CN106814742A - A kind of control method of unmanned plane, control device and unmanned plane - Google Patents
A kind of control method of unmanned plane, control device and unmanned plane Download PDFInfo
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- CN106814742A CN106814742A CN201611246617.7A CN201611246617A CN106814742A CN 106814742 A CN106814742 A CN 106814742A CN 201611246617 A CN201611246617 A CN 201611246617A CN 106814742 A CN106814742 A CN 106814742A
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- Prior art keywords
- control
- camera
- unmanned plane
- winged
- shot
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
Abstract
The invention discloses a kind of control method of unmanned plane, control device and unmanned plane, the control method includes the winged control parameter that the winged control module for obtaining unmanned plane sends；According to the winged control parameter generation camera control instruction, and shot according to the camera on the camera control instruction control unmanned plane.The control method of unmanned plane of the invention does not recycle winged control module to be controlled the camera on unmanned plane, but obtained from winged control module and fly control parameter, using it is winged control parameter generate winged control instruction the camera on unmanned plane is controlled, and then can it is more intelligent and it is accurate control unmanned plane on camera shot.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of control method of unmanned plane, control device and
Unmanned plane.
Background technology
As the development unmanned plane of technology is increasingly popularized, increasing people starts with unmanned plane and is shot, and uses
Family increasingly pursue it is intelligent high-quality shooting is obtained by unmanned plane, therefore, to the control of the camera on unmanned plane all the more
Seem important.
In the prior art, the camera control system on unmanned plane is typically by external camera carry on unmanned plane,
After being set to the camera of carry on ground, unmanned plane is set to be taken pictures or be recorded a video according to corresponding setting in flight course
Deng this control method cannot carry out real-time control during unmanned plane during flying to the camera on unmanned plane so that camera
Exposal model etc. mismatched with the pattern needed for actually taking pictures, the quality that causes to take pictures is not good.Additionally, on existing unmanned plane
Camera control system also has carrying camera and the wireless communication module on unmanned plane, and camera is sent to unmanned plane by ground based terminal
Control instruction, and then exposal model to the camera on unmanned plane carries out real-time control, but this control method needs user to exist
Ground is operated, and there is artificial deviation, cause obtain image may be inconsistent with target, and ground based terminal and nobody
There is delay in the limitation of signal of communication potential range or shelter between machine, the transmission for causing camera control to instruct.
The content of the invention
In view of this, the present invention provides a kind of control method of unmanned plane, control device and unmanned plane, it is of the invention nobody
Camera on the more intelligent and accurate control unmanned plane of the control method of machine is shot.
In order to solve the above technical problems, a technical scheme proposed by the present invention is：A kind of controlling party of unmanned plane is provided
Method, including：
Obtain the winged control parameter that the winged control module of unmanned plane sends；
According to the winged control parameter generation camera control instruction, and according to the camera control instruction control unmanned plane
On camera shot.
Wherein, it is described according to the winged control parameter generation camera control instruction, and instruct control according to the camera control
Camera on the unmanned plane is shot, including：
According to the winged control parameter generation camera control instruction；
Judge whether the winged control parameter meets preset trigger condition；
If so, then being shot according at least two cameras on the camera control instruction control unmanned plane；Or
Judge whether the winged control parameter meets preset trigger condition；
If so, then according to the winged control parameter generation camera control instruction, and according to camera control instruction control institute
At least two cameras stated on unmanned plane are shot.
Wherein, the quantity of the trigger condition is multiple；
It is described to judge whether the winged control parameter meets preset trigger condition, including：
Judge whether the winged control parameter meets any one in multiple preset trigger conditions.
Wherein, the winged control parameter at least including the longitude and latitude of the unmanned plane, flying height, flying speed, flight away from
From and the flight time.
Wherein, the camera according on the camera control instruction control unmanned plane is shot, including：
Determine that the camera control instruction is an at least two magazine cameras on the unmanned plane or multiple phases
The control instruction of machine；
An at least two magazine camera or multiple cameras is controlled to be shot according to determining that result is corresponding.
Wherein, after the camera according on the camera control instruction control unmanned plane is shot, also wrap
Include：
Store image and/or video recording that at least two cameras on the unmanned plane shoot, and will shoot described image and/
Or during video recording in the corresponding winged data for controlling parameter read-in described image and/or video recording.
Wherein, the camera according on the camera control instruction control unmanned plane carries out shooting includes：
Taken pictures, recorded a video and/or adjusted described according to the camera on the camera control instruction control unmanned plane
The shooting state of camera.
Another technical scheme that the present invention is also proposed：A kind of control device of unmanned plane is provided, including：
Parameter acquisition module, the winged control parameter that the winged control module for obtaining unmanned plane sends；
Camera control module, for being instructed according to the winged control parameter generation camera control, and according to the camera control
Camera on the instruction control unmanned plane is shot.
Wherein, the camera control module includes：
Generation command unit, for according to the winged control parameter generation camera control instruction；
Condition judgment unit, for judging whether the winged control parameter meets preset trigger condition；
Control unit is shot, for entering according at least two cameras on the camera control instruction control unmanned plane
Row shoots.
Another technical scheme that the present invention is also proposed：A kind of unmanned plane is provided, including：
Body；
Fly control module, be arranged on the internal body, for controlling unmanned plane during flying, and the winged control ginseng for producing unmanned plane
Number；
Camera, is arranged on the body；
Control device, is connected, with the winged control module and the camera for performing following action respectively：Obtain described flying
The winged control parameter that control module sends；
According to the winged control parameter generation camera control instruction, and enter according to the camera control instruction control camera
Row shoots.
Beneficial effect：Prior art is different from, the control method that the present invention is provided includes obtaining the winged control module of unmanned plane
The winged control parameter for sending；According to the winged control parameter generation camera control instruction, and according to camera control instruction control institute
The camera stated on unmanned plane is shot.Do not recycle and fly entering to the camera on unmanned plane for control module acquisition ground based terminal transmission
Row control, but obtained from winged control module and fly control parameter, the winged control generated using winged control parameter is instructed, and then on unmanned plane
Camera is controlled, and the other-end outside not needing unmanned plane in the control process to camera enters to the camera on unmanned plane
Row control, can it is more intelligent and it is accurate control unmanned plane on camera shot.
Brief description of the drawings
Fig. 1 is the functional block diagram of the control device first embodiment of unmanned plane of the invention；
Fig. 2 is a functional block diagram of the camera control module in Fig. 1；
Fig. 3 is another functional block diagram of the camera control module in Fig. 1；
Fig. 4 is the functional block diagram of the shooting control unit in Fig. 2 and Fig. 3；
Fig. 5 is the structural representation of the control device second embodiment of unmanned plane of the invention；
Fig. 6 is the structural representation of unmanned aerial vehicle example of the invention；
Fig. 7 is the schematic flow sheet of the control method first embodiment of unmanned plane of the invention；
Fig. 8 is a schematic flow sheet of the step S102 in Fig. 1；
Fig. 9 is another schematic flow sheet of the step S102 in Fig. 1；；
Figure 10 is the schematic flow sheet of the step S1022 in Fig. 8 and Fig. 9；
Figure 11 is the schematic flow sheet of the control method second embodiment of unmanned plane of the invention.
Specific embodiment
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and specific implementation
Example is described in further detail to a kind of control method of unmanned plane provided by the present invention, control device and unmanned plane.Attached
In figure, identical label is used for representing identical module and unit in entire disclosure and accompanying drawing.
Refering to Fig. 1, Fig. 1 is the functional block diagram of the control device first embodiment of unmanned plane of the invention.Such as Fig. 1 institutes
Show, the control device 100 of the present embodiment includes：
Parameter acquisition module 11, the winged control parameter that the winged control module for obtaining unmanned plane sends.
Winged control module on unmanned plane is arranged on inside unmanned plane, for controlling unmanned plane during flying.Additionally, fly control module with
Each sensing device on unmanned plane is communicated, and the state of flight information of unmanned plane is obtained from each sensing device, according to
The state of flight Infomiation Production of acquisition flies control parameter accordingly.For example, fly control module can be passed by the acceleration on unmanned plane
Sensor obtains the speed of the now flight of unmanned plane, and then produces flying speed this winged control parameter.
Fly the longitude and latitude of the winged control parameter including unmanned plane that control module is produced, flying height, flying speed, flying distance with
And the flight time.
Parameter acquisition module in the control device 100 of the present embodiment obtains the various winged control of its generation from winged control module
Parameter.Specifically, control device 100 sets up communication connection by between the serial ports and unmanned plane on unmanned plane, then control device
In parameter acquisition module 11 can be obtained from winged control module by the serial ports and corresponding fly control parameter.
Camera control module 12, for being instructed according to winged control parameter generation camera control, and instructs control according to camera control
Camera on unmanned plane processed is shot.
Further, as shown in Fig. 2 camera control module 12 is specifically included such as lower unit：
Generation command unit 121, for according to winged control parameter generation camera control instruction.
The winged control parameter obtained using parameter acquisition module 11, generation camera control corresponding with winged control parameter is instructed.Example
Such as, the camera control instruction related to flying speed is generated according to flying speed；Or according to longitude and latitude generation and unmanned plane position
Related camera control instruction；Or the camera control instruction related to the flight time is generated according to the flight time.
Control unit 122 is shot, for being clapped according at least two cameras on camera control instruction control unmanned plane
Take the photograph.
The camera control instruction that generation command unit 121 is generated is sent to the camera on unmanned plane, and then realizes control
Camera on unmanned plane is shot.
In the present embodiment, control camera shoot includes controlling camera the shooting action such as taken pictures, recorded a video, and also includes
The control of the shooting states such as shooting focal length, shooting angle, the screening-mode of camera.
Further, as shown in figure 3, camera control module 12 also includes such as lower unit：
Condition judgment unit 123, for judging to fly whether control parameter meets preset trigger condition.
In order to unmanned plane can under given conditions be taken pictures according to user's request, so that the photo for obtaining to the greatest extent may be used
The photographing request of user can be reached, then preset trigger condition is set according to the demand of shooting.
When winged control parameter meets preset trigger condition, camera is just controlled to be shot, and then ensure the height that camera shoots
The degree of accuracy and shooting quality high, make image that the camera on unmanned plane shoots or video recording meet the actual need of user as far as possible
Ask.For example, preset trigger condition is 50 meters for the flying height of unmanned plane, and flying distance is 20 meters, then in control parameter is flown
Flying height when reaching 50 meters, flying distance often increases or decreases 20 meters, i.e., carried out according to camera control instruction control camera
Shoot.
In the present embodiment, condition judgment unit 123 can be opened before the generation generation camera control instruction of command unit 121
Begin to perform corresponding operating, i.e., when the judged result of condition judgment unit 123 meets pre-conditioned for the winged control parameter of unmanned plane,
The generation ability of command unit 121 generates corresponding camera control instruction according to the winged control parameter for obtaining, and camera control instruction is sent out
Shooting control unit 122 is delivered to, control unit 122 is shot and is sent to respective camera camera control instruction, and then control camera
Shot.Additionally, condition judgment unit 123 can also start to hold after the generation generation camera control instruction of command unit 121
Row corresponding operating；I.e. can be after the generation generation camera control instruction of command unit 121, condition judgment unit 123 pairs flies control ginseng
Number is judged.For example, generation command unit 121 is first generated according to winged control parameter control camera being taken pictures, recording a video or being shot
The camera control instruction of state, and shooting control unit 122 is sent to, but shooting control unit 122 does not refer to camera control
Order is sent to corresponding camera, but when the judged result of condition judgment unit 123 is preset for the winged control parameter of unmanned plane meets
During condition, shoot control unit 112 and then send to corresponding camera camera control instruction, control camera is shot.
In the present embodiment, preset trigger condition can have multiple, i.e. preset trigger condition and flying height, flying speed,
Multiple control parameters that fly such as longitude and latitude are related, are that winged control parameter is sentenced with multiple preset trigger conditions simultaneously in the present embodiment
Disconnected, as long as flying one that control parameter is met in the plurality of preset trigger condition, it is considered as flying the control default triggering bar of parameter satisfaction
Part.In addition.Preset trigger condition can also be related to the brightness of unmanned plane local environment, that is, judge the bright of unmanned plane local environment
Whether degree meets default ambient brightness.
In the present embodiment, can be dismantled between the camera and unmanned plane on unmanned plane, and camera quantity at least two,
The set location of at least two cameras on unmanned plane can be adjusted according to demand, optionally, at least two camera
It is disposed side by side on the organism bottom of unmanned plane.When camera on unmanned plane is controlled is shot, shooting control unit 122 can be with
Only at least two magazine one or more cameras of control are shot.By having between at least two cameras and control device
Gauze or wireless network carry out network connection.
Further, specifically included such as lower unit as shown in figure 4, shooting control unit 122：
Confirmation command unit 1221, for determining that camera control instruction is at least two magazine on unmanned plane
The control instruction of camera or multiple cameras.
Obtain generation command unit 121 generation camera control instruction after, determine the camera control instruction for this at least two
The control instruction of an individual magazine camera or multiple cameras, is determined result, and the determination result is sent accordingly
To instruction execution unit 1222.
Instruction execution unit 1222, for according to a determination result correspondence at least two magazine cameras or many of control
Individual camera is shot.
For example, being mounted with camera A and camera B on unmanned plane, then shooting control unit 122 can be to generation command unit 121
The camera control instruction of generation is confirmed that it is control camera A to confirm that the camera control is instructed, or controls camera B, or together
When control camera A and camera B, further according to confirming that shooting of the result to camera A and/or camera B be controlled.
At least two cameras in the present embodiment can be Visible Light Camera, can also be infrared camera；Or at least two
A part is Visible Light Camera in individual camera, and another part is infrared camera.
The control device of the unmanned plane of the present embodiment, flies control parameter, and then generate corresponding by being obtained from winged control module
Camera control instruction, the shooting to camera controlled accordingly, do not need in operation user it is artificial to camera
Be configured just be capable of intelligence the shooting according to the winged control parameter of unmanned plane to camera be controlled.Additionally, the present embodiment energy
Enough to be controlled simultaneously by the shooting to the more than two cameras on unmanned plane, the double camera for realizing unmanned plane shoots.
The machine of existing serial ports and unmanned plane on the body that the control device of the unmanned plane in the present embodiment passes through unmanned plane
Body sets up communication connection, can be applied to any kind of unmanned plane.Pass through network communication module between camera and control device
Network connection is set up, and then the control device is controlled any camera being installed on the body of unmanned plane, carried
The control flexibility ratio of the camera of unmanned plane high.
Refering to Fig. 5, Fig. 5 is the structural representation of the control device second embodiment of unmanned plane of the invention.Such as Fig. 5 institutes
Show, the control device 200 of the present embodiment increased as follows on the basis of the control device first embodiment shown in Fig. 1 to Fig. 4
Module：
Memory module 13, image and/or video recording for storing the shooting of at least two cameras on unmanned plane, and will shoot
When image and/or video recording in the corresponding winged data for controlling parameter read-in image and/or video recording.
In the present embodiment, after control camera is shot, the image and/or video recording that can be shot camera are deposited
Storage, so that subsequent user is checked.Further, when the image and/or video recording that are shot in storage, by shooting image and/or video recording
When it is corresponding it is winged control parameter read-in image and/or video recording data in.User can be checked transferring image and/or recording a video
When, can as needed transfer the winged control parameter of unmanned plane when shooting the image and/or video recording.
Refering to Fig. 6, Fig. 6 is the structural representation of unmanned aerial vehicle example of the invention.It is understood that Fig. 6 is only represented
Structure and its annexation that unmanned plane of the invention 300 is included, the present embodiment are not limited the concrete shape of unmanned plane 300
It is fixed.
As shown in fig. 6, the unmanned plane 300 of the present embodiment include unmanned plane body 31, fly control module 32, camera 33 with
And control device 34.
The body 31 of unmanned plane is used to carry winged control module 32, camera 33 and the control device 34.
Fly control module 32 to be arranged on inside body 31, for controlling unmanned plane during flying.Additionally, flying control module 32 and unmanned plane
On each sensing device communicated, from each sensing device obtain unmanned plane state of flight information, according to obtain
State of flight Infomiation Production flies control parameter accordingly.
Camera 33 is arranged on body 31.In the present embodiment, the quantity at least two of camera 33.At least two camera
33 position on body can be adjusted according to the actual requirements, and optionally, optionally, at least two camera 33 is arranged on
The bottom of body 31, and at least two camera 33 can be arranged side by side.For being shot according to the control instruction of camera 33.This is extremely
Few two cameras 33 can be Visible Light Camera 33；Or it is infrared camera 33；Or at least two part phases in camera 33
Machine 33 is Visible Light Camera 33, and remainder camera 33 is infrared camera 33.
Control device 34 is arranged on body 31, is connected with winged control module 32 and camera 33 respectively, and control mould is flown for obtaining
The winged control parameter that block 32 sends；According to the winged control parameter generation control instruction of camera 33, and phase is controlled by the control instruction of camera 33
Machine 33 is shot.
Further, it is between control device 34 and camera 33 and body 31 in the present embodiment and is detachably connected.Control
Device 34 is connected by serial ports with winged control module 32, and is network connection between control device 34 and camera 33.Control device 34
With the network connection between camera 33 can for wired network is connected can also be for wireless network be connected.
Further, the unmanned plane of the present embodiment also includes sensor, and the sensor is arranged on body 31, with winged control mould
Block 32 is connected, to fly the state of flight information that control module 32 provides unmanned plane.The sensor includes that height sensor, acceleration are passed
Sensor, gyroscope etc..
Further, the unmanned plane of the present embodiment also includes locator, and the locator connects on body 31 with winged control circuit
Connect, the positional informations such as the longitude and latitude of unmanned plane are provided to fly control module 32.
The specific embodiment of the control module in this implementation and the control device first embodiment shown in Fig. 1 to Fig. 5 and
The specific implementation content of second embodiment is identical, and here is omitted, refers to the control device of unmanned plane of the present invention
The specific descriptions of one embodiment and second embodiment.
Refering to Fig. 7, Fig. 7 is the schematic flow sheet of the control method first embodiment of unmanned plane of the invention.Such as Fig. 7 institutes
Show, the control method of the present embodiment comprises the following steps：
The winged control parameter that S11, the winged control module of acquisition unmanned plane send.
Include longitude and latitude, flying height, flying speed, flying distance and the flight of unmanned plane by flying control module acquisition
The winged control parameter of time etc..
S12, basis fly control parameter generation camera control instruction, and instruct the camera on control unmanned plane according to camera control
Shot.
Corresponding camera control instruction is generated according to the winged control parameter obtained in step S11, the camera control is instructed and is sent out
The camera on unmanned plane is delivered to, to control the camera on unmanned plane to be shot.
As shown in figure 8, step S12 contains two steps：
S121, basis fly control parameter generation camera control instruction.
S122, according to camera control instruction control unmanned plane at least two cameras shot.
Further, as shown in figure 9, step S102 also comprises the following steps：
S123, judgement fly whether control parameter meets preset trigger condition.
Wherein, step S123 can be performed before step S121 is performed, it is also possible to be performed after step S121 is performed.
I.e. before step S121 generation camera control instructions, to flying whether control parameter meets preset trigger condition and judge, when sentencing
Disconnected result for the winged control parameter of unmanned plane meet pre-conditioned when, just execution step S121.Further, it is also possible in step S121 lifes
Into after camera control instruction, judge flying control parameter, when winged control parameter meets preset trigger condition, according to camera control
Camera on instruction control unmanned plane is shot.For example, generation command unit is first generated to control nothing according to winged control parameter
Camera on man-machine takes pictures, record a video or shooting state camera control instruction, and be sent to shooting control unit, but shoot control
Camera control instruction is not sent to unmanned plane corresponding camera by unit, but when the judged result of condition judgment unit is
When the winged control parameter of unmanned plane meets pre-conditioned, shoot control unit and camera control instruction is then sent to unmanned plane corresponding
Camera, corresponding camera is shot on control unmanned plane.
In the present embodiment, preset trigger condition can have multiple, i.e. preset trigger condition and flying height, flying speed,
Flight time, the control parameters that fly multiple to longitude and latitude etc. were related, in the present embodiment, while by winged parameter of controlling with multiple default triggering bars
Part judged, as long as flying control parameter meets in the plurality of preset trigger condition any one, being considered as the winged control parameter expires
Sufficient preset trigger condition.
In the present embodiment, can be dismantled between the camera and unmanned plane on unmanned plane, and camera quantity at least two,
When cameras of the step S122 on unmanned plane is controlled is shot, at least two magazine one or more phases can be only controlled
Machine is shot.
Further, as shown in Figure 10, step S122 comprises the following steps：
S1221, determine that camera control instruction is an at least two magazine cameras on unmanned plane or multiple cameras
Control instruction.
S1222, according to determining that a result correspondence at least two magazine cameras of control or multiple camera are shot.
Each step in the control method of the present embodiment is performed with the control device first shown in Fig. 1 to Fig. 4 in fact respectively
The corresponding module and/unit in example are applied, the control device first that the particular content of each step refer to shown in Fig. 1 to Fig. 4 is real
Apply example.
Refering to Figure 11, Figure 11 is the schematic flow sheet of the control method second embodiment of unmanned plane of the invention.Such as Figure 11
Shown, the present embodiment after S12, also comprises the following steps the step of the control method first embodiment shown in Fig. 7 to Figure 10：
Image and/or video recording that at least two cameras on S13, storage unmanned plane shoot, and by shooting image and/or record
During picture in the corresponding winged data for controlling parameter read-in image and/or video recording.
After step S12 control cameras are shot, the image and/or video recording that camera is shot are stored, so as to
Subsequent user is checked.Further, it is corresponding during by shooting image and/or video recording when the image and/or video recording that are shot in storage
In winged control parameter read-in image and/or the data of video recording.User can be when image be transferred and/or video recording is checked, can
When transferring the shooting image and/or video recording as needed, the winged control parameter of unmanned plane.
Each step in the present embodiment is performed and the corresponding module in the control device second embodiment shown in Fig. 5 respectively
With/unit, the particular content of each step refer to the control device second embodiment shown in Fig. 5.
Embodiments of the invention are these are only, scope of patent protection of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is similarly included in scope of patent protection of the invention.
Claims (10)
1. a kind of control method of unmanned plane, it is characterised in that including：
Obtain the winged control parameter that the winged control module of unmanned plane sends；
According to the winged control parameter generation camera control instruction, and according on the camera control instruction control unmanned plane
Camera is shot.
2. control method according to claim 1, it is characterised in that described according to the winged control parameter generation camera control
Instruction, and shot according to the camera on the camera control instruction control unmanned plane, including：
According to the winged control parameter generation camera control instruction；
Judge whether the winged control parameter meets preset trigger condition；
If so, then being shot according at least two cameras on the camera control instruction control unmanned plane；Or
Judge whether the winged control parameter meets preset trigger condition；
If so, then according to the winged control parameter generation camera control instruction, and according to the camera control instruction control nothing
At least two cameras on man-machine are shot.
3. control method according to claim 2, it is characterised in that the quantity of the trigger condition is multiple；
It is described to judge whether the winged control parameter meets preset trigger condition, including：
Judge whether the winged control parameter meets any one in multiple preset trigger conditions.
4. control method according to claim 1, it is characterised in that the winged control parameter is at least including the unmanned plane
Longitude and latitude, flying height, flying speed, flying distance and flight time.
5. control method according to claim 1, it is characterised in that described described according to camera control instruction control
Camera on unmanned plane is shot, including：
Determine that the camera control instruction is at least two magazine cameras or multiple cameras on the unmanned plane
Control instruction；
An at least two magazine camera or multiple cameras is controlled to be shot according to determining that result is corresponding.
6. control method according to claim 1, it is characterised in that described described according to camera control instruction control
After camera on unmanned plane is shot, also include：
Image and/or video recording that at least two cameras on the unmanned plane shoot are stored, and described image and/or record will be shot
During picture in the corresponding winged data for controlling parameter read-in described image and/or video recording.
7. the control method according to claim 1-6 any one, it is characterised in that described to refer to according to the camera control
Camera on the order control unmanned plane carries out shooting to be included：
The camera is taken pictures, recorded a video and/or is adjusted according to the camera on the camera control instruction control unmanned plane
Shooting state.
8. a kind of control device of unmanned plane, it is characterised in that including：
Parameter acquisition module, the winged control parameter that the winged control module for obtaining unmanned plane sends；
Camera control module, for being instructed according to the winged control parameter generation camera control, and instructs according to the camera control
The camera on the unmanned plane is controlled to be shot.
9. control device according to claim 8, it is characterised in that the camera control module includes：
Generation command unit, for according to the winged control parameter generation camera control instruction；
Condition judgment unit, for judging whether the winged control parameter meets preset trigger condition；
Control unit is shot, for being clapped according at least two cameras on the camera control instruction control unmanned plane
Take the photograph.
10. a kind of unmanned plane, it is characterised in that including：
Body；
Fly control module, be arranged on the internal body, for controlling unmanned plane during flying, and the winged control parameter for producing unmanned plane；
Camera, is arranged on the body；
Control device, is connected, with the winged control module and the camera for performing following action respectively：Obtain the winged control mould
The winged control parameter that block sends；
According to the winged control parameter generation camera control instruction, and clapped according to the camera control instruction control camera
Take the photograph.
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| CN201611246617.7A CN106814742A (en) | 2016-12-29 | 2016-12-29 | A kind of control method of unmanned plane, control device and unmanned plane |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107590826A (en) * | 2017-08-02 | 2018-01-16 | 深圳市可飞科技有限公司 | Control method, control system and the unmanned plane of unmanned plane automatic camera |
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