CN106370184A

CN106370184A - Automatically tracking shooting method of unmanned aerial vehicle, unmanned aerial vehicle and mobile terminal equipment

Info

Publication number: CN106370184A
Application number: CN201610757026.XA
Authority: CN
Inventors: 任毫亮
Original assignee: Beijing Qihoo Technology Co Ltd; Qizhi Software Beijing Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd; Qizhi Software Beijing Co Ltd
Priority date: 2016-08-29
Filing date: 2016-08-29
Publication date: 2017-02-01

Abstract

The invention discloses an automatically tracking shooting method of an unmanned aerial vehicle, the unmanned aerial vehicle and mobile terminal equipment. The method comprises the steps that whether the current distance away from wearable equipment belongs to the preset distance or not is judged, and if yes, information of the wearable equipment is acquired, real-time flight coordinates of the unmanned aerial vehicle and real-time geographical location information of the wearable equipment are worked out; if not, the positioning mode is switched to a global positioning system (GPS), the real-time flight coordinates of the unmanned aerial vehicle are acquired, and the information which is transmitted by the mobile terminal equipment and can represent the geographical location of the wearable equipment is received; by combining the flight coordinates of the unmanned aerial vehicle with the geographical location information of the wearable equipment, the unmanned aerial vehicle flies towards the wearable equipment and conducts tracking shooting. Accordingly, the positioning modes of the unmanned aerial vehicle are switched by judging the distance size, and therefore the cruising ability is improved; the geographical location of the wearable equipment and images shot by the unmanned aerial vehicle can be viewed through the mobile terminal equipment; an operator special for operating the unmanned aerial vehicle is not needed, the intelligence degree is high, and use of a user is convenient.

Description

The method of unmanned plane auto-tracking shooting, unmanned plane and mobile terminal device

Technical field

The present invention relates to unmanned plane field, more particularly, to a kind of unmanned plane auto-tracking shooting, mobile terminal device Control method and its corresponding intrument of unmanned plane during flying.

Background technology

In recent years, quickly growing with unmanned plane, because its low cost and technical threshold low and be widely used in taking photo by plane, The multiple fields such as Professional Photography, real estate, disaster relief.The change of unmanned plane is that it has the ability cannot directly touch in people Three-dimensional world fly and carry the scene of the three-dimensional world that picture pick-up device record is touched.

In today's society, the head of a family increasingly payes attention to the communication interaction with child, can be frequently seen father and mother and carry small children in public affairs Garden, the occasion such as seashore is played and is used each picture of handhold mobile terminal equipment camera function record child, but child's energy fills Abundant, the paces that the head of a family does not often catch up with child shoot it is impossible to follow child in time to its behavior expression.

Although existing unmanned air vehicle technique possesses the function of having high-altitude flight to shoot, it needs the personnel couple of specialty relatively It is manipulated it is adaptable to fan player, and for domestic consumer, such unmanned plane is difficult manipulation and volume ratio is larger, Carry inconvenience.

Content of the invention

In view of the above problems, the purpose of the present invention aims to provide a kind of method of unmanned plane auto-tracking shooting, unmanned plane And mobile terminal device, in order to solve the head of a family with asking that the carrying out that handhold mobile terminal equipment cannot keep up with child in time shoots Inscribe, and solve unmanned plane in prior art and be difficult manipulation, the very much not portative problem of volume.

In a first aspect, the present invention provides a kind of method of unmanned plane track up, comprise the steps:

Obtain the information characterizing unmanned plane position and attitude by built-in sensors；

Judge whether current and wearable device distance belongs to predeterminable range, if so, obtain wearable device information, knot Close sign unmanned plane position and the information of attitude calculates unmanned plane real-time flight coordinate and wearable device real-time geographical locations Information simultaneously sends this information to mobile terminal device；

Otherwise, it is switched to gps global positioning system to obtain unmanned plane real-time flight coordinate and receive mobile terminal device The information in the sign wearable device geographical position of transmission；

In conjunction with unmanned plane real-time flight coordinate with wearable device geographical location information and according to the relative distance court setting To wearable device flight；

The relative distance keeping this setting is tracked shooting, and the image of shooting is sent to mobile terminal device or cloud End server.

Specifically, the information of described unmanned plane position and attitude at least include unmanned plane roll angle, the angle of pitch, course angle and To ground level.

Specifically, judge whether current distance belongs to predeterminable range, if so, obtain in the step of wearable device information, Including:

Send call signal to wearable device；

Receive the answer signal of wearable device feedback and according to the delay inequality sending call signal and reception answer signal Calculate current distance value；

Judge whether current distance value meets predeterminable range.

Specifically, described combination unmanned plane real-time flight coordinate is with wearable device geographical location information and according to setting The step that relative distance is flown towards wearable device, comprising: unmanned plane and wearable device are set by mobile terminal device Relative distance.

Specifically, described combination unmanned plane real-time flight coordinate is with wearable device geographical location information and according to setting In the step that relative distance is flown towards wearable device, comprising:

Surrounding obstacle information is gathered by ultrasonic sensor；

Parsing obstacle information, suspends the geographical location information obtaining wearable device and is hidden by adjusting heading Barrier；

Reacquire the geographical location information of unmanned plane during flying coordinate and wearable device, continue to fly towards wearable device OK.

Specifically, the described relative distance keeping this setting is tracked in the step shooting, comprising: by mobile terminal Equipment adjusts the relative altitude of unmanned plane and wearable device.

Specifically, the described relative distance keeping this setting is tracked in the step shooting, comprising: unmanned plane can pass through Shot in the surrounding of wearable device around flight.

Specifically, described unmanned plane pass through the camera head that is attached to gather image and be stored in storage card or/and Mobile terminal device or cloud server are sent to by wireless transmission method.

Specifically, the camera head on described unmanned plane is all the time toward wearable device.

Second aspect, the present invention provides a kind of unmanned plane, comprising:

Acquisition module, obtains the information characterizing unmanned plane position and attitude by built-in sensors；

Judge module, judges whether current and wearable device distance belongs to predeterminable range；

Resolve module, if so, obtain wearable device information, calculate in conjunction with the information characterizing unmanned plane position and attitude Unmanned plane real-time flight coordinate with wearable device real-time geographical locations information and sends this information to mobile terminal device；

Positioning handover module, otherwise, is switched to gps global positioning system and obtains unmanned plane real-time flight coordinate and receive The information in the sign wearable device geographical position of mobile terminal device transmission；

Flight module, in conjunction with unmanned plane real-time flight coordinate with wearable device geographical location information and according to the phase setting Adjust the distance towards wearable device flight；

Taking module, keeps the relative distance of this setting to be tracked shooting, and the image of shooting is sent to mobile whole End equipment or cloud server.

Specifically, described judge module specifically includes:

Transmitting element, sends call signal to wearable device；

Resolution unit, receives the answer signal of wearable device feedback and according to transmission call signal and reception answer signal Delay inequality calculate current distance value；

Judging unit, judges whether current distance value meets predeterminable range.

Specifically, in described flight module, comprising: set the phase of unmanned plane and wearable device by mobile terminal device Adjust the distance.

Specifically, in described flight module, comprising:

Information acquisition unit, gathers surrounding obstacle information by ultrasonic sensor；

Decision package, parses obstacle information, suspends the geographical location information obtaining wearable device and is flown by adjustment Line direction avoiding barrier；

Recovery unit, reacquires the geographical location information of unmanned plane during flying coordinate and wearable device, and continuing direction can Wearable device flies.

Specifically, described taking module includes: adjusts unmanned plane by mobile terminal device relative with wearable device Highly.

Specifically, in described taking module, comprising: unmanned plane can be by carrying out in the surrounding of wearable device around flight Shoot..

The third aspect, the present invention provides a kind of method of unmanned plane auto-tracking shooting, comprises the steps:

When the distance of unmanned plane and wearable device belongs to predeterminable range, receive the wearable device of unmanned plane transmission Geographical location information is simultaneously indicated in electronic chart；

Otherwise, receive wearable device transmission sign its geographical position information indicated in electronic chart and incited somebody to action This geographical location information sends to unmanned plane；

Set the relative distance of unmanned plane and wearable device；

Receive the image of unmanned plane shooting and be shown on screen.

Specifically, the data of its geographical location information of sign of described wearable device transmission specifically includes:

When wearable device is in networking state, described wearable device obtains current geographic position information and by no Line transmission means is sent to mobile terminal device in real time；

When wearable device is in off-line state, starts wearable device and carry aspect sensor, and passed by orientation Sensor obtains the motion-sensing data for characterizing geographical location information change, if wearable device recovers networking state, can This motion-sensing data is uploaded to mobile terminal device by wireless transmission method by wearable device.

Specifically, when wearable device is in networking state, described wearable device is positioned by gps and architecture Obtain current geographic position information.

Specifically, described mobile terminal device is checked image broadcasting by screen control button switching and is labeled with geographical position Any one picture in the electronic chart of confidence breath.

Specifically, described mobile terminal device by parameter input control set unmanned plane relative with wearable device away from From, relative altitude.

Specifically, described wearable device is intelligent watch.

Fourth aspect, the present invention also provides a kind of mobile terminal device, comprising:

Indicate module, if current distance belongs to predeterminable range, receive the geographical position of the wearable device of unmanned plane transmission Confidence ceases and is indicated in electronic chart；

Apart from setting module, set the relative distance of unmanned plane and wearable device；

Display module, receives the image of unmanned plane shooting and is shown on screen.

Specifically, described mobile terminal device is checked image broadcasting by screen control button switching and is labeled with geographical position Any one picture in the map of confidence breath.

Specifically, described wearable device is intelligent watch.

With respect to prior art, in the scheme that the present invention provides, unmanned plane by built-in sensors obtain self-position with Attitude information simultaneously judges whether current and wearable device distance meets default distance, if so, then obtains wearable device Information, calculate the geographical location information of the machine flight coordinate and wearable device in conjunction with self-position and attitude information, and Afterwards, it is tracked shooting in conjunction with the machine flight coordinate and wearable device geographical location information, realize independent navigation；If current with The distance of wearable device does not meet the navigation positioning system that predeterminable range is then switched in the machine and is positioned, such as the gps whole world Alignment system, obtains the flight coordinate of the machine and receives the sign wearable device geographical location information of mobile terminal device transmission Data, then, be tracked shooting in conjunction with the machine flight coordinate and wearable device geographical location information；Thus, can achieve Unmanned plane voluntarily switches positioning mode according to the distance with wearable device distance, it is to avoid use gps positioning loss electricity for a long time Can, extend the endurance of unmanned plane.

During unmanned plane track up, mobile terminal device receives the wearable device of unmanned plane transmission respectively Geographical location information and wearable device transmission sign its geographical position information, synchronous marking on electronic chart, user Can be by the geographical position of screen control button real time inspection unmanned plane filmed image and wearable device on mobile terminal device Any one picture in information, meanwhile, also can set and adjust the phase of unmanned plane and wearable device by parameter input control Adjust the distance, relative altitude.By above scheme, child only need to carry or dress wearable device, and unmanned plane can be achieved with automatically Follow the tracks of child and it is shot, need not unmanned plane be manipulated special manipulator, and adult only need to be by mobile whole End equipment can view whereabouts and the behavior expression of child, and intelligence degree is high, is easy to the use of user.

The aspects of the invention or other aspects can more straightforward in the following description.

Brief description

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, will make to required in embodiment description below Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for For those skilled in the art, on the premise of not paying creative work, can also be obtained other attached according to these accompanying drawings Figure.

Fig. 1 shows the configuration diagram of unmanned plane automatic tracking shooting system according to an embodiment of the invention.

Fig. 2 shows the schematic flow sheet of unmanned plane auto-tracking shooting method according to an embodiment of the invention.

Fig. 3 shows the block diagram of configuration inside unmanned plane according to an embodiment of the invention.

Fig. 4 shows the concrete block diagram of judge module in configuration inside unmanned plane according to an embodiment of the invention.

Fig. 5 shows the concrete block diagram of flight module in configuration inside unmanned plane according to an embodiment of the invention.

Fig. 6 shows the block diagram of configuration inside mobile terminal device according to an embodiment of the invention.

Specific embodiment

Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.

Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " " used herein, " Individual ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that arranging used in the description of the present invention Diction " inclusion " refers to there is described feature, integer, step, operation, element and/or assembly, but it is not excluded that existing or adding Other features one or more, integer, step, operation, element, assembly and/or their group.It should be understood that when we claim unit Part is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also exist Intermediary element.Additionally, " connection " used herein or " coupling " can include wirelessly connecting or wirelessly coupling.Used herein arrange Diction "and/or" includes one or more associated list the whole of item or any cell and combines with whole.

Those skilled in the art of the present technique are appreciated that unless otherwise defined, and all terms used herein (include technology art Language and scientific terminology), there is the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also should Be understood by, those terms defined in such as general dictionary it should be understood that have with the context of prior art in The consistent meaning of meaning, and unless by specific definitions as here, otherwise will not use idealization or excessively formal implication To explain.

Those skilled in the art of the present technique are appreciated that " terminal " used herein above, " terminal unit " had both included wireless communication The equipment of number receptor, it only possesses the equipment of the wireless signal receiver of non-emissive ability, includes receiving and transmitting hardware again Equipment, its have the reception that two-way communication on bidirectional communication link, can be carried out and transmitting hardware equipment.This equipment May include that honeycomb or other communication equipments, it has single line display or multi-line display or does not have multi-line to show The honeycomb of device or other communication equipments；Pcs (personal communications service, PCS Personal Communications System), it can With combine voice, data processing, fax and/or its communication ability；Pda (personal digital assistant, personal Digital assistants), it can include radio frequency receiver, pager, the Internet/intranet access, web browser, notepad, day Go through and/or gps (global positioning system, global positioning system) receptor；Conventional laptop and/or palm Type computer or other equipment, its have and/or include the conventional laptop of radio frequency receiver and/or palmtop computer or its His equipment." terminal " used herein above, " terminal unit " they can be portable, can transport, be arranged on the vehicles (aviation, Sea-freight and/or land) in, or be suitable for and/or be configured in local runtime, and/or with distribution form, operate in the earth And/or any other position operation in space." terminal " used herein above, " terminal unit " can also be communication terminal, on Network termination, music/video playback terminal, for example, can be pda, mid (mobile internet device, mobile Internet Equipment) and/or there is mobile phone or the equipment such as intelligent television, Set Top Box of music/video playing function.

In recent years, with the development of sci-tech product, the increasing head of a family be chosen as child wearing wearable device, with The positional information of track child.Wearable device typically refers to directly be worn on user, or be incorporated into user clothes or A kind of portable set of accessory.For example, intelligent watch, Intelligent bracelet etc..Wearable device is not only a kind of hardware device, More can be interacted with mobile terminals such as smart mobile phones by software support, such that it is able to realize several functions.

Likewise, in today's society, the head of a family also increasingly payes attention to the ditch with child except the safety increasingly paying close attention to child Logical interaction, can be frequently seen father and mother and carry small children in park, the occasion such as seashore is played and imaged work(with handhold mobile terminal equipment Each picture of child can be recorded, but, because child is energetic, the head of a family does not often catch up with the paces of child it is impossible in time Follow child its behavior expression is shot.

Based on the feature of above user, it is considered that in recent years, the development of unmanned plane is also extremely fast to the present inventor Speed, technology is day by day ripe, and most importantly, the three-dimensional world that unmanned plane has the ability cannot directly to touch in people is flown and carried and takes the photograph Scene as the three-dimensional world that equipment record is touched.By this feature above-mentioned and with reference to above-mentioned wearable device locating and tracking Function, achievable unmanned plane is followed the tracks of child and is shot, with solve the above-mentioned head of a family do not catch up with child's paces can not record in time little The problem of child's various actions performance.

Based on above-mentioned consideration, in the embodiment of the present invention, unmanned plane is according to current and wearable device distance switching positioning Mode, obtains the geographical location information of the machine flight coordinate and wearable device, in conjunction with the machine flight coordinate and wearable device Geographical location information towards wearable device fly, reach set distance after be tracked shoot and by shoot image pass Deliver to mobile terminal device；In the process, mobile terminal device can receive unmanned plane or the sign of wearable device transmission can The geographical location information of wearable device, is indicated in so that adult checks the whereabouts of child on electronic chart, can be received meanwhile The image of unmanned plane track up is shown on screen, by mobile terminal device, adult can check that electronic chart or image are drawn Face.

Specifically introduce the technical scheme of the embodiment of the present invention below in conjunction with the accompanying drawings.

In the embodiment of the present invention, the system architecture diagram of unmanned plane auto-tracking shooting is as shown in Figure 1, comprising: unmanned plane 200th, mobile terminal device 300 and wearable device 400.

In embodiments of the invention, described wearable device 400 is configured with communication card, such as sim (subscriber Identity module, client identification module) card, have communicating number；And wearable device 400 has wearable setting Standby 400 id, for example unique hardware string number or Quick Response Code etc..In the same manner, described unmanned plane 200 also has No. id of the machine, such as Unique hardware string number or Quick Response Code etc..

When using first, mobile terminal device 300 need to install the application program realizing unmanned plane auto-tracking shooting function. This application program is carried out with mobile terminal device 300 to wearable device 400 according to the communication card of wearable device 400 or No. id Binding；Likewise, No. id also according to unmanned plane 200 is bound with mobile terminal device 300 to unmanned plane 200.For example, move Dynamic terminal unit 300 can be completed by scanning the Quick Response Code on wearable device 400 dial plate or the Quick Response Code in description Log in and the process with wearable device 400 binding, in the same manner, mobile terminal device 300 can be by scanning on unmanned plane 200 Quick Response Code in Quick Response Code or description, completes to log in and the process with unmanned plane 200 binding.

The application scenarios of the present invention: child carries or dresses wearable device 400, and the head of a family carries mobile terminal device 300； Wearable device 400 sends child geographic location information to mobile terminal device 300, and mobile terminal device 300400 should Geographical location information is indicated in so that the head of a family checks and sends to unmanned plane 200 on electronic chart, and meanwhile, the head of a family passes through mobile whole End equipment 300 sets the relative distance of unmanned plane 200 and wearable device 400, and unmanned plane 200 is according to the relative distance of this setting And fly towards wearable device 400 with reference to the flight coordinate of itself, keep this relative distance after reaching this setting relative distance Follow the tracks of child's flight, shot simultaneously, the picture of shooting is sent to mobile terminal device 300 and checks for the head of a family.

The flow chart of the method for unmanned plane 200 auto-tracking shooting of the embodiment of the present invention is as shown in Fig. 2 include following walking Rapid:

S101: obtain the information characterizing unmanned plane position and attitude by built-in sensors；

Those skilled in that art are appreciated that for the built-in sensors proposing in the present invention, including multiple sensors, It is preferably mems sensor, both each can independently become part, and a part can be embodied by again, for example, be integrated in Sensor in unmanned plane has acceleration transducer, gyroscope, gaussmeter three, then three aspect sensors both can be three Independent chip, can be designed as the mems chip of one again.

Described built-in sensors include direction sensor, inertial sensor and distance measuring sensor.Described inertial sensor Including following any one or arbitrarily multiple: acceleration transducer, for perceiving the acceleration change in unmanned plane moving process Value；Gyroscope, for perceiving the angular speed changing value in the machine moving process.It will be understood by those skilled in the art that two kinds of biographies Sensor can be used to compensate error mutually so that the data of test is more accurate, and track is more accurate.Described direction sensor is Gaussmeter, for determining the direction during unmanned plane during flying.

According to the acceleration change value of measurement, angle change value, deflection, introduce coordinate system, such as geocentric inertial coordinate system, Terrestrial coordinate system etc., sets up transition matrix, carries out attitude algorithm, draws the attitude angle of man-machine roll angle, the angle of pitch, course angle, Described computation can be Quaternion Method, Euler's horn cupping etc., and concrete calculation method is the conventional techniques of this area, herein not Repeat again.

In embodiments of the invention, described distance measuring sensor measure taking laser sensor as a example unmanned plane to ground level, Described laser transmitter projects laser beam, to ground, reaches, by measuring laser beam, the time delay that ground returns again to, and calculates unmanned The distance on machine 200 and ground is i.e. to ground level.The present invention does not limit to distance measuring sensor, can be infrared distance sensor, thunder Reach distance measuring sensor or ultrasonic distance-measuring sensor etc., if enable measure unmanned plane to ground level.

S102: judge whether current and wearable device 400 distance belongs to predeterminable range, if so, obtain wearable setting Standby 400 information, calculate unmanned plane real-time flight coordinate and wearable device in conjunction with the information characterizing unmanned plane position and attitude 400 real-time geographical locations information simultaneously send this information to mobile terminal device 300；

It will be appreciated by those skilled in the art that, unmanned plane 200 obtains the ground of itself flight coordinate and wearable device 400 Reason positional information is the precondition of track up, if extremely electric energy will be lost using gps global positioning system for a long time, makes The endurance of unmanned plane 200 weakens significantly because gps alignment system can continuous search of satellite, constantly adjustment positioning accurate Degree.Therefore, in embodiments of the invention, first the relative distance of unmanned plane 200 and wearable device 400 is judged, when This distance default less than unmanned plane apart from when, preferentially adopt short distance positioning, such as ultrasonic locating, ultra broadband positioning, radio frequency Positioning etc..Described predeterminable range is set according to the distance that the short distance positioning mode selecting is suitable for.When unmanned plane 200 with When the distance of wearable device 400 is not in default scope, automatically switch to gps global positioning system.Thus, ensureing to determine Reach, on the premise of the precision of position, the effect improving unmanned plane 200 endurance.

Specifically, described judge in the step whether current distance belongs to predeterminable range, comprising:

Send call signal to wearable device 400；

Receive the answer signal of wearable device 400 feedback and according to the time delay sending call signal and reception answer signal Difference calculates current distance value；

Judge whether current distance value meets predeterminable range.

In embodiments of the invention, measurement unmanned plane 200 is current and wearable device 400 apart from when, can adopt above-mentioned Laser ranging method；Should be noted when, from measurement unmanned plane to unlike ground level, need to join on wearable device 400 Put laser pickoff, the laser sensor on unmanned plane 200 passes through to send laser beam to wearable device 400, wearable device Laser pickoff on 400 receives this laser beam and feeds back to unmanned plane 200, and unmanned plane sends according to laser beam and returns to no Time-delay calculation that is man-machine and receiving draws the distance of unmanned plane 200 and wearable device 400.

If current distance meets predeterminable range, as described above, can be using as ultrasonic locating, ultra broadband positioning, radio frequency The positioning modes such as positioning, taking radio frequency positioning as a example, are obtained the information of wearable device 400 first, are sent out by radio frequency on unmanned plane To wearable device 400, the radio frequency receiver on wearable device 400 receives and responds this radio frequency letter emitter transmitting radiofrequency signal Number, radio frequency receiver receives this response signal and carries out parsing the information obtaining wearable device 400.Further, in conjunction with table Levy unmanned plane position and the information of attitude calculates unmanned plane 200 real-time flight coordinate and wearable device 400 real-time geographic position Confidence ceases, and described solution process is: the distance between witness mark and unknown node (with unmanned plane 200 as reference point, can be worn Wearing equipment 400 is unknown node)；Set up equation group according to some distance measurement values；Solve unknown point using node locating algorithm (i.e. Wearable device) coordinate estimate；Information according to reference point is (unmanned plane position and attitude information, comprising: roll angle, bow The elevation angle, course angle and to ground level) carry out Coordinate Conversion, draw unmanned plane coordinate.Concrete node positioning method is this area Conventional techniques, here is omitted.

In the embodiment of the present invention, also can adopting other positioning modes, as long as enabling positioning function, and improving unmanned plane The purpose of 200 endurances, is not limited herein.

S103: when the distance of unmanned plane 200 and wearable device 400 belongs to predeterminable range, receive unmanned plane 200 and transmit The geographical location information of wearable device 400 and indicated in electronic chart；

Preferably, by overstriking, the mark mode such as red, this geographical position can be indicated.User is facilitated to know the row of child Dynamic trace.

S104: otherwise, the information receiving its geographical position of sign of wearable device 400 transmission is carried out in electronic chart Indicate and send this geographical location information to unmanned plane 200.

As described above, can be indicated to this geographical position by overstriking, the mark mode such as red.User is facilitated to know child's Action trace.

Specifically, described mobile terminal device 300 is checked image broadcasting by screen control button switching and is labeled with ground Any one picture in the electronic chart of reason positional information.

Clap it will be understood by those skilled in the art that being provided with mobile terminal device 300 and realizing unmanned plane 200 from motion tracking The application program of camera shooting function, described application program is provided with the corresponding button executing preset function, and for example, switching to be realized is looked into See electronic chart and impact broadcasting pictures, screen control button can be added on this application program, user can be pressed by clicking on this Button switching checks that impact is play and is labeled with any one picture in the electronic chart of wearable device 400 geographical location information. Easy to understandly, described application program also can add other controls such as settings button, exit button.

Specifically, the data of its geographical location information of sign of described wearable device 400 transmission specifically includes:

When wearable device 400 is in networking state, described wearable device 400 obtains current geographic position information simultaneously Mobile terminal device 300 is sent in real time by wireless transmission method；

When wearable device 400 is in off-line state, starts wearable device 400 and carry aspect sensor, and pass through Aspect sensor obtains the motion-sensing data for characterizing geographical location information change, if wearable device 400 recovers networking During state, this motion-sensing data is uploaded to mobile terminal device 300 by wireless transmission method by wearable device 400.

Usually, the energy that described networking state refers to passes through the shape of the acquisition geographical location information by external network signal State, it will be understood by those skilled in the art that general geographical location information is all by network signals such as the Internet, gps, wifi network Determine.In one embodiment of the invention, when unmanned plane 200 can receive internet signal, gps signal, wifi signal, It is considered in networking state during base station signal.And described off-line state is then contrary, refers to unmanned plane 200 and cannot receive interconnection Net signal, gps signal, wifi signal, base station signal obtain the state of geographical location information, and those skilled in the art can manage Solution, when unmanned plane 200 is in interior, market or by-place, internet signal, gps signal, wifi signal, base station signal have Larger may not cover such region, therefore, can determine that as off-line state.

When wearable device 400 is in off-line state, one embodiment of the present of invention adopts aspect sensor to obtain table Levy the geographical location information data of wearable device 400, those skilled in that art are appreciated that for proposition in the present invention Aspect sensor, including multiple sensors, as it was previously stated, preferably mems sensor.Obtained wearable using aspect sensor The mode of equipment 400 geographical location information fully relies on wearable device 400 and independently completes, and is independent of external information (the Internet Signal, gps signal, wifi signal, base station signal), also not outwardly emittance, it is not easily susceptible to disturb, be not subject to meteorological condition Limit, there is entirely autonomous, anti-interference, good concealment, all weather operations.

It is preferred that described motion-sensing data is sent to during mobile terminal device 300 need it is carried out digital filtering, Ad conversion, data packet, plus the step such as correction code.

Specifically, when wearable device 400 is in networking state, described wearable device 400 is positioned by gps and base Stand firm position obtain current geographic position information.Concrete localization method is the conventional techniques of this area, and here is omitted.

Analyzed from above, wearable device 400 is sent to the letter in its geographical position of sign of mobile terminal device 300 Breath includes two kinds, a kind of real-time geographical location information being to get ready positioning by gps global positioning system, and another kind is to pass through Movement locus in a period of time of aspect sensor measurement.Certainly, it will be understood by those skilled in the art that during networking state, In a period of time, each point wearable device 400 geographical position couples together also is movement locus.

In embodiments of the invention, mobile terminal device 300 is sent geographical location information to no using wireless transmission method Man-machine 200, it will be understood by those skilled in the art that described wireless transmission method typically includes: Bluetooth transmission, wifi pass Defeated, ubw transmits, 3g/4g transmission and zigbee are transmitted, and embodiments of the invention are wirelessly passed using above-mentioned any one or a few Defeated mode carries out data transmission.

S105: otherwise, be switched to gps global positioning system and obtain unmanned plane real-time flight coordinate and receive mobile terminal The information in the sign wearable device geographical position of equipment transmission；

Described gps global positioning system is technology customary in the art, and here is omitted.

S106: set the distance of unmanned plane and wearable device；

Specifically, described mobile terminal device 300 sets unmanned plane 200 and wearable device by parameter input control 400 relative distance, relative altitude.On mobile terminal device 300 install be used for realize unmanned plane 200 auto-tracking shooting side The application program of method, this application program is added with the relative distance of input unmanned plane 200 and wearable device 400, relative high The parametric contol of degree, user can by input different state modulator unmanned planes 200 and wearable device 400 relative distance, Relative altitude.For example, set relative distance as 5 meters, then unmanned plane 200 by current and wearable device 400 distance fly to From 5 meters of position of wearable device.

It should be noted that set relative distance and relative altitude have certain scope to limit, set is relative Distance and relative altitude need to adapt to the collection image range of camera head on unmanned plane 200.

S107: with reference to unmanned plane real-time flight coordinate with wearable device geographical location information and according to set relative away from Fly from towards wearable device；

As it was noted above, the application journey realizing unmanned plane 200 automatic tracking function is provided with mobile terminal device 300 Sequence, described application program is added with the ginseng of unmanned plane 200 and wearable device 400 relative distance, relative altitude and orientation Number input control, it is relative with the ideal of wearable device 400 that user passes through input unmanned plane 200 in relative distance input control The relative distance of distance controlling unmanned plane 200 and wearable device 400, for example, 5 meters, 10 meters etc..

Surrounding obstacle information is gathered by ultrasonic sensor；

Preferably, embodiments of the invention adopt avoiding obstacles by supersonic wave technology, before unmanned plane, the peace of left and right three directions Dress ultrasonic distance measuring module, three sensors by the range information collecting, draw front, right, left respectively with barrier Distance.Described parsing obstacle information is calculated according to default fuzzy rule, the partly rule of described fuzzy rule As follows: if front, left and right relatively near, to fly afterwards to the right；If front, left relatively near the right side farther out, front flight to the right；If front, right relatively Closely, a left side farther out, then to left front flight；The described reckoning process i.e. exhaustion judgement to described fuzzy rule.Drawn no by calculating The heading of man-machine avoiding barrier, now will certainly deviate the direction towards wearable device 200, therefore, hiding barrier When hindering thing, stop first obtaining the geographical location information of wearable device, leading avoiding barrier, headed by the safety of unmanned plane Consider.After circumventing barrier, reacquire the flight coordinate of unmanned plane 200 and the geographical position letter of wearable device 400 Breath the step of repeat step 101 to 107, then proceed to fly towards wearable device 400, thus, complete once complete The process of avoiding barrier.

S108: keep the relative distance of this setting to be tracked shooting, and the image of shooting is sent to mobile terminal setting For 300 or cloud server.

It should be understood that when the relative altitude to unmanned plane 200 and wearable device 400 is adjusted with orientation, no Man-machine 200 is constant with the relative distance holding of wearable device 400.Further, if running into during keeping track up During barrier, as described above, barrier is hidden towards in wearable device 400 flight course according to default distance with unmanned plane 200 Hinder thing identical, stop first obtaining wearable device 400 geographical location information and stopping track up, carry out avoidance in advance, protect The safety of card unmanned plane.Concrete avoidance process is as it was previously stated, here is omitted.

Specifically, the described relative distance keeping this setting is tracked in the step shooting, comprising: unmanned plane can pass through Shot in the surrounding of wearable device 400 around flight.Further, unmanned plane 200 can be the four of wearable device 400 Chow ring shoots around flight, for example, front, rear, in front of side, the position such as side rear carries out to the wearer of wearable device 400 Track up.Meanwhile, can be flown according to practical situation, for example described previously, can voluntarily avoiding barrier.Need explanation It is that unmanned plane 200 carries out keeping constant with the relative distance of wearable device 400 during each orientation track up around flight.

Specifically, described unmanned plane 200 pass through the camera head that is attached to gather image and be stored in storage card or/ It is sent to mobile terminal device 300 or cloud server with by wireless transmission method.Described wireless transmission method such as institute above State including Bluetooth transmission, wifi transmission, ubw transmission, 3g/4g transmission and zigbee transmission, embodiments of the invention adopt upper State any one or a few wireless transmission method to carry out data transmission.

It will be understood by those skilled in the art that memory space shared by image, video file is larger, when on unmanned plane 200 Photographic head be in captured in real-time image pattern when, substantial amounts of video file can be produced, lead to storage card or mobile terminal to set The problem of standby 300 memory space inadequates.And cloud server is a kind of to be using distributed storage and by a large amount of Server Consolidations One supercomputer, using the teaching of the invention it is possible to provide the data storage of magnanimity and process service, simultaneously it is allowed to access common storage resource, real Sharing of existing application data file, solves a large amount of memory spaces shared by above-mentioned image, video file therefore, it is possible to good Problem.

Specifically, the camera head on described unmanned plane 200 is all the time toward wearable device 400.

It is preferred that embodiments of the invention can make camera head set towards wearable all the time using infrared ray target following method Standby 400 are shot.Described infrared ray target following needs to install infrared transmitter, camera head in wearable device 400 Upper installation infrared remote receiver, the infrared signal that camera head is launched according to wearable device 400, drive head, adjust photographic head Carry out being shot towards wearable shooting.The method that the present invention shoots to camera head target following is not limited, as long as energy Realize the purpose making camera head be shot all the time towards wearable device 400.

S109: receive the image of unmanned plane 200 shooting and be shown on screen.

It is preferred that checking that the picture of playing video is identical with foregoing description by mobile terminal device 300, no longer superfluous herein State.

It will be appreciated by those skilled in the art that ground, when mobile terminal device 300 needs to check the image of cloud server, regards During frequency file, request can be checked to cloud server by transmission, cloud server in response to this request send the image of storage, Video file is checked to mobile terminal.

Specifically, described wearable device 400 is intelligent watch.It will be understood by those skilled in the art that wearable set Standby 400 typically refer to directly be worn on user, or are incorporated into the clothes of user or a kind of portable set of accessory.Example As intelligent watch, Intelligent bracelet etc..Wearable device 400 is not only a kind of hardware device additionally it is possible to pass through software support etc. Interact with intelligent terminal, such that it is able to realize several functions.Embodiments of the invention adopt intelligent watch as can Wearable device 400, but be not excluded for using other wearable devices, as long as enable in the present invention unmanned plane 200 from motion tracking Purpose.

Second aspect, based on above-mentioned unmanned plane 200 from the method for motion tracking, the unmanned plane 200 of the embodiment of the present invention interior The block schematic illustration of portion's structure is as shown in Figure 3, comprising: acquisition module 201, judge module 202, resolving module 203, positioning switching Module 204, flight module 205 and taking module 206.

Acquisition module 201, obtains the information characterizing unmanned plane position and attitude by built-in sensors；

Specifically, the information of described unmanned plane 200 position and attitude at least includes unmanned plane roll angle, the angle of pitch, course Angle and to ground level.

According to the acceleration change value of measurement, angle change value, deflection, introduce coordinate system, such as geocentric inertial coordinate system, Terrestrial coordinate system etc., sets up transition matrix, carries out attitude algorithm, draws unmanned plane 200 roll angle, the angle of pitch, the appearance of course angle State angle, described computation can be Quaternion Method, Euler's horn cupping etc., and concrete calculation method is the conventional techniques of this area, Here is omitted.

In embodiments of the invention, described distance measuring sensor measures the high over the ground of unmanned plane 200 taking laser sensor as a example Degree, described laser transmitter projects laser beam to ground, reach, by measuring laser beam, the time delay that ground returns again to, calculate no Man-machine 200 with the distance on ground i.e. to ground level.The present invention does not limit to distance measuring sensor, can for infrared distance sensor, Radar range finding sensor or ultrasonic distance-measuring sensor etc., if enable measure unmanned plane to ground level.

Judge module 202, judges whether current and wearable device 400 distance belongs to predeterminable range；

It will be appreciated by those skilled in the art that, unmanned plane 200 is obtained from body flight coordinate and wearable device 400 Geographical location information is the precondition of track up, if for a long time electric energy extremely will be lost using gps global positioning system, The endurance making unmanned plane 200 weakens significantly because gps alignment system can continuous search of satellite, constantly adjustment positioning Precision.Therefore, in embodiments of the invention, first the relative distance of unmanned plane 200 and wearable device 400 is judged, When this distance default less than unmanned plane apart from when, preferentially adopt short distance positioning, such as ultrasonic locating, ultra broadband positioning, penetrate Frequency positioning etc..Described predeterminable range is set according to the distance that the short distance positioning mode selecting is suitable for.When unmanned plane 200 During with the distance of wearable device 400 not in default scope, automatically switch to gps global positioning system.Thus, ensureing The effect improving unmanned plane 200 endurance is reached on the premise of positioning precision.

Specifically, the concrete block diagram of described judge module 202 is as shown in Figure 4, comprising:

Transmitting element 2021, sends call signal to wearable device；

Resolution unit 2022, receives the answer signal of wearable device feedback and according to transmission call signal and reception response The delay inequality of signal calculates current distance value；

Judging unit 2023, judges whether current distance value meets predeterminable range.

In embodiments of the invention, measurement unmanned plane 200 is current and wearable device 400 apart from when, can adopt above-mentioned The laser ranging method to ground level for the measurement；Should be noted when, from measurement unmanned plane to unlike ground level, need to wear Wear configuration laser pickoff on equipment 400, transmitting element 2021 sends laser beam to wearable device 400, wearable device 400 On laser pickoff receive this laser beam and feed back to unmanned plane 200, resolution unit 2022 according to laser beam send and return To unmanned plane and the time-delay calculation that receives draws the distance of unmanned plane 200 and wearable device 400.Finally, judge that this distance is No meet default distance, described predeterminable range determines according to positioning mode.

Resolve module 203, if so, obtain wearable device 400 information, in conjunction with characterizing unmanned plane 200 position and attitude Information calculates unmanned plane real-time flight coordinate and with wearable device 400 real-time geographical locations information and sends this information to move Dynamic terminal unit 300；

When the current distance with wearable device 400 of unmanned plane 200 meets predeterminable range, as described above, can adopt such as The positioning modes such as ultrasonic locating, ultra broadband positioning, radio frequency positioning, taking radio frequency positioning as a example, obtain wearable device 400 first Information, by unmanned plane radiofrequency launcher launch radiofrequency signal to wearable device 400, penetrating on wearable device 400 Frequency receptor receives and responds this radiofrequency signal, and radio frequency receiver receives this response signal and carries out parsing acquisition wearable device 400 information.Further, calculate unmanned plane 200 real-time flight coordinate in conjunction with the information characterizing unmanned plane position and attitude With wearable device 400 real-time geographical locations information, described solution process is: the distance between witness mark and unknown node (with unmanned plane 200 as reference point, wearable device 400 is unknown node)；Set up equation group according to some distance measurement values；Using section The coordinate that point location Algorithm for Solving goes out unknown point (i.e. wearable device) is estimated；Information according to reference point is (unmanned plane position And attitude information) carry out Coordinate Conversion, draw unmanned plane 200 coordinate.It is to be appreciated that concrete node positioning method is this area Conventional techniques, here is omitted.

Positioning handover module 204, otherwise, is switched to gps global positioning system and obtains unmanned plane real-time flight coordinate simultaneously Receive the information in the sign wearable device geographical position of mobile terminal device transmission；

Flight module 205, in conjunction with unmanned plane real-time flight coordinate with wearable device geographical location information and according to setting Relative distance towards wearable device fly；

Specifically, described combination unmanned plane 200 real-time flight coordinate and wearable device 400 geographical location information basis The step that the relative distance setting is flown towards wearable device 400, comprising: unmanned plane is set by mobile terminal device 300 Relative distance with wearable device 400.

Specifically, the concrete block diagram of described flight module 205 is as shown in Figure 5, comprising:

Information acquisition unit 2051, gathers surrounding obstacle information by ultrasonic sensor；Preferably, the reality of the present invention Apply example and adopt avoiding obstacles by supersonic wave technology, before unmanned plane, left and right three directions installation ultrasonic distance measuring module, three sensings Device by gather respectively collection three before, left and right range information, obtain the distance of front, right, left and barrier.

Decision package 2052, parses obstacle information, suspends the geographical location information obtaining wearable device and by adjusting Whole heading avoiding barrier；Described parsing obstacle information is calculated according to default fuzzy rule, described fuzzy The partly rule of rule is as follows: if front, left and right relatively near, flies afterwards to the right；If front, left relatively near, the right side is farther out, front winged to the right OK；If front, right relatively near, a left side farther out, then to left front flight；The described reckoning process i.e. exhaustion judgement to described fuzzy rule.Logical Cross and calculate the heading drawing unmanned plane avoiding barrier, now will certainly deviate the direction towards wearable device 200, because This, in avoiding barrier, stop obtaining the geographical location information of wearable device, leading avoiding barrier, with unmanned first The safety of machine is overriding concern.

Recovery unit 2053, reacquires the geographical location information of unmanned plane during flying coordinate and wearable device, continues court To wearable device flight.After circumventing barrier, reacquire flight coordinate and the wearable device 400 of unmanned plane 200 Geographical location information the step of repeat step 101 to 107, then proceed to fly towards wearable device 400, thus, complete The once process of complete avoiding barrier.

Taking module 206, keeps the relative distance of this setting to be tracked shooting, and the image of shooting is sent to movement Terminal unit or cloud server.

Specifically, in described taking module 206, comprising: unmanned plane can be by around the surrounding flown in wearable device Shot.It is to be appreciated that unmanned plane 200 can wearable device 400 surrounding around flight shoot, for example, front, In front of rear, side, the position such as side rear is tracked to the wearer of wearable device 400 shooting.Meanwhile, can be according to actual feelings Condition is flown, for example described previously, can voluntarily avoiding barrier, intelligence degree is high.

The third aspect, based on above-mentioned unmanned plane 200 from the method for motion tracking, the embodiment of the present invention provides a kind of mobile terminal Equipment 300, the block schematic illustration of the internal structure of described mobile terminal device 300 is as shown in Figure 6, comprising: sign module 301, Apart from setting module 302, display module 303.

Indicate module 302, when the distance of unmanned plane and wearable device belongs to predeterminable range, receive unmanned plane transmission The geographical location information of wearable device is simultaneously indicated in electronic chart；

Otherwise, receive wearable device transmission sign its geographical position information indicated in electronic chart and incited somebody to action This geographical location information sends to unmanned plane.

Apart from setting module 302, set the distance of unmanned plane and wearable device；

Specifically, described mobile terminal device 300 sets unmanned plane 200 and wearable device by parameter input control 400 relative distance, relative altitude.On mobile terminal device 300 install be used for realize unmanned plane 200 auto-tracking shooting side The application program of method, this application program is added with the relative distance of input unmanned plane 200 and wearable device 400, relative high Three parametric contol of degree, user can by input different state modulator unmanned planes 200 relative with wearable device 400 away from From, relative altitude.For example, set relative distance as 5 meters, then unmanned plane 200 is by current and wearable device 400 distance flight To 5 meters from wearable device of position.

Display module 303, receives the image of unmanned plane 200 shooting and is shown on screen.

Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description, Device and the specific work process of unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.

It should be understood that disclosed system in several embodiments provided herein, apparatus and method are permissible Realize by another way.For example, device embodiment described above is only schematically, for example, described unit Divide, only a kind of division of logic function, actual can have other dividing mode when realizing, for example multiple units or assembly Can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not execute.Another, shown or The coupling each other discussing or direct-coupling or communication connection can be by some interfaces, the indirect coupling of device or unit Close or communicate to connect, can be electrical, mechanical or other forms.

The described unit illustrating as separating component can be or may not be physically separate, show as unit The part showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.The mesh to realize this embodiment scheme for some or all of unit therein can be selected according to the actual needs 's.

In addition, can be integrated in a processing unit in each functional unit in each embodiment of the present invention it is also possible to It is that unit is individually physically present it is also possible to two or more units are integrated in a unit.Above-mentioned integrated list Unit both can be to be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.

One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can Completed with the hardware instructing correlation by program, this program can be stored in a computer-readable recording medium, storage Medium may include that read only memory (rom, read only memory), random access memory (ram, random Access memory), disk or CD etc..

Generally, the technical scheme that the present invention provides is summarized as follows:

A1, a kind of method of unmanned plane track up, comprise the steps:

Otherwise, it is switched to alignment system to obtain unmanned plane real-time flight coordinate and receive the table of mobile terminal device transmission Levy the information in wearable device geographical position；

A2, the method according to claim a1, the information of described unmanned plane position and attitude at least includes unmanned plane Roll angle, the angle of pitch, course angle and to ground level.

A3, the method according to claim a1, described judge whether current distance belongs to predeterminable range, if so, obtain Take in the step of wearable device information, comprising:

Send call signal to wearable device；

Judge whether current distance value meets predeterminable range.

A4, the method according to claim a1, described combination unmanned plane real-time flight coordinate and wearable device ground Reason positional information the step flown towards wearable device according to the relative distance setting, comprising: by mobile terminal device Set the relative distance of unmanned plane and wearable device.

A5, the method according to claim a1, described combination unmanned plane real-time flight coordinate and wearable device ground Reason positional information according in the step flown towards wearable device of relative distance setting, comprising:

Surrounding obstacle information is gathered by ultrasonic sensor；

A6, the method according to claim a1, the relative distance of described this setting of holding is tracked the step shooting In rapid, comprising: adjust the relative altitude of unmanned plane and wearable device by mobile terminal device.

A7, the method according to claim a1, the relative distance of described this setting of holding is tracked the step shooting In rapid, comprising: unmanned plane can be by being shot in the surrounding of wearable device around flight.

A8, the method according to claim a1, the camera head that described unmanned plane passes through to be attached to gathers shadow Picture is simultaneously stored in storage card or/and is sent to mobile terminal device or cloud server by wireless transmission method.

A9, the method according to claim a8, the camera head on described unmanned plane sets toward wearable all the time Standby.

B10, a kind of unmanned plane, comprising:

Switching locating module, otherwise, is switched to alignment system and obtains unmanned plane real-time flight coordinate and receive mobile whole The information in the sign wearable device geographical position of end equipment transmission；

B11, the unmanned plane according to claim b10, the information of described unmanned plane position and attitude is at least included no Man-machine roll angle, the angle of pitch, course angle and to ground level.

B12, the unmanned plane according to claim b10, described judge module specifically includes:

Transmitting element, sends call signal to wearable device；

B13, the unmanned plane according to claim b10, in described flight module, comprising: by mobile terminal device Set the relative distance of unmanned plane and wearable device.

B14, the unmanned plane according to claim b10, in described flight module, comprising:

B15, the unmanned plane according to claim b10, described taking module includes: is adjusted by mobile terminal device Unmanned plane and the relative altitude of wearable device.

B16, the unmanned plane according to claim b10, in described taking module, comprising: unmanned plane can pass through cincture Flight is shot in the surrounding of wearable device..

B17, unmanned plane described in the unmanned plane according to claim b10 pass through the camera head collection being attached to Image is simultaneously stored in storage card or/and is sent to mobile terminal device or cloud server by wireless transmission method.

B18, the unmanned plane according to claim b17, the camera head on described unmanned plane is all the time toward can wear Wear equipment.

C19, a kind of method of unmanned plane auto-tracking shooting, comprise the steps:

Set the relative distance of unmanned plane and wearable device；

Receive the image of unmanned plane shooting and be shown on screen.

C20, the method according to claim c19, described mobile terminal device is looked into by screen control button switching See that image is play and is labeled with any one picture in the electronic chart of geographical location information.

C21, the method according to claim c19, its geographical location information of sign of described wearable device transmission Data specifically include:

C22, the method according to claim c21, when wearable device is in networking state, described wearable set Standby positioning by gps obtains current geographic position information with architecture.

C23, the method according to claim c19, described mobile terminal device passes through parameter input control and sets no Man-machine relative distance with wearable device, relative altitude.

C24, the method according to claim any one of c19 to c23, described wearable device is intelligent watch.

D25, a kind of mobile terminal device, comprising:

D26, the mobile terminal device according to claim d25, described mobile terminal device is pressed by screen control Button switching checks that image is play and is labeled with any one picture in the map of geographical location information.

D27, the mobile terminal device according to claim d25, its geography of sign of described wearable device transmission The data of positional information specifically includes:

D28, the mobile terminal device according to claim d27, when wearable device is in networking state, described Wearable device obtains current geographic position information by gps positioning and architecture.

D29, the mobile terminal device according to claim d25, described mobile terminal device inputs control by parameter The relative distance of part setting unmanned plane and wearable device, relative altitude.

D30, the mobile terminal device according to claim any one of d25 to d29, described wearable device is intelligence Wrist-watch.

In sum, in the scheme that the present invention provides, unmanned plane obtains self-position and attitude letter by built-in sensors Cease and judge whether current and wearable device distance meets default distance, if so, then obtain the information of wearable device, Calculate the geographical location information of the machine flight coordinate and wearable device in conjunction with self-position and attitude information, then, in conjunction with The machine flight coordinate and wearable device geographical location information are tracked shooting；If the current distance with wearable device is not inconsistent Close predeterminable range to be then switched to gps global positioning system and positioned, obtain the flight coordinate of the machine and receive mobile terminal and set The data of the sign wearable device geographical location information of standby transmission, then, in conjunction with the machine flight coordinate and wearable device ground Reason positional information is tracked shooting；Thus, achievable unmanned plane voluntarily switches according to the distance with wearable device distance and determines Position mode, it is to avoid use gps positioning loss electric energy for a long time, extend the endurance of unmanned plane.

During unmanned plane track up, mobile terminal device receive respectively unmanned plane and wearable device transmission Characterize the geographical location information of wearable device and synchronous marking is on electronic chart, user can be by shielding on mobile terminal device Any one picture in the geographical location information of curtain control knob real time inspection unmanned plane filmed image and wearable device, with When, also can set and adjust relative distance, the relative altitude of unmanned plane and wearable device by parameter input control.

By above scheme, child only need to carry or dress wearable device, and unmanned plane can be achieved with from motion tracking child And it is shot, unmanned plane need not be manipulated special manipulator, and adult only need to by mobile terminal device just Whereabouts and the behavior expression of child can be viewed, intelligence degree is high, is easy to the use of user.

The above is only some embodiments of the present invention it is noted that ordinary skill people for the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims

1. a kind of method of unmanned plane track up is it is characterised in that comprise the steps:

Judge whether current and wearable device distance belongs to predeterminable range, if so, obtain wearable device information, in conjunction with table Levy unmanned plane position and the information of attitude calculates unmanned plane real-time flight coordinate and wearable device real-time geographical locations information And send this information to mobile terminal device；

Otherwise, it is switched to gps global positioning system to obtain unmanned plane real-time flight coordinate and receive mobile terminal device transmission Sign wearable device geographical position information；

In conjunction with unmanned plane real-time flight coordinate and wearable device geographical location information and according to the relative distance setting towards can Wearable device flies；

The relative distance keeping this setting is tracked shooting, and the image of shooting is sent to mobile terminal device or high in the clouds clothes Business device.

2. method according to claim 1 is it is characterised in that described judge whether current distance belongs to predeterminable range, if It is to obtain in the step of wearable device information, comprising:

Send call signal to wearable device；

Receive the answer signal of wearable device feedback and resolved according to the delay inequality sending call signal with receive answer signal Go out current distance value；

Judge whether current distance value meets predeterminable range.

3. method according to claim 1 is it is characterised in that described combination unmanned plane real-time flight coordinate is set with wearable Standby geographical location information the step flown towards wearable device according to the relative distance setting, comprising: by mobile terminal Equipment sets the relative distance of unmanned plane and wearable device.

4. method according to claim 1 is it is characterised in that described combination unmanned plane real-time flight coordinate is set with wearable In standby geographical location information the step flown towards wearable device according to the relative distance setting, comprising:

Surrounding obstacle information is gathered by ultrasonic sensor；

Parsing obstacle information, suspends the geographical location information obtaining wearable device and hides obstacle by adjusting heading Thing；

Reacquire the geographical location information of unmanned plane during flying coordinate and wearable device, continue towards wearable device flight.

5. method according to claim 1 is it is characterised in that the relative distance of described this setting of holding is tracked shooting Step in, comprising: adjust the relative altitude of unmanned plane and wearable device by mobile terminal device.

6. method according to claim 1 is it is characterised in that the relative distance of described this setting of holding is tracked shooting Step in, comprising: unmanned plane can be by be shot in the surrounding of wearable device around flight.

7. method according to claim 1 is it is characterised in that the camera head that described unmanned plane passes through to be attached to is adopted Collection image is simultaneously stored in storage card or/and is sent to mobile terminal device or cloud server by wireless transmission method.

8. a kind of unmanned plane is it is characterised in that include:

Resolve module, if so, obtain wearable device information, calculate in conjunction with the information characterizing unmanned plane position and attitude unmanned Machine real-time flight coordinate with wearable device real-time geographical locations information and sends this information to mobile terminal device；

Switching locating module, otherwise, is switched to gps global positioning system and obtains unmanned plane real-time flight coordinate and receive movement The information in the sign wearable device geographical position of terminal unit transmission；

Flight module, in conjunction with unmanned plane real-time flight coordinate with wearable device geographical location information and according to set relative away from Fly from towards wearable device；

Taking module, keeps the relative distance of this setting to be tracked shooting, and the image of shooting is sent to mobile terminal setting Standby or cloud server.

9. a kind of method of unmanned plane auto-tracking shooting is it is characterised in that comprise the steps:

When the distance of unmanned plane and wearable device belongs to predeterminable range, receive the geography of the wearable device of unmanned plane transmission Positional information is simultaneously indicated in electronic chart；

Otherwise, the information receiving its geographical position of sign of wearable device transmission is indicated and by this ground in electronic chart Reason positional information sends to unmanned plane；

Set the relative distance of unmanned plane and wearable device；

Receive the image of unmanned plane shooting and be shown on screen.

10. a kind of mobile terminal device is it is characterised in that include:

Indicate module, if current distance belongs to predeterminable range, receive the geographical position letter of the wearable device of unmanned plane transmission Breath is simultaneously indicated in electronic chart；