CN107664996A - UAV Intelligent image pickup method and its UAS - Google Patents
UAV Intelligent image pickup method and its UAS Download PDFInfo
- Publication number
- CN107664996A CN107664996A CN201610601266.0A CN201610601266A CN107664996A CN 107664996 A CN107664996 A CN 107664996A CN 201610601266 A CN201610601266 A CN 201610601266A CN 107664996 A CN107664996 A CN 107664996A
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- Prior art keywords
- unmanned plane
- short essay
- current displacement
- path
- module
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides a kind of UAV Intelligent image pickup method and its UAS, this method to include：Obtain the current displacement between unmanned plane and object；Obtain the most short essay that unmanned plane skips over object；According to the current displacement and most short essay, the angle information between unmanned plane and object is calculated；According to the angle information, the unmanned plane is controlled to adjust its posture so that unmanned plane camera is directed at the object all the time.Compared with prior art, the present invention is applied to miniaturization unmanned plane, when unmanned plane, which skips over object, needs photographic subjects thing always, control its posture of unmanned plane adjust automatically solves the problems, such as manual operation difficulty so that the alignment target thing shooting all the time of unmanned plane camera.
Description
Technical field
The present invention relates to unmanned vehicle technical field, more particularly to a kind of flight control method of unmanned vehicle.
Background technology
Unmanned plane is a kind of not manned vehicle based on wireless remotecontrol or itself programme-control.
With the development of unmanned plane, the unmanned plane of taking photo by plane taken photo by plane for specialty is also increasingly popularized.Typically, specialty is taken photo by plane
Unmanned plane of taking photo by plane includes head and the camera device on head, generally, changes shooting dress by regulating and controlling head to obtain
The orientation put.With the miniature requirement of unmanned plane, because head and head support volume are bigger, miniaturization amusement unmanned plane
Head and head support are not reconfigured at, but camera is mounted directly before unmanned aerial vehicle body and is used for imaging.For this kind of small
Typeization entertains unmanned plane when needing to shoot a certain object and is remotely controlled the posture for changing unmanned plane during flying, it is necessary to manipulate to ensure to take the photograph
As the angular image to needs.And the change posture of unmanned plane is manipulated by being remotely controlled, and difficulty is brought to manipulator, if serious,
It is also possible that air crash behavior.
The content of the invention
The technical problem to be solved in the present invention is overcome the deficiencies in the prior art, there is provided a kind of nothing of adjust automatically angle
Human-machine intelligence's image pickup method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of UAV Intelligent image pickup method, its feature
It is, comprises the following steps：
Obtain the current displacement between unmanned plane and object；
Obtain the most short essay that unmanned plane skips over object；
According to the current displacement and most short essay, the angle information between unmanned plane and object is calculated；
According to the angle information, the unmanned plane is controlled to adjust its posture so that unmanned plane camera is directed at the target all the time
Thing.
Further improved as of the invention, the UAV Intelligent image pickup method is further comprising the steps of：
According to the current displacement and most short essay, the path that unmanned plane skips over object is calculated；
According to the path, control unmanned plane flies according to the path.
Further improved as of the invention, object is got by image recognition technology.
Further improved as of the invention, the step of acquisition unmanned plane skips over the most short essay of object includes：
The air line distance of terminal input most short essay and direction, so as to obtain the parameter information of most short essay；The parameter information is led to
Cross route and be sent to unmanned plane.
Present invention also offers a kind of UAS, it is characterised in that including：
First acquisition module, for obtaining the current displacement between unmanned plane and object；
Second acquisition module, the most short essay of object is skipped over for obtaining unmanned plane；
Processing module, it is connected respectively with the first acquisition module and the second acquisition module, for according to the current displacement and most short
Displacement, calculate the angle information between unmanned plane and object；
Control module, it is connected with the processing module, for controlling the unmanned plane to adjust its posture so that unmanned plane camera
All the time it is directed at the object.
Further improved as of the invention, the processing module is additionally operable to according to the current displacement and most short essay, meter
Calculate the path that unmanned plane skips over object；Control module is flown according to the path, control unmanned plane according to the path.
Further improved as of the invention, in addition to setup module, for set input most short essay air line distance and
Direction is to obtain the parameter information of most short essay.
Further improved as of the invention, in addition to memory module, for storing the parameter information of most short essay.
Compared with prior art, the present invention is applied to miniaturization unmanned plane, needs a pen-hold grip when unmanned plane skips over object
When taking the photograph object, control its posture of unmanned plane adjust automatically solves people so that the alignment target thing shooting all the time of unmanned plane camera
The problem of work operating difficulties.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the flow chart of UAV Intelligent image pickup method of the present invention；
Fig. 2 is the structured flowchart of UAS of the present invention.
Embodiment
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, now compares accompanying drawing and describe in detail
The embodiment of the present invention.
Unmanned plane of the present invention is a kind of miniaturization unmanned plane, with big-and-middle-sized unmanned plane configuration head support, head and shooting
Head is different, and miniaturization unmanned plane camera is arranged on front fuselage, when needing to change camera angle, it is necessary to adjust unmanned plane certainly
The flight attitude of body, and, when unmanned plane during flying of the present invention skips over object shooting, posture during its flight of adjust automatically, keep
All the time alignment target thing is shot camera.
As shown in figure 1, the intelligent image pickup method of the present invention comprises the following steps：
The current displacement between unmanned plane and object is obtained, current displacement includes air line distance and azimuth information, in this reality
Apply in example, obtain the current displacement between unmanned plane and object, image recognition technology can be first passed through and get the object,
And the current displacement L obtained between unmanned plane and object is realized in the ranging of the known technology such as infrared technique and ultrasonic wave.
The most short essay D that unmanned plane skips over object is obtained, in the present embodiment, the straight line of most short essay is inputted in terminal
Distance and direction, so as to obtain the parameter information of most short essay.For example unmanned plane during flying skips over object, relative to object
10 meters of front be most short essay, i.e., when unmanned plane skips over object photographic subjects thing need beeline be front 10
Rice, this parameter information is inputted in terminal, and is sent to unmanned plane by wireless routing, and the processing module of unmanned plane believes this parameter
Breath is stored in FLASH.
According to the current displacement L and most short essay D, the angle information between unmanned plane and object is calculated；Currently
Displacement L and most short essay D, and object, triangle relation is formed, according to trigonometric function, unmanned plane and target can be calculated
Angle information between thing, and unmanned plane skip over the routing information of object.
According to the angle information, control the unmanned plane to adjust its posture so that unmanned plane camera be aligned all the time it is described
Object；Meanwhile flown according to the path, control unmanned plane according to the path.
In the present embodiment, the current displacement L between unmanned plane and object is obtained in real time, you can is being obtained at different moments
Real-time angle information, the posture of unmanned plane is adjusted in real time so that unmanned plane camera is directed at the object all the time.
As shown in Fig. 2 UAS of the present invention includes：First acquisition module 10, the second acquisition module 11, processing module
20, and control module 30.First acquisition module 10 and the second acquisition module 11 are connected with processing module 20 respectively, control module 30
It is connected with processing module 20.
First acquisition module 10 is used to obtain the current displacement between unmanned plane and object；Second acquisition module 11, use
The most short essay of object is skipped in acquisition unmanned plane, memory module is provided with UAS, for storing most short essay
Parameter information.Processing module 20, for according to the current displacement and most short essay, calculating between unmanned plane and object
Angle information, and unmanned plane skips over the path of object；Control module 30, for controlling the camera of unmanned plane right all the time
The accurate object, and control unmanned plane fly according to the path.
More optimizedly, this UAS includes setup module, for setting air line distance and the side of input most short essay
To obtain the parameter information of most short essay, setup module is typically integrated on remote control or other-end control device, passed through
Route is sent to unmanned plane.
The present invention is illustrated by preferred embodiment, it will be appreciated by those skilled in the art that, do not departing from this
In the case of invention scope, various conversion and equivalent substitute can also be carried out to the present invention.In addition, for particular condition or specific
Situation, various modifications can be made to the present invention, without departing from the scope of the present invention.Therefore, the present invention is not limited to disclosed
Specific embodiment, and the whole embodiments fallen within the scope of the appended claims should be included.
Claims (8)
1. a kind of UAV Intelligent image pickup method, it is characterised in that comprise the following steps：
Obtain the current displacement between unmanned plane and object；
Obtain the most short essay that unmanned plane skips over object；
According to the current displacement and most short essay, the angle information between unmanned plane and object is calculated；
According to the angle information, the unmanned plane is controlled to adjust its posture so that unmanned plane camera is directed at the target all the time
Thing.
2. UAV Intelligent image pickup method according to claim 1, it is characterised in that further comprising the steps of：
According to the current displacement and most short essay, the path that unmanned plane skips over object is calculated；
According to the path, control unmanned plane flies according to the path.
3. UAV Intelligent image pickup method according to claim 1, it is characterised in that got by image recognition technology
Object.
4. UAV Intelligent image pickup method according to claim 1, it is characterised in that the acquisition unmanned plane skips over target
The step of most short essay of thing, includes：
Air line distance and the direction of most short essay are inputted in terminal, so as to obtain the parameter information of most short essay；
The parameter information is sent to unmanned plane by route.
A kind of 5. UAS, it is characterised in that including：
First acquisition module, for obtaining the current displacement between unmanned plane and object；
Second acquisition module, the most short essay of object is skipped over for obtaining unmanned plane；
Processing module, it is connected respectively with the first acquisition module and the second acquisition module, for according to the current displacement and most short
Displacement, calculate the angle information between unmanned plane and object；
Control module, it is connected with the processing module, for controlling the unmanned plane to adjust its posture so that unmanned plane camera
All the time it is directed at the object.
6. the UAS described in as requested 5, it is characterised in that the processing module is additionally operable to according to the current displacement
Most short essay, calculate the path that unmanned plane skips over object；Control module is according to the path, and control unmanned plane is according to institute
State path flight.
7. the UAS described in as requested 6, it is characterised in that also including setup module, most short position is inputted for setting
The air line distance of shifting and direction are to obtain the parameter information of most short essay.
8. the UAS described in as requested 7, it is characterised in that also including memory module, for storing most short essay
Parameter information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610601266.0A CN107664996A (en) | 2016-07-28 | 2016-07-28 | UAV Intelligent image pickup method and its UAS |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610601266.0A CN107664996A (en) | 2016-07-28 | 2016-07-28 | UAV Intelligent image pickup method and its UAS |
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| CN107664996A true CN107664996A (en) | 2018-02-06 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019237775A1 (en) * | 2018-06-15 | 2019-12-19 | 华为技术有限公司 | Image information acquisition method and device |
| WO2022141231A1 (en) * | 2020-12-30 | 2022-07-07 | SZ DJI Technology Co., Ltd. | Systems and methods for determining the position of an object using an unmanned aerial vehicle |
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| CN103188431A (en) * | 2011-12-27 | 2013-07-03 | 鸿富锦精密工业（深圳）有限公司 | System and method for controlling unmanned aerial vehicle to conduct image acquisition |
| CN105045281A (en) * | 2015-08-13 | 2015-11-11 | 深圳一电科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN105242685A (en) * | 2015-10-15 | 2016-01-13 | 杨珊珊 | Unmanned plane flight accompanying aerial photographing system and method |
| CN105549605A (en) * | 2015-12-16 | 2016-05-04 | 深圳市中航佳智能科技有限公司 | Object aiming flight method of unmanned plane |
| CN205353774U (en) * | 2015-10-15 | 2016-06-29 | 杨珊珊 | Accompany unmanned aerial vehicle system of taking photo by plane of shooing aircraft |
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2016
- 2016-07-28 CN CN201610601266.0A patent/CN107664996A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103188431A (en) * | 2011-12-27 | 2013-07-03 | 鸿富锦精密工业（深圳）有限公司 | System and method for controlling unmanned aerial vehicle to conduct image acquisition |
| CN105045281A (en) * | 2015-08-13 | 2015-11-11 | 深圳一电科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN105242685A (en) * | 2015-10-15 | 2016-01-13 | 杨珊珊 | Unmanned plane flight accompanying aerial photographing system and method |
| CN205353774U (en) * | 2015-10-15 | 2016-06-29 | 杨珊珊 | Accompany unmanned aerial vehicle system of taking photo by plane of shooing aircraft |
| CN105549605A (en) * | 2015-12-16 | 2016-05-04 | 深圳市中航佳智能科技有限公司 | Object aiming flight method of unmanned plane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019237775A1 (en) * | 2018-06-15 | 2019-12-19 | 华为技术有限公司 | Image information acquisition method and device |
| WO2022141231A1 (en) * | 2020-12-30 | 2022-07-07 | SZ DJI Technology Co., Ltd. | Systems and methods for determining the position of an object using an unmanned aerial vehicle |
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