CN106657907A - Electronic information field multi-UAV (Unmanned Aerial Vehicle) cooperative tracking photographing system and photographing method - Google Patents
Electronic information field multi-UAV (Unmanned Aerial Vehicle) cooperative tracking photographing system and photographing method Download PDFInfo
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- CN106657907A CN106657907A CN201611153756.5A CN201611153756A CN106657907A CN 106657907 A CN106657907 A CN 106657907A CN 201611153756 A CN201611153756 A CN 201611153756A CN 106657907 A CN106657907 A CN 106657907A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses an electronic information field multi-UAV (Unmanned Aerial Vehicle) cooperative tracking photographing system and a photographing method in the technical field of electronic information. The electronic information field multi-UAV cooperative tracking photographing system comprises a master UAV terminal, a cooperative system, a slave UAV terminal, a data transmission unit and a processing terminal, wherein the master UAV terminal and the slave UAV terminal are electrically connected bi-directionally through the cooperative system, and both the master UAV terminal and the slave UAV terminal are electrically connected with the data transmission unit bi-directionally. According to the electronic information field multi-UAV cooperative tracking photographing system and the photographing method provided by the invention, the master UAV terminal and the slave UAV terminal are adopted to perform acquisition on image and video information, and the master UAV terminal and the slave UAV terminal perform cooperative photographing through the cooperative system, so that omnidirectional photographing for a tracking target is ensured, the photographed information is transmitted to a processing terminal through the data transmission unit, the processing terminal processes and stores the image information, and the photographing efficiency is improved.
Description
Technical field
The present invention relates to electronic information technical field, specially a kind of electronic information field multiple no-manned plane collaboration track up
System and image pickup method.
Background technology
UAV referred to as " unmanned plane ", english abbreviation is " UAV ", using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus is manipulated, unmanned plane is capable of achieving the collection of high resolution image, is making up satellite remote sensing Jing
While often acquisition less than image shortcoming because of cloud cover, it is long to solve conventional satellite remote sensing revisiting period, meets an urgent need not in time
The problems such as.Now with the day by day development of unmanned air vehicle technique of taking photo by plane, unmanned plane of taking photo by plane more and more is applied in the daily of people
In life, but present unmanned plane cluster of taking photo by plane is taken photo by plane, research is ripe not enough, it is impossible to collect omnibearing image information,
And when image is gathered, the efficiency gathered by single unmanned plane is too low, and the effect of monitoring collection is bad, for this purpose, it is proposed that
A kind of electronic information field multiple no-manned plane collaboration track up system and image pickup method.
The content of the invention
It is an object of the invention to provide a kind of electronic information field multiple no-manned plane collaboration track up system and shooting side
Method, to solve above-mentioned background technology in the research but present unmanned plane cluster of taking photo by plane is taken photo by plane that proposes it is ripe not enough, it is impossible to
Omnibearing image information is collected, and when image is gathered, the efficiency gathered by single unmanned plane is too low, monitoring collection
The bad problem of effect.
For achieving the above object, the present invention provides following technical scheme：A kind of collaboration of electronic information field multiple no-manned plane with
Track camera system, including main unmanned plane terminal, cooperative system, from unmanned plane terminal data transmission unit and processing terminal, it is described
Main unmanned plane terminal and from unmanned plane terminal by the two-way electric connection of cooperative system, the main unmanned plane terminal and from nobody
Machine terminal is electrically connected with the two-way electric connection of data transmission unit, the data transmission unit and processing terminal two-wire.
Preferably, the main unmanned plane terminal and from unmanned plane terminal include image acquisition subsystem and target tracking
System, described image acquisition subsystem gathers pictorial information and video information by ball machine camera or gunlock camera.
Preferably, the target tracking subsystem includes Object Snap unit, the output end electricity of the Object Snap unit
Property connection Real-time Collection unit input, the input of the output end electrically connected processing device of the Real-time Collection unit, institute
The output end for stating processor is electrically connected with the input of driver element, and the output end of the driver element is electrically connected with servo control mechanism
Input, the output end of the servo control mechanism is electrically connected with the input of flight controller.
Preferably, the data transmission unit includes data acquisition module, and the output end of the data acquisition module is electrical
The input of connection radio receiving transmitting module, the output end of the radio receiving transmitting module is electrically connected with the input of internet.
Preferably, the cooperative system includes signal gathering unit, and the output end of the signal gathering unit is electrically connected with
The input of signal modulation unit, the output end of the signal modulation unit is electrically connected with the input of Collaborative Control unit, institute
The output end for stating Collaborative Control unit is electrically connected with the input of CPU, and the output end of the CPU is electrically connected with data storage
The input of unit and data transceiving unit.
Preferably, the processing terminal includes graphics processing unit, display unit, memory cell and control unit, wherein
The function of described image processing unit is：Precorrection is carried out to main unmanned plane terminal and from the image of unmanned plane terminal collection, it is right
The image for having overlapping region is merged, and image difference is obtained by the start window coupled system clock of every two field picture, right
Main unmanned plane terminal and the video information from the collection of unmanned plane terminal carry out three-dimensional rendering, realize that D is changed, described control unit
Function is：Remote control, including collection figure are carried out to main unmanned plane terminal and from unmanned plane terminal operating status and the method for operation
Picture and the conversion of position.
Preferably, the display unit includes OLED display screen, can complete the reception to image and video data, and
Data are carried out with the process of real-time storage, diminution and form conversion.
Preferably, the image pickup method of the electronic information field multiple no-manned plane collaboration track up system comprises the steps：
S1：Main unmanned plane terminal and the position from unmanned plane terminal are recorded, and by main unmanned plane terminal and from unmanned plane end
The positional information at end is transmitted to processing terminal and stored by data transmission unit；
S2：Track up object is chosen, by main unmanned plane tracking terminal reference object, is changed by target tracking subsystem
Become location tracking reference object, if main unmanned plane terminal tracing is less than tracking object, by shooting right from unmanned plane tracking terminal
As being sent to main unmanned plane terminal by positional information between service system；
S3：The pictorial information and video information of tracking object are gathered by image acquisition subsystem, and by pictorial information and
Video information is transmitted to processing terminal by data transmission unit；
S4：The image that processing terminal shoots carries out precorrection, and the image to there is overlapping region carries out fusion and video is entered
Row three-dimensional rendering, realizes that D is changed, and is shown by display unit；
S5：The availability of information is judged by the video information and image information of collection, if information availability is not high, is passed through
Control unit controls main unmanned plane terminal and the change from unmanned plane terminal position.
Compared with prior art, the invention has the beneficial effects as follows：A kind of electronic information field that the invention is proposed more nobody
Machine cooperates with track up system and image pickup method, and using main unmanned plane terminal and from unmanned plane terminal image and video information are carried out
Collection, and main unmanned plane terminal and collaboration shooting is carried out by cooperative system from unmanned plane terminal, so as to ensure that to following the trail of
The omnibearing shooting of target, the information of shooting transmits information to processing terminal, processing terminal figure by data transmission unit
As information is processed and is stored, shooting efficiency is improve.
Description of the drawings
Fig. 1 is principle of the invention block diagram；
Fig. 2 is cooperative system theory diagram of the present invention；
Fig. 3 is target tracking subsystem theory diagram of the present invention；
Fig. 4 is image pickup method flow chart of the present invention.
In figure：1 unmanned plane terminal, 2 are believed from unmanned plane terminal, 3 data transmission units, 4 processing terminals, 5 cooperative systems, 51
Number collecting unit, 52 signal modulation units, 53 Collaborative Control units, 54CPU, 55 data storage cells, 56 data transceiving units,
6 image acquisition subsystems, 7 target tracking subsystems, 71 Object Snap units, 72 Real-time Collection units, 73 processors, 74 drive
Unit, 75 servo control mechanisms, 76 flight controllers, 8 data acquisition modules, 9 radio receiving transmitting modules, 10 internets, 11 image procossings
Unit, 12 display units, 13 memory cell, 14 control units.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-4 are referred to, the present invention provides a kind of technical scheme：A kind of electronic information field multiple no-manned plane collaboration tracking is clapped
Take the photograph system, including main unmanned plane terminal 1, cooperative system 5, from the data transmission unit 3 of unmanned plane terminal 2 and processing terminal 4, main nothing
Man-machine terminal 1 and from unmanned plane terminal 2 by the two-way electric connection of cooperative system 5, main unmanned plane terminal 1 and from unmanned plane end
End 2 is electrically connected with the two-way electric connection of data transmission unit 3, data transmission unit 3 and the two-wire of processing terminal 4, leads nobody
Machine terminal 1 and from unmanned plane terminal 2 by the two-way electric connection of cooperative system 5, realize main unmanned plane terminal 1 and from unmanned plane
The collaborative work of terminal 2, main unmanned plane terminal 1 and from unmanned plane terminal 2 by data transmission unit 3 by information and data transfer
To processing terminal 4, the data of 4 pairs of collections of processing terminal are processed.
Wherein, main unmanned plane terminal 1 and image acquisition subsystem 6 and target tracking subsystem are included from unmanned plane terminal 2
System 7, image acquisition subsystem 6 gathers pictorial information and video information, target tracking by ball machine camera or gunlock camera
Subsystem 7 includes Object Snap unit 71, and the output end of Object Snap unit 71 is electrically connected with the input of Real-time Collection unit 72
End, the input of the output end electrically connected processing device 73 of Real-time Collection unit 72, the output end of processor 73 is electrically connected with drives
The input of moving cell 74, the output end of driver element 74 is electrically connected with the input of servo control mechanism 75, servo control mechanism 75 it is defeated
Go out the input that end is electrically connected with flight controller 76, pictorial information and video are gathered by ball machine camera or gunlock camera
Information, by specific objective information through image acquisition subsystem 6, by target tracking subsystem 7 tracking of specific objective is realized,
Real-time Collection unit 72 is Real-time Collection to specific objective information, and processor 73 goes out the information of collection and processed and analyzed and made
Go out control, the servo control mechanism 75 of unmanned plane driven by driver element 74, the position of unmanned plane is changed by flight controller 76,
So as to guarantee to collect clearly image；
Data transmission unit 3 includes data acquisition module 8, and the output end of data acquisition module 8 is electrically connected with wireless receiving and dispatching
The input of module 9, the output end of radio receiving transmitting module 9 is electrically connected with the input of internet 10；Data acquisition module 8 is gathered
Main unmanned plane terminal 1 and the information from the collection of unmanned plane terminal 2, radio receiving transmitting module 9 realizes the wireless receiving and dispatching of information, internet
10 realize data efficient and safe transmission；
Cooperative system 5 includes signal gathering unit 51, and the output end of signal gathering unit 51 is electrically connected with signal modulation list
The input of unit 52, the output end of signal modulation unit 52 is electrically connected with the input of Collaborative Control unit 53, Collaborative Control list
The output end of unit 53 is electrically connected with the input of CPU54, and the output end of CPU54 is electrically connected with the sum of data storage cell 55
According to the input of Transmit-Receive Unit 56, the collection synergistic signal of signal gathering unit 51, by tune of the signal modulation unit 52 to signal
System, the collaboration of the control signal of Collaborative Control unit 53 realizes the distribution and reception of data by data transceiving unit 56, and data are deposited
The data storage information of storage unit 55；
Processing terminal 4 includes graphics processing unit 11, display unit 12, memory cell 13 and control unit 14, wherein scheming
As the function of processing unit 11 is：Precorrection is carried out to main unmanned plane terminal 1 and from the image of the collection of unmanned plane terminal 2, to having
The image of overlapping region is merged, and obtains image difference by the start window coupled system clock of every two field picture, to master
Unmanned plane terminal 1 and the video information from the collection of unmanned plane terminal 2 carry out three-dimensional rendering, realize that 3D is changed, display unit 12
Function is：For by the image information display after process, out, display unit 12 to include OLED display screen, can complete to image
With the reception of video data, and data are carried out with real-time storage, reduce and form conversion process, display unit 12 includes
OLED display screen, can complete the reception to image and video data, and data is carried out with real-time storage, is reduced and form turn
The process changed, the function of memory cell 13 is：Main unmanned plane terminal 1 and from the positional information of unmanned plane terminal 2 and image information
Stored, be easy to later inquiry and use, the function of control unit 14 is：To main unmanned plane terminal 1 and from unmanned plane end
2 working conditions and the method for operation is held to carry out remote control, including the conversion of collection image and position.
The present invention also provides the image pickup method that a kind of electronic information field multiple no-manned plane cooperates with track up system, the electronics
The image pickup method of message area multiple no-manned plane collaboration track up system comprises the steps：
S1：Main unmanned plane terminal 1 and the position from unmanned plane terminal 2 are recorded, and by main unmanned plane terminal 1 and from unmanned plane
The positional information of terminal 2 is transmitted to processing terminal 4 and stored by data transmission unit 3；
S2：Track up object is chosen, by the track up object of main unmanned plane terminal 1, by target tracking subsystem 7
Change location tracking reference object, if main unmanned plane terminal 1 is followed the trail of less than tracking object, by clapping from the tracking of unmanned plane terminal 2
Object is taken the photograph, main unmanned plane terminal 1 is sent to by positional information between service system；
S3：The pictorial information and video information of tracking object are gathered by image acquisition subsystem 6, and by pictorial information and
Video information is transmitted to processing terminal 4 by data transmission unit 3；
S4：Processing terminal 4 shoot image carry out precorrection, the image to there is overlapping region carry out fusion and, to video
Three-dimensional rendering is carried out, realizes that 3D is changed, shown by display unit 12；
S5：The availability of information is judged by the video information and image information of collection, if information availability is not high, is passed through
Control unit 14 controls main unmanned plane terminal 1 and carries out the change of position from unmanned plane terminal 2.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (8)
1. a kind of electronic information field multiple no-manned plane cooperates with track up system, including main unmanned plane terminal (1), cooperative system
(5), from unmanned plane terminal (2) data transmission unit (3) and processing terminal (4), it is characterised in that：The main unmanned plane terminal
(1) and from unmanned plane terminal (2) by the two-way electric connection of cooperative system (5), the main unmanned plane terminal (1) and from nobody
Machine terminal (2) with the two-way electric connection of data transmission unit (3), the data transmission unit (3) and processing terminal (4) two-wire
It is electrically connected with.
2. a kind of electronic information field multiple no-manned plane according to claim 1 cooperates with track up system, it is characterised in that：
The main unmanned plane terminal (1) and include image acquisition subsystem (6) and target tracking subsystem from unmanned plane terminal (2)
(7), described image acquisition subsystem (6) gathers pictorial information and video information by ball machine camera or gunlock camera.
3. a kind of electronic information field multiple no-manned plane according to claim 2 cooperates with track up system, it is characterised in that：
The target tracking subsystem (7) includes Object Snap unit (71), and the output end of the Object Snap unit (71) electrically connects
Connect the input of Real-time Collection unit (72), output end electrically connected processing device (73) of the Real-time Collection unit (72) it is defeated
Enter end, the output end of the processor (73) is electrically connected with the input of driver element (74), the driver element (74) it is defeated
Go out the input that end is electrically connected with servo control mechanism (75), the output end of the servo control mechanism (75) is electrically connected with flight controller
(76) input.
4. a kind of electronic information field multiple no-manned plane according to claim 1 cooperates with track up system, it is characterised in that：
The data transmission unit (3) includes data acquisition module (8), and the output end of the data acquisition module (8) is electrically connected with nothing
The input of line transceiver module (9), the output end of the radio receiving transmitting module (9) is electrically connected with the input of internet (10).
5. a kind of electronic information field multiple no-manned plane according to claim 1 cooperates with track up system, it is characterised in that：
The cooperative system (5) includes signal gathering unit (51), and the output end of the signal gathering unit (51) is electrically connected with signal
The input of modulating unit (52), the output end of the signal modulation unit (52) is electrically connected with the defeated of Collaborative Control unit (53)
Enter end, the output end of the Collaborative Control unit (53) is electrically connected with the input of CPU (54), the output end of the CPU (54)
It is electrically connected with the input of data storage cell (55) and data transceiving unit (56).
6. a kind of electronic information field multiple no-manned plane according to claim 1 cooperates with track up system, it is characterised in that：
The processing terminal (4) includes graphics processing unit (11), display unit (12), memory cell (13) and control unit (14),
The function of wherein described image processing unit (11) is：To main unmanned plane terminal (1) and the image from unmanned plane terminal (2) collection
Precorrection is carried out, the image to there is overlapping region merges, and obtained by the start window coupled system clock of every two field picture
Image difference is obtained, to main unmanned plane terminal (1) and from the video information of unmanned plane terminal (2) collection three-dimensional rendering is carried out, realized
3D is changed, and the function of described control unit (14) is：To main unmanned plane terminal (1) and from unmanned plane terminal (2) working condition and
The method of operation carries out remote control, including the conversion of collection image and position.
7. a kind of electronic information field multiple no-manned plane according to claim 6 cooperates with track up system, it is characterised in that：
The display unit (12) includes OLED display screen, can complete the reception to image and video data, and data are carried out
The process of real-time storage, diminution and form conversion.
8. a kind of electronic information field multiple no-manned plane cooperates with the image pickup method of track up system, it is characterised in that：The e-mail
The image pickup method of breath field multiple no-manned plane collaboration track up system comprises the steps：
S1：Main unmanned plane terminal (1) and the position from unmanned plane terminal (2) are recorded, and by main unmanned plane terminal (1) and from nobody
The positional information of machine terminal (2) is transmitted to processing terminal (4) and stored by data transmission unit (3)；
S2：Track up object is chosen, by main unmanned plane terminal (1) track up object, by target tracking subsystem (7)
Change location tracking reference object, if main unmanned plane terminal (1) follow the trail of less than tracking object, by from unmanned plane terminal (2) with
Track reference object, by positional information between service system main unmanned plane terminal (1) is sent to；
S3：The pictorial information and video information of tracking object are gathered by image acquisition subsystem (6), and by pictorial information and is regarded
Frequency information is transmitted to processing terminal (4) by data transmission unit (3)；
S4：The image that processing terminal (4) shoots carries out precorrection, and the image to there is overlapping region carries out fusion and video is entered
Row three-dimensional rendering, realizes that 3D is changed, and is shown by display unit (12)；
S5：The availability of information is judged by the video information and image information of collection, if information availability is not high, by control
Unit (14) controls main unmanned plane terminal (1) and carries out the change of position from unmanned plane terminal (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611153756.5A CN106657907A (en) | 2016-12-14 | 2016-12-14 | Electronic information field multi-UAV (Unmanned Aerial Vehicle) cooperative tracking photographing system and photographing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611153756.5A CN106657907A (en) | 2016-12-14 | 2016-12-14 | Electronic information field multi-UAV (Unmanned Aerial Vehicle) cooperative tracking photographing system and photographing method |
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| CN108513708A (en) * | 2017-06-30 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Video data processing method and video data processing system |
| CN108769532A (en) * | 2018-06-22 | 2018-11-06 | 东莞富莱文化传播有限公司 | A kind of unmanned plane advertising shooting method |
| CN110687930A (en) * | 2019-10-15 | 2020-01-14 | 中国航空无线电电子研究所 | Multi-user collaborative planning system |
| CN112362068A (en) * | 2020-12-04 | 2021-02-12 | 浙江煤炭测绘院有限公司 | Unmanned aerial vehicle surveying and mapping method, device and system |
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Application publication date: 20170510 |
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