CN107077152A - Control method, equipment, system, unmanned plane and moveable platform - Google Patents

Control method, equipment, system, unmanned plane and moveable platform Download PDF

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Publication number
CN107077152A
CN107077152A CN201680002782.XA CN201680002782A CN107077152A CN 107077152 A CN107077152 A CN 107077152A CN 201680002782 A CN201680002782 A CN 201680002782A CN 107077152 A CN107077152 A CN 107077152A
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CN
China
Prior art keywords
information
point
historical movement
control
unmanned plane
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Pending
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CN201680002782.XA
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Chinese (zh)
Inventor
封旭阳
胡骁
赵丛
刘昂
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Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Publication of CN107077152A publication Critical patent/CN107077152A/en
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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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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

A kind of control method, equipment, system, unmanned plane and moveable platform.This method includes：Obtain from first position point to the historical movement information of second place point；According to the historical movement information, control unmanned plane flies between the first position point and second place point；When controlling the unmanned plane to carry out flight between the first position point and second place point, the capture apparatus for controlling the unmanned plane to carry is shot to reference object.The present invention can realize the safe flight of unmanned plane.

Description

Control method, equipment, system, unmanned plane and moveable platform
Copyright notice
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright Owner does not oppose that anyone replicates the patent document in the presence of the proce's-verbal of Patent＆Trademark Office and archives or should Patent is disclosed.
Technical field
The present invention relates to control field, and more particularly, to a kind of control method, equipment, system, unmanned plane and can Mobile platform.
Background technology
With the development of airmanship, unmanned plane from it is military develop into it is more and more extensive civilian, for example, UAV plants Thing protection, UAV Aerial photographies, UAV Forest Fires police commissioner control etc., and UAV civil natures are also the trend of future development.With nobody Machine is developed rapidly, and the application of unmanned plane is more and more wider, unmanned plane may perform shooting task in all cases.Mesh Before, when the shooting task to unmanned plane is planned, it is necessary to manually by the destination to be traveled through and the destination pair of unmanned plane Then these data are transferred to unmanned plane by the manual input control terminal of the shooting control information answered by control terminal again, and And when carrying out shooting mission planning, it is also contemplated that the safe flight of unmanned plane, therefore operating process is complicated, particularly to it is long when Between shoot task when being planned, workload is larger, lack at present succinctly, lack easy-to-use control system and come to unmanned plane Flight path, shooting task planned and controlled, the serviceability of unmanned plane in some applications can be reduced.
The content of the invention
, can be by simple the invention provides a kind of control method, equipment, system, unmanned plane and moveable platform Control method is planned the shooting process of unmanned plane, realizes the safe flight of unmanned plane.
There is provided a kind of control method for first aspect, it is characterised in that including：Obtain from first position point to second Put historical movement information a little；According to the historical movement information, control unmanned plane is in the first position point and described second Flown between location point；Control the unmanned plane between the first position point and the second place point during flight, control The capture apparatus that the unmanned plane is carried is shot to reference object.
Second aspect there is provided a kind of control method, including：Moveable platform is obtained from first position point to the second place The historical movement information of point；The historical movement information is sent to external equipment.
The third aspect there is provided a kind of control device, including：Acquisition module, for obtaining from first position o'clock to second The historical movement information of location point；Control module, for according to the historical movement information, control unmanned plane to be at described first Put and a little flown between the point of the second place, and control the unmanned plane in the first position point and the second place Between point during flight, the capture apparatus for controlling the unmanned plane to carry is shot to reference object.
Fourth aspect there is provided a kind of control device, including：Acquisition module, for obtaining moveable platform from first Put the historical movement information a little to second place point；Control module, for the historical movement information to be sent into external equipment.
5th aspect is there is provided a kind of control system, including to processor and memory, the memory refers to for storage Order, the processor is used to call the instruction stored in the memory, performs following operate：Obtain from first position point To the historical movement information of second place point；According to the historical movement information, control unmanned plane the first position point with Flown between the second place point；The unmanned plane is controlled to be flown between the first position point and second place point When, the capture apparatus for controlling the unmanned plane to carry is shot to reference object.
6th aspect is there is provided a kind of control system, including processor and memory, and the memory refers to for storage Order, the processor is used to call the instruction stored in the memory, performs following operate：Obtain moveable platform from Historical movement information of the first position point to second place point；The historical movement information is sent to external equipment.
There is provided a kind of unmanned plane in terms of 7th, including：Dynamical system, for providing flying power for the unmanned plane； And the control system described in terms of the 5th, for being controlled to unmanned plane.
Eighth aspect there is provided a kind of moveable platform, including：Control system described in 6th aspect, for removable Moving platform is controlled.
Therefore, in embodiments of the present invention, according to from first position point to the historical movement information of second place point, control Unmanned plane flies between the first position point and second place point, unmanned plane can according to historical movement information come Flown between first position point and second place point, the flight path and shooting task without user manually to unmanned plane enter professional etiquette Draw, simplify control flow, user can be realized flight path to unmanned plane with embodiments in accordance with the present invention, shoot task It is precision customized, it is possible to achieve preferable shooting effect.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this For the those of ordinary skill of field, on the premise of not paying creative work, it can also obtain other according to these accompanying drawings Accompanying drawing.
Fig. 1 shows the schematic figure of UAS according to embodiments of the present invention.
Fig. 2 shows the schematic figure of the UAS according to further embodiment of this invention.
Fig. 3 shows the indicative flowchart of control method according to embodiments of the present invention.
Fig. 4 a show the schematic figure of historical movement track according to embodiments of the present invention.
Fig. 4 b show the schematic of the flight according to embodiments of the present invention according to historical movement TRAJECTORY CONTROL unmanned plane Figure.
Fig. 4 c show the schematic of the flight according to embodiments of the present invention according to historical movement TRAJECTORY CONTROL unmanned plane Figure.
Fig. 5 shows the schematic figure of the historical movement track not being smoothed according to embodiments of the present invention.
Fig. 6 shows the indicative flowchart figure of control method according to embodiments of the present invention.
Fig. 7 shows the schematic block diagram of control device according to embodiments of the present invention.
Fig. 8 shows the schematic block diagram of control device according to embodiments of the present invention.
Fig. 9 shows the schematic block diagram of control device according to embodiments of the present invention.
Figure 10 shows the schematic block diagram of control device according to embodiments of the present invention.
Figure 11 shows the schematic block diagram of control system according to embodiments of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly retouched State, it is clear that described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based in the present invention Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all Belong to the scope of protection of the invention.
It can be various types of unmanned planes that the unmanned plane mentioned in the embodiment of the present invention, which is specifically as follows, wherein the present invention It is illustrative with multi-rotor unmanned aerial vehicle in embodiment, but such explanation is not limitation, ordinary skill The every other embodiment that personnel are obtained under the premise of creative work is not made, should all belong to the model that the present invention is protected Enclose, the present invention is not limited this.
Fig. 1 shows the structural representation of flight system according to embodiments of the present invention, and the system includes being used as ground surface end The control terminal 100 and unmanned plane 200 of remote control equipment,
Wherein, as shown in figure 1, unmanned plane 200 can include dynamical system 210, control system 220, the and of sensor-based system 230 Frame 240.Wherein, head 250 and capture apparatus 260 are properly termed as a part for unmanned plane 200 or are connected to nobody The external equipment of machine.
Dynamical system 210 can include electron speed regulator (referred to as electricity adjust) 211, two or more propellers 212 with And two or more motors 213 corresponding with two or more propellers 212, two propellers are only illustrated in Fig. 1 212 and corresponding two motors 213, but do not limit the protection domain of the embodiment of the present invention.Motor 213 is connected to electricity Between sub- speed regulator 211 and propeller 212, motor 213 and propeller 212 are arranged on corresponding horn；Electron speed regulator 211 Drive signal for receiving the generation of control system 220, and driving current is provided to motor 213 according to drive signal, to control The rotating speed of motor 213.Motor 213 is used to drive propeller 212 to rotate, so that the flight for unmanned plane 200 provides power.
Sensor-based system 230 be used to measuring the movable information of unmanned plane 200, i.e. unmanned plane 200 in the positional information in space and Status information, for example, position, angle, speed, acceleration, angular acceleration, angular speed etc..Sensor-based system 230 can for example include Gyroscope, electronic compass, Inertial Measurement Unit (Inertial Measurement Unit, IMU), vision sensor (binocular, Monocular, visual odometry), global positioning system (Global Positioning System, GPS), barometer, pitot meter, refer to At least one of sensors such as compass, supersonic sensing.
Control system 220 is used for the flight for controlling unmanned plane 200.Control system 220 can be according to the program pre-set Instruction is controlled to unmanned plane 200.For example, the movable information control that flight controller 220 can be measured according to sensor-based system 230 The flight of unmanned plane 200 processed.Flight controller 200 can also be according to the control signal from control terminal equipment to unmanned plane 200 are controlled.
Frame 240 can include fuselage and foot stool (also referred to as undercarriage).Fuselage can include centre frame and and center One or more horns of frame connection, one or more horns radially extend from centre frame.Foot stool is connected with fuselage, is used Played a supportive role in when unmanned plane 200 lands.
Capture apparatus 260 is used for the equipment of capture images such as can be camera or video camera, and shooting 260 can be with Flight controller communicates, and is shot under the control of flight controller.
Display device 110 is located at ground surface end, can be communicated wirelessly with unmanned plane 200, and can use In the state parameter or operational factor of display unmanned plane 200.Furthermore it is also possible to show that capture apparatus is clapped on display device 110 The image taken the photograph.It should be understood that display device 110 can be independent equipment, it can also be arranged in control terminal 100.
Control terminal 100 is located at ground surface end, can be communicated wirelessly with unmanned plane 200, for nobody Machine 200 carries out remote control.The control terminal 100 can be smart mobile phone, tablet personal computer, UAV ground control station, hand One or more in table, bracelet, video eyeglasses etc..In embodiments of the invention, the input of user is received by commanding apparatus, It can refer to by the user interface (UI) pulled out on the input units such as wheel, button, button, rocking bar or user terminal on remote control Unmanned plane 200 is manipulated.
Unmanned plane 200 can be flown according to certain path, and the path is properly termed as course line, and path can include many Individual location point, the location point is properly termed as destination.For example, as shown in Fig. 2 can be wrapped to the course line of location point 6 from location point 1 Include the other positions point in addition to location point 1 and location point 6, i.e. location point 2,3,4 and 5.In course data, destination is with coordinate Form exist.In some cases, destination can also include in addition to including coordinate：Index ID, the position crawl of location point Make information, the course line attribute associated with the location point etc., wherein destination action includes but is not limited to cradle head control information, shoots Control information (including the shooting direction information of capture apparatus, the shooting action information of capture apparatus (such as take a picture, shoot the video, it is burnt Away from adjustment, spectrum assignment, focusing control etc.)).
The coordinate of destination can include global position coordinate (GPS) or relative position coordinates, and the flying height of destination is then It can be the height value of acquiescence.Or, destination can also be by global position coordinate (GPS) or relative position coordinates, and height Value composition.Unmanned plane 200 performs course data after course data is received, and flies on the course line represented by the course data OK.Specifically, each location point that the controller in unmanned plane 200 includes according to course data, control unmanned plane 200 is successively These destinations are traveled through, realizes and is flown on the course line represented by course data.
Unmanned plane 200 is during flight, it is possible to use the capture apparatus 260 of carrying is shot to reference object.
At present, when needing to shoot reference object, user controls unmanned plane in real time by control terminal equipment Course line, unmanned plane according to the course line controlled in real time when carrying out flight, and the capture apparatus carried using unmanned plane is come to shooting pair As being shot.However, because user's level is uneven, user may be not skilled enough to the operation of unmanned plane, it is impossible to realizes The safe flight of unmanned plane, and preferable shooting effect can not be obtained.Particularly when user is want along fixed path to certain Individual reference object is shot repeatedly, realize draw near, shooting from the close-by examples to those far off when, the technology can not be realized in the prior art Effect, can reduce the serviceability of unmanned plane shooting.
Therefore, the embodiments of the invention provide a kind of control method, equipment, system and unmanned plane, it is possible to achieve unmanned plane Safe flight, and obtain preferable shooting effect.
Fig. 3 shows the indicative flowchart of the control method of the embodiment of the present invention.This method can be performed by unmanned plane, It can specifically be performed by the control system in unmanned plane.As shown in figure 3, this method can include herein below.
In 310, obtain from first position point to the historical movement information of second place point.
Alternatively, historical movement information includes historical movement trace information；
Alternatively, except historical movement trace information, from first position point to the historical movement information of second place point also Including at least one of following：
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of the first position point to the capture apparatus in the second place point process；
From the first position point to the history attitude information in the second place point process.
The characteristic point information extracted from the first position point into second place point process from surrounding environment image information Or the cartographic information set up according to surrounding environment image information.
Specifically, it can include to the historical movement velocity information in the second place point process from the first position point： From first position point to the averaged historical motion velocity information of second place point, and/or from first position point to second place point Between multiple location points in per two neighboring location point historical movement velocity information.
Specifically, historical movement velocity information can include velocity magnitude and velocity attitude.
Specifically, history, which shoots control information, can include history shooting direction information and/or history shooting action information, Shooting direction information be used for capture apparatus shooting direction and angle, the shooting action information can include take a picture, shoot the video, Focussing, spectrum assignment, focusing control etc..
Specifically, shooting control information to the history of the second place point capture apparatus from the first position point can wrap Include：From first position point into multiple location points of second place point at each location point corresponding capture apparatus shooting direction Information and/or shooting action information.
Specifically, it can be sensed from the first position point to the second place point history attitude information by motion sensor Arrive, for example, attitude information can include at least one in the angle of pitch, yaw angle and roll angle, motion sensor can include It is following at least one：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor, embodiments of the invention are not limited to This, can also utilize the sensor of other attitude informations that can measure unmanned plane.
Specifically, can be from surrounding environment image to the characteristic point information of location point surrounding environment image from first position point It is middle to extract, the image of surrounding environment is obtained during from first position point to second place point, spy can be extracted from ambient image An information is levied, these characteristic point informations can be included in historical movement information；Furthermore it is possible to be believed according to the image of surrounding environment Cease to model, obtain cartographic information, the historical movement information can also include the cartographic information.
In 320, according to the historical movement information, control unmanned plane is between the first position point and the second place point Flight.
Wherein, unmanned plane is after historical movement information is got, the historical movement that can be indicated according to historical movement information Trace information, historical speed control information, history Acceleration Control information, history gesture stability information, history shoot control letter At least one of breath flies to control unmanned plane between first position point and second place point.
In 330, control the unmanned plane between the first position point and the second place point during flight, control this nobody The capture apparatus that machine is carried is shot to reference object.
Specifically, when unmanned plane is according to historical movement information flight, user by control terminal equipment input it is real-time Control information is shot, or the history indicated according to the historical movement information shoots control information, controls what the unmanned plane was carried Capture apparatus is shot to reference object, and specific explanations can be described below.
Therefore, in embodiments of the present invention, according to from first position point to the historical movement information of second place point, control Unmanned plane flies between the first position point and second place point, and unmanned plane can fly according to historical movement information OK, on the one hand, can avoid only being manually entered course data, shooting control information, velocity information, attitude information in user When, the flight course of unmanned plane could be planned, on the other hand, can avoid because user's real-time operation brought can not The problem of safe flight.And when further controlling the unmanned plane according to the historical movement information flight, control is described The capture apparatus that unmanned plane is carried is shot to reference object, it is possible to achieve preferable shooting effect.
It is alternatively possible to be obtained by any of following two modes or combination from first position point to second place point Historical movement information.
Alternatively, in one implementation, receive moveable platform send from the first position point to the second Put the historical movement information a little.
Wherein, the historical movement information can be the moveable platform from first position point to second place point motion process The movable information that the movable information or moveable platform of middle acquisition are obtained from other equipment.
For example, during moveable platform is moved from first position point to second place point, being passed using the motion carried Sensor or vision sensor can also be recorded in motion process and shot to obtain the trace information of motion, wherein moveable platform Control information, velocity information, acceleration information, attitude information, characteristic point information, cartographic information (wherein characteristic point information and ground The definition of figure information refers to preceding sections) in one or more, it is removable when moveable platform moves to second place point Moving platform just have recorded motion track information and the shooting control information associated with motion track information, velocity information, acceleration Information, attitude information, characteristic point information, cartographic information etc. are spent, moveable platform is recorded into these information is referred to as historical movement letter Breath, moveable platform can preserve historical movement information, and historical movement information is sent into unmanned plane, and unmanned plane is being received After the historical movement information sent to moveable platform, unmanned plane just can be according to historical movement information in first position point and the Flown between two location points, while the shooting control information included using historical movement information, velocity information, acceleration are believed One or more one or more in the shooting of unmanned plane, speed, acceleration, posture in breath, attitude information are controlled System.Here the historical movement Information Sharing for recording moveable platform can be realized to unmanned plane, moveable platform is realized Interconnected with the information of unmanned plane, user can be realized between first position point and second place point using moveable platform record Motion customization, unmanned plane can fly and real according to the Motion of customization between first position point and second place point Now corresponding control.
Wherein, the moveable platform can be achieved on the mobile platform of log history movable information, not do specific herein Limit, moveable platform can be specifically unmanned plane, hand-held head, hand-held head camera, smart mobile phone, dedicated remote control, One or more in Intelligent bracelet, Intelligent bracelet.
Alternatively, in one implementation, the unmanned plane is controlled from the first position point to the second place point flight, To obtain the historical movement information.
Wherein, obtaining the operation of historical movement information can be performed by unmanned plane itself, and unmanned plane is from first first Put and a little flown to second place point, using the motion sensor or vision sensor that carry obtain motion trace information, its Middle unmanned plane, which can also be recorded, shoots control information, velocity information, acceleration information, attitude information, characteristic point in motion process One or more in information, cartographic information, detailed process asks parameter preceding sections, and here is omitted；Unmanned plane is being obtained First position point is to after the historical movement information of second place point, and the later stage is just according to historical movement information from first position o'clock to Two location points fly or flown from second place point to first position point.The shooting included simultaneously using historical movement information One or more in control information, velocity information, acceleration information, attitude information are to the shooting of unmanned plane, speed, acceleration One or more in degree, posture are controlled.
Wherein it is possible to by way of forward direction flight, control the unmanned plane to fly from first position point to the second place point OK, now, positive flight can refer to the heading of unmanned plane or the operating direction of avoidance equipment and heading basic one Cause.
Or, the operating direction that can be equipped by the avoidance of unmanned plane keeps basically identical mode with heading, The unmanned plane is controlled to be flown from first position point to second place point.Wherein, the avoidance equipment can be (double for vision avoidance equipment Mesh or monocular avoidance), avoiding obstacles by supersonic wave, radar avoidance etc., the avoidance equipment may be mounted on the head of unmanned plane, from One location point is to during the point flight of the second place, and the operating direction of heading and head, avoidance equipment is basically identical.
It is alternatively possible to according to default Robot dodge strategy, control the unmanned plane from the first position point to the second place Point flight, to obtain the historical movement information.
Wherein, general unmanned plane is only configured with avoidance equipment in head, i.e., when unmanned plane is to first position point to second When putting point forward flight, unmanned plane can utilize avoidance equipment, according to default Robot dodge strategy to the barrier on heading Hidden, when the flight of unmanned plane completion first position point to second place point, it is determined that go out a historical movement track, This historical movement track for safety movement locus, i.e., in the absence of barrier on this movement locus, the later stage along this The problem of being collided with barrier will not be caused during the flight of track.The default Robot dodge strategy can serve to indicate that according to default side Formula avoiding barrier, such as run into when detecting barrier and first climb, and clears the jumps and is just lowered back to original course, or detection Barrier, which is bypassed, to level during barrier returns again to original course, specifically, the environment that can be perceived according to the binocular camera moment Information, automatic obstacle avoidance is carried out using default obstacle avoidance algorithm.
Further, since the tail of unmanned plane is configured without avoidance equipment, unmanned plane can not be kept away the barrier of tail Barrier, when unmanned plane is from second place point to during the reverse flight of point of first position, it may occur that the event collided with barrier, this Sample is than relatively hazardous.When from first position point to during the point forward flight of the second place, due to utilizing the avoidance equipment installed in head, Have confirmed safe historical movement track, then, can in unmanned plane from second place point to during the reverse flight of point of first position To be flown according to the historical movement track, the safety of unmanned plane can be so effectively ensured.
Alternately, the real-time control signal that can also be inputted according to control terminal equipment, carries out the flight control of unmanned plane System.
Specifically, the interactive interface for the map for including some target area can be presented in control terminal equipment to user, use Family can set the location point that unmanned plane needs to travel through on map as needed, and each location point can be sat for GPS location Mark, it can be default height to be highly, or, the flying height of location point can also flexibly be set, and user can be set The flying speed of each two location point.The each position that can then control unmanned plane traverse user to be set by control terminal equipment Point.So as to user can using control terminal equipment progress Motion customization, unmanned plane can according to customization Motion Flown between first position point and second place point, so as to improve the experience of user.
Or, the real-time control signal that default Robot dodge strategy and control terminal equipment are inputted can also be combined, to enter The flight control of row unmanned plane.
Specifically, user can set Motion, such as movement locus, athletic posture or nothing by control terminal equipment At least one of in man-machine posture, and unmanned plane is in the Motion flight course formulated according to user, if running into barrier Hinder thing, avoidance can be carried out according to default Robot dodge strategy, and after avoidance, continue to fly according to the strategy that user formulates motion OK, so as to realize while Consumer's Experience is lifted, the security of flight is improved.
Alternatively, control the unmanned plane from first position point to during the point flight of the second place, obtain image information；According to The image information, it is determined that from the first position point to the historical movement trace information of the second place point.
Wherein, during unmanned plane flies from first position point to second place point, the image of unmanned plane configuration is passed Sensor can obtain the image information of surrounding environment (such as below unmanned plane), after image information is obtained, Ke Yigen in real time The historical movement trace information from the first position point to the second place point is calculated according to described image information.
Specifically, imaging sensor can include visual odometry, and wherein visual odometry can be monocular or binocular, can To obtain image information from the first position point to second place point using visual odometry, with determine from first position point to The historical movement trace information of second place point.Wherein, the visual odometry may be optionally provided at the ventral of unmanned plane.
Specifically, after image information is obtained, it is possible to use positioning immediately and map structuring (Concurrent Mapping and Localization, SLAM) algorithm determines motion track information.
In addition, after image information is got, characteristic point information, historical movement information can be extracted from image information In can include these characteristic point informations, while can according to positioning with map structuring (Concurrent Mapping and Localization, SLAM) algorithm builds cartographic information, and historical movement information can also include building obtained map letter Breath.
It is alternatively possible to the unmanned plane controlled from the first position point to during the second place point flight, according to the nothing The data of man-machine motion sensor output, it is determined that believing from the first position point to the historical movement track of the second place point Breath.
Wherein, during unmanned plane flies from first position point to second place point, the motion of unmanned plane configuration is passed Sensor can output campaign data (such as acceleration, angular acceleration, position coordinates) in real time, after exercise data is obtained, The historical movement trace information from the first position point to the second place point can be calculated according to the exercise data.Wherein Motion sensor can include measurement measuring unit (IMU), GPS, accelerometer, gyroscope, one kind in electronic compass or many Kind.
Alternately, the image information that can be obtained according to visual odometry, or the movable information that IMU is obtained, obtain phase To positional information, and GPS is merged, obtain global position information, and thereby obtain historical movement trace information.Alternatively, it is also possible to Global position information directly is obtained using GPS, and thereby obtains historical movement trace information.
Alternatively, it can include from first position o'clock to the from first position point to the historical movement information of second place point The historical movement trace information of two location points, then can control unmanned plane at this first according to the historical movement trace information Put and a little flown between the second place point.
Wherein, historical movement information includes historical track information, and unmanned plane is after historical movement information is obtained, and unmanned plane can Flown, can be so realized between first position point and second place point with the historical track indicated according to historical track information Between two location points, unmanned plane flies according to fixed track, realizes the customization of flight path, improves user's body Test.According to historical movement track, controlling unmanned plane between first position point and the second place point during flight, can be constantly anti- Feedback and amendment track, to reach the effect accurately controlled.
Further, the historical track indicated according to historical movement information in unmanned plane is in first position point and second place point Between flight when, can be according to the characteristic point information extracted in historical movement information from surrounding environment image information or according to week Enclose the cartographic information of ambient image information foundation to correct the flight path of unmanned plane, it is ensured that unmanned plane is accurately according to history rail Mark flies.
Alternatively, from the first position point to the historical movement trace information of second place point include from first position point to Multiple location points between the point of the second place, then can in the way of the plurality of location point is traveled through, control unmanned plane this Flown between one location point and the second place point.
It is alternatively possible to according to the historical movement information from the first position point or second place point, unmanned plane is from second First position point is arrived in location point flight.
For example, historical movement track as shown in fig. 4 a, first position point can be location point 1, and second place point can be with It is location point 5, location point 2, location point 3 and location point 4 is undergone from location point 1 to location point 5.Then as shown in Figure 4 b, it can control Unmanned plane processed travels through location point 4, location point 3, location point 2, in-position point 1 successively from location point 5.
Alternately, unmanned plane can be controlled according to the historical movement information from the first position point or second place point From the flight of first position point to second place point.
For example, historical movement track as shown in fig. 4 a, first position point can be location point 1, and second place point can be with It is location point 5, location point 2, location point 3 and location point 4 is undergone from location point 1 to location point 5.Then as illustrated in fig. 4 c, it can control Unmanned plane processed travels through location point 2, location point 3, location point 4, in-position point 5 successively from location point 1.
Alternatively, it can include from first position o'clock to the from first position point to the historical movement information of second place point The velocity magnitude of every two neighboring location point between multiple location points of two location points, then can control the unmanned plane according to Movement velocity between every two neighboring location point, flies between every two neighboring location point, described to travel through Multiple location points.
For example, as shown in fig. 4 a, historical movement information, can be with outside the coordinate information of location point 1,2,3,4 and 5 Including the velocity magnitude between each two location point, then from location point 1 to the flight course of location point 5 in, or from location point 5 to In the flight course of location point 1, it can be flown with the velocity magnitude of historical record between per two neighboring location point.
Alternatively, the real-time speed control information of control terminal equipment input is obtained, according to the real-time speed control information Flying speed to the unmanned plane is controlled.Or, obtain the historical movement velocity information that the historical movement information includes, root The flying speed of the unmanned plane is controlled according to the historical movement velocity information.
Wherein, when the historical movement trace information flight that unmanned plane is indicated according to historical movement information, user can lead to Cross control terminal equipment and send real-time speed control information to unmanned plane, the speed control information is used for the flight to unmanned plane Speed is controlled, in this way, and the speed that user can be manually to unmanned plane is controlled, and can be wanted according to oneself Flying speed unmanned plane is controlled, realize and reference object shot close to or away from speed with desired； In addition, the historical speed control information that unmanned plane can also be indicated according to historical movement information is carried out to the flying speed of unmanned plane Control, such unmanned plane can independently realize the control to speed according to historical speed control information, and user can not need Flying speed to unmanned plane is intervened manually, can be absorbed in shooting.
Alternatively, the real-time attitude control information of control terminal equipment input is obtained, according to the real-time attitude control information Posture to the unmanned plane is controlled；Or, the history attitude information that the historical movement information includes is obtained, according to the history Attitude information is controlled to the posture of the unmanned plane.
Wherein, when the historical movement trace information flight that unmanned plane is indicated according to historical movement information, user can lead to Cross control terminal equipment and send real-time attitude control information to unmanned plane, the gesture stability information is used for the flight to unmanned plane Posture is controlled, in this way, and the posture that user can be manually to unmanned plane is controlled, and can be wanted according to oneself Flight attitude reference object shot；In addition, the history appearance that unmanned plane can also be indicated according to historical movement information State control information is controlled to the flight attitude of unmanned plane, and such unmanned plane can be according to history gesture stability information independence The control to posture is realized, user need not can manually be intervened the flight attitude of unmanned plane, can be absorbed in shooting.
Alternatively, according to the historical movement information, with the operating direction or heading of avoidance equipment and the unmanned plane The inconsistent mode of heading, controls the unmanned plane to be flown between the second place point and the first position point.
Specifically, because the tail of unmanned plane is configured without avoidance equipment, unmanned plane can not be carried out to the barrier of tail Avoidance, if the heading of unmanned plane and the heading of unmanned plane are inconsistent, it may occur that the thing collided with barrier Part, so than relatively hazardous, even if or configuration avoidance equipment, if the square heading with unmanned plane of the operation of avoidance equipment It is inconsistent, still may occur the event collided with barrier.However, avoidance equipment operating direction or heading with The inconsistent mode of the heading of the unmanned plane, but if according to historical movement information, with control the unmanned plane this Fly, then can avoid the occurrence of such a between two location points and the first position point.Specifically, it is determined that historical movement During information, unmanned plane is from first position point to during the point flight of the second place, and unmanned plane can be carried out using avoidance equipment Avoidance, it is determined that from first position point to the safe trajectory of second place point, i.e. historical track information, historical movement information is including going through History trace information, when the unmanned plane later stage according to historical track information come the flight between first position point and the second place point when, Even if the operating direction or heading of avoidance the equipment mode inconsistent with the heading of the unmanned plane, unmanned plane also will not Collided with barrier, it is possible to achieve safe flight.
It is alternatively possible to being smoothed from first position point to the historical movement track of second place point.
Specifically, because in flight course, the operation of user is unskilled or undesirable, when fast when causing flying speed Slowly, or flight path is unsmooth, if obtained historical movement information of flying in that way carries out the flight of unmanned plane, and It in flight course, when controlling the shooting of capture apparatus, may be such that shooting effect is undesirable, therefore, historical movement believed Breath is modified processing, and specifically, historical movement track can be smoothed, and is transported according to the history after smoothing processing The flight of dynamic TRAJECTORY CONTROL unmanned plane, and in flight course, control capture apparatus is shot to reference object, due to clapping Take the photograph path more smooth, then can obtain more preferable shooting effect.
For example, the movement locus without smoothing processing is illustrated in figure 5, because velocity attitude changes excessive at location point 4, The movement locus can be smoothed, the historical movement track that smoothing processing is obtained can be as shown in fig. 4 a.
Specifically, the historical movement track can be smoothed according to linear function or quadratic function etc., its In, the function for smoothing processing can be inputted by user by control terminal equipment.
It is alternatively possible to being smoothed from first position point to the historical movement speed of second place point.
Specifically, historical movement speed being smoothed can be to historical movement velocity magnitude and/or history fortune Dynamic velocity attitude is smoothed.
It should be understood that the smoothing processing of historical movement velocity attitude and the smoothing processing of historical movement track can in terms of some To refer to the same processing.
Alternatively, according to historical movement information, during first position point and second give directions flight, it can obtain The captured in real-time control information for taking control terminal equipment to input, is controlled according to the captured in real-time control information to the capture apparatus System.
Wherein, when the historical movement trace information flight that unmanned plane is indicated according to historical movement information, user can lead to Cross control terminal equipment and send captured in real-time control information to unmanned plane, shooting of the shooting control information to unmanned plane is carried out Control, in this way, user can be controlled to the capture apparatus of unmanned plane manually, and user can be according to the meaning of oneself It is willing to shoot reference object；So ensureing unmanned plane along during the flight of historical movement track, by the control of capture apparatus System power is open to user, and the track that now unmanned plane is indicated according to historical track information is flown, without user's setting flight rail Mark, such user can be absorbed in shooting, improve Consumer's Experience.
Alternatively, according to historical movement information, during first position point and second give directions flight, it can obtain The history for taking the historical movement information to indicate shoots control information, and shoot control information according to the history is carried out to the capture apparatus Control.
Wherein, the history that unmanned plane can be indicated according to historical movement information shoots shooting of the control information to unmanned plane and set Standby to be controlled, the history, which shoots control information, includes history shooting direction information and history shooting action information, and history is shot Action message can serve to indicate that the mode of shooting, for example, take a picture, shoot the video, Focussing, spectrum assignment, focusing control Deng.By such manner, the autonomous control to the capture apparatus of unmanned plane is realized, user is without manual intervention；In addition, nobody Machine from first position point to second place point fly close reference object shoot when, the shooting effect that realization draws near works as nothing It is man-machine along historical movement track from second place point to during the point flight of first position, shoot control information to shooting according to history Equipment, which is controlled, can independently realize the shooting effect to reference object from the close-by examples to those far off, and the angle and reference object shot Composition in shooting picture all can realize the shooting effect for furthering and zooming out with being consistent before.
Alternatively, in embodiments of the present invention, the historical movement information is included from the first position point to the second place The history of capture apparatus entrained by the historical movement trace information and unmanned plane of point shoots control information；Wherein, the history is transported Dynamic trace information is used to indicate multiple location points from the first position point to the second place point, and the history shoots control information It is included in each location point of the plurality of location point, the history shooting direction information and/or history shooting action of capture apparatus Information；Then according to the history shooting direction information of the capture apparatus of each location point and/or history shooting action information, control The capture apparatus is shot in each location point.
Wherein, history shooting direction can by unmanned plane attitude information and head rotating shaft mechanism rotating shaft angle Lai between Connect and obtain, the rotating shaft mechanism of head can include at least one of roll axis mechanism, pitching axis mechanism and driftage axis mechanism.
Wherein, history shoots control information and can obtained by receiving history control signal, for example, being flown in history Cheng Zhong, at a certain location point, receives the control signal of control terminal equipment input, the control signal indicates that adjustment is shot The shooting direction and/or shooting action of equipment, at this point it is possible to which these shooting direction and/or shooting action are recorded, then exist During subsequent flights, when reaching at the location point, shooting is controlled to set according to these shooting direction and shooting action of record It is standby, or the control rod volume that can form history control signal records, then during subsequent flights, reaches the position When at point, directly capture apparatus is controlled using the control rod volume.
Alternatively, in embodiments of the present invention, the flight pre-determined number of control terminal input can be received；Control this nobody Machine carries out the shuttle flight of the pre-determined number between the first position point and the second place point.
Wherein, user to unmanned plane can send predetermined number of times by control terminal, control the unmanned plane this first The shuttle flight of pre-determined number is carried out between location point and the second place point, then user can control capture apparatus to shooting pair As repeatedly being shot, wherein user can also accordingly be controlled by control terminal to the capture apparatus that unmanned plane is carried System, is shot repeatedly it is possible thereby to realize to reference object, is drawn near or from the close-by examples to those far off two kinds of scenes while can realize Shooting, after shooting and completing, user can carry out selecting and editing accordingly to the image that repeatedly shoots, think to obtain The image wanted.
Fig. 6 is a kind of indicative flowchart of control method according to embodiments of the present invention.Alternatively, the control method can To be performed by control system, the control system alternatively can be in the control system or other equipment in unmanned plane Control system.This method can include herein below.
In 410, moveable platform is obtained from first position point to the historical movement information of second place point.
Alternatively, the moveable platform can be achieved on the mobile platform of log history movable information, not do have herein Body is limited, and moveable platform can be specifically unmanned plane, hand-held head, hand-held head camera, smart mobile phone, special remote control One or more in device, Intelligent bracelet, Intelligent bracelet.
Alternatively, historical movement information includes historical movement trace information.
Alternatively, except historical movement trace information, from first position point to the historical movement information of second place point also Including at least one of following：
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of the first position point to the capture apparatus in the second place point process；
From the first position point to the history attitude information in the second place point process.
The characteristic point information extracted from the first position point into second place point process from surrounding environment image information Or the cartographic information set up according to surrounding environment image information.
Specifically, the historical movement velocity information from first position point to the second place point can include：From first Location point to second place point averaged historical motion velocity information, and/or from first position point to the point of the second place Historical movement velocity information in multiple location points per two neighboring location point.
Specifically, historical movement velocity information can include velocity magnitude and velocity attitude.
Specifically, history, which shoots control information, can include history shooting direction and/or history shooting action, and the shooting is moved Make can include take a picture, shoot the video, Focussing, spectrum assignment, focusing control etc..
Specifically, clapped from the history of the capture apparatus entrained by the first position point to the second place point moveable platform Taking the photograph control information can include：From first position point into multiple location points of second place point at each location point, shooting is set Standby shooting direction and/or shooting action.
Specifically, can be by moving to the history attitude information of the second place point moveable platform from the first position point Sensor sensing is obtained, for example, it is assumed that moveable platform is unmanned plane, attitude information can include the angle of pitch, yaw angle and horizontal stroke At least one in roll angle, motion sensor can include following at least one：Gyroscope, electronic compass, Inertial Measurement Unit And vision sensor, embodiments of the invention are not limited to this, can also can measure the attitude information of unmanned plane using other Sensor.
Specifically, the characteristic information from first position point surrounding environment image into position point process can be from surrounding environment Extracted in image, the image of surrounding environment is obtained during from first position point to second place point, can be extracted from ambient image Go out characteristic point information, these characteristic point informations can be included in historical movement information；Furthermore it is possible to according to the figure of surrounding environment Modeled as information, obtain cartographic information, the historical movement information can also include the cartographic information.
In 420, the historical movement information is sent to external equipment；Wherein, the historical movement information is used to indicate External equipment is moved between first position point and second place point.
The external equipment includes at least one of handheld cameras of unmanned plane and configuration head.
The moveable platform includes at least one of handheld cameras of unmanned plane and configuration head.
Therefore, in embodiments of the present invention, the historical movement information of moveable platform is sent to external equipment, so as to To cause external equipment to be moved according to the historical movement information, it is possible to achieve point of historical movement information between distinct device Enjoy, realize the control to another movable equipment with a kind of movable equipment, improve Consumer's Experience.
Alternatively, the moveable platform is controlled from the first position point to the second place point movement, to obtain the history Movable information.
For example, during moveable platform is moved from first position point to second place point, being passed using the motion carried Sensor or the trace information of vision sensor record motion, wherein moveable platform can also record and control shot in motion process One or more in information processed, speed control information, Acceleration Control information, gesture stability information, when moveable platform fortune When moving to second place point, moveable platform just have recorded motion track information and the shooting control associated with motion track information Information processed, speed control information, Acceleration Control information, record these information by moveable platform and are referred to as historical movement information, Moveable platform can preserve historical movement information, and historical movement information is sent into external equipment, and external equipment is connecing After the historical movement information for receiving moveable platform transmission, external equipment just can be according to historical movement information in first position point Moved between the point of the second place.
It is alternatively possible to according to default Robot dodge strategy, control the moveable platform from the first position point to this second Location point is moved, to obtain the historical movement information.
Wherein, by moveable platform be unmanned plane exemplified by, the head of unmanned plane is equipped with avoidance equipment, i.e., when unmanned plane to First position point is to during the point forward flight of the second place, and unmanned plane can utilize avoidance equipment, according to default Robot dodge strategy pair Barrier on heading is hidden, when the flight of unmanned plane completion first position point to second place point, it is determined that Go out a historical movement track, this historical movement track is the movement locus of safety, i.e., be not present on this side movement locus Barrier, the later stage during this track flight along will not cause the problem of being collided with barrier.
Further, since the tail of unmanned plane is configured without avoidance equipment, unmanned plane can not be kept away the barrier of tail Barrier, when unmanned plane is from second place point to during the reverse flight of point of first position, it may occur that the event collided with barrier, this Sample is than relatively hazardous.When from first position point to during the point forward flight of the second place, due to utilizing the avoidance equipment installed in head, Have confirmed safe historical movement track, then, can in unmanned plane from second place point to during the reverse flight of point of first position To be flown according to the historical movement track, the safety of unmanned plane can be so effectively ensured.The default Robot dodge strategy can be used In indicating the avoiding barrier in the way of motion, such as run into when detecting barrier and first climb, clear the jumps and just decline Original course is returned, or level bypasses barrier and returns again to original course when detecting barrier, specifically, can be taken the photograph according to binocular As the environmental information that the head moment perceives, automatic obstacle avoidance is carried out using default obstacle avoidance algorithm.
Alternately, the real-time control signal that can also be inputted according to control terminal equipment, carries out the shifting of moveable platform Dynamic control.
Specifically, the interactive interface for the map for including some target area can be presented in control terminal equipment to user, use Family can set the location point of moveable platform traversal on map as needed, and each location point can be sat for GPS location Mark, it can be default height to be highly, or, the mobile height of location point can also flexibly be set, and user can be set The translational speed of each two location point.Can then control moveable platform traverse user by control terminal equipment set it is each Location point.So as to which user can carry out the customization of Motion using control terminal equipment, moveable platform can be according to customization Motion is moved between first position point and second place point, so as to improve the experience of user.
Or, the real-time control signal that default Robot dodge strategy and control terminal equipment are inputted can also be combined, to enter The mobile control of row moveable platform.
Specifically, user can set Motion, such as movement locus, athletic posture or appearance by control terminal equipment At least one of in state, and moveable platform is in the Motion moving process formulated according to user, if running into barrier, Avoidance can be carried out according to default Robot dodge strategy, and after avoidance, continue to be moved according to the strategy that user formulates motion It is dynamic, so as to realize while Consumer's Experience is lifted, improve mobile security.
Alternatively, when controlling the moveable platform to be moved from first position point to second place point, image information is obtained； According to the image information, it is determined that from the first position point to the historical movement trace information of the second place point.
Wherein, during moveable platform is moved from first position point to second place point, moveable platform configuration Imaging sensor can obtain the image information of surrounding environment in real time, obtain image information after, can be according to the figure As information calculates the historical movement trace information from the first position point to the second place point.
Specifically, imaging sensor can include visual odometry, and wherein visual odometry can be monocular or binocular, can To obtain image information from the first position point to second place point using visual odometry, with determine from first position point to The historical movement trace information of second place point.
Specifically, after image information is obtained, it is possible to use positioning immediately and map structuring (Concurrent Mapping and Localization, SLAM) algorithm determines motion track information.
In addition, after image information is got, characteristic point information, historical movement information can be extracted from image information In can include these characteristic point informations, while can according to positioning with map structuring (Concurrent Mapping and Localization, SLAM) algorithm builds cartographic information, and historical movement information can also include building obtained map letter Breath.
It is alternatively possible to when controlling the moveable platform to be moved from the first position point to the second place point, according to The data of the motion sensor output of the moveable platform, it is determined that from the first position point to the historical movement of the second place point Trace information.
Wherein, during moveable platform is moved from first position point to second place point, moveable platform configuration Motion sensor can output campaign data (such as acceleration, angular acceleration, position coordinates) in real time, obtaining motion After data, the historical movement track letter from the first position point to the second place point can be calculated according to the exercise data Breath.Wherein motion sensor can include one in measurement measuring unit (IMU), GPS, accelerometer, gyroscope, electronic compass Plant or a variety of.
Alternately, the image information that can be obtained according to visual odometry, or the movable information that IMU is obtained, obtain phase To positional information, and GPS is merged, obtain global position information, and thereby obtain historical movement trace information.Alternatively, it is also possible to Global position information directly is obtained using GPS, and thereby obtains historical movement trace information.
It is alternatively possible to being smoothed from first position point to the historical movement track of second place point.
Specifically, because in moving process, the operation of user is unskilled or undesirable, moveable platform movement speed is caused Degree is sometimes fast and sometimes slow, or motion track is unsmooth, if the historical movement information obtained in that way carries out flying for unmanned plane OK, it and in flight course, when controlling the shooting of capture apparatus, may be such that shooting effect is undesirable, therefore, history transported Dynamic information is modified processing, specifically, and historical movement track can be smoothed, and according to going through after smoothing processing History movement locus controls the flight of unmanned plane, and in flight course, control capture apparatus is shot to reference object, by In shooting, path is more smooth, then can obtain more preferable shooting effect.
Therefore, in embodiments of the present invention, the historical movement information of moveable platform is sent to external equipment, so as to To cause external equipment to be moved according to the historical movement information, it is possible to achieve safety movement.
The embodiment of the present invention additionally provides a kind of computer-readable storage medium, and be stored with instruction in the computer-readable storage medium, The instruction may include the part or all of step of the control method shown in Fig. 3 when performing, or, the instruction can be wrapped when performing Include the part or all of step of the control method shown in Fig. 6
Fig. 7 is the schematic block diagram of control device 500 according to embodiments of the present invention.As shown in figure 5, the control device 500 can include：
Acquisition module 510, for obtaining the historical movement information from first position point to second place point；
Control module 520, for according to the historical movement information, control unmanned plane the first position point with it is described Flown between the point of the second place, and
Control the unmanned plane between the first position point and the second place point during flight, control it is described nobody The capture apparatus that machine is carried is shot to reference object.
Alternatively, the historical movement information is included from the first position point to the historical movement of the second place point Trace information；
The control module 520 is further used for：
The historical movement trace information included according to the historical movement information, controls the unmanned plane described the Flown between one location point and second place point.
Alternatively, as shown in figure 8, the control module 520 further comprises smooth unit 522, it is used for：
To the history fortune indicated from the first position point to the historical movement trace information of the second place point Dynamic rail mark is smoothed.
Alternatively, the historical movement information also includes at least one of following：
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of first position point capture apparatus into the second place point process；
From the first position point to the history attitude information in the second place point process.
Believe from the first position point to the characteristic point information of the second place point surrounding environment image or according to image Cease the cartographic information set up.
Alternatively, the acquisition module 510 is further used for：Obtain the real-time speed control letter of control terminal equipment input Breath；The control module 520 is further used for：The flying speed of the unmanned plane is entered according to the real-time speed control information Row control；Or,
The acquisition module 510 is further used for：Obtain the historical movement velocity information that the historical movement information includes； The control module 520 is further used for：The flying speed of the unmanned plane is carried out according to the historical movement velocity information Control.
Alternatively, the acquisition module 510 is further used for：Obtain the real-time attitude control letter of control terminal equipment input Breath；The control module 520 is further used for：The posture of the unmanned plane is controlled according to the real-time attitude control information System；Or,
The acquisition module 510 is further used for：Obtain the history attitude information that the historical movement information includes；It is described Control module 520 is further used for：The posture of the unmanned plane is controlled according to the history attitude information.
Alternatively, the acquisition module 510 is further used for：Obtain the captured in real-time control letter of control terminal equipment input Breath；The control module 520 is further used for：The capture apparatus is controlled according to the captured in real-time control information； Or,
The acquisition module 510 is further used for：Obtain the history shooting control information that the historical movement information is indicated； The control module 520 is further used for：Control information is shot according to the history to be controlled the capture apparatus.
Alternatively, the historical movement information is included from the first position point to the historical movement of the second place point The history of capture apparatus entrained by trace information and unmanned plane shoots control information；Wherein, the historical movement trace information For indicating multiple location points from the first position point to the second place point, the history, which shoots control information, to be included In each location point of the multiple location point, history shooting direction information and/or history the shooting action letter of capture apparatus Breath；
The control module 520 is further used for：
According to the history shooting direction information of the capture apparatus of each location point and/or history shooting action information, The capture apparatus is controlled to be shot in each location point.
Alternatively, the control module 520 is further used for：
According to the historical movement information, the unmanned plane is controlled to fly from the second place point to the first position point OK.
Alternatively, the acquisition module 510 is further used for：
Receive believing from the first position point to the historical movement of the second place point for moveable platform transmission Breath.
Alternatively, the control module 520 is further used for：The unmanned plane is controlled from the first position point to described Second place point flight, the historical movement information is obtained for the acquisition module.
Alternatively, the control module 520 is further used for：
According to default Robot dodge strategy, the unmanned plane is controlled to fly from the first position point to the second place point OK.
Alternatively, the control module 520 is further used for：The unmanned plane is controlled from the first position point to described Second place point flight, obtains image information；
The acquisition module 510 is further used for：According to described image information, it is determined that from the first position point to described The historical movement trace information of second place point.
Alternatively, the control module 520 is further used for：The unmanned plane is controlled from the first position point to described Second place point flight, for the motion sensor output data of the unmanned plane；
The acquisition module 510 is further used for：The data exported according to the motion sensor, it is determined that from described first Historical movement trace information of the location point to the second place point.
Alternatively, as shown in figure 8, the equipment 500 also includes receiving module 530, it is used for：Receive control terminal input Flight pre-determined number；
The control module 520 is further used for：The unmanned plane is controlled in the first position point and the second The shuttle flight of the pre-determined number is carried out between putting a little.
Alternatively, the control module 520 is further used for：
According to the historical movement information, with the flight of the operating direction or heading of avoidance equipment and the unmanned plane The inconsistent mode in direction, controls the unmanned plane to be flown between the first position point and second place point.
Alternatively, the control device can realize the control method shown in Fig. 3, for sake of simplicity, will not be repeated here.
Fig. 9 is the schematic block diagram of control device 600 according to embodiments of the present invention.As shown in figure 8, the control device 600 include：
Acquisition module 610, for obtaining moveable platform from first position point to the historical movement information of second place point；
Control module 620, for the historical movement information to be sent into external equipment；Wherein, the historical movement letter Cease for indicating that external equipment is moved between first position point and second place point.
Alternatively, the external equipment includes at least one of handheld cameras of unmanned plane and configuration head.
The moveable platform includes at least one of handheld cameras of unmanned plane and configuration head.
Alternatively, the historical movement information includes at least one of following：
From the first position point to the historical movement trace information of the second place point；
From the first position point to the historical movement velocity information in the second place point process；
From the history of the capture apparatus entrained by moveable platform described in the first position point to the second place point Shoot control information；
From the history attitude information of moveable platform described in the first position point to the second place point；
Believe from the first position point to the characteristic point information of the second place point surrounding environment image or according to image Cease the cartographic information set up.
Alternatively, the control module 620 is further used for：Control the moveable platform from the first position point to The second place point movement, movable information is obtained for the acquisition module；
The acquisition module 610 is further used for：According to the movable information, determine the first position point to described The historical movement information of two location points.
Alternatively, the control module 620 is further used for：
According to default Robot dodge strategy, the moveable platform is controlled from the first position point to the second place point It is mobile, to obtain the movable information.
Alternatively, the acquisition module 610 is further used for：
The moveable platform is controlled to be moved from the first position point to second place point in the control module 620 When, image information is obtained, determines first position point to the historical movement trace information of second place point according to described image.
Alternatively, the acquisition module 610 is further used for：
When controlling the moveable platform to be moved from the first position point to second place point, according to described removable The data of the motion sensor output of platform determine first position point to the historical movement track of second place point.
Alternatively, the historical movement information is included from the first position point to the historical movement of the second place point Trace information, as shown in Figure 10, the control module 620 specifically include smooth unit 622, are used for：
The historical movement track indicated from the historical movement trace information is smoothed.
Alternatively, the control device can realize the control method shown in Fig. 3, for sake of simplicity, will not be repeated here.
Figure 11 is the schematic block diagram of control system 700 according to embodiments of the present invention.As shown in fig. 7, the control system Including processor 710 and memory 720.The memory 720 is used for store code, and the processor 710 can be by calling this to deposit The code of storage in reservoir 720 performs corresponding operating.
Alternatively, the control system also includes transceiver 730.The processor 710 can control transceiver 730 externally logical Letter.
Alternatively, the control system 700 can realize the method shown in the method or Fig. 6 shown in Fig. 3.
Below by taking the method that control system 700 can be realized shown in Fig. 3 as an example, explained in the way of succinct rather than repeat State.
Alternatively, the processor 710 is used to call the instruction in memory 720, performs following operate：
Obtain from first position point to the historical movement information of second place point；
According to the historical movement information, control unmanned plane flies between the first position point and the second place point；
Control the unmanned plane between the first position point and the second place point during flight, control what the unmanned plane was carried Capture apparatus is shot to reference object.
Alternatively, the historical movement information includes the historical movement track letter from the first position point to the second place point Breath；
The processor 710 is used to call the instruction in memory 720, further performs following operate：
The historical movement trace information included according to the historical movement information, controls the unmanned plane in the first position point Flown between the second place point.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
The historical movement track indicated the historical movement trace information from the first position point to the second place point It is smoothed.
Alternatively, the historical movement information also includes at least one of following：
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of first position point capture apparatus into the second place point process；
From the first position point to the history attitude information in the second place point process；
From the first position point to the surrounding environment image information of the second place point characteristic point information or according to The cartographic information that image information is set up.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
Obtain the real-time speed control information of control terminal equipment input, according to the real-time speed control information to this nobody The flying speed of machine is controlled；Or,
The historical movement velocity information that the historical movement information includes is obtained, according to the historical movement velocity information to the nothing Man-machine flying speed is controlled.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
Obtain the real-time attitude control information of control terminal equipment input, according to the real-time attitude control information to this nobody The posture of machine is controlled；Or,
The history attitude information that the historical movement information includes is obtained, according to appearance of the history attitude information to the unmanned plane State is controlled.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
The captured in real-time control information of control terminal equipment input is obtained, according to the captured in real-time control information to the shooting Equipment is controlled；Or,
The history for obtaining historical movement information instruction shoots control information, and control information is shot to the bat according to the history Equipment is taken the photograph to be controlled.
Alternatively, the historical movement information includes the historical movement track letter from the first position point to the second place point The history of capture apparatus entrained by breath and unmanned plane shoots control information；Wherein, the historical movement trace information is used to indicate From the first position point to multiple location points of the second place point, the history shoots control information and is included in the plurality of location point Each location point in, the history shooting direction information and/or history shooting action information of capture apparatus；
The processor 710 is used to call the instruction in memory 720, further performs following operate：
According to the history shooting direction information of the capture apparatus of each location point and/or history shooting action information, control The capture apparatus is made to be shot in each location point.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
According to the historical movement information, the unmanned plane is controlled from the second place point to the first position point flight.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
Receive historical movement information from the first position point to the second place point that moveable platform is sent.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
The unmanned plane is controlled from the first position point to the second place point flight, to obtain the historical movement information.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
According to default Robot dodge strategy, the unmanned plane is controlled from the first position point to the second place point flight, to obtain Take the historical movement information.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
Control the unmanned plane from the first position point to during the second place point flight, obtain image information；
According to the image information, it is determined that from the first position point to the historical movement trace information of the second place point.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
Controlling the unmanned plane from the first position point to during the second place point flight, passed according to the motion of the unmanned plane The data of sensor output, it is determined that from the first position point to the historical movement trace information of the second place point.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
Receive the flight pre-determined number of control terminal input；
The unmanned plane is controlled to carry out the shuttle flight of the pre-determined number between the first position point and the second place point.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
According to the historical movement information, with the flight of the operating direction or heading of avoidance equipment and the unmanned plane The inconsistent mode in direction, controls the unmanned plane to be flown between the first position point and second place point.
The embodiment of the present invention also provides a kind of unmanned plane, it is characterised in that including：
Dynamical system, flying power is provided for unmanned plane；
Control system as described in Figure 11, is controlled to unmanned plane.
Below by taking the method that control system 700 can be realized shown in Fig. 6 as an example, explained in the way of succinct rather than repeat State.
Alternatively, the processor 710 is used to call the instruction in memory 720, performs following operate：
Moveable platform is obtained from first position point to the historical movement information of second place point；
The historical movement information is sent to external equipment；Wherein, the historical movement information is used to indicate external equipment Moved between first position point and second place point.
Alternatively, the external equipment includes at least one of handheld cameras of unmanned plane and configuration head.
The moveable platform includes at least one of handheld cameras of unmanned plane and configuration head.
Alternatively, the historical movement information includes at least one of following：
From the first position point to the historical movement trace information of the second place point；
From the first position point to the historical movement velocity information of the second place point；
The history of capture apparatus entrained by from the first position point to the second place point moveable platform shoots control Information processed；
From the first position point to the history attitude information of the second place point moveable platform；
From the first position point to the characteristic point information of the surrounding environment image of the second place point or according to image The cartographic information that information is set up.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
The moveable platform is controlled from the first position point to the second place point movement, to obtain movable information；
According to the movable information, determine the first position point to the historical movement information of the second place point.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
According to default Robot dodge strategy, the moveable platform is controlled from the first position point to the second place point movement, To obtain the movable information.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
When controlling the moveable platform to be moved from the first position point to second place point, image information is obtained, according to The image determines first position point to the historical movement trace information of second place point.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
When controlling the moveable platform to be moved from the first position point to second place point, according to the moveable platform The data of motion sensor output determine first position point to the historical movement track of second place point.
Alternatively, the processor 710 is used to call the instruction in memory 720, further performs following operate：
The historical movement track indicated from the historical movement trace information is smoothed.
The embodiment of the present invention also provides a kind of moveable platform, it is characterised in that including：
Control system as described in Figure 11, is controlled to moveable platform.
It should be noted that for each foregoing embodiment of the method, in order to be briefly described, therefore it is all expressed as to one it is The combination of actions of row, but those skilled in the art should know, the present invention is not limited by described sequence of movement, because For according to the present invention, certain some step can be carried out sequentially or simultaneously using other.Secondly, those skilled in the art also should Know, embodiment described in this description belongs to preferred embodiment, involved action and module not necessarily this hair Necessary to bright.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage Medium can include：Flash disk, read-only storage (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), disk or CD etc..
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.

Claims (74)

1. a kind of control method, it is characterised in that including：
Obtain from first position point to the historical movement information of second place point；
According to the historical movement information, control unmanned plane flies between the first position point and second place point；
Control the unmanned plane between the first position point and the second place point during flight, control the unmanned plane to take The capture apparatus of band is shot to reference object.
2. according to the method described in claim 1, it is characterised in that
The historical movement information is included from the first position point to the historical movement trace information of the second place point；
It is described according to the historical movement information, control unmanned plane flies between the first position point and second place point OK, specifically include：
The historical movement trace information included according to the historical movement information, controls the unmanned plane at described first Put and a little flown between the point of the second place.
3. method according to claim 2, it is characterised in that methods described also includes：
To the historical movement rail indicated from the first position point to the historical movement trace information of the second place point Mark is smoothed.
4. according to the method in claim 2 or 3, it is characterised in that the historical movement information also include it is following in extremely Few one kind：
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of first position point capture apparatus into the second place point process；
From the first position point to the history attitude information in the second place point process.
The characteristic point information or root extracted from the first position point into second place point process from surrounding environment image information The cartographic information set up according to surrounding environment image information.
5. the method according to claim any one of 1-4, it is characterised in that described according to the historical movement information, control Unmanned plane processed flies between the first position point and second place point, specifically includes：
According to the historical movement information, the unmanned plane is controlled to be flown from the second place point to the first position point.
6. method according to any one of claim 1 to 5, it is characterised in that the acquisition is from first position o'clock to The historical movement information of two location points, is specifically included：
Control the unmanned plane to be flown from the first position point to the second place point, believed with obtaining the historical movement Breath.
7. method according to claim 5, it is characterised in that the control unmanned plane from the first position point to The second place point flight, to obtain the movable information, including：
According to default Robot dodge strategy, the unmanned plane is controlled to be flown from the first position point to the second place point, with Obtain the historical movement information.
8. the method according to claim 6 or 7, it is characterised in that the acquisition first position point to second place point Historical movement information, is specifically included：
Control the unmanned plane from the first position point to during the second place point flight, obtain the image of surrounding environment Information；
According to described image information, it is determined that believing from the first position point to the historical movement track of the second place point Breath.
9. the method according to claim 6 or 7, it is characterised in that obtain first position point to the history of second place point Movable information, is specifically included：
The unmanned plane is being controlled from the first position point to during the second place point flight, according to the fortune of the unmanned plane The data of dynamic sensor output, it is determined that from the first position point to the historical movement trace information of the second place point.
10. method according to any one of claim 1 to 5, it is characterised in that the acquisition is from first position o'clock to The historical movement information of two location points, is specifically included：
Receive moveable platform send from the first position point to the historical movement information of the second place point.
11. the method according to claim any one of 1-10, it is characterised in that methods described also includes：
Obtain the real-time speed control information of control terminal equipment input, according to the real-time speed control information to it is described nobody The flying speed of machine is controlled；Or,
The historical movement velocity information that the historical movement information includes is obtained, according to the historical movement velocity information to described The flying speed of unmanned plane is controlled.
12. the method according to any one of claim 1-11, it is characterised in that methods described also includes：
Obtain the real-time attitude control information of control terminal equipment input, according to the real-time attitude control information to it is described nobody The posture of machine is controlled；Or,
The history attitude information that the historical movement information includes is obtained, according to the history attitude information to the unmanned plane Posture is controlled.
13. the method according to claim any one of 1-12, methods described also includes：
The captured in real-time control information of control terminal equipment input is obtained, is shot according to the captured in real-time control information to described Equipment is controlled；Or,
The history shooting control information that the historical movement information is indicated is obtained, control information is shot to described according to the history Capture apparatus is controlled.
14. method according to claim 13, it is characterised in that the historical movement information is included from the first position The history of capture apparatus entrained by point to the historical movement trace information and unmanned plane of the second place point shoots control letter Breath；Wherein, the historical movement trace information is used to indicate from the first position point to multiple positions of the second place point Put a little, the history shoots control information and is included in each location point of the multiple location point, the history of capture apparatus is clapped Take the photograph directional information and/or history shooting action information；
It is described that the capture apparatus is controlled according to history shooting control information, including：
According to the history shooting direction information of the capture apparatus of each location point and/or history shooting action information, control The capture apparatus is shot in each location point.
15. the method according to any one of claim 1 to 14, it is characterised in that methods described also includes,
Receive the flight pre-determined number of control terminal input；
The control unmanned plane flies between the first position point and second place point, specifically includes：
The unmanned plane is controlled to carry out coming and going for the pre-determined number between the first position point and second place point Flight.
16. the method according to any one of claim 1 to 15, it is characterised in that described to believe according to the historical movement Breath, control unmanned plane flies between the first position point and second place point, including：
According to the historical movement information, with the operating direction or heading of avoidance equipment and the heading of the unmanned plane Inconsistent mode, controls the unmanned plane to be flown between the first position point and second place point.
17. a kind of control method, it is characterised in that including：
Moveable platform is obtained from first position point to the historical movement information of second place point；
The historical movement information is sent to external equipment；Wherein, the historical movement information is used to indicate that external equipment exists Moved between first position point and second place point.
18. control method according to claim 17, it is characterised in that the external equipment includes unmanned plane and configuration cloud At least one of handheld cameras of platform.
19. the method according to claim 17 or 18, it is characterised in that the historical movement information include it is following in extremely Few one kind：
From the first position point to the historical track information of the second place point；
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of first position point capture apparatus into the second place point process；
From the first position point to the history attitude information in the second place point process.
The characteristic point information or root extracted from the first position point into second place point process from surrounding environment image information The cartographic information set up according to surrounding environment image information.
20. the method according to any one of claim 17-19, it is characterised in that the acquisition moveable platform is from One location point is specifically included to the historical movement information of second place point：
The moveable platform is controlled to be moved from the first position point to the second place point, to obtain movable information；
According to the movable information, determine the first position point to the historical movement information of the second place point.
21. method according to claim 20, it is characterised in that the control moveable platform is from described first Put and a little moved to the second place point, to obtain the movable information, including：
According to default Robot dodge strategy, the moveable platform is controlled to be moved from the first position point to the second place point It is dynamic, to obtain the movable information.
22. the method according to claim 20 or 21, it is characterised in that the acquisition moveable platform is from first position point To the historical movement information of second place point, including：
When controlling the moveable platform to be moved from the first position point to second place point, image information is obtained, according to Described image determines first position point to the historical movement trace information of second place point.
23. the method according to claim 20 or 21, it is characterised in that obtain moveable platform from first position o'clock to the The historical movement information of two location points, including：
When controlling the moveable platform to be moved from the first position point to second place point, according to the moveable platform Motion sensor output data determine first position point to the historical movement track of second place point.
24. the method according to any one of claim 17-23, it is characterised in that the historical movement information include from The first position point is to the historical movement trace information of the second place point, and methods described also includes：
The historical movement track indicated from the historical movement trace information is smoothed.
25. a kind of control device, it is characterised in that including：
Acquisition module, for obtaining the historical movement information from first position point to second place point；
Control module, for according to the historical movement information, control unmanned plane to be in the first position point and the second Flown between putting a little, and
Control the unmanned plane between the first position point and the second place point during flight, control the unmanned plane to take The capture apparatus of band is shot to reference object.
26. equipment according to claim 25, it is characterised in that
The historical movement information is included from the first position point to the historical movement trace information of the second place point；
The control module is further used for：
The historical movement trace information included according to the historical movement information, controls the unmanned plane at described first Put and a little flown between the point of the second place.
27. the equipment according to claim 25 or 26, it is characterised in that the control module specifically includes smooth unit, The smooth unit is used for：
To the historical movement rail indicated from the first position point to the historical movement trace information of the second place point Mark is smoothed.
28. the equipment according to claim any one of 26-27, it is characterised in that the historical movement information also include with It is at least one of lower：
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of first position point capture apparatus into the second place point process；
From the first position point to the history attitude information in the second place point process.
The characteristic point information or root extracted from the first position point into second place point process from surrounding environment image information The cartographic information set up according to surrounding environment image information.
29. the equipment according to claim any one of 25-28, it is characterised in that the control module is further used for：
According to the historical movement information, the unmanned plane is controlled to be flown from the second place point to the first position point.
30. the equipment according to any one of claim 25 to 29, it is characterised in that
The control module is further used for：The unmanned plane is controlled to fly from the first position point to the second place point OK, the historical movement information is obtained for the acquisition module.
31. equipment according to claim 30, it is characterised in that the control module is further used for：
According to default Robot dodge strategy, the unmanned plane is controlled to be flown from the first position point to the second place point.
32. the equipment according to claim 30 or 31, it is characterised in that
The control module is further used for：The unmanned plane is controlled to fly from the first position point to the second place point OK, image information is obtained；
The acquisition module is further used for：According to described image information, it is determined that from the first position point to the second Put the historical movement trace information a little.
33. the equipment according to claim 30 or 31, it is characterised in that
The control module is further used for：The unmanned plane is controlled to fly from the first position point to the second place point OK, for the motion sensor output data of the unmanned plane；
The acquisition module is further used for：The data exported according to the motion sensor, it is determined that from the first position point To the historical movement trace information of the second place point.
34. the equipment according to any one of claim 25 to 29, it is characterised in that the acquisition module is further used In：
Receive moveable platform send from the first position point to the historical movement information of the second place point.
35. the equipment according to claim any one of 25-34, it is characterised in that the acquisition module is further used for：Obtain The real-time speed control information for taking control terminal equipment to input；The control module is further used for：According to the real-time speed Control information is controlled to the flying speed of the unmanned plane；Or,
The acquisition module is further used for：Obtain the historical movement velocity information that the historical movement information includes；The control Molding block is further used for：The flying speed of the unmanned plane is controlled according to the historical movement velocity information.
36. the equipment according to any one of claim 25-35, it is characterised in that
The acquisition module is further used for：Obtain the real-time attitude control information of control terminal equipment input；The control mould Block is further used for：The posture of the unmanned plane is controlled according to the real-time attitude control information；Or,
The acquisition module is further used for：Obtain the history attitude information that the historical movement information includes；The control mould Block is further used for：The posture of the unmanned plane is controlled according to the history attitude information.
37. the equipment according to claim any one of 25-36,
The acquisition module is further used for：Obtain the captured in real-time control information of control terminal equipment input；The control mould Block is further used for：The capture apparatus is controlled according to the captured in real-time control information；Or,
The acquisition module is further used for：Obtain the history shooting control information that the historical movement information is indicated；The control Molding block is further used for：Control information is shot according to the history to be controlled the capture apparatus.
38. the equipment according to claim 37, it is characterised in that the historical movement information is included from the first position The history of capture apparatus entrained by point to the historical movement trace information and unmanned plane of the second place point shoots control letter Breath；Wherein, the historical movement trace information is used to indicate from the first position point to multiple positions of the second place point Put a little, the history shoots control information and is included in each location point of the multiple location point, the history of capture apparatus is clapped Take the photograph directional information and/or history shooting action information；
The control module is further used for：
According to the history shooting direction information of the capture apparatus of each location point and/or history shooting action information, control The capture apparatus is shot in each location point.
39. the equipment according to any one of claim 25 to 38, it is characterised in that the equipment also includes receiving mould Block, is used for：Receive the flight pre-determined number of control terminal input；
The control module is further used for：
The unmanned plane is controlled to carry out coming and going for the pre-determined number between the first position point and second place point Flight.
40. the equipment according to any one of claim 25 to 39, it is characterised in that the control module is further used In：
According to the historical movement information, with the operating direction or heading of avoidance equipment and the heading of the unmanned plane Inconsistent mode, controls the unmanned plane to be flown between the first position point and second place point.
41. a kind of control device, it is characterised in that including：
Acquisition module, for obtaining moveable platform from first position point to the historical movement information of second place point；
Control module, for the historical movement information to be sent into external equipment；Wherein, the historical movement information is used to refer to Show that external equipment is moved between first position point and second place point.
42. control device according to claim 41, it is characterised in that the external equipment includes unmanned plane and configuration cloud At least one of handheld cameras of platform.
43. the equipment according to claim 41 or 42, it is characterised in that the historical movement information include it is following in extremely Few one kind：
From the first position point to the historical movement trace information of the second place point；
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of first position point capture apparatus into the second place point process；
From the first position point to the history attitude information in the second place point process.
The characteristic point information or root extracted from the first position point into second place point process from surrounding environment image information The cartographic information set up according to surrounding environment image information.
44. the equipment according to any one of claim 41-43, it is characterised in that the control module is further used for： Control the moveable platform to be moved from the first position point to the second place point, obtained for the acquisition module Movable information；
The acquisition module is further used for：According to the movable information, determine the first position point to the second place The historical movement information of point.
45. equipment according to claim 44, it is characterised in that the control module is further used for：
According to default Robot dodge strategy, the moveable platform is controlled to be moved from the first position point to the second place point It is dynamic, to obtain the movable information.
46. the equipment according to claim 44 or 45, it is characterised in that the acquisition module is further used for：
When the control module controls the moveable platform to be moved from the first position point to second place point, figure is obtained As information, determine first position point to the historical movement trace information of second place point according to described image.
47. the equipment according to claim 44 or 45, it is characterised in that the acquisition module is further used for：
When the control module controls the moveable platform to be moved from the first position point to second place point, according to institute The data for stating the motion sensor output of moveable platform determine first position point to the historical movement track of second place point.
48. the equipment according to any one of claim 41-47, it is characterised in that the historical movement information include from The first position point is to the historical movement trace information of the second place point, and the control module specifically includes smooth list Member, is used for：
The historical movement track indicated from the historical movement trace information is smoothed.
49. a kind of control system, it is characterised in that including processor and memory, the memory is used for store instruction, described Processor is used to call the instruction, performs following operate：
Obtain from first position point to the historical movement information of second place point；
According to the historical movement information, control unmanned plane flies between the first position point and second place point；
Control the unmanned plane between the first position point and the second place point during flight, control the unmanned plane to take The capture apparatus of band is shot to reference object.
50. system according to claim 49, it is characterised in that
The historical movement information is included from the first position point to the historical movement trace information of the second place point；
The processor is used to call the instruction, further performs following operate：
The historical movement trace information included according to the historical movement information, controls the unmanned plane at described first Put and a little flown between the point of the second place.
51. system according to claim 50, it is characterised in that the processor is used to call the instruction, further Perform following operate：
To the historical movement rail indicated from the first position point to the historical movement trace information of the second place point Mark is smoothed.
52. the system according to claim 50 or 51, it is characterised in that the historical movement information also include it is following in It is at least one：
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of first position point capture apparatus into the second place point process；
From the first position point to the history attitude information in the second place point process.
The characteristic point information or root extracted from the first position point into second place point process from surrounding environment image information The cartographic information set up according to surrounding environment image information.
53. the system according to claim any one of 49-52, it is characterised in that the processor is used to call the finger Order, further performs following operate：
According to the historical movement information, the unmanned plane is controlled to be flown from the second place point to the first position point.
54. the system according to any one of claim 49 to 53, it is characterised in that the processor is described for calling Instruction, further performs following operate：
Control the unmanned plane to be flown from the first position point to the second place point, believed with obtaining the historical movement Breath.
55. system according to claim 54, it is characterised in that the processor is used to call the instruction, further Perform following operate：
According to default Robot dodge strategy, the unmanned plane is controlled to be flown from the first position point to the second place point, with Obtain the historical movement information.
56. the system according to claim 54 or 55, it is characterised in that the processor is used to call the instruction, enters One step performs following operate：
Control the unmanned plane from the first position point to during the second place point flight, obtain image information；
According to described image information, it is determined that believing from the first position point to the historical movement track of the second place point Breath.
57. the system according to claim 54 or 55, it is characterised in that the processor is used to call the instruction, enters One step performs following operate：
The unmanned plane is being controlled from the first position point to during the second place point flight, according to the fortune of the unmanned plane The data of dynamic sensor output, it is determined that from the first position point to the historical movement trace information of the second place point.
58. the system according to any one of claim 49 to 53, it is characterised in that the processor is described for calling Instruction, further performs following operate：
Receive moveable platform send from the first position point to the historical movement information of the second place point.
59. the system according to claim any one of 49-58, it is characterised in that the processor is used to call the finger Order, further performs following operate：
Obtain the real-time speed control information of control terminal equipment input, according to the real-time speed control information to it is described nobody The flying speed of machine is controlled；Or,
The historical movement velocity information that the historical movement information includes is obtained, according to the historical movement velocity information to described The flying speed of unmanned plane is controlled.
60. the system according to any one of claim 49-59, it is characterised in that the processor is described for calling Instruction, further performs following operate：
Obtain the real-time attitude control information of control terminal equipment input, according to the real-time attitude control information to it is described nobody The posture of machine is controlled；Or,
The history attitude information that the historical movement information includes is obtained, according to the history attitude information to the unmanned plane Posture is controlled.
61. the system according to claim any one of 49-60, the processor is used to call the instruction, further hold Row is following to be operated：
The captured in real-time control information of control terminal equipment input is obtained, is shot according to the captured in real-time control information to described Equipment is controlled；Or,
The history shooting control information that the historical movement information is indicated is obtained, control information is shot to described according to the history Capture apparatus is controlled.
62. system according to claim 61, it is characterised in that the historical movement information is included from the first position The history of capture apparatus entrained by point to the historical movement trace information and unmanned plane of the second place point shoots control letter Breath；Wherein, the historical movement trace information is used to indicate from the first position point to multiple positions of the second place point Put a little, the history shoots control information and is included in each location point of the multiple location point, the history of capture apparatus is clapped Take the photograph directional information and/or history shooting action information；
The processor is used to call the instruction, further performs following operate：
According to the history shooting direction information of the capture apparatus of each location point and/or history shooting action information, control The capture apparatus is shot in each location point.
63. the system according to any one of claim 49 to 62, it is characterised in that the processor is described for calling Instruction, further performs following operate：
Receive the flight pre-determined number of control terminal input；
The unmanned plane is controlled to carry out coming and going for the pre-determined number between the first position point and second place point Flight.
64. the system according to any one of claim 49 to 63, it is characterised in that the processor is described for calling Instruction, further performs following operate：
According to the historical movement information, with the operating direction or heading of avoidance equipment and the heading of the unmanned plane Inconsistent mode, controls the unmanned plane to be flown between the first position point and second place point.
65. a kind of control system, it is characterised in that including processor and memory, the memory is used for store instruction, described Processor is used to call the instruction to perform following operate：
Moveable platform is obtained from first position point to the historical movement information of second place point；
The historical movement information is sent to external equipment；Wherein, the historical movement information is used to indicate that external equipment exists Moved between first position point and second place point.
66. control system according to claim 65, it is characterised in that the external equipment includes unmanned plane and configuration cloud At least one of handheld cameras of platform.
67. the system according to claim 65 or 66, it is characterised in that the historical movement information include it is following in extremely Few one kind：
From the first position point to the historical movement trace information of the second place point；
From the first position point to the historical movement velocity information in the second place point process；
Control information is shot from the history of first position point capture apparatus into the second place point process；
From the first position point to the history attitude information in the second place point process.
The characteristic point information or root extracted from the first position point into second place point process from surrounding environment image information The cartographic information set up according to surrounding environment image information.
68. the system according to any one of claim 65-67, it is characterised in that the processor is described for calling Instruction, further performs following operate：
The moveable platform is controlled to be moved from the first position point to the second place point, to obtain movable information；
According to the movable information, determine the first position point to the historical movement information of the second place point.
69. system according to claim 68, it is characterised in that the processor is used to call the instruction, further Perform following operate：
According to default Robot dodge strategy, the moveable platform is controlled to be moved from the first position point to the second place point It is dynamic, to obtain the movable information.
70. the system according to claim 68 or 69, it is characterised in that the processor is used to call the instruction, enters One step performs following operate：
When controlling the moveable platform to be moved from the first position point to second place point, image information is obtained, according to Described image determines first position point to the historical movement trace information of second place point.
71. the system according to claim 68 or 69, it is characterised in that the processor is used to call the instruction, enters One step performs following operate：
When controlling the moveable platform to be moved from the first position point to second place point, according to the moveable platform Motion sensor output data determine first position point to the historical movement track of second place point.
72. the system according to any one of claim 65-71, it is characterised in that the processor is described for calling Instruction, further performs following operate：
The historical movement track indicated from the historical movement trace information is smoothed.
73. a kind of unmanned plane, it is characterised in that including：
Dynamical system, for providing flying power for the unmanned plane；And
Control system according to any one of claim 49-64.
74. a kind of moveable platform, it is characterised in that including：Control system according to any one of claim 65-72 System.
CN201680002782.XA 2016-11-30 2016-11-30 Control method, equipment, system, unmanned plane and moveable platform Pending CN107077152A (en)

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