CN107305395A - Unmanned plane method and system - Google Patents
Unmanned plane method and system Download PDFInfo
- Publication number
- CN107305395A CN107305395A CN201610256742.XA CN201610256742A CN107305395A CN 107305395 A CN107305395 A CN 107305395A CN 201610256742 A CN201610256742 A CN 201610256742A CN 107305395 A CN107305395 A CN 107305395A
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- Prior art keywords
- unmanned plane
- flight
- plane
- path
- control device
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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
Abstract
The invention discloses unmanned plane method and system, the unmanned plane method includes：Default path of taking photo by plane, and according to the operational order of coordinates measurement first of taking photo by plane；Unmanned plane is controlled according to the path flight of taking photo by plane according to the first operational order；Multiple destinations are marked during unmanned plane during flying；Flight path is planned according to the multiple destination, and flight directive is generated according to the flight path；Unmanned plane flies automatically according to the flight directive according to the flight path；Unmanned plane is controlled to be shot during unmanned plane flies automatically.Compared with prior art, the unmanned plane in the present invention is only shot, this mode of taking photo by plane is simple to operate, it is not easy to produce maloperation for manually operated people without shooting during flight is manually actuated during automatic flight.In addition, unmanned plane is flown automatically in strict accordance with the flight path of planning, it is ensured that the uniformity of flying speed during taking photo by plane.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of unmanned plane method and system.
Background technology
At present, default take photo by plane of many destinations of unmanned plane of taking photo by plane main fly hand by unmanned plane and is operated manually reality
Existing, the flight operation experience that this mode relies primarily on winged hand is controlled, it is necessary to concentrate to unmanned plane
System.But, this mode of taking photo by plane has the following disadvantages：
First, manually operated unmanned plane are it is difficult to ensure that the flight path of unmanned plane is default most according to beginning
Good track of taking photo by plane is flown, while it is difficult to ensure that during taking photo by plane flying speed uniformity；
Second, unmanned plane flies hand while control unmanned plane shoots track flight by automatic destination manually,
Unmanned plane is taken photo by plane, and operation complexity is higher, easily produces maloperation, and then make it that unmanned plane is out of control
Or air crash.
The content of the invention
The technical problem to be solved in the present invention be in order to overcome in the prior art manually operated unmanned plane make it
Taken photo by plane while flight, there is operation complexity height, easily produce maloperation, nothing can not be ensured
It is man-machine according to default take photo by plane track flight and the defect such as uniformity of flying speed during taking photo by plane, carry
It can be flown automatically for a kind of unmanned plane and unmanned plane method and system simple to operate.
The present invention is to solve above-mentioned technical problem by following technical proposals：
A kind of unmanned plane method, its feature is, comprises the following steps：
S1, default one take photo by plane path, and according to the operational order of coordinates measurement one first of taking photo by plane；
S2, according to first operational order control unmanned plane according to it is described take photo by plane path flight；
S3, during the unmanned plane is according to the default path flight of taking photo by plane mark multiple destinations；
S4, according to the multiple destination plan a flight path, and according to the flight path generation one fly
Row instruction；
S5, the unmanned plane flies automatically according to the flight directive according to the flight path；
S6, the unmanned plane automatically flight during control the unmanned plane to be shot.
In this programme, first, control unmanned plane flies according to default path of taking photo by plane, and in flight
During mark multiple destinations；Then, a flight path is planned according to the destination of mark, and according to rule
The flight path drawn generates a flight directive；Finally, unmanned plane can be according to according to the flight directive
The flight path of planning flies and shot automatically.Wherein, control unmanned plane is according to default road of taking photo by plane
Footpath flight is manually operated, and unmanned plane is without shooting during manually operated unmanned plane during flying；Nobody
Machine is flown automatically according to the flight path of planning after the flight directive is received, without unmanned plane
Fly the artificial participation such as hand.
Step S3In, the destination of mark is more, the flight path planned according to destination and default road of taking photo by plane
Footpath closer to.
In this programme, unmanned plane does not enter during being manually actuated according to default path flight of taking photo by plane
Row is shot, but is shot during automatic flight, and this mode of taking photo by plane is for manually operated
It is simple to operate for people, and do not allow to be also easy to produce maloperation.In addition, unmanned plane is can be in strict accordance with
What the flight path of planning flew automatically, it is ensured that the uniformity of flying speed during taking photo by plane.
It is preferred that step S4The flight path of middle planning is curve.
It is preferred that step S6In it is further comprising the steps of：Controlled during the unmanned plane automatically flight
Make the state of flight of the unmanned plane.
In this programme, it can also be manually operated to control nobody during unmanned plane flies automatically
The state of flight of machine, for example, when there is prominent situation, can be manually operated to cause unmanned plane
Stop flight, retreat flight, accelerate flight or decelerating flight etc., and then avoid what emergency situations were brought
Harmful effect.
It is preferred that the state of flight is including at least one of following：Start, stop, advance, after
Move back, accelerate, slow down.
It is preferred that step S6In it is further comprising the steps of：Controlled during the unmanned plane automatically flight
Make the shooting angle of the unmanned plane.
In this programme, it can also be manually operated to control nobody during unmanned plane flies automatically
The shooting angle of machine, so that unmanned plane can shoot the picture for more conforming to user intention.
The present invention also provides a kind of unmanned plane system, and its feature is, including an earth station, a nothing
A control device man-machine and on the unmanned plane, the unmanned plane includes a head camera；
The earth station, which is used to presetting one, to take photo by plane path, and is operated according to the coordinates measurement one first of taking photo by plane
Instruction, and first operational order is sent to the control device；
The control device is used to control unmanned plane according to the road of taking photo by plane according to first operational order
Fly in footpath；
The earth station is used to mark during the unmanned plane is according to the default path flight of taking photo by plane
Remember multiple destinations, and the multiple destination is sent to the control device；
The control device is used to plan a flight path according to the multiple destination, and according to the flight
The flight directive of coordinates measurement one, and the flight directive is sent to the unmanned plane；
The unmanned plane is used to be flown automatically according to the flight path according to the flight directive；
The control device is additionally operable to control the head phase during the unmanned plane automatically flight
Machine is shot.
In this programme, unmanned plane flies hand can be taken photo by plane path by earth station default one, and earth station is according in advance
If take photo by plane path can to control device send the first operational order so that control device can be controlled
Unmanned plane is flown according to default path of taking photo by plane, and unmanned plane, which flies hand, to be navigated by earth station
The mark of point.Control device is used to plan flight path according to destination, and generating flight according to flight path refers to
Order, and flight directive is sent to unmanned plane so that unmanned plane can according to planning flight path
Automatic flight.During unmanned plane flies automatically, control device is additionally operable to control head camera and carried out
Shoot.
It is preferred that the flight path of the control device planning is curve.
It is preferred that the earth station is additionally operable to receive one second during the unmanned plane automatically flight
Operational order, and second operational order is sent to the control device；
The control device is used for the state of flight that the unmanned plane is controlled according to second operational order.
In this programme, unmanned plane flies hand can send the second operational order by ground station, and then control
The state of flight of unmanned plane.
It is preferred that the state of flight is including at least one of following：Start, stop, advance, after
Move back, accelerate, slow down.
It is preferred that the earth station is additionally operable to receive one the 3rd during the unmanned plane automatically flight
Operational order, and the 3rd operational order is sent to the control device；
The control device is used for the shooting angle that the head camera is controlled according to the 3rd operational order
Degree.
In this programme, unmanned plane flies hand can send the 3rd operational order by ground station, and then control
The shooting angle of head camera.
It is preferred that the earth station also include a display device, the control device be used for by it is described nobody
The flight parameter of machine is sent to the display device, and the display device is used to show the flight parameter.
In this programme, the flight parameter can the flying speed including unmanned plane, flyer miles, flight
The parameters such as height.
It is preferred that the control device is additionally operable to send the shooting picture of the head camera to described aobvious
Showing device, the display device is additionally operable to show the shooting picture.
In this programme, during unmanned plane flies automatically, unmanned plane can be checked by display device
Flight parameter and head camera shooting picture, very intuitively and conveniently.
On the basis of common sense in the field is met, above-mentioned each optimum condition can be combined, produce this hair
Bright each preferred embodiments.
The positive effect of the present invention is：Compared with prior art, the unmanned plane in the present invention is in quilt
It is manually operated according to it is default take photo by plane path flight during without shoot, only in the mistake flown automatically
Shot in journey, this mode of taking photo by plane is simple to operate, it is not easy to produce for manually operated people
Raw maloperation.In addition, unmanned plane is flown automatically in strict accordance with the flight path of planning, it is ensured that boat
The uniformity of flying speed during bat.
Brief description of the drawings
Fig. 1 is the flow chart of the unmanned plane method of the embodiment of the present invention.
Fig. 2 is the structured flowchart of the unmanned plane system of the embodiment of the present invention.
Embodiment
The present invention is further illustrated below by the mode of embodiment, but is not therefore limited the present invention to
Among described scope of embodiments.
The present embodiment provides a kind of unmanned plane method, as shown in figure 1, comprising the following steps：
Step 101, default one take photo by plane path, and according to the operational order of coordinates measurement one first of taking photo by plane；
Step 102, according to first operational order control unmanned plane according to it is described take photo by plane path flight；
Step 103, mark during the unmanned plane is according to the default path flight of taking photo by plane it is multiple
Destination；
Step 104, according to the multiple destination plan a flight path, and according to the flight path give birth to
Into a flight directive；
Step 105, the unmanned plane fly automatically according to the flight directive according to the flight path；
Step 106, during the unmanned plane automatically flight, control the unmanned plane to be shot
And the state of flight and shooting angle of the control unmanned plane.
In the present embodiment, state of flight includes starting, stop, advancing, retreat, accelerate and slowing down.
The present embodiment also provides a kind of unmanned plane system 20, as shown in Fig. 2 including earth station 21,
Control device 22 and unmanned plane 23, wherein, earth station 21 includes display device 211, unmanned plane 23
Including head camera 231, control device 22 is on unmanned plane 23.
Earth station 21, which is used to presetting one, to take photo by plane path, and is operated according to the coordinates measurement one first of taking photo by plane
Instruction, and first operational order is sent to control device 22.
Control device 22 is used to control unmanned plane according to the path of taking photo by plane according to first operational order
Flight.
Earth station 21 is used to mark multiple destinations during the unmanned plane during flying, and will be described many
Individual destination is sent to control device 22；
Control device 22 is used to plan a flight path according to the multiple destination, and according to the flight
The flight directive of coordinates measurement one, and the flight directive is sent to unmanned plane 23.
Unmanned plane 23 is used to be flown automatically according to the flight path according to the flight directive.
Control device 22 is used to control head camera 231 to carry out during unmanned plane 23 automatically flight
Shoot.
Control device 22 in the present embodiment is additionally operable to the flight parameter of unmanned plane 23 and head camera
231 shooting picture is sent to display device 211, and display device 211 is used to show the flight parameter
With the shooting picture.
In the present embodiment, earth station 21 is additionally operable to receive one the during unmanned plane 23 automatically flight
Two operational orders and one the 3rd operational order, and by second operational order and the 3rd operational order
Send to control device 22；Control device 22 is additionally operable to control nobody according to second operational order
The state of flight of machine 23, and according to the shooting angle of the 3rd operational order control head camera 231
Degree.
Wherein, the earth station in the present embodiment uses Android system, and control device is public using STMicw Electronics
The STM32F4 family chips of production are taken charge of, head camera possesses the camera module of 5.8G wireless image transmissions.Ground
Include the radio receiving transmitting module based on bluetooth module, earth station and control device in face station and control device
It is respectively used to enter by respective radio receiving transmitting module the reception and transmission of row information.
Give a concrete illustration to illustrate how that the unmanned plane system using the present embodiment is realized below
Take photo by plane.
First, unmanned plane flies hand A by the default path L1 that takes photo by plane of earth station, and earth station is according to road of taking photo by plane
Footpath L1 sends the first operational order to control device, afterwards, and control device controls unmanned plane according to taking photo by plane
Path L1 is flown.Then, during unmanned plane is according to path L1 flights of taking photo by plane, unmanned plane
Fly the mark that hand A carries out destination by earth station, wherein, 50 are marked altogether in whole flight course
Individual destination.Finally, control device obtains flight path L2 according to 50 destination planning, and according to flight
Path L2 generates flight directive, and flight directive is sent to unmanned plane.Now, unmanned plane can root
Flown automatically according to flight path L2 according to flight directive.Wherein, during unmanned plane flies automatically,
Control device control head camera is shot, so as to realize taking photo by plane for unmanned plane.In addition, in unmanned plane
During automatic flight, unmanned plane flies hand A can check the flight parameter of unmanned plane by display device
With the shooting picture of head camera.
In above-mentioned example, the path L1 and flight path L2 that takes photo by plane is curve, and unmanned plane is being received
Flown automatically according to flight path L2 after flight directive, that is to say, that unmanned plane is according to flight path L2
The process of flight flies hand A without unmanned plane and participated in.During unmanned plane flies automatically, if unmanned plane
Fly hand A and find that front there are emergency situations, then unmanned plane, which flies hand A, to send second by ground station
Operational order, and then control unmanned plane to stop flight；If unmanned plane, which flies hand A, finds that shooting picture is not met
Expected effect, then unmanned plane flies hand A can send the 3rd operational order by ground station, and then control
The shooting angle of head camera processed.
Unmanned plane in the present embodiment flies by the winged hand A operations of unmanned plane according to the default path L1 that takes photo by plane
Without shooting in capable process, only shot during automatic flight, this mode pair of taking photo by plane
It is simple to operate, it is not easy to produce maloperation for unmanned plane flies hand A.In addition, unmanned plane is strict
What the flight path L2 according to planning flew automatically, it is ensured that the uniformity of flying speed during taking photo by plane.
Although the foregoing describing the embodiment of the present invention, those skilled in the art should manage
Solution, these are merely illustrative of, and protection scope of the present invention is defined by the appended claims.This
The technical staff in field, can be to these embodiment party on the premise of the principle and essence without departing substantially from the present invention
Formula makes various changes or modifications, but these changes and modification each fall within protection scope of the present invention.
Claims (12)
1. a kind of unmanned plane method, it is characterised in that comprise the following steps：
S1, default one take photo by plane path, and according to the operational order of coordinates measurement one first of taking photo by plane；
S2, according to first operational order control unmanned plane according to it is described take photo by plane path flight；
S3, during the unmanned plane is according to the default path flight of taking photo by plane mark multiple destinations；
S4, according to the multiple destination plan a flight path, and according to the flight path generation one fly
Row instruction；
S5, the unmanned plane flies automatically according to the flight directive according to the flight path；
S6, the unmanned plane automatically flight during control the unmanned plane to be shot.
2. unmanned plane method as claimed in claim 1, it is characterised in that step S4Middle planning
Flight path be curve.
3. unmanned plane method as claimed in claim 1, it is characterised in that step S6In also wrap
Include following steps：The state of flight of the unmanned plane is controlled during the unmanned plane automatically flight.
4. unmanned plane method as claimed in claim 3, it is characterised in that the state of flight
Including at least one of following：Start, stop, advancing, retreat, accelerate, slow down.
5. the unmanned plane method as described in claim 3 or 4, it is characterised in that step S6In
It is further comprising the steps of：The shooting angle of the unmanned plane is controlled during the unmanned plane automatically flight
Degree.
6. a kind of unmanned plane system, it is characterised in that including an earth station, a unmanned plane and
A control device on the unmanned plane, the unmanned plane includes a head camera；
The earth station, which is used to presetting one, to take photo by plane path, and is operated according to the coordinates measurement one first of taking photo by plane
Instruction, and first operational order is sent to the control device；
The control device is used to control unmanned plane according to the road of taking photo by plane according to first operational order
Fly in footpath；
The earth station is used to mark during the unmanned plane is according to the default path flight of taking photo by plane
Remember multiple destinations, and the multiple destination is sent to the control device；
The control device is used to plan a flight path according to the multiple destination, and according to the flight
The flight directive of coordinates measurement one, and the flight directive is sent to the unmanned plane；
The unmanned plane is used to be flown automatically according to the flight path according to the flight directive；
The control device is additionally operable to control the head phase during the unmanned plane automatically flight
Machine is shot.
7. unmanned plane system as claimed in claim 6, it is characterised in that the control device
The flight path of planning is curve.
8. unmanned plane system as claimed in claim 6, it is characterised in that
The earth station is additionally operable to receive one second during the unmanned plane automatically flight and operate to refer to
Order, and second operational order is sent to the control device；
The control device is used for the state of flight that the unmanned plane is controlled according to second operational order.
9. unmanned plane system as claimed in claim 7, it is characterised in that the state of flight
Including at least one of following：Start, stop, advancing, retreat, accelerate, slow down.
10. unmanned plane system as claimed in claim 7 or 8, it is characterised in that
The earth station is additionally operable to one the 3rd operation of reception during the unmanned plane automatically flight and referred to
Order, and the 3rd operational order is sent to the control device；
The control device is used for the shooting angle that the head camera is controlled according to the 3rd operational order
Degree.
11. unmanned plane system as claimed in claim 7, it is characterised in that the earth station is also
Including a display device, the control device is used to send the flight parameter of the unmanned plane to described aobvious
Showing device, the display device is used to show the flight parameter.
12. unmanned plane system as claimed in claim 11, it is characterised in that the control dress
Put and be additionally operable to send the shooting picture of the head camera to the display device, the display device is also
For showing the shooting picture.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256742.XA CN107305395A (en) | 2016-04-22 | 2016-04-22 | Unmanned plane method and system |
| US15/494,454 US10627821B2 (en) | 2016-04-22 | 2017-04-22 | Aerial shooting method and system using a drone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256742.XA CN107305395A (en) | 2016-04-22 | 2016-04-22 | Unmanned plane method and system |
Publications (1)
| Publication Number | Publication Date |
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| CN107305395A true CN107305395A (en) | 2017-10-31 |
Family
ID=60150171
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| CN201610256742.XA Pending CN107305395A (en) | 2016-04-22 | 2016-04-22 | Unmanned plane method and system |
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| CN109241820A (en) * | 2018-07-10 | 2019-01-18 | 北京二郎神科技有限公司 | The autonomous image pickup method of unmanned plane based on space exploration |
| CN109557934A (en) * | 2018-09-20 | 2019-04-02 | 中建科技有限公司深圳分公司 | A kind of control method and device of the unmanned plane cruise based on assembled architecture platform |
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| CN110771141A (en) * | 2018-11-19 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Shooting method and unmanned aerial vehicle |
| CN113260940A (en) * | 2020-09-29 | 2021-08-13 | 深圳市大疆创新科技有限公司 | Communication control method, device and equipment applied to unmanned aerial vehicle |
| CN114428509A (en) * | 2021-12-15 | 2022-05-03 | 广州极飞科技股份有限公司 | Turning shooting control method and device, unmanned equipment and storage medium |
| US11423555B2 (en) | 2018-07-20 | 2022-08-23 | Shenzhen University | Methods for generating aerial photographing path for unmanned aerial vehicle, computer devices, and storage mediums |
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