CN105606073A - Unmanned aerial vehicle processing system and flight state data processing method thereof - Google Patents
Unmanned aerial vehicle processing system and flight state data processing method thereof Download PDFInfo
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- CN105606073A CN105606073A CN201610015529.XA CN201610015529A CN105606073A CN 105606073 A CN105606073 A CN 105606073A CN 201610015529 A CN201610015529 A CN 201610015529A CN 105606073 A CN105606073 A CN 105606073A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention provides an unmanned aerial vehicle, an unmanned aerial vehicle processing system and a processing method thereof. The unmanned aerial vehicle comprises a shooting device (1) and a processing module (2). The processing module (2) comprises a storage unit (3), a comparison unit (4) and a calculating unit (5). The processing module (2) keeps the shooting device (1) arranged on the unmanned aerial vehicle always perpendicular to the reference plane. The shooting device (1) shoots multiple photos at preset time intervals according to preset shooting parameters and stores the multiple photos, corresponding shooting parameters and shooting moments in the storage unit (3). The storage unit (3) stores image data of the reference plane. The comparison unit (4) compares the photos with the image data to determine the position, relative to the image data, of the unmanned aerial vehicle. The calculating unit (5) determines the distance, relative to the reference plane, of the unmanned aerial vehicle according to the shooting parameters and the photos.
Description
Technical field
The invention belongs to unmanned vehicle field, particularly relate to a kind of unmanned vehicle, unmannedAircraft treatment system and processing method thereof.
Background technology
Along with technical development, little miniature unmanned vehicle starts to enter huge numbers of families, especially withTechnical development and the cost of MEMS element, the weight of Multi-axis aircraft, volume,Stability has all obtained significant progress. Be applied as breach to take photo by plane, carry filming apparatusMulti-axis aircraft extensively concerned. But unmanned vehicle is as a kind of establishing of flight aloftStandby, the consideration of its security aspect will, far above other equipment, typically, be flown for unmannedThe management of the flight course of device is an important problem. Prior art is for unmanned vehicleFlight management is mainly to realize by the mode of radio communication, and concrete can adopt satelliteThe wireless communication technology of position system or 2.4Ghz frequency range. If indoor may be also adoptLocation technology based on communication base station etc. But no matter above-mentioned any technology, all depends on oneThe individual wireless environment of putting up, could realize for the flight course of unmanned vehicle and identifyingAnd record, and follow-uply carry out a series of processing. But in the unsettled situation of communication environment,There is risk in the method for above-mentioned flight course management.
Taking the one typical case application of flight course management---the function of automatically making a return voyage is said as exampleBright, the existing function of automatically making a return voyage is often in the unsettled situation of radio communication control, by usingFamily starts by console or is started by the flight controller on unmanned vehicle, and this returns automaticallyThe realization of boat is the signal based on global position system, obtains the current location of unmanned vehicle,And read the homeposition of realizing the unmanned vehicle of storing, then automatically control unmanned flightAfter device flies to certain altitude, according to the given guide of global position system, from current locationHomeposition flies back. Due to the unstability of global position system, so, automatically making a return voyageIn process, often there will be variety of issue, automatically make a return voyage successfully although have, automatically returnBoat flies to disappear, or the event of falling in the process of automatically making a return voyage also happens occasionally. So, baseIn the flight course management of radio communication, disturbed by wireless communications environment large, there is high risk.
In addition, locate some preliminary exploration for the unmanned plane of non-GPS/IMU at present, butAll immature, present situation is as follows.
On January 1st, 2014 disclosed Chinese patent application CN201310444134.8 "Ultrasonic positioner and the method for kind of four rotor wing unmanned aerial vehicles " to disclose a kind of four rotors unmannedThe ultrasonic positioner of machine and method, by installing one group of multiple ultrasonic mode for unmanned planePiece, utilizes the distance between ultrasonic ranging acquisition and barrier, and utilizes multiple modules to survey simultaneouslyDistance, thus the relative position information of unmanned plane obtained. The method adopts ultrasonic sensor range finding,Ultrasonic sensor finding range is limited and be easily interfered, this positioner and methodApplication scenarios is limited, exists certain not enough.
On September 11st, 2013 disclosed Chinese patent application CN201210437143.X" method and system of the point-to-point location of unmanned plane " discloses the point-to-point location of a kind of unmanned planeMethod and system, the point that uses the search position indicator reception transmitter being positioned on unmanned plane to send is rightPoint location signal, by determining angle and the distance of search position indicator and transmitter, thereby realizesThe accurate location of unmanned plane. The method need to install receiving instrument additional for unmanned plane, simultaneously need to be reallyDetermine place transmitter transmitting radio wave is installed. If need accurately location, transmitter need toMany, actual use is not very convenient.
On March 13rd, 2013 disclosed China application CN201210418160.9 " based onMany rotor wing unmanned aerial vehicles pose acquisition methods of size Back Word mark " one is disclosed based on sizeMany rotor wing unmanned aerial vehicles pose acquisition methods of Back Word mark, by identifying the seal of an appointmentThere is the Sign Board of Back Word, by the current posture information of a series of computing acquisition unmanned plane. The partyIn method, Back Word mark does not have direction character, and the course that is difficult to realize unmanned plane obtains and orientationControl.
Paper " research of the camera localization method based on monocular vision " (Shen Huijie, JilinUniversity's master thesis) study two kinds of camera localization methods. Wherein one is based on severalThe monocular vision location of what relation. The method is utilized the range finding model of monocular vision, builds simultaneouslyGeometrical relationship in vertical camera and scene between known features point, by a series of triangle metersCalculate, can draw the position of camera in two-dimensional coordinate plane. The method is mainly used in two dimensionThe camera position of coordinate plane obtains, and does not have the dimension of relative distance to calculate, and can not be straightConnect the locking position for unmanned plane.
The disclosed one of patent documentation CN101126639 is carried out low altitude remote sensing image certainly fastMoving coupling comprises the following steps with the method for aerial triangulation: one, utilize low altitude remote sensing platformObtain sequential images; Obtain and survey single air strips of district's target or navigate more according to following image capturing methodBand image, and image is imported to computer: according to coverage of survey area, camera parameter and defaultGround resolution, according to taking the photograph of degree of overlapping >=20% between degree of overlapping >=60% in air strips and air stripsShadow is measured the flying height of basic demand design course line and low altitude remote sensing platform, and low-altitude remote sensing is flatIn platform flight course, default camera positions automatic exposure on-course, obtains single course line or navigates moreThe sequential images of line, and by image autostore, after flight finishes, image is imported to ground dataProcess computer; Two, use Wallis converter technique to carry out automatically strengthening and processing to image,Then utilize Feature Extraction Technology extract minutiae from image, and by all shadows that extractAutomatically preserve as characteristic point; Three, automatically determine the degree of overlapping between adjacent image and revolve drift angle, withThis is basic Feature Points Matching of the same name of carrying out adjacent image, and by the characteristic point of the same name after couplingAutomatically transmit to all superimposed images, obtain the above characteristic point of the same name of a large amount of three degree; Four, half certainlyMoving measurement control point and checkpoint image coordinate, carry out height in conjunction with other non-photogrammetric observationsPrecision aerial triangulation, and carry out the accuracy assessment of adjustment result. This patent can be carried out low latitudeThe Auto-matching of remote sensing image and high accuracy block aerial triangulation. But this system architecture is multipleAssorted, cost is high and can not obtain the height of unmanned vehicle in flight course, cannot obtain nothingThe track of the flight course of people's aircraft, thus have no way of the flight course of unmanned vehicle to carry outMonitoring.
The accurate vision of the disclosed a kind of rotor wing unmanned aerial vehicle of patent documentation CN104298248 locationOrientation method comprises the following steps: 1) Installation Mark thing; Unmanned aerial vehicle onboard camera calibration; JustThe relative distance of given unmanned plane and mark begins; 2) guiding unmanned plane arrives and expects hover point;3) the accurately real-time correction of positioning and directing under unmanned plane floating state. This rotor wing unmanned aerial vehicle is accurately lookedFeel that positioning and orienting method can provide relevant to Artificial facilities and natural object etc. for unmanned planeGood station-keeping data, auxiliary unmanned plane is realized the hovering of accurate fixed point vectoring, fromAnd effectively prevent that unmanned plane from bumping, but it needs Installation Mark thing, need to provide manuallyRow is prepared in advance, needs hovering, cannot not carry out the flight course of unmanned vehicle intrusivelyMonitoring, it cannot obtain the height of unmanned vehicle in flight course fast, also cannot obtainThe track of the flight course of unmanned vehicle.
Problem is, in the time that unmanned vehicle has flown away from horizon range, unmanned to this on the groundWhat aircraft was controlled flies the just very difficult particular location of holding this aircraft of hand. Fly due to actualThe unpredictability of row environment, even sometimes in the situation that air line distance is not far, due toMiddle other barriers that exist, the flight position that also may cause unmanned vehicle is cannot be by flyingHand goes to distinguish by naked eyes, and now the flight course of unmanned vehicle is just difficult to monitored. ButThe flight course monitoring that is unmanned vehicle is a very important demand, by flying to unmannedThe flight course implementing monitoring of device, can clearly reflect the flight course of unmanned vehicle, oneWhen other not normal situations occur for dawn generation aircraft loss, aircraft air crash, aircraft, be allNeed to by reviewing, the mode of flight course ascertains the reason. Satellite navigation and above-mentioned locationAll cannot meet the flight course monitoring of unmanned vehicle, this is a very important demand, logicalCross the flight course implementing monitoring to unmanned vehicle, can clearly reflect unmanned vehicleFlight course, occurs that other are not normal once there is aircraft loss, aircraft air crash, aircraftWhen situation, be all to ascertain the reason by the mode of reviewing flight course.
Therefore, the anxious technical issues that need to address in this area are: utilize stable mode, andNot as the signal such as satellite navigation or wireless network navigate mode, determine the flight of unmanned vehiclePosition in process and height recording-related information, the flight course rail of generation unmanned vehicleMark is so that user monitoring and final-period management.
In background technology part, disclosed above-mentioned information is only for strengthening background of the present inventionUnderstanding, therefore may comprise be not formed in this country known to a person of ordinary skill in the art existingThere is the information of technology.
Summary of the invention
The object of the invention is to be achieved by the following technical programs.
According to a first aspect of the invention, a kind of unmanned vehicle disclosed by the invention comprises shootingEquipment and processing module, described processing module comprises memory cell, comparing unit and computing unit,Processing module keeps being located at capture apparatus on unmanned vehicle all the time perpendicular to reference plane, instituteStating capture apparatus also will with the multiple photos of predetermined time interval shooting according to predetermined acquisition parametersMultiple described photos and corresponding acquisition parameters thereof and shooting moment are stored in described memory cell;The view data that described cell stores comprises described reference plane, described comparing unit is by instituteState photo and described view data comparison to determine that described unmanned vehicle is with respect to described imageThe position of data, described computing unit is determined described nothing according to described acquisition parameters and described photoThe distance with respect to described reference plane of people's aircraft.
Preferably, described processing module according to take the moment by multiple described photos respectively determineDescribed position and described distance join form flight course.
Preferably, described acquisition parameters at least comprises focal length and the parameter of finding a view.
Preferably, described reference plane is that ground and described view data are electronic charts.
Preferably, described predetermined time interval capable of regulating.
Preferably, described unmanned vehicle can be by wireless connections regularly by described photo uploadTripartite's memory space.
Preferably, the The Cloud Terrace that processing module control is located on described unmanned vehicle is installed to adjustCapture apparatus on described The Cloud Terrace, makes described capture apparatus all the time perpendicular to reference plane.
Preferably, unmanned vehicle by described photo storage in the black box of unmanned vehicle.
According to a second aspect of the invention, a kind of unmanned vehicle treatment system disclosed by the inventionComprise the capture apparatus that is located on described unmanned vehicle and with described capture apparatus wireless connectionsTreating apparatus, described treating apparatus comprises wireless communication module and processing module, described processingModule comprises memory cell, comparing unit and computing unit, and processing module keeps being located at nobody and fliesCapture apparatus on row device is all the time perpendicular to reference plane, and described capture apparatus is taken according to predeterminedParameter is with the multiple photos of predetermined time interval shooting and by multiple described photos and correspondingAcquisition parameters and shooting moment are stored in described memory cell; Described cell stores comprises instituteState the view data of reference plane, described comparing unit is by described photo and described view data ratioTo determine the position of described unmanned vehicle with respect to described view data, described computing unitAccording to described acquisition parameters and described photo determine described unmanned vehicle with respect to described ginsengAccording to the distance of plane.
According to a third aspect of the invention we, a kind of described unmanned flight that uses disclosed by the inventionThe processing method of device treatment system comprises the following steps.
In first step, be located at capture apparatus on unmanned vehicle all the time perpendicular to reference planeAccording to predetermined acquisition parameters with multiple photos of predetermined time interval shooting by multiple described photographsSheet and corresponding acquisition parameters thereof and shooting moment are stored in described memory cell.
In second step, described comparing unit by described photo and described view data relatively with reallyFixed described unmanned vehicle is with respect to the position of described view data.
In third step, described computing unit is determined institute according to described acquisition parameters and described photoState the distance with respect to described reference plane of unmanned vehicle.
According to a forth aspect of the invention, a kind of described unmanned flight that uses disclosed by the inventionThe processing method of device comprises the following steps.
In first step, be located at capture apparatus on unmanned vehicle all the time perpendicular to reference planeAccording to predetermined acquisition parameters with multiple photos of predetermined time interval shooting by multiple described photographsSheet and corresponding acquisition parameters thereof and shooting moment are stored in described memory cell.
In second step, described comparing unit by described photo and described view data relatively with reallyFixed described unmanned vehicle is with respect to the position of described view data, and described computing unit is according to instituteState acquisition parameters and described photo determine described unmanned vehicle with respect to described reference planeDistance.
In third step, described processing module is according to taking the moment by multiple described photos respectively reallyFixed described position and described distance join form flight course.
The present invention propose scheme by the capture apparatus on unmanned vehicle according to fixing angleDegree and acquisition parameters implement to take photo by plane, by processing module to the comparison of acquisition parameters and photo withCalculate the position and the distance that obtain unmanned vehicle, thereby complete the record to flight course, withPeriod management after an action of the bowels, has overcome the unstability of the navigation of traditional signal or location, convenient and swift andFlight course monitoring and record have been realized simple in structurely.
Brief description of the drawings
Fig. 1 is the structural representation of unmanned vehicle according to an embodiment of the invention.
Fig. 2 is the structural representation of unmanned vehicle in accordance with another embodiment of the present invention.
Fig. 3 is the processing method that uses according to an embodiment of the invention unmanned vehicleStep schematic diagram.
Fig. 4 is the processing method that uses in accordance with another embodiment of the present invention unmanned vehicleStep schematic diagram.
Below in conjunction with drawings and Examples, the present invention is further explained.
Detailed description of the invention
Below describe in detail be in fact only exemplary and be not intended to limit application and use.In addition, and be not intended to be subject in above technical field, background, brief overview or following detailed descriptionThe theory constraint of any clear and definite or hint presenting. As used herein, term " module " or " singleUnit " refer to any hardware, software, firmware, electronic control part, processing logic and/or locateReason device equipment individually or with any combination, includes, without being limited to: special ICThe processors sharing of ASIC, electronic circuit, the one or more software of execution or firmware program,Special or in groups with memory, combinational logic circuit and/or provide described functionalThe parts that other are applicable. In addition, unless there is clearly contrary description, otherwise word " bagDraw together " and different modification should be understood to implicit comprise described parts but do not get rid of any itsHis parts.
Embodiments of the invention have been described a kind of unmanned vehicle, as shown in Figure 1 according to thisThe schematic diagram of the unmanned vehicle of a bright embodiment, unmanned vehicle comprises capture apparatus 1With processing module 2, described processing module 2 comprises memory cell 3, comparing unit 4 and calculatesUnit 5, be located at capture apparatus 1 on unmanned vehicle all the time perpendicular to reference plane according in advanceDetermine acquisition parameters with the multiple photos of predetermined time interval shooting and by multiple described photos andCorresponding acquisition parameters and shooting moment are stored in described memory cell 3; Described memory cell 3The view data that storage comprises described reference plane, described comparing unit 4 is by described photo and instituteState view data comparison to determine the position of described unmanned vehicle with respect to described view data,Described computing unit 5 is determined described unmanned vehicle according to described acquisition parameters and described photoThe distance with respect to described reference plane.
In the art, preferably many rotary wind types unmanned vehicle of unmanned vehicle.
In one embodiment, capture apparatus 1 can be visible ray high-definition camera, high-resolutionRate camera, CCD or camera, capture apparatus 1 can be to take photo by plane to use unmanned vehicle instituteThe dedicated video camera of taking photo by plane carrying can be to be also mounted in special one on this unmanned vehicleIndividual camera.
In one embodiment, described reference plane is that ground and described view data are electronicallyFigure, in another example, described reference plane can be the reference with obvious graphic featurePlane, as the side of the Riverside Scene at the Pure Moon Festival on sidewall or other characteristics of image. Described shooting ginsengNumber at least comprises focal length and the parameter of finding a view, and the parameter of finding a view at least comprises wide-angle.
In one embodiment, described predetermined time interval capable of regulating. For example,, according to oftenTaking the mode of 30 seconds takes continuously. The time interval of taking pictures by raising,The time interval of taking the photograph a photo as 15 second beats can also further improve to flight course accuratelyDegree. Described capture apparatus 1 is by the photo of shooting and take moment and acquisition parameters and send to and depositStorage unit 3.
In one embodiment, described processing module 2 comprises memory cell 3, comparing unit 4With computing unit 5, processing module 2 can compare, calculates or analyze the number in memory cell 3Carry out according to this processing to data and the control to associated components. Processing module 2 can compriseGeneral processor, digital signal processor, application-specific integrated circuit ASIC, field programmable gateArray FPGA, analog circuit, digital circuit and combination thereof or other are known or open laterThe processor of sending out. Memory cell 3 can be volatile memory or nonvolatile memory. DepositStorage unit 3 can comprise one or more read only memory ROMs, random access memoryRAM, flash memory, electronics Erasable Programmable Read Only Memory EPROM EEPROM or otherThe memory of type.
In one embodiment, capture apparatus 1 is all the time according to the ginseng of the horizontal plane with respect to flightTake according to plane angle vertically downward, this capture apparatus 1 can be both to take photo by plane with unmannedWhat aircraft carried take photo by plane dedicated video camera, also can be mounted on this unmanned vehicleA special camera. Capture apparatus 1 is adjusted its parameter and is made it according to default focal length and getScape parameter implements to take action. The photo and corresponding shooting moment and the shooting that obtain will be takenParameter storage is to memory cell 3. Capture apparatus 1 is according to every mode of taking 30 secondsTake continuously. Indirectly reflect that owing to taking continuously by the way the photo obtaining nobody fliesRow device is every 30 seconds residing positions within a continuous time, therefore, are equivalent to nobody to flyThe flight course of row device has been implemented record. Because believe on the ground that captured result is overlooked oftenBreath, its actual content and electronic chart are highly similar to, so be stored in storage by transferringThe electronic chart of the shooting area in unit 3, will take pictures and electronics by comparing unit 4Map datum is compared, and can determine the camera site of unmanned vehicle, has also just determined nothingThe flight coordinate of people's aircraft. In addition, according to acquisition parameters and the viewfinder range of taking pictures,Can also roughly determine the flying height of unmanned vehicle, obviously, relatively fixing at acquisition parametersSituation under, the higher viewfinder range of flight is larger, the lower viewfinder range of flight is less.
The signal of unmanned vehicle according to another embodiment of the invention as shown in Figure 2Figure, unmanned vehicle comprises capture apparatus 1 and processing module 2, described processing module 2 comprisesMemory cell 3, comparing unit 4 and computing unit 5, the shooting being located on unmanned vehicle is establishedStandby 1 all the time perpendicular to reference plane according to predetermined acquisition parameters with predetermined time interval shootingMultiple photos are also stored in multiple described photos and corresponding acquisition parameters thereof with the shooting momentDescribed memory cell 3; Described memory cell 3 is stored the view data that comprises described reference plane,Described comparing unit 4 by described photo and described view data comparison with determine described nobody flyRow device is with respect to the position of described view data, and described computing unit 5 is according to described acquisition parametersDetermine the distance with respect to described reference plane of described unmanned vehicle with described photo, described inDescribed position and institute that processing module 2 was determined multiple described photos respectively according to the shooting momentState the track that distance join forms flight course. Further, described processing module 2 can be at electricityOn sub-map, show that the track of described flight course is to facilitate the control of user to unmanned vehicle.
Further, be located at the capable of regulating described bat mounted thereto on described unmanned vehicleThe The Cloud Terrace 6 of taking the photograph equipment 1 keeps described capture apparatus 1 all the time perpendicular to reference plane. OneIn individual embodiment, The Cloud Terrace 6 is responsible for establishing shot equipment 1, and can provide device location to adjust meritCan with anti-shake function, and capture apparatus 1 is generally moving camera, can be under various environment,Effectively complete shooting task. The Cloud Terrace 6 is the omnibearing cloud that can left rotation and right rotation can rotate up and down againPlatform. The Cloud Terrace 6 can be the electric platform being applicable to taking on a large scale, this electric platformHigh speed attitude can be realized by two operating motors. In one embodiment, be arranged on instituteState the described The Cloud Terrace 6 capable of regulatings described capture apparatus 1 mounted thereto on unmanned vehicle,Described The Cloud Terrace 6 comprises the adjusting mechanism for zoom manipulation, elevating movement and orientation motion.
In one embodiment, unmanned vehicle by described photo storage black at unmanned vehicleIn case. In another embodiment, described unmanned vehicle can regularly will by wireless connectionsDescribed photo upload third party's memory space, for example cloud dish.
In one embodiment, a kind of unmanned vehicle treatment system comprise be located at described nobody flyCapture apparatus 1 on row device and with the treating apparatus of described capture apparatus 1 wireless connections, described inTreating apparatus comprises wireless communication module and processing module 2, and described processing module 2 comprises storageUnit 3, comparing unit 4 and computing unit 5, is characterized in that:
Processing module 2 keeps being located at capture apparatus 1 on unmanned vehicle all the time perpendicular to referencePlane, described capture apparatus 1 according to predetermined acquisition parameters with predetermined time interval shooting multiplePhoto is also by multiple described photos and described in acquisition parameters was stored in the shooting moment accordinglyMemory cell 3; Described memory cell 3 is stored the view data that comprises described reference plane, instituteState comparing unit 4 by described photo and described view data comparison to determine described unmanned flightDevice is with respect to the position of described view data, described computing unit 5 according to described acquisition parameters andDescribed photo is determined the distance with respect to described reference plane of described unmanned vehicle. Wherein,Described treating apparatus can be located at ground or be located on unmanned vehicle.
In one embodiment, unmanned vehicle is in the time of certain interior space activity, in advance in chamberIn inside wall, arrange that a width reference diagram is as reference plane, typically this pattern is to cover that this is wholeOne width full graphics of sidewall for instance, can be a width Riverside Scene at the Pure Moon Festival. Like this,This pattern also possesses decorative effect simultaneously. Capture apparatus 1 is all the time according to the level with respect to flightThe angle that face is parallel, takes perpendicular to reference plane, and capture apparatus 1 is according to defaultFocal length and the parameter of finding a view are implemented to take action, and capture apparatus 1 is according to taking one every 15 secondsMode serialograph, will take the photo that obtains and take moment and shooting accordinglyParameter storage is to memory cell 3. Because the photo that shooting obtains is selected from Riverside Scene at the Pure Moon FestivalA part, comparing unit 3 can determine that by graphic correlation current unmanned vehicle is relative soIn the relative position of that accompanying side of Riverside Scene at the Pure Moon Festival, and according to getting of taking picturesScape range size and acquisition parameters can determine that this unmanned vehicle is with respect to this Riverside Scene at the Pure Moon FestivalThe relative distance of that accompanying side, owing to taking continuously by the way the photograph obtainingSheet has reflected that unmanned vehicle is within a continuous time indirectly, every 15 seconds residing positions,Therefore, be equivalent to the flight course of unmanned vehicle to implement record. Described processing module 2According to take the moment by multiple described photos respectively determine described position and described distance joinForm flight course. Further, described in described processing module 2 can show on electronic chartThe track of flight course is to facilitate the control of user to unmanned vehicle. Referring to Fig. 3, according to thisThe processing method of the unmanned vehicle treatment system described in the use of an embodiment of invention comprisesFollowing steps.
In first step S1, be located at capture apparatus 1 on unmanned vehicle all the time perpendicular to ginsengTake plane according to predetermined acquisition parameters with multiple pictures of predetermined time interval shooting by multipleDescribed photo and corresponding acquisition parameters thereof and shooting moment are stored in described memory cell 3.
In second step S2, described comparing unit 4 is by described photo and described view data ratioTo determine the position of described unmanned vehicle with respect to described view data.
In third step S3, described computing unit 5 is according to described acquisition parameters and described photoDetermine the distance with respect to described reference plane of described unmanned vehicle.
Referring to Fig. 4, use according to an embodiment of the invention locating of described unmanned vehicleReason method comprises the following steps.
In first step S1, be located at capture apparatus 1 on unmanned vehicle all the time perpendicular to ginsengTake plane according to predetermined acquisition parameters with multiple pictures of predetermined time interval shooting by multipleDescribed photo and corresponding acquisition parameters thereof and shooting moment are stored in described memory cell 3.
In second step S2, described comparing unit 4 is by described photo and described view data ratioTo determine the position of described unmanned vehicle with respect to described view data, described computing unit5 according to described acquisition parameters and described photo determine described unmanned vehicle with respect to describedThe distance of reference plane.
In third step S3, described processing module 2 is according to taking the moment by multiple described photosThe described position of determining respectively and described distance join form the track of flight course.
In this method, user by the way captured definite photo monitors unmannedThe flight course of aircraft, first realize fairly simple, without the complicated special equipment of design,Can on the basis of existing equipment, transform; Secondly be not subject to the limit of wireless communications environment yetSystem, even if wireless communications environment is severe, such as under the state that automatically makes a return voyage of signal out of hand,Also can continue the record to flight course.
Although below by reference to the accompanying drawings embodiment of the present invention are described, the present invention alsoBe not limited to above-mentioned specific embodiments and applications field, above-mentioned specific embodiments onlySchematic, guiding, instead of restrictive. Those of ordinary skill in the art existsUnder the enlightenment of this description and in the situation that does not depart from the scope that the claims in the present invention protectUnder, can also make a variety of forms, these all belong to the row of the present invention's protection.
Claims (10)
1. a unmanned vehicle, it comprises capture apparatus (1) and processing module (2), instituteState processing module (2) and comprise memory cell (3), comparing unit (4) and computing unit (5),It is characterized in that:
It is vertical all the time that processing module (2) keeps being located at capture apparatus (1) on unmanned vehicleIn reference plane, described capture apparatus (1) according to predetermined acquisition parameters with between predetermined timeEvery taking multiple photos also by multiple described photos and corresponding acquisition parameters and shooting momentBe stored in described memory cell (3); It is flat that described memory cell (3) storage comprises described referenceThe view data of face, described comparing unit (4) is by described photo and described view data comparisonTo determine the position of described unmanned vehicle with respect to described view data, described computing unit(5) according to described acquisition parameters and described photo determine described unmanned vehicle with respect to instituteState the distance of reference plane.
2. a unmanned vehicle treatment system, it comprises the bat being located on described unmanned vehicleTake the photograph equipment (1) and the treating apparatus with described capture apparatus (1) wireless connections, described processingDevice comprises wireless communication module and processing module (2), and described processing module (2) comprises depositsStorage unit (3), comparing unit (4) and computing unit (5), is characterized in that:
It is vertical all the time that processing module (2) keeps being located at capture apparatus (1) on unmanned vehicleIn reference plane, described capture apparatus (1) according to predetermined acquisition parameters with between predetermined timeEvery taking multiple photos also by multiple described photos and corresponding acquisition parameters and shooting momentBe stored in described memory cell (3); It is flat that described memory cell (3) storage comprises described referenceThe view data of face, described comparing unit (4) is by described photo and described view data comparisonTo determine the position of described unmanned vehicle with respect to described view data, described computing unit(5) according to described acquisition parameters and described photo determine described unmanned vehicle with respect to instituteState the distance of reference plane.
3. unmanned vehicle according to claim 1, is characterized in that: described processing mouldDescribed position and described distance that piece (2) was determined multiple described photos respectively according to the shooting momentFrom the track that is connected to form flight course.
4. unmanned vehicle according to claim 1, is characterized in that: described shooting ginsengNumber at least comprises focal length and the parameter of finding a view, described predetermined time interval capable of regulating.
5. unmanned vehicle according to claim 1, is characterized in that: described reference is flatFace is that ground and described view data are electronic charts.
6. unmanned vehicle according to claim 1, is characterized in that: described nobody fliesRow device can be by wireless connections regularly by described photo upload third party's memory space.
7. unmanned vehicle treatment system according to claim 2, is characterized in that: locateReason module (2) is controlled the The Cloud Terrace (6) being located on described unmanned vehicle and is arranged on institute to adjustState the capture apparatus (1) on The Cloud Terrace (6), make described capture apparatus (1) vertical all the timeIn reference plane.
8. unmanned vehicle according to claim 1, is characterized in that: unmanned vehicleDescribed photo, described position and/or described distance are stored in the black box of unmanned vehicle.
9. one kind uses the processing side of unmanned vehicle treatment system according to claim 2Method, it comprises the following steps:
In first step (S1), the capture apparatus (1) being located on unmanned vehicle hangs down all the timeDirectly in reference plane according to predetermined acquisition parameters with the multiple photos of predetermined time interval shooting alsoMultiple described photos and corresponding acquisition parameters thereof are stored in to described storage list with the shooting momentUnit (3);
In second step (S2), described comparing unit (4) is by described photo and described imageData comparison is to determine the position of described unmanned vehicle with respect to described view data;
In third step (S3), described computing unit (5) is according to described acquisition parameters and instituteState photo and determine the distance with respect to described reference plane of described unmanned vehicle.
10. use a processing method for unmanned vehicle according to claim 1, itsComprise the following steps:
In first step (S1), the capture apparatus (1) being located on unmanned vehicle hangs down all the timeDirectly in reference plane according to predetermined acquisition parameters with the multiple photos of predetermined time interval shooting alsoMultiple described photos and corresponding acquisition parameters thereof are stored in to described storage list with the shooting momentUnit (3);
In second step (S2), described comparing unit (4) is by described photo and described imageData comparison is to determine the position of described unmanned vehicle with respect to described view data, described meterCalculate unit (5) and determine the phase of described unmanned vehicle according to described acquisition parameters and described photoFor the distance of described reference plane;
In third step (S3), described processing module (2) is according to taking the moment by multiple institutesState described position and the described distance join that photo determines respectively and form the track of flight course.
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