CN106791418B - The method comprises the following steps of: independent type the method comprises the following steps of: independent type Table system control method - Google Patents
The method comprises the following steps of: independent type the method comprises the following steps of: independent type Table system control method Download PDFInfo
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- CN106791418B CN106791418B CN201611256010.7A CN201611256010A CN106791418B CN 106791418 B CN106791418 B CN 106791418B CN 201611256010 A CN201611256010 A CN 201611256010A CN 106791418 B CN106791418 B CN 106791418B
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- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 3
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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
Abstract
The utility model discloses an independent aerial photographing cloud platform system and a control method thereof, wherein the aerial photographing cloud platform system comprises a cloud platform and a ground control station, the cloud platform is in communication connection with the ground control station in a wireless communication mode, the ground control station comprises a cloud platform remote controller and an image receiving device provided with a display screen, the cloud platform is provided with a control box installed on an aerial platform or a ground platform, a multiaxial gesture adjusting executing mechanism attached to the outside of the control box and imaging equipment installed at the tail end of the executing mechanism, and a circuit system of the control box comprises independent control units, gesture control modules, wireless communication modules, sensor modules, power modules and the like. The aerial photographing system can independently and stably run without depending on a power supply carrying system and a control system of the unmanned aerial vehicle and other machines, can be simply and conveniently carried on different types of machines or towers, has better adaptability, and is particularly suitable for unmanned aerial vehicles.
Description
Technical Field
The utility model belongs to the technical field of agricultural and forestry aviation machinery, in particular to an independent holder shooting system used on machines such as a plant protection unmanned aerial vehicle and a control method thereof.
Background
The unmanned aerial vehicle low-altitude remote sensing aerial photographing scale and resolution are between satellite remote sensing and ground remote sensing, can effectively make up the defects of poor real-time performance and low resolution of satellite remote sensing, meanwhile, the system has higher acquisition efficiency than that of ground remote sensing equipment, and is becoming one of development hot spots in the precise agricultural field. The cradle head is used as a platform for bearing a camera, is a key component for guaranteeing the acquisition quality of low-altitude remote sensing images, and meanwhile, the characteristics of portability, operation simplicity and the like of the cradle head are important guaranteeing conditions for the high-efficiency of unmanned aerial vehicle low-altitude remote sensing aerial photography.
At present, unmanned vehicles used in the field of remote sensing aerial photography are more in variety, are classified into a rotary wing type and a fixed wing type according to structures, and the rotary wing type is divided into a single rotary wing type and a multi-rotary wing type, and the installation requirements of unmanned vehicles of each structure on a holder are different. Most of the existing holders are non-independent, namely, are composed of a mechanical structure part, an attitude control circuit part and the like, and the holders are powered by the unmanned aerial vehicle and are used for transmitting attitude adjustment control signals and the like, so that if the unmanned aerial vehicle has smaller airborne power or no reserved communication channel, the requirements on normal use of the holders are severe.
Disclosure of Invention
The utility model aims to provide an independent holder shooting system and a control method thereof, which provide a simple, portable and stable-operation holder for unmanned aerial vehicle remote sensing aerial photography in the agricultural field, and can be matched with most unmanned aerial vehicle platforms for use, and can also be used on other machines or arranged on towers.
In order to achieve the technical purpose, the technical scheme disclosed by the utility model is as follows:
the utility model provides a stand alone type cloud platform system of taking photo by plane, includes cloud platform and ground control station, the cloud platform passes through wireless communication's mode and ground control station communication connection, ground control station includes cloud platform remote controller and is equipped with the image receiving device of display screen, its characterized in that:
the cradle head comprises a control box fixedly arranged on an aerial platform or a ground platform, a multiaxial posture adjustment executing mechanism attached outside the control box and imaging equipment arranged at the tail end of the executing mechanism;
the circuit system of the control box comprises the following components:
the control unit is respectively connected with the imaging equipment, and is used for sending a control signal for collecting images to the imaging equipment according to the received image collection trigger signal and receiving image data uploaded by the imaging equipment;
the automatic photographing control module is connected with the control unit and automatically sends an image acquisition trigger signal to the control unit according to the preloading program;
the gesture control module is connected with the control unit and used for sending a servo control signal to the driving equipment of the executing mechanism according to the output instruction of the control unit;
the wireless communication module comprises an image transmission signal transmitter, an image acquisition trigger signal receiver and an attitude adjustment signal receiver, and the control unit is in communication connection with the image receiving device through the image transmission signal transmitter and transmits images to the ground control station; the cradle head remote controller is in communication connection with the control unit through the image acquisition trigger signal receiver and the gesture adjustment signal receiver, and sends a control instruction of a ground control station to the control unit;
the sensor system comprises a gyroscope, an accelerometer and a heading meter which are connected with the control unit and is used for monitoring the moving direction and gesture information of the air platform or the ground platform;
and the power supply module is used for supplying power to the power utilization components and parts in the control box, the posture adjustment executing mechanism and the imaging equipment.
In addition to the above, a further improved or preferred embodiment further includes:
the automatic photographing control module is connected with the positioning system, and automatically sends an image acquisition trigger signal to the control unit when the air platform or the ground platform reaches a preset photographing point.
The signal output ends of the automatic photographing control module and the image acquisition trigger signal receiver are respectively connected with the signal input end of the control unit through a buffer, isolate the signal received by the control unit through the buffer and perform level conversion on the received signal.
In order to facilitate the user to observe the electricity consumption condition of the system, the power supply module is provided with an electricity display.
The driving device of the multi-axial posture adjustment actuating mechanism preferably adopts a stepping motor.
The image acquisition switching circuit of the imaging device is controlled to be conducted by a relay, and the relay is connected with the control unit.
The driving circuit of the relay is provided with a triode, the relay coil is connected in series between the power end and the C collector of the triode, the E emitter of the triode is grounded, the B base is connected with the signal output end of the control unit, a diode connected in parallel with the relay coil is further arranged between the power end and the triode, one end of the anode of the diode is connected with the triode, and one end of the cathode of the diode is connected with the power end.
A3K resistor is connected in series between the triode and the signal output end of the control unit.
The cradle head is provided with two relays which are connected in series on an image acquisition switching circuit of the imaging equipment in parallel, and the on-off of the two relays is controlled by an image acquisition trigger signal sent by an automatic photographing control module and an image acquisition trigger signal output by an image acquisition trigger signal receiver to a control unit.
A control method for a free-standing aerial camera head system as described above, comprising:
firstly) arranging a machine or a tower carrying the aerial platform or the ground platform on the horizontal ground, the platform is kept parallel to the ground, the cradle head is arranged on the platform, and the imaging equipment is fixed at the tail end of the cradle head posture adjustment executing mechanism;
two) the control box is started up, initializing a circuit system in the control box;
thirdly, adjusting the imaging equipment to be horizontal, converting the aerial photographing height into a horizontal distance according to the aerial photographing height to be performed by the operation, setting a target reference point on the horizontal ground by referring to the illumination intensity during the operation, observing the target reference point image acquired by the imaging equipment through an image receiving device of a ground control station, and adjusting the aperture and the lens focal length of the imaging equipment until the definition of the display image of the display screen of the image receiving device meets the requirement;
fourth, the working mode of the gesture adjusting executing mechanism is set, the working mode comprises a locking mode and a following mode, and the locking mode is used for controlling the imaging equipment to always keep a certain fixed horizontal shooting angle and not to change along with the change of the moving direction of the platform; the following mode is to control the horizontal shooting angle of the imaging equipment to be consistent with the moving direction of the platform all the time, and the corresponding change occurs along with the change of the moving direction of the platform;
fifthly), setting a working mode of the imaging equipment, wherein the working mode comprises a fixed-point shooting mode, namely, in an automatic shooting control module, calibrating geographic information coordinate points for image acquisition in advance, and when the automatic shooting control module judges that a platform reaches the geographic information coordinate points according to information acquired by a positioning system, sending an image acquisition trigger signal to a control unit and sending an acquired image to a ground control station through the control unit;
sixth), the plant protection machine is controlled to run according to the set route, a display screen of the image receiving device is observed, the gesture adjusting mechanism is controlled to act through the manual control of the pan-tilt remote controller or the automatic control system, so that the shooting angle of the imaging equipment is adjusted, the imaging equipment is triggered to acquire images through the manual triggering of the pan-tilt remote controller or the automatic shooting control module, and aerial shooting operation is completed.
The beneficial effects are that:
the utility model provides an independent aerial photographing holder system and a control method thereof, which can independently and stably run without depending on the control of a power supply system and a control system of other machines such as an unmanned aerial vehicle, can be simply and conveniently carried on different types of machines or towers, have better adaptability, solve the problem of invisible in the photographing process through an image receiving device of a ground control station, and enable aerial photographing to be faster and more efficient, and are particularly suitable for plant protection unmanned aerial vehicles.
Drawings
FIG. 1 is a schematic diagram of an aerial photography system according to the present utility model;
FIG. 2 is a schematic diagram of a partial circuit configuration of the control box;
FIG. 3 is a schematic diagram of a control box power module;
fig. 4 is a schematic diagram of a relay driving circuit.
Description of the embodiments
In this application, the aerial platform refers to a platform carried on an aircraft, and the ground platform refers to a platform carried on a ground tower that is movable or fixed, and in order to further clarify the technical scheme and the technical principle of the present utility model, the present utility model is further described below with reference to the accompanying drawings and specific embodiments.
In this embodiment, taking an unmanned aerial vehicle as an example, a carried platform is an aerial platform, as shown in fig. 1, an independent aerial photographing tripod head system includes a tripod head and a ground control station, where the tripod head is in communication connection with the ground control station through a wireless communication manner, and the ground control station includes a tripod head remote controller and an image receiving device provided with a display screen.
The cradle head is provided with a control box arranged on the unmanned aerial vehicle platform, a triaxial posture adjustment actuating mechanism attached outside the control box and imaging equipment arranged at the tail end of the triaxial posture adjustment actuating mechanism, and in the embodiment, the imaging equipment adopts a camera, and the image acquisition is photographing.
The three-axial posture adjustment actuating mechanism consists of three small-sized precise direct current stepping motors and a fixed bracket, the output shafts of the three stepping motors are perpendicular in pairs, so that the camera can be adjusted in six degrees of freedom of horizontal, horizontal rolling and pitching. The installation base of the camera is arranged at the tail end of the gesture adjusting executing mechanism, namely is connected with the output shaft of the stepping motor for adjusting the pitching direction of the camera, the camera is fixed on the installation base through a binding belt, the installation base of the stepping motor in the pitching direction is connected with the output shaft of the stepping motor for adjusting the rolling direction of the camera through a light aluminum plate, the installation base of the stepping motor in the rolling direction is also connected with the output shaft of the stepping motor for adjusting the horizontal direction of the camera through the light aluminum plate, and the installation base of the stepping motor in the horizontal direction is directly connected with the shell of the control box through the light aluminum plate. The power line, the stepping motor pulse signal control line, the camera shooting trigger signal line, the image signal transmission line and the like are led out of the control box and connected with the corresponding interfaces.
The circuit system of the control box comprises the following components:
1) The control unit can adopt a single chip Microcomputer (MCU) to be connected with the imaging equipment, and the control unit sends a photographing control signal to the camera and simultaneously receives and stores image data uploaded by the camera;
2) The automatic photographing control module is connected with the control unit and automatically sends an image acquisition trigger signal to the control unit according to the preloading program;
3) The gesture control module is connected with the control unit and used for sending a servo control signal to driving equipment (namely each stepping motor) of the three-axial gesture adjustment executing mechanism according to an output instruction of the control unit;
4) The wireless communication module comprises an image transmission signal transmitter, an image acquisition trigger signal receiver and an attitude adjustment signal receiver, wherein the image transmission signal transmitter is in wireless communication connection with a receiving end of the image receiving device, and the control unit transmits images to the ground control station through the image transmission signal transmitter; the input ends of the image acquisition trigger signal receiver and the gesture adjustment signal receiver are in wireless communication connection with the signal output end of the pan-tilt remote controller, the output ends of the image acquisition trigger signal receiver and the gesture adjustment signal receiver are connected with the control unit, and control instructions of the ground control station are transmitted to the control unit;
5) The sensor module is connected with the control unit and comprises a mes gyroscope, an accelerometer and a heading meter (magnetometer) for monitoring the running gesture and running direction information of the unmanned aerial vehicle (platform);
6) And the power supply module is used for supplying power to other power utilization components, the gesture adjusting executing mechanism and the camera in the control box.
In the above structure, the automatic photographing control module may be connected with the unmanned aerial vehicle positioning system, collect the geographical position information acquired by the positioning system, and when the automatic photographing control module determines that the unmanned aerial vehicle (platform) reaches the preset photographing point, send an image acquisition trigger signal to the control unit. The signal output ends of the automatic photographing control module and the image acquisition trigger signal receiver are respectively connected with the signal input end of the control unit through a Buffer (Buffer), and the Buffer isolates the signal received by the control unit singlechip and carries out level conversion on the received signal, as shown in fig. 2.
As shown in fig. 3, the power module includes a DC-DC voltage conversion circuit, and has a main function of providing 5V and 3.7V power supply voltages to the control unit, providing 12V direct current voltage to the camera, providing 5V direct current voltage to the stepping motor, providing 5V direct current voltage to the image transmission signal transmitter, and providing 3.7V voltage to the two remote control signal receivers. The power module also comprises a total electric quantity display, so that the user can conveniently judge the residual electric quantity of the system when the cradle head is used.
The photographing switch circuit of the camera is controlled to be conducted by an electromagnetic relay, and the electromagnetic relay is connected with the control unit. As shown in fig. 4, the driving circuit of the electromagnetic relay is provided with an NPN silicon triode S9013 and a glass-sealed switch diode LL4148, the coil of the electromagnetic relay is connected in series between the power supply end VCC and the collector C of the triode, the emitter E of the triode is grounded GND, the base B is connected with the signal output end of the control unit, the glass-sealed diode is connected in parallel with the coil of the relay, one end of the anode of the diode is connected with the triode, one end of the cathode is connected with the power supply end, and a 3K resistor is connected in series between the triode and the signal output end of the control unit. When the VCC end has no voltage (the voltage difference between the pins 2 and 5 is 0), the contacts of the electromagnetic relay 1 and 4 are closed, and are in a normal state, when the voltage of the VCC end relative to the GND end is more than 3V (the rated value is 5V), the contacts of the electromagnetic relay 1 and 3 are closed, and then a photographing switch circuit of a camera is connected. The voltage value of the VCC end relative to the GND end is controlled by the triode, when the relay driving circuit receives a photographing trigger signal, namely, the B base electrode (OUT CHI TASK in the figure) of the triode has an input signal, and the triode is conducted to play a role of a switch due to the existence of the 5V voltage of the VCC end, so that the coil of the electromagnetic relay is electrified at the moment to trigger a camera switch, and when the photographing trigger signal disappears, the electromagnetic relay is powered off, and a photographing switch circuit of the camera is disconnected. The provision of the glass-enclosed switching diode LL4148 provides a path for the relay coil back emf release. When the electromagnetic relay is conducted, current flows from the pin 2 to the pin 5 and then flows to the GND end through the triode; when the electromagnetic relay is disconnected, the residual current in the relay flows from the pin 2 to the pin 5, flows to the anode to the cathode of the glass-sealed switch diode LL4148, and then flows into the pin 2 to form a loop until the consumption is completed.
The cradle head is provided with two relays which are connected in series on a camera shooting switching circuit in a parallel mode, the on-off of the two relays are respectively triggered by an image acquisition trigger signal sent by the flight control system and an image acquisition trigger signal output by the image acquisition trigger signal receiver to the control unit, and then any one relay is conducted to enable the camera to act, as shown in figure 2.
A control method for the independent aerial photographing holder system comprises the following steps:
firstly, arranging an unmanned aerial vehicle on a horizontal ground, keeping a platform parallel to the ground, mounting a cradle head on the unmanned aerial vehicle platform, and fixing a camera at the tail end of a cradle head posture adjusting mechanism;
secondly), starting a control box, initializing a circuit system in the control box, and connecting the control box with an unmanned aerial vehicle positioning system;
thirdly), for a camera incapable of automatically adjusting the aperture and the focal length of the lens, adjusting the imaging equipment to be horizontal, converting the aerial photographing height into a horizontal distance according to the aerial photographing height to be performed by the operation, setting a target reference point on the horizontal ground by referring to the illumination intensity during the operation, observing the target reference point image acquired by the imaging equipment through an image receiving device of a ground control station, and adjusting the aperture and the focal length of the lens of the imaging equipment until the definition of the image displayed by a display screen of the image receiving device meets the requirement;
fourth, the working mode of the attitude adjusting mechanism is set, the working mode comprises a locking mode and a following mode, the locking mode is used for controlling the shooting angle of the imaging equipment on the horizontal plane not to change along with the course of the unmanned aerial vehicle (namely the moving direction of the platform), the locked shooting direction is kept, namely when the course of the unmanned aerial vehicle changes, the cradle head does not act, if the attitude adjusting executing mechanism is followed, the control unit can compare the initial states of the unmanned aerial vehicle and the camera according to the information obtained by the sensors such as a gyroscope, a course meter and an accelerometer, and reset compensation is carried out on the attitude of the camera through the attitude adjusting executing mechanism; the following mode is that the shooting angle of the imaging device relative to the ground in the horizontal direction changes correspondingly along with the course change of the unmanned aerial vehicle, namely when the course of the airplane changes, the control unit compares the initial states of the unmanned aerial vehicle and the camera according to the information acquired by the sensors such as the gyroscope, the course meter and the accelerometer, and compensates the posture of the camera through the posture adjustment executing mechanism, so that the shooting direction projected on the horizontal plane by the camera is always consistent with the course of the unmanned aerial vehicle;
fifthly), setting a working mode of the imaging equipment, wherein the working mode comprises a fixed-point shooting mode, namely, pre-calibrating geographic information coordinate points for image acquisition in a loading program of an automatic shooting air module, and when an automatic shooting control module judges that an unmanned aerial vehicle (platform) reaches the geographic information coordinate points according to information transmitted by a positioning system, sending an image acquisition trigger signal to a control unit and sending an acquired image to an image receiving device of a ground control station through the control unit;
sixth), take off unmanned aerial vehicle, control unmanned aerial vehicle fly according to presuming the route, observe the display screen of the image receiving device, through the manual control of the cloud deck remote controller or control unit automatic control gesture adjustment mechanism action, in order to adjust the shooting angle of the camera, trigger or automatic shooting control module trigger the imaging device to gather the picture automatically through the manual of cloud deck remote controller, until finishing the operation of taking photo by plane.
According to the change of a relative external gravity reference system, the aerial photographing system generates proper reverse torsion in each axial direction through the action of the stepping motor, so as to offset the movement of the cradle head relative to a certain direction and realize the purpose of stabilizing the cradle head, and the control model is as follows: the angular velocity and acceleration change of the unmanned aerial vehicle are fed back by using a gyroscope and accelerometer phase control unit, the change of the attitude of the unmanned aerial vehicle relative to a gravity reference system can be known, the change value is taken as a control object, a closed-loop PID control algorithm is adopted to compensate the deviation value, and the deviation value is a PWM control signal output to a motor.
The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the foregoing embodiments, which have been described in the foregoing embodiments and description merely illustrates the principles of the utility model, and various changes and modifications may be made therein without departing from the spirit and scope of the utility model, the scope of which is defined in the appended claims, specification and their equivalents.
Claims (10)
1. The utility model provides a stand alone type cloud platform system of taking photo by plane, includes cloud platform and ground control station, the cloud platform passes through wireless communication's mode and ground control station communication connection, ground control station includes cloud platform remote controller and is equipped with the image receiving device of display screen, its characterized in that:
the cradle head comprises a control box fixedly arranged on an aerial platform or a ground platform, a multiaxial posture adjustment executing mechanism attached outside the control box and imaging equipment arranged at the tail end of the executing mechanism;
the circuit system of the control box comprises the following components:
the control unit is connected with the imaging equipment, and is used for sending a control signal for collecting images to the imaging equipment according to the received image collection trigger signal and receiving image data uploaded by the imaging equipment;
the automatic photographing control module is connected with the control unit and automatically sends an image acquisition trigger signal to the control unit according to the preloading program;
the gesture control module is connected with the control unit and used for sending a servo control signal to the driving equipment of the multi-axial gesture adjustment executing mechanism according to the output instruction of the control unit; the working mode of the multi-axial posture adjustment executing mechanism comprises a locking mode and a following mode, wherein the locking mode is used for controlling the imaging equipment to always keep a certain fixed horizontal shooting angle and is not changed along with the change of the moving direction of the platform; the following mode is to control the horizontal shooting angle of the imaging equipment to be consistent with the moving direction of the platform all the time, and the corresponding change occurs along with the change of the running direction of the plant protection machine;
the wireless communication module comprises an image transmission signal transmitter, an image acquisition trigger signal receiver and an attitude adjustment signal receiver, and the control unit is in communication connection with the image receiving device through the image transmission signal transmitter and transmits images to the ground control station; the cradle head remote controller is in communication connection with the control unit through the image acquisition trigger signal receiver and the gesture adjustment signal receiver, and sends a control instruction of a ground control station to the control unit;
the sensor module comprises a gyroscope, an accelerometer and a heading meter which are connected with the control unit and is used for monitoring the moving direction and gesture information of the air platform or the ground platform; based on the working mode set by the multi-axial posture adjustment executing mechanism, the control unit compares initial states of the unmanned aerial vehicle and the camera according to information acquired by the gyroscope, the heading meter and the accelerometer, and compensates the posture of the camera through the posture adjustment executing mechanism;
and the power supply module supplies power to the power utilization components, the multi-axial posture adjustment actuating mechanism and the imaging equipment in the control box.
2. The standalone aerial photography holder system of claim 1, wherein:
the automatic photographing control module is connected with the positioning system, and automatically sends an image acquisition trigger signal to the control unit when the air platform or the ground platform reaches a preset photographing point.
3. The standalone aerial photography holder system of claim 2, wherein:
the signal output ends of the automatic photographing control module and the image acquisition trigger signal receiver are respectively connected with the signal input end of the control unit through a buffer, isolate the signal received by the control unit through the buffer and perform level conversion on the received signal.
4. The standalone aerial photography holder system of claim 1, wherein:
the power module is provided with an electric quantity display.
5. The standalone aerial photography holder system of claim 1, wherein:
the driving device of the multi-axial posture adjustment actuating mechanism is a stepping motor.
6. The standalone aerial photography holder system of claim 1, wherein:
the image acquisition switching circuit of the imaging device is controlled to be conducted by a relay, and the relay is connected with the control unit.
7. The standalone aerial photo holder cradle head system of claim 6, wherein:
the driving circuit of the relay is provided with a triode, the relay coil is connected in series between the power end and the C collector of the triode, the E emitter of the triode is grounded, the B base is connected with the signal output end of the control unit, a diode connected in parallel with the relay coil is further arranged between the power end and the triode, one end of the anode of the diode is connected with the triode, and one end of the cathode of the diode is connected with the power end.
8. The standalone aerial photo holder cradle head system of claim 7, wherein:
A3K resistor is connected in series between the triode and the signal output end of the control unit.
9. A stand alone aerial photo holder head system as claimed in claim 6, 7 or 8 wherein:
the cradle head is provided with two relays which are connected in series on an image acquisition switching circuit of the imaging equipment in parallel, and the on-off of the two relays is controlled by an image acquisition trigger signal sent by an automatic photographing control module and an image acquisition trigger signal output by an image acquisition trigger signal receiver to a control unit.
10. A control method for the standalone aerial camera holder system of claim 1, comprising:
firstly, arranging a machine or a tower carrying the aerial platform or the ground platform on the horizontal ground, keeping the platform parallel to the horizontal ground, mounting a tripod head on the platform, and fixing imaging equipment at the tail end of a tripod head posture adjustment executing mechanism;
secondly), starting the control box and initializing a circuit system in the control box;
and refer to the working time is used for the illumination intensity of the light source, zxfoom , a target reference point is set on the horizontal ground, observing the target reference point image acquired by the imaging equipment through an image receiving device of the ground control station, and adjusting the aperture and the lens focal length of the imaging equipment until the definition of the display image of the display screen of the image receiving device meets the requirement;
fourth, the working mode of the gesture adjusting executing mechanism is set, the working mode comprises a locking mode and a following mode, and the locking mode is used for controlling the imaging equipment to always keep a certain fixed horizontal shooting angle and not to change along with the change of the moving direction of the platform; the following mode is to control the horizontal shooting angle of the imaging device to always keep consistent with the moving direction of the platform, the running direction of the plant protection machine is changed correspondingly;
fifthly), setting a working mode of the imaging equipment, wherein the working mode comprises a fixed-point shooting mode, namely, a geographic information coordinate point for image acquisition is calibrated in advance in an automatic shooting control module, and when the automatic shooting control module judges that the platform reaches the geographic information coordinate point according to information acquired by a positioning system, an image acquisition trigger signal is sent to a control unit and an acquired image is sent to a ground control station through the control unit;
sixth), the machinery or the tower is controlled to move according to the set route, a display screen of the image receiving device is observed, the gesture adjusting mechanism is controlled to act through a manual control of the pan-tilt remote controller or a control system to adjust the shooting angle of the imaging equipment, and the imaging equipment is triggered to acquire images through a manual trigger of the pan-tilt remote controller or an automatic shooting control module to complete aerial shooting operation.
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|---|---|---|---|
| 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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| 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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| CN106791418B true CN106791418B (en) | 2024-02-02 |
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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 |
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