obtain a frame or the multiframe candidate image data of that telepilot forwards, that the second unmanned vehicle is when flying state of flight information and shooting by the first unmanned vehicle, with close to the second unmanned vehicle.
It should be noted that, in order to avoid there is the conflict controlled, telepilot, before taking photo by plane and replacing it, has the control of the second unmanned vehicle, and does not have the control of the first unmanned vehicle.
Step 102, flies according to described state of flight information;
In specific implementation, state of flight information can comprise flight path information, as the location point data (comprise longitude and latitude, highly) according to Time alignment, can start from location point data when sending replacement instruction.
Furthermore, the second unmanned vehicle can pass through geo-location module, and such as, GPS (GlobalPositioningSystem, GPS) module, Big Dipper module etc., identify the longitude and latitude that the second unmanned vehicle is residing when flying.
In addition, the second unmanned vehicle can also pass through height sensor, and such as, pressure-altitude sensor etc., identify the height that the second unmanned vehicle is residing when flying.
Therefore, the first unmanned vehicle can according to this flight path information, fly with the first flying speed, with close to the second unmanned vehicle.
Wherein, the first flying speed of the first unmanned vehicle is greater than the second flying speed of the second unmanned vehicle.
It should be noted that, the second flying speed of the second unmanned vehicle can be forwarded to the first unmanned vehicle as state of flight information by telepilot, and the first unmanned vehicle can calculate the first flying speed according to this second flying speed.
First flying speed of the first unmanned vehicle, the second flying speed of the second unmanned vehicle also can be default values, after triggering is taken photo by plane and is replaced it, first unmanned vehicle, the second unmanned vehicle fly according to the first flying speed preset, the second flying speed, and the present invention is not limited this.
When flying, for quadrotor, as shown in Figure 2, quadrotor adopts four rotors as the direct driving force source of flight, rotor is symmetrically distributed in the front, rear, left and right four direction of body, four rotors are in sustained height plane, and the structure of four rotors and radius are all identical, rotor 201 and rotor 203 are rotated counterclockwise, rotor 202 and rotor 204 turn clockwise, the bracket end being arranged on unmanned vehicle of four motor symmetries, support intermediate space lays flight-control computer 200 and other external units (as camera).
Quadrotor is by regulating four motor speeds to change gyroplane rotate speed, realizing the change of lift, thus controls attitude and the position of aircraft.
Quadrotor is a kind of vertical conveyor of six degree of freedom, but only has four Input Forces, but has six State-outputs, so it is again a kind of under-actuated systems simultaneously.。
Regulation is moved along x-axis positive dirction and is called and travels forward, and arrow represents that above the plane of movement of rotor this motor speed improves, and represent that in below this motor speed declines, six degree of freedom is as follows:
1, vertical movement;
As shown in Figure 3A, the output power of four motors of increase rotor 201, rotor 202, rotor 203, rotor 204 simultaneously, rotor 201, rotor 202, rotor 203, the increase of rotor 204 rotating speed make total pulling force increase, when total pulling force is enough to the weight overcoming complete machine, quadrotor is liftoff vertical rising just; Otherwise the output power of four motors of reduction rotor 201, rotor 202, rotor 203, rotor 204 simultaneously, quadrotor then vertically declines, until balance is landed, achieves the vertical movement along z-axis.
When external disturbance amount is zero, when the lift that rotor 201, rotor 202, rotor 203, rotor 204 produce equals gravity suffered by quadrotor, quadrotor just keeps floating state.
2, luffing;
As shown in Figure 3 B, the rotating speed of the motor of rotor 201 rises, and the rotating speed of the motor of rotor 203 declines (knots modification equal and opposite in direction), the rotating speed of the motor of rotor 202, the motor of rotor 204 remains unchanged.
Because the lift of rotor 201 rises, the lift of rotor 203 declines, and the unbalanced moments of generation makes fuselage rotate around y-axis.
In like manner, when the rotating speed of the motor of rotor 201 declines, the rotating speed of the motor of rotor 203 rises, and fuselage just rotates to another direction around y-axis, realizes the luffing of quadrotor.
3, rolling movement;
As shown in Figure 3 C, change the rotating speed of the motor of rotor 202 and rotor 204, keep the rotating speed of the motor of rotor 201 and rotor 203 constant, then fuselage can be made to rotate (forward is with reverse) around x-axis, realize the rolling movement of quadrotor.
4, yawing rotation;
Because air resistance effect can form the reactive torque contrary with rotation direction in rotor rotational process, in order to overcome reactive torque impact, two rotating forwards in four rotors can be made, two reversions, and each rotor rotational direction on diagonal line is identical.The size of reactive torque is relevant with gyroplane rotate speed, and when four motor speeds are identical, the reactive torque of four rotor generations balances mutually, and quadrotor does not rotate; When four motor speeds are incomplete same, unbalanced reactive torque can cause quadrotor to rotate.
As shown in Figure 3 D, when the rotating speed of the motor of rotor 201 and rotor 203 rises, when the rotating speed of the motor of rotor 202 and rotor 204 declines, the reactive torque of rotor 201 and rotor 203 pairs of fuselages is greater than the reactive torque of rotor 202 and rotor 204 pairs of fuselages, fuselage just rotates around z-axis under the effect of reactive torque more than needed, realize the yawing rotation of aircraft, turn to contrary with turning to of the motor of rotor 201 and rotor 203.
5, seesaw;
Want the motion realizing aircraft all around in surface level, in surface level, certain power must be applied to aircraft.
As shown in FIGURE 3 E, increase the rotating speed of the motor of rotor 203, pulling force is increased, and the rotating speed of the motor of corresponding reduction rotor 201, makes pulling force reduce, and keeps other two motor speeds constant simultaneously, and reactive torque still will keep balance.
By the theory of Fig. 3 B, first there is inclination to a certain degree in quadrotor, thus make rotor thrust produce horizontal component, flies motion before therefore can realizing quadrotor.Flight is just in time contrary with flight forward backward.
In Fig. 3 B and Fig. 3 C, quadrotor also can produce the tangential movement along x, y-axis while producing pitching, tumbling motion.
6, tendency motion;
Due to structural symmetry, so be inclined to the principle of work of flight and seesaw just the same.
As illustrated in Figure 3 F,
Increase the rotating speed of the motor of rotor 204, pulling force is increased, and the rotating speed of the motor of corresponding reduction rotor 202, makes pulling force reduce, and keeps other two motor speeds constant simultaneously, and reactive torque still will keep balance.
First there is inclination to a certain degree in quadrotor, thus makes rotor thrust produce the vertically amount of dividing equally, therefore can realize the tendency motion of quadrotor.Left flight with fly to the right just in time contrary.
Certainly, just exemplarily, when implementing the embodiment of the present invention, can arrange other unmanned vehicles according to actual conditions, such as, six rotorcraft, single rotor craft etc., the embodiment of the present invention is not limited this above-mentioned quadrotor.
Step 103, when flying to distance the second unmanned vehicle certain limit, takes a frame or multiframe character image data according to described state of flight information;
If the first unmanned vehicle flight is in the second unmanned vehicle certain limit, then represent that the first unmanned vehicle and the second unmanned vehicle are at a distance of less.
Although the first unmanned vehicle flies according to flight path information, but, also cannot guarantee necessarily to overlap completely with the position that the second unmanned vehicle is taken photo by plane, both more or less can there are differences the position of flight, therefore, being connected more accurate to improve captured video recording time flight for twice in front and back, can finely tuning shooting angle according to state of flight information.
In specific implementation, state of flight information can comprise shooting angle;
Specifically, the camera in unmanned vehicle is arranged on The Cloud Terrace, i.e. the fastening of installation, fixing camera.
Therefore, can according to this shooting angle adjustment filming apparatus, the filming apparatus after calling adjustment obtains a frame or multiframe character image data.
For omnibearing The Cloud Terrace, its inside is provided with two motors, is responsible for the rotation of the upper and lower of The Cloud Terrace and left and right all directions respectively, to drive camera vertically to rotate with left and right all directions, realizes the adjustment of shooting angle.
In addition, be connected in order to keep between the first unmanned vehicle with the second unmanned vehicle steady, avoid colliding, the first flying speed of the first unmanned vehicle can be reduced, the first flying speed of the first unmanned vehicle is adjusted to identical with the second flying speed of the second unmanned vehicle.
Step 104, judges whether whether a described frame or multiframe character image data mate with a described frame or multiframe candidate image data, if so, then performs step 105;
In embodiments of the present invention, can similarity between calculated candidate view data and character image data, if similarity is more than or equal to default similarity threshold, think both coupling, successive, then can continue operation of taking photo by plane formerly using this character image data as starting point.
If similarity is less than this similarity threshold, think that both do not mate, front and back divergence, because candidate image data continue shooting, therefore, now can recalculate the similarity between other candidate image data and character image datas, until both couplings.
Wherein, similarity may be used for giving a mark for the similarity degree of content between two frame image datas (candidate image data and character image data), judges the close degree of picture data content according to the height of mark.
The embodiment of the present invention, can carry out overall contrast to view data (candidate image data and character image data), namely to view data (candidate image data and character image data) overall calculation similarity.
Furthermore, similarity that can be overall between computed image data (candidate image data and character image data) in the following way:
One, based on histogram calculation similarity;
Suppose that there is view data A and view data B, calculate the histogram of two width images respectively, HistA, HistB, then calculate two histogrammic normalized correlation coefficients (as Pasteur's distance, histogram intersection distance etc.), obtain similarity.
This mode be based on vector between difference carry out the tolerance of image similarity degree, histogram can be good at normalization, such as common 256 bin bars.
It is very convenient that the view data that so two frame resolution are different directly can calculate similarity by compute histograms.
Two, similarity is calculated based on matrix decomposition;
View data is a matrix inherently, matrix decomposition can be relied on, as SVD (SingularValueDecomposition, svd), NMF (Non-negativeMatrixFactorization, Non-negative Matrix Factorization) to obtain in matrix some some robust features similarities to view data representing this matrix element value and distribution and calculates.
Three, distinguished point based calculates similarity.
Each frame image data has oneself unique point, and some positions important in these unique point token image data, as Harris angle point and Sift unique point etc.
So, the unique point of the view data obtained is compared, if similar unique point number is more, so can think that the similarity degree of this two frame image data is higher.
In addition, because the first unmanned vehicle has flown near the second unmanned vehicle, be more or less the same between candidate image data and character image data, therefore, in order to reduce calculated amount, by the contrast at edge between candidate image data and character image data, can judge whether candidate image data mate with character image data.
Specifically, the first area view data at a frame or multiframe character image data edge can be extracted, extract the second area view data of a frame or multiframe candidate image data edges, judge whether described first area view data mates with described second area view data.
If so, then judge that a frame or multiframe character image data are levied view data with a frame or many candidates and mated; If not, then judge that a frame or multiframe character image data are levied view data with a frame or many candidates and do not mated.
Furthermore, can the edge of inspection image data (candidate image data and character image data) in the following way:
1, Sobel Operator;
Sobel Operator is a kind of first order differential operator, utilizes the Grad of pixel neighboring regions to calculate the gradient of a pixel, then accepts or rejects according to certain threshold value, obtain the edge in image.
2, canny edge detection;
Canny edge detection algorithm is the first differential of Gaussian function, estimates, obtain optimization Approximation Operator according to signal to noise ratio (S/N ratio) and location product.
3, the Laplacian algorithm of Gauss
The Laplce LoG algorithm of Gauss is a kind of second order edge detection method, passes through (ZeroCorssing) carry out detected edge points by zero in the second-order differential of the gray-scale value of searching image.
Certainly, just exemplarily, when implementing the embodiment of the present invention, can arrange the judgment mode of other couplings according to actual conditions, the embodiment of the present invention is not limited this judgment mode of above-mentioned coupling.In addition, except the judgment mode of above-mentioned coupling, the judgment mode that those skilled in the art can also adopt other to mate according to actual needs, the embodiment of the present invention is not also limited this.
Step 105, carries out continuous bat for the first unmanned vehicle and operates.
In specific implementation, the first unmanned vehicle can send the complete signal of adjustment to telepilot, to drive telepilot to control the second unmanned vehicle landing, and obtains the remote control authority of the first unmanned vehicle.
Continue to take photo by plane the frame or multiframe character image data that obtain before operation, do not mate, as starting point, can directly cannot delete with candidate image data.
Continue to take photo by plane the frame or multiframe character image data that obtain after operation, with candidate image Data Matching, can as starting point, and by process such as codings, generating video file, and candidate image data can as destination node, stopping recorded video file.
The continuous two sections of video files clapping front and back, can be connected with character image data by the frame candidate image data of coupling, avoid fault-layer-phenomenon.
In the embodiment of the present invention, when first unmanned vehicle flies to distance the second unmanned vehicle certain limit according to the state of flight information of the second unmanned vehicle, and take a frame or multiframe character image data, mate with the candidate image data of the second unmanned vehicle, to continue in suitable state operation of taking photo by plane, therefore, the continuous two sections of video files interrupting front and back of clapping can be connected with character image data by the frame candidate image data of coupling, avoid fault-layer-phenomenon.
For embodiment of the method, in order to simple description, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the embodiment of the present invention is not by the restriction of described sequence of movement, because according to the embodiment of the present invention, some step can adopt other orders or carry out simultaneously.Secondly, those skilled in the art also should know, the embodiment described in instructions all belongs to preferred embodiment, and involved action might not be that the embodiment of the present invention is necessary.
With reference to Fig. 4, show a kind of according to an embodiment of the invention structured flowchart of unmanned vehicle embodiment, specifically can comprise as lower module:
Continuous beat of data acquisition module 401, when being suitable for receiving replacement instruction in the first unmanned vehicle, obtains a frame or the multiframe candidate image data of the state of flight information of the second unmanned vehicle when flying and shooting;
Flight module 402, is suitable for flying according to described state of flight information;
Taking module 403, is suitable for, when flying to distance the second unmanned vehicle certain limit, taking a frame or multiframe character image data according to described state of flight information;
Images match module 404, is suitable for judging whether whether a described frame or multiframe character image data mate with a described frame or multiframe candidate image data, and if so, then calling takes photo by plane continues module 405;
Take photo by plane and continue module 405, be suitable for carrying out continuous bat for the first unmanned vehicle and operate.
In a kind of embodiment of the present invention, described continuous beat of data acquisition module 401 can also be suitable for:
Receive telepilot forwarding in the first unmanned vehicle, that the second unmanned vehicle sends when meeting the continuous bat condition preset replacement instruction;
Obtain a frame or the multiframe candidate image data of that telepilot forwards, that the second unmanned vehicle is when flying state of flight information and shooting.
In specific implementation, described continuous bat condition can comprise following one or more:
Electricity is lower than the power threshold preset, and flying height is lower than the height threshold preset.
In a kind of embodiment of the present invention, described state of flight information can comprise flight path information;
Described flight module 402 can also be suitable for:
According to described flight path information, fly with the first flying speed;
Wherein, the first flying speed of described first unmanned vehicle is greater than the second flying speed of the second unmanned vehicle.
In a kind of embodiment of the present invention, described state of flight information can comprise shooting angle;
Described taking module 403 can also be suitable for:
According to described shooting angle adjustment filming apparatus;
Filming apparatus after calling adjustment obtains a frame or multiframe character image data.
In a kind of embodiment of the present invention, described taking module 403 can also be suitable for:
First flying speed of the first unmanned vehicle is adjusted to identical with the second flying speed of the second unmanned vehicle.
In a kind of embodiment of the present invention, described images match module 404 can also be suitable for:
Extract the first area view data at a described frame or multiframe character image data edge;
Extract the second area view data of a described frame or multiframe candidate image data edges;
Judge whether described first area view data mates with described second area view data;
If so, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and mated;
If not, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and do not mated.
In a kind of embodiment of the present invention, described in take photo by plane continue module 405 can also be suitable for:
Send the complete signal of adjustment to telepilot, to drive telepilot to control the second unmanned vehicle landing, and obtain the remote control authority of the first unmanned vehicle.
For unmanned vehicle embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.
Intrinsic not relevant to any certain computer, virtual system or miscellaneous equipment with display at this algorithm provided.Various general-purpose system also can with use based on together with this teaching.According to description above, the structure constructed required by this type systematic is apparent.In addition, the present invention is not also for any certain programmed language.It should be understood that and various programming language can be utilized to realize content of the present invention described here, and the description done language-specific is above to disclose preferred forms of the present invention.
In instructions provided herein, describe a large amount of detail.But can understand, embodiments of the invention can be put into practice when not having these details.In some instances, be not shown specifically known method, structure and technology, so that not fuzzy understanding of this description.
Similarly, be to be understood that, in order to simplify the disclosure and to help to understand in each inventive aspect one or more, in the description above to exemplary embodiment of the present invention, each feature of the present invention is grouped together in single embodiment, figure or the description to it sometimes.But, the method for the disclosure should be construed to the following intention of reflection: namely the present invention for required protection requires feature more more than the feature clearly recorded in each claim.Or rather, as claims below reflect, all features of disclosed single embodiment before inventive aspect is to be less than.Therefore, the claims following embodiment are incorporated to this embodiment thus clearly, and wherein each claim itself is as independent embodiment of the present invention.
Those skilled in the art are appreciated that and adaptively can change the module in the equipment in embodiment and they are arranged in one or more equipment different from this embodiment.Module in embodiment or unit or assembly can be combined into a module or unit or assembly, and multiple submodule or subelement or sub-component can be put them in addition.Except at least some in such feature and/or process or unit be mutually repel except, any combination can be adopted to combine all processes of all features disclosed in this instructions (comprising adjoint claim, summary and accompanying drawing) and so disclosed any method or equipment or unit.Unless expressly stated otherwise, each feature disclosed in this instructions (comprising adjoint claim, summary and accompanying drawing) can by providing identical, alternative features that is equivalent or similar object replaces.
In addition, those skilled in the art can understand, although embodiments more described herein to comprise in other embodiment some included feature instead of further feature, the combination of the feature of different embodiment means and to be within scope of the present invention and to form different embodiments.Such as, in the following claims, the one of any of embodiment required for protection can use with arbitrary array mode.
All parts embodiment of the present invention with hardware implementing, or can realize with the software module run on one or more processor, or realizes with their combination.It will be understood by those of skill in the art that the some or all functions based on the some or all parts in the continuous bat equipment of unmanned vehicle that microprocessor or digital signal processor (DSP) can be used in practice to realize according to the embodiment of the present invention.The present invention can also be embodied as part or all equipment for performing method as described herein or device program (such as, computer program and computer program).Realizing program of the present invention and can store on a computer-readable medium like this, or the form of one or more signal can be had.Such signal can be downloaded from internet website and obtain, or provides on carrier signal, or provides with any other form.
The present invention will be described instead of limit the invention to it should be noted above-described embodiment, and those skilled in the art can design alternative embodiment when not departing from the scope of claims.In the claims, any reference symbol between bracket should be configured to limitations on claims.Word " comprises " not to be got rid of existence and does not arrange element in the claims or step.Word "a" or "an" before being positioned at element is not got rid of and be there is multiple such element.The present invention can by means of including the hardware of some different elements and realizing by means of the computing machine of suitably programming.In the unit claim listing some devices, several in these devices can be carry out imbody by same hardware branch.Word first, second and third-class use do not represent any order.Can be title by these word explanations.
The embodiment of the invention discloses A1, a kind of continuous shooting method based on unmanned vehicle, comprising:
When receiving replacement instruction in the first unmanned vehicle, obtain the state of flight information of the second unmanned vehicle when flying and a frame of shooting or multiframe candidate image data;
Fly according to described state of flight information;
When flying to distance the second unmanned vehicle certain limit, take a frame or multiframe character image data according to described state of flight information;
Judge whether whether a described frame or multiframe character image data mate with a described frame or multiframe candidate image data, if so, then carry out continuous bat for the first unmanned vehicle and operate.
A2, method as described in A1, described when receiving replacement instruction in the first unmanned vehicle, obtain the state of flight information of the second unmanned vehicle when flying and a frame of shooting or the step of multiframe candidate image data and comprise:
Receive telepilot forwarding in the first unmanned vehicle, that the second unmanned vehicle sends when meeting the continuous bat condition preset replacement instruction;
Obtain a frame or the multiframe candidate image data of that telepilot forwards, that the second unmanned vehicle is when flying state of flight information and shooting.
A3, method as described in A2, described continuous bat condition comprises following one or more:
Electricity is lower than the power threshold preset, and flying height is lower than the height threshold preset.
A4, method as described in A1 or A2 or A3, described state of flight information comprises flight path information;
Described step of carrying out flying according to described state of flight information comprises:
According to described flight path information, fly with the first flying speed;
Wherein, the first flying speed of described first unmanned vehicle is greater than the second flying speed of the second unmanned vehicle.
A5, method as described in A1 or A2 or A3, described state of flight information comprises shooting angle;
Describedly to comprise according to a frame of described state of flight information shooting or the step of multiframe character image data:
According to described shooting angle adjustment filming apparatus;
Filming apparatus after calling adjustment obtains a frame or multiframe character image data.
A6, method as described in A5, describedly also comprise according to a described frame of state of flight information shooting or the step of multiframe character image data:
First flying speed of the first unmanned vehicle is adjusted to identical with the second flying speed of the second unmanned vehicle.
A7, method as described in A1 or A2 or A3 or A4 or A5 or A6, describedly judge whether a described frame or multiframe character image data comprise with the step whether a described frame or multiframe candidate image data mate:
Extract the first area view data at a described frame or multiframe character image data edge;
Extract the second area view data of a described frame or multiframe candidate image data edges;
Judge whether described first area view data mates with described second area view data;
If so, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and mated;
If not, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and do not mated.
A8, method as described in A1 or A2 or A3 or A4 or A5 or A6, describedly carry out continuous step of clapping operation for the first unmanned vehicle and comprise:
Send the complete signal of adjustment to telepilot, to drive telepilot to control the second unmanned vehicle landing, and obtain the remote control authority of the first unmanned vehicle.
The embodiment of the invention also discloses B9, a kind of unmanned vehicle, comprising:
Continuous beat of data acquisition module, when being suitable for receiving replacement instruction in the first unmanned vehicle, obtains a frame or the multiframe candidate image data of the state of flight information of the second unmanned vehicle when flying and shooting;
Flight module, is suitable for flying according to described state of flight information;
Taking module, is suitable for, when flying to distance the second unmanned vehicle certain limit, taking a frame or multiframe character image data according to described state of flight information;
Images match module, is suitable for judging whether whether a described frame or multiframe character image data mate with a described frame or multiframe candidate image data, if so, then call continuation module of taking photo by plane;
To take photo by plane continuation module, be suitable for carrying out continuously clapping operation for the first unmanned vehicle.
B10, unmanned vehicle as described in B9, described continuous beat of data acquisition module is also suitable for:
Receive telepilot forwarding in the first unmanned vehicle, that the second unmanned vehicle sends when meeting the continuous bat condition preset replacement instruction;
Obtain a frame or the multiframe candidate image data of that telepilot forwards, that the second unmanned vehicle is when flying state of flight information and shooting.
B11, unmanned vehicle as described in B10, described continuous bat condition comprises following one or more:
Electricity is lower than the power threshold preset, and flying height is lower than the height threshold preset.
B12, unmanned vehicle as described in B9 or B10 or B11, described state of flight information comprises flight path information;
Described flight module is also suitable for:
According to described flight path information, fly with the first flying speed;
Wherein, the first flying speed of described first unmanned vehicle is greater than the second flying speed of the second unmanned vehicle.
B13, unmanned vehicle as described in B9 or B10 or B11, described state of flight information comprises shooting angle;
Described taking module is also suitable for:
According to described shooting angle adjustment filming apparatus;
Filming apparatus after calling adjustment obtains a frame or multiframe character image data.
B14, device as described in B13, described taking module is also suitable for:
First flying speed of the first unmanned vehicle is adjusted to identical with the second flying speed of the second unmanned vehicle.
B15, unmanned vehicle as described in B9 or B10 or B11 or B12 or B13 or B14, described images match module is also suitable for:
Extract the first area view data at a described frame or multiframe character image data edge;
Extract the second area view data of a described frame or multiframe candidate image data edges;
Judge whether described first area view data mates with described second area view data;
If so, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and mated;
If not, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and do not mated.
B16, unmanned vehicle as described in B9 or B10 or B11 or B12 or B13 or B14, described in take photo by plane and continue module and be also suitable for:
Send the complete signal of adjustment to telepilot, to drive telepilot to control the second unmanned vehicle landing, and obtain the remote control authority of the first unmanned vehicle.
Claims (10)
1., based on a continuous shooting method for unmanned vehicle, comprising:
When receiving replacement instruction in the first unmanned vehicle, obtain the state of flight information of the second unmanned vehicle when flying and a frame of shooting or multiframe candidate image data;
Fly according to described state of flight information;
When flying to distance the second unmanned vehicle certain limit, take a frame or multiframe character image data according to described state of flight information;
Judge whether whether a described frame or multiframe character image data mate with a described frame or multiframe candidate image data, if so, then carry out continuous bat for the first unmanned vehicle and operate.
2. the method for claim 1, is characterized in that, described when receiving replacement instruction in the first unmanned vehicle, obtains the state of flight information of the second unmanned vehicle when flying and a frame of shooting or the step of multiframe candidate image data and comprises:
Receive telepilot forwarding in the first unmanned vehicle, that the second unmanned vehicle sends when meeting the continuous bat condition preset replacement instruction;
Obtain a frame or the multiframe candidate image data of that telepilot forwards, that the second unmanned vehicle is when flying state of flight information and shooting.
3. method as claimed in claim 2, is characterized in that, described continuous bat condition comprises following one or more:
Electricity is lower than the power threshold preset, and flying height is lower than the height threshold preset.
4. the method as described in claim 1 or 2 or 3, is characterized in that, described state of flight information comprises flight path information;
Described step of carrying out flying according to described state of flight information comprises:
According to described flight path information, fly with the first flying speed;
Wherein, the first flying speed of described first unmanned vehicle is greater than the second flying speed of the second unmanned vehicle.
5. the method as described in claim 1 or 2 or 3, is characterized in that, described state of flight information comprises shooting angle;
Describedly to comprise according to a frame of described state of flight information shooting or the step of multiframe character image data:
According to described shooting angle adjustment filming apparatus;
Filming apparatus after calling adjustment obtains a frame or multiframe character image data.
6. method as claimed in claim 5, is characterized in that, describedly also comprises according to a described frame of state of flight information shooting or the step of multiframe character image data:
First flying speed of the first unmanned vehicle is adjusted to identical with the second flying speed of the second unmanned vehicle.
7. the method as described in claim 1 or 2 or 3 or 4 or 5 or 6, is characterized in that, describedly judges whether a described frame or multiframe character image data comprise with the step whether a described frame or multiframe candidate image data mate:
Extract the first area view data at a described frame or multiframe character image data edge;
Extract the second area view data of a described frame or multiframe candidate image data edges;
Judge whether described first area view data mates with described second area view data;
If so, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and mated;
If not, then judge that a described frame or multiframe character image data are levied view data with a described frame or many candidates and do not mated.
8. the method as described in claim 1 or 2 or 3 or 4 or 5 or 6, is characterized in that, describedly carries out continuous step of clapping operation for the first unmanned vehicle and comprises:
Send the complete signal of adjustment to telepilot, to drive telepilot to control the second unmanned vehicle landing, and obtain the remote control authority of the first unmanned vehicle.
9. a unmanned vehicle, comprising:
Continuous beat of data acquisition module, when being suitable for receiving replacement instruction in the first unmanned vehicle, obtains a frame or the multiframe candidate image data of the state of flight information of the second unmanned vehicle when flying and shooting;
Flight module, is suitable for flying according to described state of flight information;
Taking module, is suitable for, when flying to distance the second unmanned vehicle certain limit, taking a frame or multiframe character image data according to described state of flight information;
Images match module, is suitable for judging whether whether a described frame or multiframe character image data mate with a described frame or multiframe candidate image data, if so, then call continuation module of taking photo by plane;
To take photo by plane continuation module, be suitable for carrying out continuously clapping operation for the first unmanned vehicle.
10. unmanned vehicle as claimed in claim 9, it is characterized in that, described continuous beat of data acquisition module is also suitable for:
Receive telepilot forwarding in the first unmanned vehicle, that the second unmanned vehicle sends when meeting the continuous bat condition preset replacement instruction;
Obtain a frame or the multiframe candidate image data of that telepilot forwards, that the second unmanned vehicle is when flying state of flight information and shooting.
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