CN106791418A - A kind of free-standing holder for aerial photographing system and its control method - Google Patents
A kind of free-standing holder for aerial photographing system and its control method Download PDFInfo
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- CN106791418A CN106791418A CN201611256010.7A CN201611256010A CN106791418A CN 106791418 A CN106791418 A CN 106791418A CN 201611256010 A CN201611256010 A CN 201611256010A CN 106791418 A CN106791418 A CN 106791418A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000003384 imaging method Methods 0.000 claims abstract description 43
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 238000005286 illumination Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 239000011521 glass Substances 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
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- 229910052710 silicon Inorganic materials 0.000 description 1
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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
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Accessories Of Cameras (AREA)
Abstract
The invention discloses a kind of free-standing holder for aerial photographing system and its control method, the system of taking photo by plane includes head and ground control station, the head is communicated to connect by way of radio communication with ground control station, the ground control station includes head remote control and is provided with the image received device of display screen, the head is provided with the control box on aerial platform or ground surface platform, the polyaxial pose adjustment executing agency being attached to outside control box and the imaging device installed in the executing agency end, the circuit system of the control box includes independent control unit, gesture stability module, wireless communication module, the part such as sensor assembly and power module.The present invention system of taking photo by plane can not rely on loads electric power system and control system and independence, the operation of stabilization of the machinery such as unmanned plane, can simple and convenient be mounted on different types of mechanical or pylon, better adaptability is particularly suited for unmanned plane.
Description
Technical field
The invention belongs to agriculture and forestry aviation machine technical field, and in particular to one kind can be used for plant protection unmanned plane etc. mechanically
Free-standing head camera system and its control method.
Background technology
Unmanned plane low-altitude remote sensing takes photo by plane yardstick and resolution ratio between satellite remote sensing and ground remote sensing, can effectively make up and defend
The real-time of star remote sensing is poor and resolution ratio shortcoming not high, while have collecting efficiency higher compared with ground remote sensing equipment, just into
It is one of precision agriculture field Hot spots for development.Head, as the platform for carrying camera, is to ensure low-altitude remote sensing IMAQ quality
Critical component, while the characteristic such as the portability of head, ease of handling is unmanned plane low-altitude remote sensing taking photo by plane the important of high efficiency
Guaranteed conditions.
At present, the agricultural application remote sensing unmanned vehicle species used in field of taking photo by plane is more, has rotor by textural classification
Type and fixed aerofoil profile, and rotor type is divided into single rotor type and many rotor types, the installation of the unmanned plane of every kind of structure to head are wanted
Ask and be all not quite similar.Most of existing head is non-freestanding, i.e., by mechanical structure portion and posture control circuit part
Deng constituting, head is powered, pose adjustment control signal transmission etc. depends on the airborne equipment of unmanned plane, if unmanned plane is airborne
Power is smaller, or then the requirement for using normal to head is more harsh without reserved communication port.
The content of the invention
Technical purpose of the invention is to provide a kind of free-standing head camera system and its control method, be agriculture field without
Man-machine remote sensing is taken photo by plane and provides a kind of simple, portable and stable head, and most unmanned aerial vehicle platforms can be coordinated to use,
Can be also used in other machinery or on pylon.
To realize above-mentioned technical purpose, technical scheme disclosed by the invention is：
A kind of free-standing holder for aerial photographing system, including head and ground control station, the head by way of radio communication with
Ground control station is communicated to connect, and the ground control station includes head remote control and is provided with the image received device of display screen, its
It is characterised by：
The head include be fixedly mounted in aerial platform or ground surface platform control box, be attached to it is polyaxial outside control box
Pose adjustment executing agency and the imaging device installed in the executing agency end；
The circuit system of the control box includes consisting of part：
Control unit, is connected respectively with the imaging device, according to the IMAQ trigger signal for receiving, is sent to imaging device
The control signal of image is gathered, and receives the view data of imaging device upload；
Automatic camera control module, is connected with control unit, according to the program of preloading, IMAQ is sent automatically to control unit
Trigger signal；
Gesture stability module, is connected with described control unit, drive from the output order according to control unit to the executing agency
Dynamic equipment sends servo-control signal；
Wireless communication module, including image transmitting signal projector, IMAQ trigger signal receiver and pose adjustment signal
Receiver, control unit is communicated to connect by described image transmission signal transmitter with described image reception device, is earthward controlled
System station transmission image；The head remote control passes through described image trigger collection signal receiver, pose adjustment signal receiver
With described control unit communication connection, the control instruction of ground control station is sent to control unit；
Sensing system, including gyroscope, accelerometer and the course meter being connected with control unit, for monitor aerial platform or
The moving direction and attitude information of ground surface platform；
Power module, is being powered with electrical component, pose adjustment executing agency and the imaging device in control box.
On the basis of such scheme, further improve or preferred scheme also includes：
The automatic camera control module is connected with alignment system, and platform or ground surface platform reach default taking pictures a little in the air
When, send IMAQ trigger signal automatically to described control unit.
The automatic camera control module, the signal output part of IMAQ trigger signal receiver pass through buffer respectively
It is connected with the signal input part of described control unit, the signal of control unit reception is isolated by the buffer and the collection of letters is docked
Number carry out level conversion.
The electricity service condition of user's observing system for convenience, the power module is provided with electric-quantity display device.
The driving equipment of the polyaxial pose adjustment executing agency preferably uses stepper motor.
The IMAQ on-off circuit of the imaging device is turned on by Control, and the relay connects with control unit
Connect.
The drive circuit of the relay is provided with triode, and relay coil is serially connected in the C of power end and the triode
Between colelctor electrode, the E grounded emitters of triode, B base stages are connected with the signal output part of control unit, the power end and three
The diode in parallel with relay coil is additionally provided between pole pipe, anode one end of the diode is connected with triode, negative electrode
One end is connected with power end.
A 3K resistance units are serially connected between the triode and control unit signal output part.
The head is provided with two relays being serially connected in parallel way on imaging device IMAQ on-off circuit, two
IMAQ trigger signal, described image trigger collection signal that the break-make of relay is sent by automatic camera control module respectively
Receiver is controlled to the IMAQ trigger signal that control unit is exported.
A kind of control method for stand alone type holder for aerial photographing system as described above, it is characterised in that including：
One）The machinery or pylon that the aerial platform or ground surface platform will be carried are placed in level ground, make the platform with ground
Face keeping parallelism, head is installed on the platform, and imaging device is fixed on the end of head pose adjustment executing agency；
Two）Start control box, the circuit system in initialization control box；
Three）Imaging device is adjusted to level, according to the height of taking photo by plane that operation is intended carrying out, the height conversion that will take photo by plane is horizontal range,
And intensity of illumination during with reference to operation, a target reference point is set on level ground, by the image-receptive of ground control station
Device is observed the target that imaging device is gathered with reference to dot image, adjusts the aperture and lens focus of imaging device, until
The definition of image received device display screen display image meets requirement；
Four）The mode of operation of setting pose adjustment executing agency, the mode of operation includes locking mode and follow the mode, described
Locking mode is the horizontal shooting angle for controlling imaging device to remain a certain fixation, not with the moving direction change of platform
Change；The follow the mode is to control the horizontal shooting angle of imaging device to remain one with the moving direction of platform
Cause, respective change occurs with the change of platform moving direction；
Five）The mode of operation of imaging device is set, the mode of operation includes fixed point screening-mode, i.e., controls mould in automatic camera
In block, demarcate carries out the geography information coordinate points of IMAQ in advance, when automatic camera control module is obtained according to alignment system
Information, when judging that platform reaches the geography information coordinate points, to control unit send IMAQ triggering letter, and by control
Unit sends to ground control station the image of collection；
Six）Control fog machine is travelled according to setting path, observes the display screen of image received device, manual by head remote control
Control or control system automatically control attitude-adjusting system action, to adjust the shooting angle of imaging device, by head remote control
Triggering or automatic camera control module trigger imaging device collection image to device automatically manually, complete operation of taking photo by plane.
Beneficial effect：
The invention provides a kind of free-standing holder for aerial photographing system and its control method, the other machineries such as unmanned plane can not relied on
Load electric power system and control system control and independence, the operation of stabilization, can simple and convenient be mounted in different types of machine
On tool or pylon, better adaptability, by the image received device of ground control station, at the same solve take pictures during it is not visible
The problem of change, makes the faster effective percentage of work of taking photo by plane, and is particularly suited for plant protection unmanned plane.
Brief description of the drawings
Fig. 1 is the structural representation of system of taking photo by plane of the invention；
Fig. 2 is the local circuit structural representation of control box；
Fig. 3 is the structural representation of control box power module；
Fig. 4 is the schematic diagram of relay drive circuit.
Specific embodiment
In the application, the aerial platform refers to and is mounted in carry-on platform, and the ground surface platform refers to that carrying is
The platform on the pylon of mechanical, mobile or fixed ground travelled on ground, for the technical scheme that the present invention is furture elucidated
And know-why, the present invention is described further with specific embodiment below in conjunction with the accompanying drawings.
In the present embodiment, by taking unmanned plane as an example, its platform for carrying is aerial platform, and one kind as shown in Figure 1 is independent
Formula holder for aerial photographing system, including head and ground control station, the head are led to by way of radio communication with ground control station
Letter connection, the ground control station is including head remote control and is provided with the parts such as the image received device of display screen.
The head is provided with a control box being arranged on unmanned aerial vehicle platform, the axial attitude of three be attached to outside control box and adjusts
Whole executing agency and the imaging device installed in three axial attitudes execution adjustment mechanism ends, in the present embodiment, the imaging sets
Standby to use camera, IMAQ is to take pictures.
Described three axial pose adjustment executing agencies are made up of three miniature precision DC stepper motors and fixed support, and three
The output shaft of individual stepper motor is vertical two-by-two, is capable of achieving to camera in level, roll and the regulation of pitching six-freedom degree.Camera
Mounting seat be arranged on the end of pose adjustment executing agency, the i.e. stepper motor output shaft with regulation camera pitch orientation and join
Connect, camera is fixed in the mounting seat by bandage, the mounting seat of pitch orientation stepper motor is by lightweight aluminium sheet and tune
The stepper motor output shaft connection in section camera roll direction, and the mounting seat of roll direction stepper motor also through lightweight aluminium sheet with
The stepper motor output shaft for adjusting camera horizontal direction is connected, and the mounting seat of horizontal direction stepper motor then passes through lightweight aluminium sheet
Directly couple with the shell of control box.Power line, stepper motor pulse signal control line, camera are taken pictures line trigger signal, image
Signal transmssion line etc. is drawn from control box, is connected with corresponding interface.
The circuit system of the control box includes consisting of part：
1）Control unit, can use single-chip microcomputer（MCU）, it is connected with the imaging device, sent to camera from control unit and taken pictures
Control signal, while receive and store camera upload view data；
2）Automatic camera control module, is connected with control unit, according to the program of preloading, sends image automatically to control unit and adopts
Collection trigger signal；
3）Gesture stability module, the gesture stability module is connected with described control unit, according to the output order of control unit
To the driving equipment of three axial pose adjustment executing agencies（I.e. each stepper motor）Send servo-control signal；
4）Wireless communication module, including image transmitting signal projector, IMAQ trigger signal receiver and pose adjustment letter
Number receiver, the receiving terminal wireless communication connection of described image transmission signal transmitter and described image reception device, control is single
Unit passes through its earthward control station transmission image；Described image trigger collection signal receiver, pose adjustment signal receiver
The signal output part wireless communication connection of input and head remote control, IMAQ trigger signal receiver, pose adjustment letter
The output end of number receiver is connected with control unit, and the control instruction of ground control station is conveyed to control unit；
5）Sensor assembly, is connected with control unit, including mems gyroscopes, accelerometer and course meter（Magnetometer）, it is used for
Monitoring unmanned plane（Platform）Driving posture and transmits information；
6）Power module, is that other in control box are powered with electrical component, pose adjustment executing agency and the camera.
In said structure, the automatic camera control module can be connected with unmanned plane alignment system, and collection alignment system is obtained
The geographical location information for taking, when automatic camera control module judges unmanned plane（Platform）When reaching default take pictures, then to described
Control unit sends IMAQ trigger signal.The letter of the automatic camera control module, IMAQ trigger signal receiver
Number output end is connected by buffer (Buffer) with the signal input part of described control unit respectively, by the buffer every
The signal that is received from control unit single-chip microcomputer simultaneously docks the collection of letters and number carries out level conversion, as shown in Figure 2.
As shown in figure 3, the power module, including DC-DC voltage conversion circuits, major function is provided to control unit
5V and 3.7V supply voltages, camera provide 12V DC voltages, stepper motor and provide 5V DC voltages, the transmitting of image transmitting signal
Device provides 5V DC voltages and two remote signal receivers provide 3.7V voltages.The power module also shows including overall power
Device, facilitates head judgement of the user to the remaining electricity of system when in use.
The photographing switch circuit of the camera controls conducting, the electromagnetic relay and control unit by electromagnetic relay
Connection.As shown in figure 4, the drive circuit of the electrical equipment relay is provided with NPN type silicon triode S9013 and glass sealing switch diode
LL4148, electromagnetic relay coil is serially connected between power end VCC and the C colelctor electrodes of the triode, the E emitter stages of triode
Ground connection GND, B base stages are connected with the signal output part of control unit, and the glass sealed diode is in parallel with relay coil, and described two
Anode one end of pole pipe is connected with triode, and negative electrode one end is connected with power end, triode and control unit signal output part it
Between be serially connected with a 3K resistance units.When VCC ends no-voltage（2nd, 5 pin pressure differences are 0）, electromagnetic relay 1,4 closings of contact, now
It is in the normal state, when VCC ends are more than 3V with respect to the voltage at GND ends（Rated value is 5V）, electromagnetic relay 1,3 closings of contact, then
Connect the photographing switch circuit of camera.And VCC ends are controlled with respect to the magnitude of voltage at GND ends by the triode, work as relay driving
Circuit is received when taking pictures trigger signal, i.e. the B base stages of triode（OUT CHI TASK in figure）There is input signal, due to VCC ends
The presence of 5V voltages, triode ON plays on-off action, and now electromagnetic relay coil is powered, and triggers camera switch, works as bat
When being disappeared according to trigger signal, electromagnetic relay dead electricity, the photographing switch circuit of camera disconnects.Glass sealing switch diode LL4148's
Setting can be for the release of relay coil counter electromotive force provides passage.When electromagnetic relay is turned on, electric current flows to pin by pin 2
5, pass through triode to GND ends；After electric shock magnetic relay disconnects, now aftercurrent is drawn by the flow direction of pin 2 in relay
Pin 5, flows to the anode of glass sealing switch diode LL4148 to negative electrode, and pin 2 is flowed into afterwards, loop is formed, until depleted.
The head is provided with two relays being serially connected in parallel way on camera photographing switch circuit, two relays
Break-make IMAQ trigger signal, described image trigger collection signal receiver respectively from flight control system transmission is to control unit
The IMAQ trigger signal triggering of output, then any one relay conducting can allow camera act, as shown in Figure 2.
A kind of control method for stand alone type holder for aerial photographing system as described above, process is as follows：
One）Unmanned plane is placed in level ground, makes platform and ground keeping parallelism, head is arranged on unmanned aerial vehicle platform,
Camera is fixed on the end of head attitude-adjusting system；
Two）Start control box, with unmanned plane alignment system be connected control box by the circuit system in initialization control box；
Three）For the camera that can not automatically adjust aperture and lens focus, imaging device can be adjusted to level, according to operation intend into
Capable height of taking photo by plane, the height conversion that will take photo by plane is horizontal range, and intensity of illumination during with reference to operation, is set on level ground
One target reference point, is seen to the target that imaging device is gathered by the image received device of ground control station with reference to dot image
Examine, adjust the aperture and lens focus of imaging device, until the definition of image received device display screen display image meets wanting
Ask；
Four）The mode of operation of attitude-adjusting system is set, the mode of operation includes locking mode and follow the mode, the locking
Pattern is to control imaging device shooting angle in the horizontal plane not with course (the i.e. platform moving direction) change of unmanned plane
Change, keep the shooting direction of locking, i.e., when unmanned plane course changes, head is failure to actuate, if pose adjustment performs machine
Structure there occurs servo-actuated, the information that control unit can be obtained according to sensors such as gyroscope, course meter, accelerometers, compare nobody
The original state of machine and camera, the compensation that resets is implemented by pose adjustment executing agency to camera attitude；The follow the mode is
There is respective change with the course change of unmanned plane in shooting angle of the imaging device with respect to ground in the horizontal direction, that is, fly
When machine course changes, the information that control unit is obtained according to sensors such as gyroscope, course meter, accelerometers compares unmanned plane
With the original state of camera, camera attitude is implemented by pose adjustment executing agency compensate, camera is projected in the horizontal plane
Shooting direction it is always consistent with unmanned plane course；
Five）The mode of operation of imaging device is set, the mode of operation includes fixed point screening-mode, i.e., in the aerial mould of automatic camera
Being demarcated in advance in the loading procedure of block carries out the geography information coordinate points of IMAQ, when automatic camera control module is according to positioning
The information of system transmission, judges unmanned plane（Platform）When reaching the geography information coordinate points, IMAQ is sent to control unit
Triggering letter, and sent into the image received device of the ground control station image of collection by control unit；
Six）Take off unmanned plane, and control unmanned plane observes the display screen of image received device, by cloud according to setting airline operation
Control or control unit automatically control attitude-adjusting system action to platform remote control manually, to adjust the shooting angle of camera, pass through
Triggering or automatic camera control module trigger imaging device collection image to head remote control automatically manually, until completing work of taking photo by plane
Industry.
The present invention is taken photo by plane change of the system according to opposite outer Gravity Reference System, and each is produced by the action of stepper motor
Suitably anti-twisted power on axial direction, reaches the relative purpose moved on certain direction, realize head stabilization of counteracting head, and it controls mould
Type is：Using gyroscope and the angular speed and acceleration change of accelerometer phase control unit feedback unmanned plane, it is known that unmanned plane
Attitude relative to Gravity Reference System change, with changing value as control object, using closed loop PID control algorithm compensation deviation,
It is to the pwm control signal of motor output.
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, the simply explanation hair described in above-described embodiment and specification
Bright principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and the present invention will
Protection domain is sought by appending claims, specification and its equivalent thereof.
Claims (10)
1. a kind of free-standing holder for aerial photographing system, including head and ground control station, the head is by way of radio communication
Communicated to connect with ground control station, the ground control station includes head remote control and is provided with the image received device of display screen,
It is characterized in that：
The head include be fixedly mounted in aerial platform or ground surface platform control box, be attached to it is polyaxial outside control box
Pose adjustment executing agency and the imaging device installed in the executing agency end；
The circuit system of the control box includes consisting of part：
Control unit, is connected with the imaging device, according to the IMAQ trigger signal for receiving, is sent to imaging device and gathered
The control signal of image, and receive the view data of imaging device upload；
Automatic camera control module, is connected with control unit, according to the program of preloading, IMAQ is sent automatically to control unit
Trigger signal；
Gesture stability module, is connected with described control unit, and the output order according to control unit sets to the executing agency
Standby equipment sends servo-control signal；
Wireless communication module, including image transmitting signal projector, IMAQ trigger signal receiver and pose adjustment signal
Receiver, control unit is communicated to connect by described image transmission signal transmitter with described image reception device, is earthward controlled
System station transmission image；The head remote control passes through described image trigger collection signal receiver, pose adjustment signal receiver
With described control unit communication connection, the control instruction of ground control station is sent to control unit；
Sensor assembly, including gyroscope, accelerometer and the course meter being connected with described control unit are aerial flat for monitoring
The moving direction and attitude information of platform or ground surface platform；
Power module, is being powered with electrical component, polyaxial pose adjustment executing agency and the imaging device in control box.
2. a kind of free-standing holder for aerial photographing system according to claim 1, it is characterised in that：
The automatic camera control module is connected with alignment system, when platform or ground surface platform reach default take pictures in the air,
Send IMAQ trigger signal automatically to described control unit.
3. a kind of free-standing holder for aerial photographing system according to claim 2, it is characterised in that：
The automatic camera control module, the signal output part of IMAQ trigger signal receiver pass through buffer and institute respectively
The signal input part connection of control unit is stated, isolates the signal of control unit reception and dock the collection of letters number by the buffer
Line level is changed.
4. a kind of free-standing holder for aerial photographing system according to claim 1, it is characterised in that：
The power module is provided with electric-quantity display device.
5. a kind of free-standing holder for aerial photographing system according to claim 1, it is characterised in that：
The driving equipment of the polyaxial pose adjustment executing agency is stepper motor.
6. a kind of free-standing holder for aerial photographing system according to claim 1, it is characterised in that：
The IMAQ on-off circuit of the imaging device is turned on by Control, and the relay is connected with control unit.
7. a kind of free-standing holder for aerial photographing system according to claim 6, it is characterised in that：
The drive circuit of the relay is provided with triode, and relay coil is serially connected in the C current collections of power end and the triode
Between pole, the E grounded emitters of triode, B base stages are connected with the signal output part of control unit, the power end and triode
Between be additionally provided with the diode in parallel with relay coil, anode one end of the diode is connected with triode, negative electrode one end
It is connected with power end.
8. a kind of free-standing holder for aerial photographing system according to claim 7, it is characterised in that：
A 3K resistance units are serially connected between the triode and control unit signal output part.
9. a kind of free-standing holder for aerial photographing system according to claim 6,7 or 8, it is characterised in that：
The head is provided with two relays being serially connected in parallel way on imaging device IMAQ on-off circuit, two relays
IMAQ trigger signal, the reception of described image trigger collection signal that the break-make of device is sent by automatic camera control module respectively
Device is controlled to the IMAQ trigger signal that control unit is exported.
10. a kind of control method for stand alone type holder for aerial photographing system as claimed in claim 1, it is characterised in that including：
One）The machinery or pylon that the aerial platform or ground surface platform will be carried are placed in level ground, make the platform and water
Plane earth keeping parallelism, head is installed on the platform, and imaging device is fixed on into head pose adjustment executing agency
End；
Two）Start control box, the circuit system in initialization control box；
Three）Imaging device is adjusted to level, according to the height of taking photo by plane that operation is intended carrying out, the height conversion that will take photo by plane is horizontal range,
And intensity of illumination during with reference to operation, a target reference point is set on level ground, by the image-receptive of ground control station
Device is observed the target that imaging device is gathered with reference to dot image, adjusts the aperture and lens focus of imaging device, until
The definition of image received device display screen display image meets requirement；
Four）The mode of operation of setting pose adjustment executing agency, the mode of operation includes locking mode and follow the mode, described
Locking mode is the horizontal shooting angle for controlling imaging device to remain a certain fixation, not with the moving direction change of platform
Change；The follow the mode is to control the horizontal shooting angle of imaging device to remain one with the moving direction of platform
Cause, respective change occurs with the change of fog machine travel direction；
Five）The mode of operation of imaging device is set, the mode of operation includes fixed point screening-mode, i.e., controls mould in automatic camera
To be demarcated in advance in block carry out the geography information coordinate points of IMAQ, when automatic camera control module is obtained according to alignment system
Information, when judging that the platform reaches the geography information coordinate points, sends IMAQ trigger signal, and pass through to control unit
Control unit sends to ground control station the image of collection；
Six）The control machinery or pylon are moved according to setting path, observe the display screen of image received device, distant by head
Control or control system automatically control attitude-adjusting system action to control device manually, to adjust the shooting angle of imaging device, pass through
Triggering or automatic camera control module trigger imaging device collection image to head remote control automatically manually, complete operation of taking photo by plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611256010.7A CN106791418B (en) | 2016-12-30 | 2016-12-30 | The method comprises the following steps of: independent type the method comprises the following steps of: independent type Table system control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611256010.7A CN106791418B (en) | 2016-12-30 | 2016-12-30 | The method comprises the following steps of: independent type the method comprises the following steps of: independent type Table system control method |
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| Publication Number | Publication Date |
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| CN106791418A true CN106791418A (en) | 2017-05-31 |
| CN106791418B CN106791418B (en) | 2024-02-02 |
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| CN201611256010.7A Active CN106791418B (en) | 2016-12-30 | 2016-12-30 | The method comprises the following steps of: independent type the method comprises the following steps of: independent type Table system control method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107347825A (en) * | 2017-06-28 | 2017-11-17 | 广东容祺智能科技有限公司 | A kind of fishing system based on unmanned plane |
| CN108594842A (en) * | 2018-02-01 | 2018-09-28 | 杭州瓦屋科技有限公司 | Unmanned plane stepper control method and device |
| CN108609193A (en) * | 2018-06-08 | 2018-10-02 | 重庆交通职业学院 | The three axis stabilization holder for aerial photographing for the unmanned hot air dirigible airship of more rotors |
| CN108750111A (en) * | 2018-08-15 | 2018-11-06 | 厦门南羽科技有限公司 | Camera power supply system and aerial survey unmanned plane |
| WO2019227410A1 (en) * | 2018-05-31 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Attitude conversion method, attitude display method, and pan-tilt system |
| CN111537965A (en) * | 2020-04-28 | 2020-08-14 | 中国气象局气象探测中心 | Weather radar calibration method and system based on unmanned aerial vehicle |
| CN111653149A (en) * | 2020-06-16 | 2020-09-11 | 四川省天域航通科技有限公司 | Large-scale freight transportation unmanned aerial vehicle simulation training system |
| CN111913411A (en) * | 2019-05-09 | 2020-11-10 | 首都师范大学 | Multifunctional control system of general unmanned aerial vehicle imager |
| CN112578774A (en) * | 2020-12-15 | 2021-03-30 | 广州极飞科技有限公司 | Operation mode switching method and device, electronic equipment, system and storage medium |
| CN114001255A (en) * | 2021-09-16 | 2022-02-01 | 浙江大华技术股份有限公司 | Control method for rotation of pan-tilt camera, pan-tilt camera and electronic device |
| CN115225683A (en) * | 2022-05-31 | 2022-10-21 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle cradle head communication system and cradle head communication data processing method |
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| CN107347825A (en) * | 2017-06-28 | 2017-11-17 | 广东容祺智能科技有限公司 | A kind of fishing system based on unmanned plane |
| CN108594842A (en) * | 2018-02-01 | 2018-09-28 | 杭州瓦屋科技有限公司 | Unmanned plane stepper control method and device |
| WO2019227410A1 (en) * | 2018-05-31 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Attitude conversion method, attitude display method, and pan-tilt system |
| CN108609193B (en) * | 2018-06-08 | 2022-05-27 | 重庆交通职业学院 | Three-axis anti-shake aerial photography holder for multi-rotor unmanned hot-air airship |
| CN108609193A (en) * | 2018-06-08 | 2018-10-02 | 重庆交通职业学院 | The three axis stabilization holder for aerial photographing for the unmanned hot air dirigible airship of more rotors |
| CN108750111A (en) * | 2018-08-15 | 2018-11-06 | 厦门南羽科技有限公司 | Camera power supply system and aerial survey unmanned plane |
| CN111913411A (en) * | 2019-05-09 | 2020-11-10 | 首都师范大学 | Multifunctional control system of general unmanned aerial vehicle imager |
| CN111537965A (en) * | 2020-04-28 | 2020-08-14 | 中国气象局气象探测中心 | Weather radar calibration method and system based on unmanned aerial vehicle |
| CN111653149A (en) * | 2020-06-16 | 2020-09-11 | 四川省天域航通科技有限公司 | Large-scale freight transportation unmanned aerial vehicle simulation training system |
| CN112578774A (en) * | 2020-12-15 | 2021-03-30 | 广州极飞科技有限公司 | Operation mode switching method and device, electronic equipment, system and storage medium |
| CN114001255A (en) * | 2021-09-16 | 2022-02-01 | 浙江大华技术股份有限公司 | Control method for rotation of pan-tilt camera, pan-tilt camera and electronic device |
| CN115225683A (en) * | 2022-05-31 | 2022-10-21 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle cradle head communication system and cradle head communication data processing method |
| CN115225683B (en) * | 2022-05-31 | 2024-04-09 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle cradle head communication system and cradle head communication data processing method |
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