CN105511488B - A kind of continuous shooting method and unmanned vehicle based on unmanned vehicle - Google Patents
A kind of continuous shooting method and unmanned vehicle based on unmanned vehicle Download PDFInfo
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- G—PHYSICS
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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
An embodiment of the present invention provides a kind of continuous shooting method and unmanned vehicle based on unmanned vehicle, this method includes：When receiving replacement instruction in the first unmanned vehicle, the frame or multiframe candidate image data of state of flight information and shooting of second unmanned vehicle in flight are obtained；Fly according to the state of flight information；When in flight to distance the second unmanned vehicle a certain range, a frame or multiframe character image data are shot according to the state of flight information；Judge whether a frame or multiframe character image data match with a frame or multiframe candidate image data, operated if so, then carrying out continuous clap for the first unmanned vehicle.The continuous two sections of video files clapped before and after interrupting can be connected by matched frame candidate image data with character image data, avoid fault-layer-phenomenon.
Description
Technical field
The present invention relates to the technical field of unmanned vehicle, more particularly to a kind of continuous shooting method based on unmanned vehicle
With a kind of unmanned vehicle.
Background technology
With the fast development of science and technology, unmanned vehicle is widely available, Natural calamity monitoring and assessment, urban planning with
The fields such as municipal administration, digital earth and advertisement photography, it is often necessary to which unmanned plane is taken photo by plane.
Under many scenes, the time of taking photo by plane is generally long, still, due to the limited battery capacity of unmanned vehicle, its
Cruising ability is limited, takes photo by plane 20 minutes or so, and often supply of electric power deficiency, leads to not continue to shoot.
Therefore, in order to complete to take photo by plane, unmanned vehicle needs repeatedly to take photo by plane, and recorded multistage video.
Interrupted due to taking photo by plane, cause front and rear two sections of videos difference larger, can not often be connected, do not plan a successor problem.
The content of the invention
In view of the above problems, it is proposed that the present invention overcomes the above problem in order to provide one kind or solves at least in part
State a kind of continuous shooting method based on unmanned vehicle of problem and a kind of corresponding unmanned vehicle.
According to one aspect of the present invention, there is provided a kind of continuous shooting method based on unmanned vehicle, including：
When receiving replacement instruction in the first unmanned vehicle, flight shape of second unmanned vehicle in flight is obtained
State information and the frame or multiframe candidate image data of shooting；
Fly according to the state of flight information；
When flight is in distance the second unmanned vehicle a certain range, according to the state of flight information shoot a frame or
Multiframe character image data；
Judge a frame or multiframe character image data whether with a frame or multiframe candidate image data whether
Match somebody with somebody, operated if so, then carrying out continuous clap for the first unmanned vehicle.
Alternatively, it is described when receiving replacement instruction in the first unmanned vehicle, obtain the second unmanned vehicle and flying
The step of frame or multiframe candidate image data of state of flight information and shooting during row, includes：
Remote controler forwards, the second unmanned vehicle is received in the first unmanned vehicle and is meeting default continuous bat condition
When the replacement instruction that sends；
State of flight information that obtain remote controler forwarding, that the second unmanned vehicle is in flight and a frame or more for shooting
Frame candidate image data.
Alternatively, the continuous bat condition includes following one or more：
Electricity is less than default power threshold, and flying height is less than default height threshold.
Alternatively, the state of flight information includes flight path information；
Described the step of carrying out flight according to the state of flight information, includes：
Fly according to the flight path information, with the first flying speed；
Wherein, the first flying speed of first unmanned vehicle is more than the second flight speed of the second unmanned vehicle
Degree.
Alternatively, the state of flight information includes shooting angle；
It is described according to the state of flight information shoot a frame or multiframe character image data the step of include：
Filming apparatus is adjusted according to the shooting angle；
The filming apparatus after adjustment is called to obtain a frame or multiframe character image data.
Alternatively, it is described according to the state of flight information shoot a frame or multiframe character image data the step of also wrap
Include：
First flying speed of the first unmanned vehicle is adjusted to the second flying speed phase with the second unmanned vehicle
Together.
Alternatively, it is described judge a frame or multiframe character image data whether with a frame or multiframe candidate image
The step of whether data match includes：
Extract the first area view data at a frame or multiframe the character image data edge；
Extract the second area view data of a frame or multiframe candidate image data edges；
Judge whether the first area view data matches with the second area view data；
If so, then judge that a frame or multiframe character image data levy view data with a frame or more candidates
Match somebody with somebody；
If it is not, then judging a frame or multiframe character image data and a frame or more candidates do not levy view data not
Match somebody with somebody.
Alternatively, first unmanned vehicle that is directed to include the step of continuing bat operation：
The signal for adjusting and finishing is sent to remote controler, to drive the second unmanned vehicle of remote control control to land, and is obtained
The remote control authority of first unmanned vehicle.
According to another aspect of the present invention, there is provided a kind of unmanned vehicle, including：
Continuous beat of data acquisition module, during suitable for receiving replacement instruction in the first unmanned vehicle, obtain second nobody
A frame or multiframe candidate image data for state of flight information and shooting of the aircraft in flight；
Flight module, suitable for flying according to the state of flight information；
Taking module, suitable for when flight is in distance the second unmanned vehicle a certain range, according to the state of flight
Information shoots a frame or multiframe character image data；
Images match module, suitable for judging whether a frame or multiframe character image data wait with a frame or multiframe
Select whether view data matches, continue module if so, then calling to take photo by plane；
Take photo by plane and continue module, operated suitable for carrying out continuous clap for the first unmanned vehicle.
Alternatively, the continuous beat of data acquisition module is further adapted for：
Remote controler forwards, the second unmanned vehicle is received in the first unmanned vehicle and is meeting default continuous bat condition
When the replacement instruction that sends；
State of flight information that obtain remote controler forwarding, that the second unmanned vehicle is in flight and a frame or more for shooting
Frame candidate image data.
Alternatively, the continuous bat condition includes following one or more：
Electricity is less than default power threshold, and flying height is less than default height threshold.
Alternatively, the state of flight information includes flight path information；
The flight module is further adapted for：
Fly according to the flight path information, with the first flying speed；
Wherein, the first flying speed of first unmanned vehicle is more than the second flight speed of the second unmanned vehicle
Degree.
Alternatively, the state of flight information includes shooting angle；
The taking module is further adapted for：
Filming apparatus is adjusted according to the shooting angle；
The filming apparatus after adjustment is called to obtain a frame or multiframe character image data.
Alternatively, the taking module is further adapted for：
First flying speed of the first unmanned vehicle is adjusted to the second flying speed phase with the second unmanned vehicle
Together.
Alternatively, described image matching module is further adapted for：
Extract the first area view data at a frame or multiframe the character image data edge；
Extract the second area view data of a frame or multiframe candidate image data edges；
Judge whether the first area view data matches with the second area view data；
If so, then judge that a frame or multiframe character image data levy view data with a frame or more candidates
Match somebody with somebody；
If it is not, then judging a frame or multiframe character image data and a frame or more candidates do not levy view data not
Match somebody with somebody.
Alternatively, the continuation module of taking photo by plane is further adapted for：
The signal for adjusting and finishing is sent to remote controler, to drive the second unmanned vehicle of remote control control to land, and is obtained
The remote control authority of first unmanned vehicle.
In the embodiment of the present invention, the first unmanned vehicle according to the state of flight information of the second unmanned vehicle fly to away from
During from second unmanned vehicle a certain range, and a frame or multiframe character image data are shot, with the second unmanned vehicle
Candidate image data are matched, and to continue operation of taking photo by plane in suitable state, therefore, are continued to clap and are interrupted two sections of front and rear video texts
Part can be connected by matched frame candidate image data with character image data, avoid fault-layer-phenomenon.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole attached drawing, identical component is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 shows a kind of step of continuous shooting method embodiment based on unmanned vehicle according to an embodiment of the invention
Rapid flow chart；
Fig. 2 shows a kind of structure diagram of unmanned vehicle according to an embodiment of the invention；
Fig. 3 A to Fig. 3 F show a kind of flight theory figure of unmanned vehicle according to an embodiment of the invention；And
Fig. 4 shows a kind of structure diagram of unmanned vehicle embodiment according to an embodiment of the invention.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
With reference to Fig. 1, show that a kind of continuous shooting method based on unmanned vehicle according to an embodiment of the invention is implemented
The step flow chart of example, specifically may include steps of：
Step 101, when receiving replacement instruction in the first unmanned vehicle, the second unmanned vehicle is obtained in flight
State of flight information and shooting a frame or multiframe candidate image data；
It should be noted that the embodiment of the present invention can be applied to unmanned vehicle (Unmanned Aerial
Vehicle, UAV) in, i.e., the aircraft of specific aviation mission is performed using wireless remote control or programme-control, it does not carry behaviour
Make personnel, use air force to provide required lift for aircraft, can automatically fly or remotely guide.
In the concrete realization, unmanned vehicle has multiple sensors and camera, when taking photo by plane, can pass through sensor
Record-setting flight status information (i.e. record-setting flight when state information), and, call camera to shoot a frame or multiple image number
According to.
In embodiments of the present invention, if the first unmanned vehicle receives replacement instruction, nobody can be carried out automatically and is flown
The replacement of taking photo by plane of row device.
Furthermore, the second unmanned vehicle detect meet default continuous bat condition when, can be sent out to remote controler
Replacement instruction is sent, replacement instruction can be forwarded to the first unmanned vehicle by remote controler.
In contrast, remote controler forwards, the second unmanned vehicle can be received in the first unmanned vehicle to meet
The replacement instruction sent during default continuous bat condition；
In the concrete realization, which can include following one or more：
Electricity is less than default power threshold, and flying height is less than default height threshold.
Certainly, in addition to above-mentioned continuous bat condition, those skilled in the art can also set other continuous bats according to actual conditions
Condition, the embodiment of the present invention are not any limitation as this.
In addition, in addition to the second unmanned vehicle sends replacement instruction, remote controler can also directly transmit replacement instruction
To the first unmanned vehicle, the embodiment of the present invention is not also any limitation as this.
After triggering is taken photo by plane and is replaced it, be able to can be obtained with the first unmanned vehicle remote controler forwarding, second nobody fly
A frame or multiframe candidate image data for state of flight information and shooting of the row device in flight, with close to the second unmanned flight
Device.
It should be noted that in order to avoid the conflict controlled, remote controler before taking photo by plane and replacing it, have second nobody
The control of aircraft, without the control of the first unmanned vehicle.
Step 102, fly according to the state of flight information；
In the concrete realization, state of flight information can include flight path information, such as according to the location point of Time alignment
Data (including longitude and latitude, height), can start from position point data when sending replacement instruction.
Furthermore, the second unmanned vehicle can be by geo-location module, for example, GPS (Global
Positioning System, global positioning system) module, big dipper module etc., the second unmanned vehicle of identification is in flight when institute
The longitude and latitude at place.
In addition, the second unmanned vehicle can also be by height sensor, for example, pressure-altitude sensor etc., identification the
The two unmanned vehicles height residing in flight.
Therefore, the first unmanned vehicle can fly according to the flight path information, with the first flying speed, to connect
Nearly second unmanned vehicle.
Wherein, the first flying speed of the first unmanned vehicle is more 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 used as state of flight information by remote controler
The first unmanned vehicle is forwarded to, the first unmanned vehicle can calculate the first flying speed according to second flying speed.
First flying speed of the first unmanned vehicle, the second flying speed of the second unmanned vehicle also can be pre-
If value, after triggering, which is taken photo by plane, to be replaced it, the first unmanned vehicle, the second unmanned vehicle according to default first flight speed
Degree, the second flying speed are flown, and the present invention is not any limitation as this.
In flight, by taking quadrotor as an example, fly as shown in Fig. 2, quadrotor is used as using four rotors
Capable direct driving force source, rotor are symmetrically distributed in the front, rear, left and right four direction of body, and four rotors are put down in sustained height
Face, and the structure of four rotors and radius are all identical, rotor 201 and rotor 203 rotate counterclockwise, and rotor 202 and rotor 204 are suitable
Hour hands rotate, and four motors are symmetrically installed on the bracket end of unmanned vehicle, and stent intermediate space is placed flight control and calculated
Machine 200 and other external equipments (such as camera).
Quadrotor is to change variable rotor speed by adjusting four motor speeds, realizes the change of lift, so that
Control posture and the position of aircraft.
Quadrotor is a kind of vertical conveyor of six degree of freedom, but only four input powers, while but have six
State output, so it is a kind of under-actuated systems again..
Regulation is moved along positive direction of the x-axis to be known as travelling forward, and arrow represents that this motor turns above the plane of movement of rotor
Speed improves, and represents that this motor speed declines in lower section, six degree of freedom is as follows：
1st, move vertically；
As shown in Figure 3A, at the same increase rotor 201, rotor 202, rotor 203, rotor 204 four motors output work
Rate, rotor 201, rotor 202, rotor 203,204 rotating speed of rotor increase so that the increase of total pulling force, when total pulling force be enough to overcome it is whole
During the weight of machine, quadrotor just liftoff vertical ascent；Conversely, reduce rotor 201, rotor 202, rotor 203, rotation at the same time
The output power of four motors of the wing 204, quadrotor then vertically decline, until balance landing, realizes hanging down along z-axis
Straight movement.
When external disturbance amount is zero, it is equal to four in the lift that rotor 201, rotor 202, rotor 203, rotor 204 produce
Suffered by rotor craft during gravity, quadrotor just keeps floating state.
2nd, elevating movement；
In as shown in Figure 3B, the rotating speed of the motor of rotor 201 rises, and (knots modification is big for the rotating speed decline of the motor of rotor 203
It is small equal), the motor of rotor 202, the rotating speed of the motor of rotor 204 remain unchanged.
Since the lift of rotor 201 rises, the drop in lift of rotor 203, the unbalanced moments of generation makes fuselage be revolved around y-axis
Turn.
Similarly, when the rotating speed of the motor of rotor 201 declines, the rotating speed of the motor of rotor 203 rises, fuselage just around y-axis to
Another direction rotates, and realizes the elevating movement of quadrotor.
3rd, rolling movement；
As shown in Figure 3 C, change the rotating speed of the motor of rotor 202 and rotor 204, keep the electricity of rotor 201 and rotor 203
The rotating speed of machine is constant, then fuselage can be made to rotate (forward and reverse) around x-axis, realizes the rolling movement of quadrotor.
4th, yawing rotation；
It is anti-in order to overcome since air drag effect can form the reaction torque opposite with rotation direction during rotor rotational
Torque influence, can make two in four rotors to rotate forward, two reversions, and each rotor rotational direction on diagonal is identical.
The size of reaction torque is related with rotor rotating speed, and when four motor speeds are identical, the reaction torque that four rotors produce mutually balances,
Quadrotor does not rotate；When four motor speeds are not exactly the same, unbalanced reaction torque can cause quadrotor
Aircraft rotates.
As shown in Figure 3D, when the rotating speed of rotor 201 and the motor of rotor 203 rises, the motor of rotor 202 and rotor 204
Rotating speed when declining, rotor 201 and rotor 203 are more than rotor 202 and rotor 204 to the anti-twisted of fuselage to the reaction torque of fuselage
Square, fuselage just rotate under the action of reaction torque more than needed around z-axis, realize the yawing rotation of aircraft, turn to and rotor 201 and rotation
The steering of the motor of the wing 203 is opposite.
5th, move forward and backward；
To the movement around realizing aircraft in the horizontal plane, it is necessary to apply one to aircraft in the horizontal plane
Fixed power.
As shown in FIGURE 3 E, increase the rotating speed of the motor of rotor 203, increase pulling force, the corresponding motor for reducing rotor 201
Rotating speed, reduces pulling force, while keeps other two motor speeds constant, and reaction torque still will keep balancing.
By the theory of Fig. 3 B, a degree of inclination occurs first for quadrotor, so that rotor thrust produces water
The amount of dividing equally, therefore can realize the preceding winged movement of quadrotor.Flight and flight forward contrast backward.
In Fig. 3 B and Fig. 3 C, quadrotor can be also produced along x, y-axis while pitching, tumbling motion is produced
Horizontal movement.
6th, tendency movement；
Due to symmetrical configuration, so the operation principle of tendency flight is just the same with moving forward and backward.
As illustrated in Figure 3 F,
Increase the rotating speed of the motor of rotor 204, increase pulling force, the rotating speed of the corresponding motor for reducing rotor 202, makes pulling force
Reduce, while keep other two motor speeds constant, reaction torque still will keep balancing.
A degree of inclination occurs first for quadrotor, so that the vertical amount of dividing equally of rotor thrust production, therefore can
To realize that the tendency of quadrotor is moved.Flight to the left and flight contrast to the right.
Certainly, above-mentioned quadrotor is intended only as example, can be according to actual feelings when implementing the embodiment of the present invention
Condition sets other unmanned vehicles, for example, six rotorcraft, single rotor craft etc., the embodiment of the present invention is not added with this
With limitation.
Step 103, when in flight to distance the second unmanned vehicle a certain range, clapped according to the state of flight information
Take the photograph a frame or multiframe character image data；
If the first unmanned vehicle flies to second unmanned vehicle a certain range, then it represents that the first unmanned vehicle with
Second unmanned vehicle is at a distance of smaller.
Although the first unmanned vehicle flies according to flight path information, can not also ensure necessarily with second nobody
The position that aircraft is taken photo by plane is completely superposed, and the position that both fly can more or less have differences, therefore, in order to improve front and rear two
Captured video recording is connected more accurate during secondary flight, shooting angle can be finely adjusted according to state of flight information.
In the concrete realization, state of flight information can include shooting angle；
Specifically, the camera in unmanned vehicle is installed on holder, i.e. installation, the support of fixing camera is set
It is standby.
Therefore, can according to the shooting angle adjust filming apparatus, call adjustment after filming apparatus obtain a frame or
Multiframe character image data.
By taking comprehensive holder as an example, it is internally provided with two motors, is each responsible for the upper and lower and left and right each side of holder
To rotation, with drive camera vertically with left and right all directions rotate, realize the adjustment of shooting angle.
In addition, in order to be kept for being steadily connected between the first unmanned vehicle and the second unmanned vehicle, avoid touching
Hit, the first flying speed of the first unmanned vehicle can be reduced, by the first flying speed of the first unmanned vehicle adjust to
It is identical with the second flying speed of the second unmanned vehicle.
Step 104, judge a frame or multiframe character image data whether with a frame or multiframe candidate image number
According to whether matching, if so, then performing step 105；
In embodiments of the present invention, the similarity between candidate image data and character image data can be calculated, if phase
It is greater than or equal to default similarity threshold like degree, it is believed that both match, is successive, then can make with this feature view data
Continue first operation of taking photo by plane for starting point.
If similarity is less than the similarity threshold, it is believed that both mismatch, front and rear divergence, since candidate image data are
Persistently shoot, therefore, the similarity between other candidate image data and character image data can be recalculated at this time, directly
Matched to both.
Wherein, similarity can be used for for interior between two field pictures data (candidate image data and character image data)
The similarity degree of appearance is given a mark, and the close degree of picture data content is judged according to the height of fraction.
The embodiment of the present invention, can carry out overall contrast to view data (candidate image data and character image data),
I.e. to view data (candidate image data and character image data) overall calculation similarity.
Furthermore, can calculate in the following way view data (candidate image data and character image data) it
Between overall similarity：
First, based on histogram calculation similarity；
Assuming that have view data A and view data B, the histogram of two images is calculated respectively, HistA, HistB, so
The normalizated correlation coefficient (such as Pasteur's distance, histogram intersection distance etc.) of two histograms is calculated afterwards, obtains similarity.
This mode is to carry out the measurement of image similarity degree based on the difference between vector, and histogram can be good at
Normalization, such as common 256 bin bars.
It is very convenient that the different view data of so two frame resolution ratio directly can calculate similarity by calculating histogram.
2nd, similarity is calculated based on matrix decomposition；
A view data inherently matrix, can rely on matrix decomposition, such as SVD (Singular Value
Decomposition, singular value decomposition), NMF (Non-negative Matrix Factorization, Non-negative Matrix Factorization)
Some robust features that this matrix element value and distribution are represented to obtain some in matrix carry out similarity to view data
Calculated.
3rd, distinguished point based calculates similarity.
Each frame image data has the characteristic point of oneself, some important in these characteristic points characterization view data
Position, such as Harris angle points and Sift characteristic points.
So, the characteristic point of obtained view data is compared, if similar feature count out it is more, then can
To think that the similarity degree of this two field pictures data is higher.
Further, since the first unmanned vehicle has flown to the second unmanned vehicle, candidate image data and spy
It is not much different between sign view data, therefore, in order to reduce calculation amount, candidate image data and character image data can be passed through
Between edge contrast, judge whether candidate image data match with character image data.
Specifically, the first area view data at a frame or multiframe character image data edge, extraction one can be extracted
The second area view data of frame or multiframe candidate image data edges, judges the first area view data and described second
Whether region image data matches.
If so, then judge that a frame or multiframe character image data are levied view data with a frame or more candidates and matched；If it is not, then
Judge that a frame or multiframe character image data and a frame or more candidates levy view data and mismatch.
Furthermore, can detection image data (candidate image data and character image data) in the following way
Edge：
1st, Sobel Operator；
Sobel Operator is a kind of first order differential operator, and pixel is calculated using the Grad in pixel neighbour region
Gradient, is then accepted or rejected according to certain threshold value, obtains the edge in image.
2nd, canny edge detection；
Canny edge detection algorithm is the first differential of Gaussian function, is estimated according to signal-to-noise ratio and positioning product,
Obtain optimizing Approximation Operator.
3rd, the Laplacian algorithm of Gauss
Laplce's LoG algorithms of Gauss are a kind of second order edge detection methods, two of the gray value by finding image
Zero in rank differential, which passes through (Zero Corssing), carrys out detected edge points.
Certainly, above-mentioned matched judgment mode is intended only as example, can be according to reality when implementing the embodiment of the present invention
Situation sets other matched judgment modes, and the embodiment of the present invention is not any limitation as this.In addition, except above-mentioned matched judgement
Outside mode, those skilled in the art can also use other matched judgment modes, the embodiment of the present invention pair according to being actually needed
This is not also any limitation as.
Step 105, continuous clap is carried out for the first unmanned vehicle to operate.
In the concrete realization, the first unmanned vehicle can send the signal for adjusting and finishing to remote controler, to drive remote control
Device controls the landing of the second unmanned vehicle, and obtains the remote control authority of the first unmanned vehicle.
Continue the frame or multiframe character image data that operation obtains before of taking photo by plane, mismatched with candidate image data, nothing
Method can be deleted directly as starting point.
Continue to take photo by plane the frame or multiframe character image data that operation obtains afterwards, and candidate image Data Matching, can be with
As starting point, by the processing such as coding, video file is generated, and candidate image data can be used as destination node, stop recording
Video file.
It is continuous to clap two sections of front and rear video files, it can be carried out by matched frame candidate image data and character image data
Linking, avoids fault-layer-phenomenon.
In the embodiment of the present invention, the first unmanned vehicle according to the state of flight information of the second unmanned vehicle fly to away from
During from second unmanned vehicle a certain range, and a frame or multiframe character image data are shot, with the second unmanned vehicle
Candidate image data are matched, and to continue operation of taking photo by plane in suitable state, therefore, are continued to clap and are interrupted two sections of front and rear video texts
Part can be connected by matched frame candidate image data with character image data, avoid fault-layer-phenomenon.
For embodiment of the method, in order to be briefly described, therefore it is all expressed as to a series of combination of actions, but this area
Technical staff should know, the embodiment of the present invention and from the limitation of described sequence of movement, because implementing according to the present invention
Example, some steps can use other orders or be carried out at the same time.Secondly, those skilled in the art should also know, specification
Described in embodiment belong to preferred embodiment, necessary to the involved action not necessarily embodiment of the present invention.
With reference to Fig. 4, show a kind of structure diagram of unmanned vehicle embodiment according to an embodiment of the invention, have
Body can include following module：
Continuous beat of data acquisition module 401, during suitable for receiving replacement instruction in the first unmanned vehicle, obtains the second nothing
A frame or multiframe candidate image data for state of flight information and shooting of people's aircraft in flight；
Flight module 402, suitable for flying according to the state of flight information；
Taking module 403, suitable for when flight is in distance the second unmanned vehicle a certain range, according to the flight shape
State information shoots a frame or multiframe character image data；
Images match module 404, suitable for judge a frame or multiframe character image data whether with a frame or more
Whether frame candidate image data match, and continue module 405 if so, then calling to take photo by plane；
Take photo by plane and continue module 405, operated suitable for carrying out continuous clap for the first unmanned vehicle.
In a kind of alternative embodiment of the present invention, the continuous beat of data acquisition module 401 can be adapted to：
Remote controler forwards, the second unmanned vehicle is received in the first unmanned vehicle and is meeting default continuous bat condition
When the replacement instruction that sends；
State of flight information that obtain remote controler forwarding, that the second unmanned vehicle is in flight and a frame or more for shooting
Frame candidate image data.
In the concrete realization, the continuous bat condition can include following one or more：
Electricity is less than default power threshold, and flying height is less than default height threshold.
In a kind of alternative embodiment of the present invention, the state of flight information can include flight path information；
The flight module 402 can be adapted to：
Fly according to the flight path information, with the first flying speed；
Wherein, the first flying speed of first unmanned vehicle is more than the second flight speed of the second unmanned vehicle
Degree.
In a kind of alternative embodiment of the present invention, the state of flight information can include shooting angle；
The taking module 403 can be adapted to：
Filming apparatus is adjusted according to the shooting angle；
The filming apparatus after adjustment is called to obtain a frame or multiframe character image data.
In a kind of alternative embodiment of the present invention, the taking module 403 can be adapted to：
First flying speed of the first unmanned vehicle is adjusted to the second flying speed phase with the second unmanned vehicle
Together.
In a kind of alternative embodiment of the present invention, described image matching module 404 can be adapted to：
Extract the first area view data at a frame or multiframe the character image data edge；
Extract the second area view data of a frame or multiframe candidate image data edges；
Judge whether the first area view data matches with the second area view data；
If so, then judge that a frame or multiframe character image data levy view data with a frame or more candidates
Match somebody with somebody；
If it is not, then judging a frame or multiframe character image data and a frame or more candidates do not levy view data not
Match somebody with somebody.
In a kind of alternative embodiment of the present invention, the continuation module 405 of taking photo by plane can be adapted to：
The signal for adjusting and finishing is sent to remote controler, to drive the second unmanned vehicle of remote control control to land, and is obtained
The remote control authority of first unmanned vehicle.
For unmanned vehicle embodiment, since it is substantially similar to embodiment of the method, so the comparison of description is simple
Single, the relevent part can refer to the partial explaination of embodiments of method.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, required by constructing this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that it can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.It is more precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
Separate embodiments all as the present invention.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and attached drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, summary and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
Replace.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
One of meaning mode can use in any combination.
The all parts embodiment of the present invention can be with hardware realization, or to be run on one or more processor
Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that it can use in practice
Microprocessor or digital signal processor (DSP) realize that the continuous bat according to embodiments of the present invention based on unmanned vehicle is set
The some or all functions of some or all components in standby.The present invention is also implemented as being used to perform described here
Method some or all equipment or program of device (for example, computer program and computer program product).This
The program of the realization present invention of sample can store on a computer-readable medium, or can have one or more signal
Form.Such signal can be downloaded from internet website and obtained, and either be provided or with any other on carrier signal
Form provides.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Claims (16)
1. a kind of continuous shooting method based on unmanned vehicle, including：
When receiving replacement instruction in the first unmanned vehicle, state of flight letter of second unmanned vehicle in flight is obtained
Breath and the frame or multiframe candidate image data of shooting；
Fly according to the state of flight information；
When in flight to distance the second unmanned vehicle a certain range, a frame or multiframe are shot according to the state of flight information
Character image data；
Judge whether a frame or multiframe character image data match with a frame or multiframe candidate image data, if
It is that then carrying out continuous clap for the first unmanned vehicle operates.
2. the method as described in claim 1, it is characterised in that described to receive replacement instruction in the first unmanned vehicle
When, obtain a frame of state of flight information and shooting or the step of multiframe candidate image data of second unmanned vehicle in flight
Suddenly include：
Remote controler forwards, the second unmanned vehicle is received in the first unmanned vehicle to send out when meeting default continuous bat condition
The replacement instruction sent；
State of flight information that obtain remote controler forwarding, that the second unmanned vehicle is in flight and the frame or multiframe of shooting are waited
Select view data.
3. method as claimed in claim 2, it is characterised in that the continuous bat condition includes following one or more：
Electricity is less than default power threshold, and flying height is less than default height threshold.
4. the method as described in claim 1 or 2 or 3, it is characterised in that the state of flight information is believed including flight path
Breath；
Described the step of carrying out flight according to the state of flight information, includes：
Fly according to the flight path information, with the first flying speed；
Wherein, the first flying speed of first unmanned vehicle is more than the second flying speed of the second unmanned vehicle.
5. the method as described in claim 1 or 2 or 3, it is characterised in that the state of flight information includes shooting angle；
It is described according to the state of flight information shoot a frame or multiframe character image data the step of include：
Filming apparatus is adjusted according to the shooting angle；
The filming apparatus after adjustment is called to obtain a frame or multiframe character image data.
6. method as claimed in claim 5, it is characterised in that the frame or more shot according to the state of flight information
The step of frame character image data, further includes：
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 6, it is characterised in that described to judge a frame or multiframe characteristic pattern
The step of whether being matched with a frame or multiframe candidate image data as data includes：
Extract the first area view data at a frame or multiframe the character image data edge；
Extract the second area view data of a frame or multiframe candidate image data edges；
Judge whether the first area view data matches with the second area view data；
If so, then judge a frame or multiframe character image data and a frame or multiframe candidate image Data Matching；
If it is not, then judge that a frame or multiframe character image data are mismatched with a frame or multiframe candidate image data.
8. the method as described in claim 1 or 2 or 3 or 6, it is characterised in that first unmanned vehicle that is directed to is continued
The step of clapping operation includes：
The signal for adjusting and finishing is sent to remote controler, to drive the second unmanned vehicle of remote control control to land, and obtains first
The remote control authority of unmanned vehicle.
9. a kind of unmanned vehicle continues shooting system, including：
Continuous beat of data acquisition module, during suitable for receiving replacement instruction in the first unmanned vehicle, obtains the second unmanned flight
A frame or multiframe candidate image data for state of flight information and shooting of the device in flight；
Flight module, suitable for flying according to the state of flight information；
Taking module, suitable for when flight is in distance the second unmanned vehicle a certain range, according to the state of flight information
Shoot a frame or multiframe character image data；
Images match module, suitable for judging whether a frame or multiframe character image data scheme with a frame or multiframe candidate
As whether data match, continue module if so, then calling to take photo by plane；
Take photo by plane and continue module, operated suitable for carrying out continuous clap for the first unmanned vehicle.
10. unmanned vehicle as claimed in claim 9 continues shooting system, it is characterised in that the continuous beat of data acquisition module is also
It is suitable for：
Remote controler forwards, the second unmanned vehicle is received in the first unmanned vehicle to send out when meeting default continuous bat condition
The replacement instruction sent；
State of flight information that obtain remote controler forwarding, that the second unmanned vehicle is in flight and the frame or multiframe of shooting are waited
Select view data.
11. unmanned vehicle as claimed in claim 10 continues shooting system, it is characterised in that the continuous bat condition includes following
It is one or more：
Electricity is less than default power threshold, and flying height is less than default height threshold.
12. the unmanned vehicle as described in claim 9 or 10 or 11 continues shooting system, it is characterised in that the state of flight letter
Breath includes flight path information；
The flight module is further adapted for：
Fly according to the flight path information, with the first flying speed；
Wherein, the first flying speed of first unmanned vehicle is more than the second flying speed of the second unmanned vehicle.
13. the unmanned vehicle as described in claim 9 or 10 or 11 continues shooting system, it is characterised in that the state of flight letter
Breath includes shooting angle；
The taking module is further adapted for：
Filming apparatus is adjusted according to the shooting angle；
The filming apparatus after adjustment is called to obtain a frame or multiframe character image data.
14. unmanned vehicle as claimed in claim 13 continues shooting system, it is characterised in that the taking module is further adapted for：
First flying speed of the first unmanned vehicle is adjusted to identical with the second flying speed of the second unmanned vehicle.
15. the unmanned vehicle as described in claim 9 or 10 or 11 or 14 continues shooting system, it is characterised in that described image
It is further adapted for module：
Extract the first area view data at a frame or multiframe the character image data edge；
Extract the second area view data of a frame or multiframe candidate image data edges；
Judge whether the first area view data matches with the second area view data；
If so, then judge a frame or multiframe character image data and a frame or multiframe candidate image Data Matching；
If it is not, then judge that a frame or multiframe character image data are mismatched with a frame or multiframe candidate image data.
16. the unmanned vehicle as described in claim 9 or 10 or 11 or 14 continues shooting system, it is characterised in that it is described take photo by plane after
Continuous module is further adapted for：
The signal for adjusting and finishing is sent to remote controler, to drive the second unmanned vehicle of remote control control to land, and obtains first
The remote control authority of unmanned vehicle.
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| CN106070133A (en) * | 2016-06-28 | 2016-11-09 | 深圳市元征科技股份有限公司 | Flight mosquito killer control method and device |
| CN106125767B (en) * | 2016-08-31 | 2020-03-17 | 北京小米移动软件有限公司 | Aircraft control method and device and aircraft |
| CN107093191A (en) * | 2017-03-06 | 2017-08-25 | 阿里巴巴集团控股有限公司 | A kind of verification method of image matching algorithm, device and computer-readable storage medium |
| CN113794840B (en) | 2017-09-29 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Video processing method, video processing equipment, unmanned aerial vehicle and video processing system |
| CN107796360B (en) * | 2017-09-30 | 2020-06-09 | 杭州艾航科技有限公司 | Method for measuring angle of single-pipe tower panel antenna based on unmanned aerial vehicle video |
| WO2019100353A1 (en) * | 2017-11-25 | 2019-05-31 | 深圳市大疆创新科技有限公司 | Task execution method, mobile device, system, and storage medium |
| CN108111752A (en) * | 2017-12-12 | 2018-06-01 | 北京达佳互联信息技术有限公司 | video capture method, device and mobile terminal |
| WO2019127052A1 (en) * | 2017-12-26 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Method of repeating flight path and aerial vehicle |
| CN109040557B (en) * | 2018-08-23 | 2020-12-11 | 湖南中信安科技有限责任公司 | Law enforcement recorder for patrol and control method and working method thereof |
| CN111615826A (en) * | 2019-06-28 | 2020-09-01 | 深圳市大疆创新科技有限公司 | Video processing method, device, system and medium |
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