CN105700543B - A kind of flight instruments control system, control method and unmanned plane of taking photo by plane - Google Patents
A kind of flight instruments control system, control method and unmanned plane of taking photo by plane Download PDFInfo
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- CN105700543B CN105700543B CN201610203238.3A CN201610203238A CN105700543B CN 105700543 B CN105700543 B CN 105700543B CN 201610203238 A CN201610203238 A CN 201610203238A CN 105700543 B CN105700543 B CN 105700543B
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- 238000000034 method Methods 0.000 title claims abstract description 43
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- G—PHYSICS
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Abstract
A kind of flight instruments control system of the invention, including the first instruction process unit, for control instruction to be converted to the driving signal of control flight instruments power unit movement, described instruction processing unit includes the first instruction input system and the second instruction input system；The system also includes cradle head control systems, the cradle head control system includes the second instruction process unit and moving parts, second instruction process unit controls the direction of moving parts adjustment holder camera for output order, and adjusts holder camera immediately with specified regional scope of the main body in intake picture that keep being taken.Holder camera can realize 360 ° of rotations in the horizontal direction.Flight instruments control system, control method and unmanned plane of taking photo by plane of the invention, by the way that complicated flight instruments control instruction is reasonably allocated to the first instruction input system and the second instruction input system, and the second instruction input system is set for being manually entered part flight instruments movement instruction.
Description
Technical field
The invention belongs to automatic control technology fields, are related to the control technology of flight instruments, and in particular to a kind of flight dress
Control system, control method and the unmanned plane of taking photo by plane comprising the control system set.
Background technique
The flight instruments such as unmanned plane, dirigible have gradually penetrated into daily life with the maturation of technology.Moreover, flight dress
It sets by its unique visual angle advantage, it is even more to be concerned and pursue that the market of taking photo by plane to be formed is combined with photography and vedio recording technology.
However, the complexity of three-dimensional flight instruments control is that the universal of the technology increases technical threshold.With the pure hand of tradition
For the aircraft of dynamic remote control mode control, the whole freedom degrees control for completing aircraft at least needs on remote control device has
Liter/decline, left-hand/right-hand is forward/backward, the multiple groups freedom degree control ability such as shifted left/right.For operator, root is needed
The control key (rocking bar) of multiple freedom degrees is accurately controlled according to the real-time attitude or situation of flying experience and flight instruments
Even more control key linkage controls, operation difficulty are big.If increasing photography and vedio recording control function, need in addition to increase control key,
Even needing to increase holder hand carries out cooperation control.
In order to simplify the control difficulty of conventional three-dimensional flight instruments, part manufacturer is proposed full-automatic flight control mode
Flight instruments, such flight instruments usually pass through the coordinate positionings such as GPS or vision system for tracking to target object carry out with
Track shooting, flight control instruction have software to be calculated according to object movement state and position.
It is the deficiency of above two common controlling arrangement below:
(1) deficiency of purely manual operation
It is as shown in Figures 1 and 2 normal remote control structural schematic diagram, including main body 1 and antenna 2, smoothly operates nothing
Man-machine completion is taken photo by plane, then need to operate simultaneously in control the four direction operation key of the one or four direction rocking bar 3 1. 2. 3. 4.,
The four direction operation key of two or four direction rocking bar 4 5. 6. 7. 8. and operation key 5 and operation key 6 amount to ten buttons, including
Operate unmanned plane and holder camera two large divisions.Especially when shooting moving object (such as the movement such as cycling, skiing),
It is substantially impossible mission for one man operation.
So now more common way is, when needing to shoot moving object, need to fly control hand and holder hand
Two people's compounding practices.Flying control hand control heading and flight attitude, holder hand controls the shooting direction of holder and video camera,
Two people operate the subject that can just follow in movement simultaneously, and guarantee always can normal photographing to subject.And
According to the existing regulation in China, professional winged control hand and holder hand require qualification certification, corresponding UAV Video shooting
Just need the operation of professional person, it is expensive and be not easy by public use, narrow scope of application.
Same reason manually controls player and is also impossible to the self-timer for completing to clap when playing operation.
So the shortcomings that purely manual operation, is exactly: it is complicated for operation, two professional's operations are needed, and can not self-timer.
(2) deficiency automatically followed
It automatically following and the both hands of operator is freed completely, can be followed with simple realization, self-timer is also very easy to,
It is the development trend of present unmanned plane of new generation.But the deficiency for having it is automatically followed also, such as:
Follow the mode is single.No matter manufacturer has preset how many kinds of follow the mode, but presets and always preset, and can not adapt to use
Various complex environments in the real use in family, many follow the mode are in complex environment and are not suitable for.Current techniques are not accomplished also
True customization customization flight, the creation power and imagination of user may be never predetermined.
Follow intellectual inadequacy.Present unmanned plane during flying it is intelligent or not high enough, such as field environment automatically keep away
Barrier does not all solve also till now.The intelligence of unmanned plane can not adapt to various change environment.
Pattern switching is complicated.When factory pre-sets a variety of follow the mode, switching between various modes just at
For a problem, because various follow the mode there are some parameter presets, for example follows height, following distance, follows radius
Deng, to each mode set various parameters, be in fact more troublesome thing to user.Complicated operation has also been violated automatically
Follow the original intention of design.
From narration above as can be seen that automatically following technology is to meet the self-timer demand of unmanned plane player.But
It is still there are many deficiencies, main problem is exactly: automatically follows that can not to fully meet user various flexible in shooting
Authoring needs.
Summary of the invention
The flight instruments for having aerial photography function are especially the purpose of the present invention is to solve flight instruments in background technique
Two kinds of common control modes deficiency, propose a kind of flight instruments control system, the flight instruments control based on the system
Method and comprising the control system and using the control method unmanned machine equipment.
The technical scheme of the present invention is realized as follows: a kind of flight instruments control system, including the first instruction processing are single
Member, for control instruction to be converted to the driving signal of control flight instruments power unit movement, which is characterized in that described instruction
Processing unit includes the first instruction input system and the second instruction input system；
First instruction input system includes that camera shooting subsystem and image procossing subsystem, the camera shooting subsystem are installed on flight instruments master
On body, for obtaining image and/or image information；Image procossing subsystem is used for described image and/or image information
Reason, to obtain the location information of one or more main bodys in image and/or image；Image procossing subsystem and instruction process unit phase
Connection, for being conveyed to the first instruction process unit for the location information as instruction；
Second instruction input system includes wireless communication module and directive generation module, and described instruction generation module is for generating
One or more instructions in flight instruments control instruction, the directive generation module and command process module phase of wireless communication module
Connection, the control instruction for issuing directive generation module are transmitted to command process module；
The system comprises cradle head control system, the cradle head control system includes the second instruction process unit and moving parts,
Second instruction process unit controls the direction of moving parts adjustment holder camera for output order, and adjusts cloud immediately
Platform camera is with specified regional scope of the main body in intake picture that keep being taken.Holder camera can realize 360 ° in the horizontal direction
Rotation.
Preferred embodiment, the location information include identified azimuth information of the object relative to flight instruments, the side
Azimuth angle information includes identified object and pitch angle and/or level angle of the flight instruments line relative to certain level line.
Preferred embodiment, first instruction process unit and the second instruction process unit are same physical computing unit electricity
Road.
Preferred embodiment, the location information further include that identified object is in camera shooting subsystem acquisition image and/or image
Two-dimensional coordinate information and/or dimension information in picture.
Preferred embodiment, the input instruction of second instruction input system is by before for controlling flight instruments in three-dimensional space
Into/retreat instruction, shifted left/right instruction and three groups of instructions of rise/fall composition.
Preferred embodiment, second instruction input system include two-dimentional rocking bar control key, and the two dimension rocking bar control key is used for
Generate two groups of instructions in three groups of instructions.
The input instruction of preferred embodiment, first instruction input system is vertical by the holder for controlling installation camera shooting subsystem
Rotation and/or the instruction rotated horizontally composition.
Preferred embodiment, the input instruction of first instruction input system include when identified object's position actively changes with
With instruction, it is constant that relative position is able to maintain to ensure flight instruments when identified object's position changes.
A kind of control method of flight instruments, which is characterized in that
S1, flight instruments control instruction is inputted using the second instruction input system, for adjusting flight instruments and the master that is taken
The relative positional relationship of body and locking；
S2, the first instruction input system generate flight instruments control instruction according to subject change in location information, described
Control instruction is used to control flight instruments and keeps the relative position of step S1 locking constant.
Preferred embodiment, when the second instruction input system input control instructs flight instruments be taken main body and locked by step S1
Relative position automatically terminate locking, then the new relative positional relationship of new record of laying equal stress on locks again.
Preferred embodiment executes the lock operation using the time as foundation, sets specific time threshold value t0, and distance second instructs
Input system issues the when a length of t of last time operational order, when t is greater than or equal to t0, executes the lock operation.
One kind is taken photo by plane unmanned plane, including unmanned plane main body, which is characterized in that further include the flight instruments control system and
Unmanned plane undercarriage, the undercarriage include power device, and the power device is used to expelling undercarriage into the camera shooting of holder camera
Covering space is inversely driven relative to movement is expelled.
Undercarriage is expelled holder camera camera shooting covering space and carried out relative to movement is expelled by preferred embodiment, power device
When the action command inversely driven is created on after unmanned plane takes off respectively and prepares landing.
Preferred embodiment, the unmanned plane of taking photo by plane include the flight instruments control method.
Compared with prior art, beneficial effects of the present invention
Flight instruments control system, control method and unmanned plane of taking photo by plane of the invention, by by complicated flight instruments control
System instruction is reasonably allocated to the first instruction input system and the second instruction input system, and the second instruction input system is arranged for defeated manually
Enter part flight instruments movement instruction, it includes three groups of control instructions that complicated manual control system, which is reduced to one-hand operation only,
Enter key, and the first instruction input system is used to generate trace command in real time according to the variation for the object that is taken/is tracked.Two kinds of controls
Mode processed combines, and simplifies the control technology of flight instruments, increases the stability of system photographs.It also avoids simultaneously existing
The dull playing method of full-automatic model- following control mode, increases more entertaining to take photo by plane, can also meet such as manipulator's self-timer
Etc. specific functions.Introducing cradle head control system can be reduced by controlling holder automatically track target object to the first instruction processing system
The demand of system meets the flexible authoring needs of operator while simplifying unmanned plane motion mode.For entire kinetic system
For system, equilibrium has used each moving parts under the premise of meeting same movement target, and being conducive to raising system integrally makes
Use the service life.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1, Fig. 2 show the different perspectives structural schematic diagram of the remote control device of existing flight instruments；
The flight instruments control system system pie graph that Fig. 3 show the preferred embodiment of the present invention is shown；
Fig. 4 show the first instruction input system system pie graph in the flight instruments control system of the preferred embodiment of the present invention
Show；
Fig. 5 show the second instruction input system system pie graph in the flight instruments control system of the preferred embodiment of the present invention
Show；
Fig. 6 show cradle head control system system pie graph in the flight instruments control system of the preferred embodiment of the present invention and shows；
Fig. 7 show the control method flow chart of the preferred embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of flight instruments control system of the invention, including instruction process unit,
For control instruction to be converted to the driving signal of control flight instruments power unit movement, described instruction processing unit includes the
One instruction input system and the second instruction input system；The driving signal can be for directly drive steering engine, throttle control or
The power signal of engine movement is also possible to the signal without enhanced processing.
First instruction input system includes that camera shooting subsystem and image procossing subsystem, the camera shooting subsystem are installed on flight instruments master
On body, for obtaining image and/or image information；Image procossing subsystem is used for described image and/or image information
Reason, to obtain the location information of one or more main bodys in image and/or image；Image procossing subsystem and instruction process unit phase
Connection, for being conveyed to instruction process unit for the location information as instruction.According to image processing techniques, by camera shooting
The image information that machine obtains carries out object and shells the analysis of variance, can be readily attained characteristics of objects information, can according to characteristic information
To realize the tracking of object, and the analysis by changing to characteristic information, the information such as motion mode and the state of object are obtained.
Second instruction input system includes wireless communication module and directive generation module, and described instruction generation module is for generating
One or more instructions in flight instruments control instruction, the directive generation module and command process module phase of wireless communication module
Connection, the control instruction for issuing directive generation module are transmitted to command process module.The instruction type that specifically generates and
Determination of amount can be determined according to the habit or public habit of operator, and it is good not that specific instruction type can be predetermined set
It can change, may be set to be self-defined pattern, freely be set by user according to use habit.The system also includes holder controls
System system, the cradle head control system include the second instruction process unit and moving parts, and second instruction process unit is for defeated
It is instructed out to control the direction of moving parts adjustment holder camera, and adjustment holder camera is in immediately with the main body that keeps being taken
Absorb the specified regional scope of picture.Wherein, first instruction process unit and the second instruction process unit are same physics
Computing unit circuit.
Preferred embodiment scheme, the location information include identified azimuth information of the object relative to flight instruments,
The azimuth information includes identified object and pitch angle and/or level of the flight instruments line relative to certain level line
Angle.The purpose for obtaining the information is to generate flight instruments control instruction and providing reference.It is described as a certain of benchmark
Horizontal line can provide signal by built-in gyroscope and generate, and can also use other modes.It is of course also possible to use the two
The relative position of last moment is as reference.
Preferred embodiment scheme, the location information further include identified object be in camera shooting subsystem obtain image and/or
Two-dimensional coordinate information and/or dimension information in the picture of image.The purpose for acquiring this type of information includes to obtain higher quality
Image or image provide adjustment according to (for example regulating object is located at the coordinate of picture to obtain the image or shadow of higher quality
Picture), dimension information then can be used for controlling the relative distance of flight instruments and subject.
Preferred embodiment scheme, the input instruction of second instruction input system is by for controlling flight instruments in three-dimensional space
Interior forward/backward instruction, shifted left/right instruction and three groups of instructions of rise/fall composition.Selecting this three groups of instructions is
Because this is necessary to realizing any customization of flight instruments relative position, that is, lacking a certain instruction just cannot achieve shooting
Any customization of image or image effect.And relative to more instruction operations, three groups of instructions are more advantageous to one-handed performance, real
The problems such as existing self-timer, provides technical support.
Preferred embodiment scheme, second instruction input system include two-dimentional rocking bar control key, the two dimension rocking bar control
Key is used to generate two groups of instructions in three groups of instructions.Four instruction thumb Dan Zhicao may be implemented using rocking bar control key
Make.Rocking bar control key may also include while including key all around it is left front/left back/right before/it is right after four Macintosh, group
Two key combination linkage controls can be realized by closing key.
Preferred embodiment scheme, the input instruction of first instruction input system is by the cloud for controlling installation camera shooting subsystem
The instruction composition that platform is rotated and/or rotated horizontally vertically.This instruction is for controlling holder operating, it can be ensured that subject position
In picture middle or other specific positions.
Preferred embodiment scheme, the input instruction of first instruction input system include that identified object's position actively changes
When follow instruction, it is constant to be able to maintain relative position to ensure flight instruments when identified object's position changes.
As shown in fig. 7, a kind of control method of flight instruments:
S1, flight instruments control instruction is inputted using the second instruction input system, for adjusting flight instruments and the master that is taken
The relative positional relationship of body and locking；The lock operation can store relative position information by memory, and by the position
Information is used as the reference of the first instruction input system and realizes.Particularly, the memory can store multiple groups preset mode, for real
Now to the quick selection of various modes, to obtain same advantageous effect in a manner of full-automatic model- following control.
S2, the first instruction input system generate flight instruments control instruction according to subject change in location information, described
Control instruction is used to control flight instruments and keeps the relative position of step S1 locking constant.
Preferred embodiment, when the second instruction input system input control instructs flight instruments be taken main body and locked by step S1
Relative position automatically terminate locking, then the new relative positional relationship of new record of laying equal stress on locks again.That is, making to be manually operated
Have implementation operability and highest priority, to ensure to flight instruments autonomous control ability.
Preferred embodiment executes the lock operation using the time as foundation, sets specific time threshold value t0, and distance second instructs
Input system issues the when a length of t of last time operational order, when t is greater than or equal to t0, executes the lock operation.
One kind is taken photo by plane unmanned plane, including unmanned plane main body and the flight instruments control system and unmanned plane undercarriage,
The undercarriage includes power device, and the power device is used to expelling undercarriage into holder camera camera shooting covering space or opposite
It is inversely driven in expelling movement.
Preferred embodiment scheme, power device by undercarriage expel holder camera camera shooting covering space and relative to expelling it is dynamic
When the action command inversely driven is created on after unmanned plane takes off respectively and prepares landing.Undercarriage is flown in unmanned plane
The main purpose expelled under row state is also for cooperation cradle head control scheme.Because holder is certainly when traditional heads carry camera
The motion range of body is limited, for example rotates horizontally and be unable to reach 360 ranges, and usual motion range is in the gap of unmanned plane undercarriage
Between move, therefore undercarriage can't impact shooting.But its drawback is, cannot arrive if necessary to shooting tripod head
The angle reached then needs the rotation by controlling unmanned plane itself to adapt to, and in comparison, the preferred embodiment of the present embodiment only needs
Undercarriage is lifted or folding shrinking, so that it may unmanned plane rotation is substituted by holder rotation.This scheme simultaneously can be with
It realizes another preferred control mode: being rotated at any angle since holder can drive camera to do, unmanned plane
Rotation control that no setting is required, this point are particularly important for popular operator or new hand.Because unmanned aerial vehicle (UAV) control is all around
Movement is " preceding " Fang Eryan relative to unmanned plane itself, and for new hand, the spinning generally for unmanned plane is (special
It is rotor wing unmanned aerial vehicle common at present) it is difficult to set up sense of direction, therefore hold very much in subsequent motor performance all around
Easily cause maloperation.Using this preferred embodiment, unmanned plane can then abandon itself rotation process completely, for flying control new hand
For, then it can reduce because sense of direction does not set up caused maloperation, be also equivalent to the technical threshold reduced in operation, more
Be conducive to product to be acceptable to the market.Preferred embodiment scheme, the unmanned plane of taking photo by plane include the flight instruments control method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of flight instruments control system, including instruction process unit, for control instruction to be converted to control flight instruments
The driving signal of power unit movement, which is characterized in that described instruction processing unit includes that the first instruction input system and second refer to
Input system is enabled, the driving signal is used to directly drive the power signal of steering engine, throttle control or engine movement；
First instruction input system includes that camera shooting subsystem and image procossing subsystem, the camera shooting subsystem are installed on flight instruments main body
On, for obtaining image and/or image information；Image procossing subsystem is used to handle described image and/or image information,
To obtain the location information of one or more main bodys in image and/or image；Image procossing subsystem is connected with instruction process unit
It connects, for being conveyed to instruction process unit for the location information as instruction；
Second instruction input system includes wireless communication module and directive generation module, and described instruction generation module is for generating flight
One or more instructions in device control instruction, the directive generation module of the second instruction input system are connected with command process module
It connects, the control instruction for issuing directive generation module is transmitted to command process module；
The location information includes identified azimuth information of the object relative to flight instruments, and the azimuth information includes quilt
Identify object and pitch angle and/or level angle of the flight instruments line relative to certain level line；Described is used as benchmark
Certain level line can pass through built-in gyroscope provide signal generate；
The instruction that directive generation module specifically generates is predetermined set or self-defined pattern；
The input instruction of first instruction input system is rotated vertically by the holder for controlling installation camera shooting subsystem and/or level
The instruction of rotation forms；The holder automatically tracks holder using 360 degree, and the input instruction of first instruction input system is not wrapped
The instruction for controlling holder is included, holder is automatically performed the tracking of object by cradle head control unit, is not included in flight control
In instruction.
2. a kind of flight instruments control system according to claim 1, which is characterized in that the location information further include by
Identify the two-dimensional coordinate information and/or dimension information that object is in the picture of camera shooting subsystem acquisition image and/or image.
3. a kind of flight instruments control system according to claim 1, which is characterized in that second instruction input is defeated
Enter to instruct by for controlling the forward/backward instruction of flight instruments in three-dimensional space, shifted left/right is instructed, and rise/under
Three groups of instructions composition of drop.
4. a kind of flight instruments control system according to claim 3, which is characterized in that second instruction input system packet
Two-dimentional rocking bar control key is included, the two dimension rocking bar control key is used to generate two groups of instructions in three groups of instructions.
5. a kind of flight instruments control system according to claim 1, which is characterized in that first instruction input system
Input instruction includes following instruction when identified object's position actively changes, to ensure flight instruments in identified object's position
It is constant that relative position is able to maintain when variation.
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| CN201610203238.3A CN105700543B (en) | 2016-04-01 | 2016-04-01 | A kind of flight instruments control system, control method and unmanned plane of taking photo by plane |
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| CN201610203238.3A CN105700543B (en) | 2016-04-01 | 2016-04-01 | A kind of flight instruments control system, control method and unmanned plane of taking photo by plane |
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| CN106598081B (en) * | 2016-10-27 | 2019-08-23 | 纳恩博（北京）科技有限公司 | A kind of image-pickup method and electronic equipment |
| CN106527439B (en) * | 2016-10-31 | 2020-12-04 | 纳恩博（北京）科技有限公司 | Motion control method and device |
| CN107000839B (en) * | 2016-12-01 | 2019-05-03 | 深圳市大疆创新科技有限公司 | The control method of unmanned plane, device, equipment and unmanned plane control system |
| WO2018108162A1 (en) * | 2016-12-15 | 2018-06-21 | Powervision Robot Inc. | Control system and method for drone with remote controller |
| CN113727023A (en) * | 2017-01-24 | 2021-11-30 | 深圳市大疆灵眸科技有限公司 | Control method and system of pan-tilt and computer readable storage medium |
| WO2019024118A1 (en) * | 2017-08-04 | 2019-02-07 | 深圳市大疆灵眸科技有限公司 | Remote controller |
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