CN108733075A - Flight system and its flight control method of the continuous fixed point of unmanned plane around shooting - Google Patents
Flight system and its flight control method of the continuous fixed point of unmanned plane around shooting Download PDFInfo
- Publication number
- CN108733075A CN108733075A CN201810501754.3A CN201810501754A CN108733075A CN 108733075 A CN108733075 A CN 108733075A CN 201810501754 A CN201810501754 A CN 201810501754A CN 108733075 A CN108733075 A CN 108733075A
- Authority
- CN
- China
- Prior art keywords
- information
- module
- around
- flight
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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 the continuous fixed points of unmanned plane around the flight system and its flight control method of shooting, including ground control station and unmanned generator terminal, the ground control station includes the control station communication module being wirelessly connected with unmanned generator terminal and information processing centre, described information processing center is connected to the control station communication module, information for being obtained to unmanned plane carries out processing and generates the cruise path of unmanned plane and surround path, and the flight control information of operator is sent to the control station communication module.Unmanned function carries out cruising flight to continuous multiple heavy constructions in the present invention, and often reaching a destination i.e. can be around it around flight around target.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to the continuous fixed point of unmanned plane around the flight system shot and its flies
Row control method.
Background technology
Currently, cruise mode before unmanned plane needs artificial calibration destination in advance, then allow unmanned plane according to artificially setting
Fixed destination carries out cruise shooting, obtains information.The cruise of continuous multiple heavy constructions is needed to set more destination,
And it may cause the destination being previously set that cannot complete cruise task well since architectural appearance changes.Fixed point is around shooting
Mode may have shooting blind angle amount for large-scale irregular building cruise shooting, and shooting effect is bad.
The patent of invention of the patent No. 201510134949.5 discloses a kind of circumvolant control method of unmanned plane fixed point.
Circumvolant target is carried out to pinpoint target although realizing, circumferential ring can only be made around mark point around with for large size
Asymmetric buildings cruise shooting may have shooting blind angle amount, shooting effect problem of poor.
The patent of invention of the patent No. 201710315253.1 discloses a kind of circular flying method of unmanned plane.Although realizing
Flight path is repeatedly rebuild using scene image can correct flight path.But it needs to repeat to fly to reduce around flight efficiency,
The circular flight of multiple targets can not once be completed.
Invention content
The flight system around shooting and its flight control the purpose of the present invention is to provide a kind of continuous fixed point of unmanned plane
Method processed, with solve in the prior art can not continuously to multiple heavy constructions cruise, and to heavy construction it is circumvolant lack
It falls into.
The continuous fixed point of the unmanned plane is around the flight system shot, including ground control station and unmanned generator terminal, institute
It includes the control station communication module being wirelessly connected with unmanned generator terminal and information processing centre, described information processing to state ground control station
Center is connected to the control station communication module, and the information for being obtained to unmanned plane carries out the cruise road that processing generates unmanned plane
Diameter and around path, and send to the control station communication module flight control information of operator；
The unmanned generator terminal includes:
Wireless communication module is located on unmanned plane body and is wirelessly connected with the ground control station；
Fly control module, is connected with the wireless communication module, the state of flight information for sending unmanned plane and according to nothing
The flight parameter that line communication module is sent out controls unmanned plane during flying；
GPS module is located in the unmanned plane body, is connected with the winged control module, for obtaining unmanned plane position letter
It ceases and sends it to and fly control module；
Information acquisition module, including it is located at camera and laser range finder below the unmanned plane body, for obtaining
The range information and ambient image information of unmanned plane and measuring point simultaneously send wireless communication module；
2, around the flight system shot, feature exists a kind of continuous fixed point of unmanned plane according to claim 1
In：The unmanned generator terminal further includes,
Picture recognition module is located in the unmanned plane body and is connected with described image processing module, for identification environment
Circular target in image information and contour pattern around target is differentiated, and ambient image information and contour pattern information are sent out
It is sent to image processing module；
Image processing module is located in the unmanned plane body and is connected with wireless communication module, is used for same circular mesh
Target contour pattern information generation three-D profile information associated with range information, and ambient image information and three-D profile are believed
Breath is sent to wireless communication module；
The camera is connected to picture recognition module, for obtaining ambient image information and being sent to described image identification
Module, the laser range finder are connected to image processing module, the range information for obtaining unmanned plane and measuring point and transmission
To image processing module.
Preferably, described image processing module is also connected with the winged control module, for being identified in picture recognition module
When around target but completely contour pattern around target can not be obtained, flight signal is sent out to the winged control module.
Preferably, the camera and the laser range finder are mounted on by automatically controlled shaft under the unmanned plane body
Face, the unmanned generator terminal further includes acquisition control module, the wireless communication module, the control module of the automatically controlled shaft and sense
Device is answered to be all connected to the acquisition control module.
Preferably, described information acquisition module further includes altimeter, and the altimeter is connected to the winged control module, is used for
The elevation information of unmanned plane is provided to the winged control module.
The flight control method of flight system the present invention also provides a kind of continuous fixed point of unmanned plane around shooting, packet
Include following steps：
S1, ground control station send out take off signal and cruise routing information to unmanned generator terminal, and cruise routing information includes ring
Around the location information of target；
S2, the unmanned generator terminal take off and by flying control module and GPS module to self poisoning along the flight of cruise path, directly
It is stopped here after surrounding target to reach cruise path first；
S3, it reaches and is known by picture recognition module by camera acquisition ambient image information around unmanned generator terminal after target
Not Huan Rao target, and send out ambient image information to the ground control station；
S4, ground control station send the circular routing information calculated, the winged control module foundation to unmanned generator terminal
The circular path obtained, which is surrounded, to be made around target around flight, and the circular routing information further includes in each circular mission phase pair
The flying height information answered；
S5, the winged control module complete the control unmanned plane after flight and continue to reach next ring along the flight of cruise path
Around target；Step S3 to S4 is repeated later, until completing the circular flight of all circular targets, cruise is reached eventually along cruise path
Point landing.
The flight control method of flight system the present invention also provides a kind of continuous fixed point of unmanned plane around shooting, packet
Include following steps：
S1, ground control station send out take off signal and cruise routing information to unmanned generator terminal, and cruise routing information includes ring
Around the location information of target；
S2, the unmanned generator terminal take off and by flying control module and GPS module to self poisoning along the flight of cruise path, directly
It is stopped here after surrounding target to reach cruise path first；
S3, it reaches and is known by picture recognition module by camera acquisition ambient image information around unmanned generator terminal after target
Not Huan Rao target, and by laser range finder obtain unmanned plane with around the range information of target；
Ambient image information is identified in S4, described image identification module, obtains the contour pattern information around target,
Laser range finder then obtain unmanned plane with around target each measuring point of contour pattern range information, contour pattern information and away from
It is sent to image processing module from information；
S5, described image processing module by contour pattern information generation three-D profile information associated with range information, and
By it, module is sent to ground control station by radio communication；
S6, the ground control station generate around routing information according to the three-D profile information of acquisition and send it to nothing
Man-machine end, the winged control module is surrounded according to the circular path obtained to be made around target around flight, the circular routing information
It further include flying height information corresponding in each circular mission phase；
S7, the winged control module complete the control unmanned plane after flight and continue to reach next ring along the flight of cruise path
Around target；Step S3 to S6 is repeated later, until completing the circular flight of all circular targets, cruise is reached eventually along cruise path
Point landing.
Preferably, it is reached in the step S2 after being stopped here after target, the ground control station can obtain institute
It states ambient image information that unmanned generator terminal is obtained by information acquisition module and range information, the ground control station passes through acquisition
Control module is remotely controlled the automatically controlled shaft of control camera and laser range finder, while being remotely controlled nothing by the winged control module
Man-machine flight.
Preferably, vertically downward, picture recognition module is being identified around target but can not for camera and laser range finder
When obtaining completely around the contour pattern of target, image processing module sends out flight signal, flight letter to the winged control module
Number include upward flight signal, when picture recognition module obtain completely around the contour pattern of target when, image processing module
It calculates by the linear signal path of the point distance measurement in the target on all contour patterns of each height and by the straight line
Path signal, which is sent to, flies control module, and the winged control module control unmanned plane flies along straight line path obtains the height of contour pattern
Information.
The advantage of the invention is that：Unmanned function carries out cruising flight to continuous multiple heavy constructions, often reaches one
Destination i.e. can be around it around flight around target.It can be used for surrounding around flight and take photo by plane, and changed even if architectural appearance
New circular path can be formulated rapidly to complete cruise task according to the ambient image information at scene.And around flying method
It is not to make circumferential ring to carry out around but along the profile of target, and can all carry out the contour line of building different height around flying
Row, therefore can effectively solve may have shooting blind angle amount for large-scale irregular building cruise shooting, shooting effect is bad
Problem.
Description of the drawings
Fig. 1 is the system structure diagram of the embodiment of the present invention 1；
Fig. 2 is the flight control method flow chart of the embodiment of the present invention 1；
Fig. 3 is the flight control method flow chart of the embodiment of the present invention 2；
Fig. 4 is the process schematic of the flight control method of the embodiment of the present invention 1, and arrow is heading, A, B in figure
Two are indicated respectively around target construction.
Wherein, 1, information processing centre, 2, control station communication module, 3, wireless communication module, 4, image processing module, 5,
Picture recognition module, 6, information acquisition module, 7, camera, 8, laser range finder, 9, altimeter, 10, fly control module, 11, GPS
Module, 12, automatically controlled shaft, 13, acquisition control module.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making further details of theory to the specific embodiment of the invention
It is bright, to help those skilled in the art to have more complete, accurate and deep reason to the inventive concept of the present invention, technical solution
Solution.
The present invention provides a kind of continuous fixed points of unmanned plane around the flight system and its flight control method of shooting.In detail
Thin embodiment is as follows：
Embodiment 1
As Figure 1-Figure 2, the continuous fixed point of unmanned plane includes ground control station and nobody around the flight system of shooting
Generator terminal.The ground control station includes the control station communication module 2 being wirelessly connected with unmanned generator terminal and information processing centre 1.Institute
It states information processing centre 1 and is connected to the control station communication module 2, the information for being obtained to unmanned plane carries out processing and generates nothing
Man-machine cruise path and around path, and send to the control station communication module 2 flight control information of operator.Operation
Person is monitored the state of flight of unmanned plane by information processing centre 1, and energy remote controlled drone carries out flight acquisition image
Etc. information.
The unmanned generator terminal includes wireless communication module 3, flies control module 10, GPS module 11, information acquisition module 6, image
Identification module 5 and image processing module 4.
Wireless communication module 3 is located on unmanned plane body to be wirelessly connected with the ground control station.
Fly control module 10 with the wireless communication module 3 to be connected, the state of flight information for sending unmanned plane and basis
The flight parameter that wireless communication module 3 is sent out controls unmanned plane during flying.State of flight information includes the flight appearance of unmanned plane itself
Gesture, height and location information.
GPS module 11 is located in the unmanned plane body, is connected with the winged control module 10, for obtaining unmanned plane position
Information simultaneously sends it to winged control module 10.
Information acquisition module 6 includes altimeter 9, camera 7 and the laser range finder being located at below the unmanned plane body
8.The drone flying height information that altimeter 9 measures, which is transferred to, flies control module 10, and then is transmitted to ground control station.Camera shooting
First 7 are connected to picture recognition module 5, for obtaining ambient image information and being sent to described image identification module 5.Laser ranging
Instrument 8 is connected to image processing module 4, and the range information for obtaining unmanned plane and measuring point is simultaneously sent to image processing module 4.
Picture recognition module 5 is located in the unmanned plane body to be connected with described image processing module 4, for identification environment
Circular target in image information and differentiate contour pattern around target.By ambient image information after acquisition contour pattern information
It is sent to image processing module 4 with contour pattern information, if ambient image information is not enough to that it is enabled to identify around target
Ambient image information and the signal for being unable to contour identification figure can be also dealt into image processing module 4 by contour pattern.
Image processing module 4 is located in the unmanned plane body to be connected with wireless communication module 3, is used for same circular mesh
Target contour pattern information generation three-D profile information associated with range information, and ambient image information and three-D profile are believed
Breath is sent to wireless communication module 3.
Above-mentioned flight control information includes the cruise routing information of unmanned plane during flying and surround routing information, further includes behaviour
The remote control distributor parameter that author is continuously sent out by the ground control station.
Preferably, described image processing module 4 is also connected with the winged control module 10, for knowing in picture recognition module 5
When not going out around target but can not obtain completely contour pattern around target, image processing module 4 is to the winged control module
10 send out flight signal, promote unmanned plane during flying to it is observed that around the position of targeted population, and fly to around each height of target
The measuring point mensuration distance of the profile of degree.
The camera 7 and the laser range finder 8 the unmanned plane body is mounted on by automatically controlled shaft 12 in the following,
The unmanned generator terminal further includes acquisition control module 13, the wireless communication module 3, the automatically controlled shaft 12 control module and
Inductor is all connected to the acquisition control module 13.Operator can manipulate it by ground control station, and the person of being conveniently operated obtains
Angle better image information and range information are obtained, formulation is facilitated to fly around path and direct remote controlled drone.
For the flight system, the present invention provides a kind of flight control methods, include the following steps：
S1, ground control station send out take off signal and cruise routing information to unmanned generator terminal, and cruise routing information includes ring
Around the location information of target.
S2, the unmanned generator terminal are taken off and are flown along cruise path to self poisoning by flying control module 10 and GPS module 11
Row, until first that reaches cruise path stops here after target.
S3, arrival obtain ambient image information by camera 7 around unmanned generator terminal after target and pass through picture recognition module 5
Identification ring around target, and by laser range finder 8 obtain unmanned plane with around the range information of target.
Ambient image information is identified in S4, described image identification module 5, and the contour pattern obtained around target is believed
Breath, laser range finder 8 then obtain the range information of unmanned plane and each measuring point of contour pattern around target, contour pattern information
It is sent to image processing module 4 with range information.
S5, described image processing module 4 by contour pattern information generation three-D profile information associated with range information, and
By it, module 3 is sent to ground control station by radio communication.
S6, the ground control station generate around routing information according to the three-D profile information of acquisition and send it to nothing
Man-machine end, the winged control module 10 is surrounded according to the circular path of acquisition to be made around target around flight, the circular path letter
Breath further includes flying height information corresponding in each circular mission phase.
S7, the winged completion of control module 10 control unmanned plane continuation edge cruise path flight after flight reach next
Around target；Step S3 to S6 is repeated later, until completing the circular flight of all circular targets, cruise is reached along cruise path
Terminal lands.
Preferably, camera 7 and laser range finder 8 when not controlled processed vertically downward, in the step S4, image recognition
For module 5 when identifying around target but can not obtain completely contour pattern around target, image processing module 4 is to described
Fly control module 10 and send out flight signal, flight signal includes upward flight signal, when picture recognition module 5 obtains complete surround
When the contour pattern of target, image processing module 4 is calculated through the survey on all contour patterns of each height in target
The linear signal path is simultaneously sent to winged control module 10 by the linear signal path away from point, and the winged control module 10 controls nobody
Machine flies along straight line path obtains the elevation information of contour pattern.The straight line path is all contour patterns across each height
Any straight line, point distance measurement are the intersection point of straight line and each contour line.
The present embodiment can in time be formulated according to information such as the ambient images at scene and correctly surround path, and unmanned function
Remote control also can be applied widely automatically to carrying out information collection around target, can cope with the case where lacking field data.
Embodiment 2
As shown in figure 3, the present embodiment compared with Example 1 itself the difference is that：This flight system is not provided with image recognition mould
Block 5 and image processing module 4, the camera 7 and laser range finder 8 are directly connected to wireless communication module 3.The embodiment
In, unmanned plane is reached can be flown around target by the direct remote controlled drone of operator, reach around target be also directly according to
It flies around routing information according to known to ground control station transmission, therefore it is required that operator has foot to the appearance profile around target
Enough information to make correctly around path in advance.It is relatively simple compared to 1 structure of embodiment, it is at low cost, suitable for building
Build the clearer situation of principle report.
A kind of flight control method provided in this embodiment, is as follows：
S1, ground control station send out take off signal and cruise routing information to unmanned generator terminal, and cruise routing information includes ring
Around the location information of target.
S2, the unmanned generator terminal are taken off and are flown along cruise path to self poisoning by flying control module 10 and GPS module 11
Row, until first that reaches cruise path stops here after target.
S3, arrival obtain ambient image information by camera 7 around unmanned generator terminal after target and pass through picture recognition module 5
Identification ring sends out ambient image information around target, and to the ground control station.
S4, ground control station send the circular routing information that has calculated to unmanned generator terminal, the winged control module 10 according to
It surrounds according to the circular path of acquisition and makees around flight around target, the circular routing information further includes in each circular mission phase
Corresponding flying height information.
S5, the winged completion of control module 10 control unmanned plane continuation edge cruise path flight after flight reach next
Around target；Step S3 to S4 is repeated later, until completing the circular flight of all circular targets, cruise is reached along cruise path
Terminal lands.
The practical flight process schematic of this system unmanned plane is as shown in figure 4, using unmanned function after this programme to continuous
Multiple heavy constructions carry out cruising flight, often reaching destination i.e. can be around it around flight around target.Around flight
It can be used for around taking photo by plane, and can rapidly be formulated according to the ambient image information at scene architectural appearance change new circular
Path is to complete cruise task.And it is not to make circumferential ring to carry out around but along the profile of target around flying method, and it can
It all carries out surrounding flight with the contour line to building different height, therefore can effectively solve to build large-scale irregular and cruise
Shooting may have shooting blind angle amount, the bad problem of shooting effect.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, it is or not improved as long as using the method for the present invention design and the improvement of various unsubstantialities that technical solution carries out
Present inventive concept and technical solution are directly applied into other occasions, within the scope of the present invention.
Claims (9)
1. a kind of continuous fixed point of unmanned plane is around the flight system of shooting, it is characterised in that：Including ground control station and nobody
Generator terminal, the ground control station include the control station communication module (2) being wirelessly connected with unmanned generator terminal and information processing centre
(1), described information processing center (1) is connected to the control station communication module (2), and the information for being obtained to unmanned plane carries out
Processing generates the cruise path of unmanned plane and around path, and the flight of operator is sent to the control station communication module (2)
Control information；
The unmanned generator terminal includes:
Wireless communication module (3) is located on unmanned plane body and is wirelessly connected with the ground control station；
Fly control module (10), is connected with the wireless communication module (3), the state of flight information for sending unmanned plane and basis
The flight parameter that wireless communication module (3) is sent out controls unmanned plane during flying；
GPS module (11) is located in the unmanned plane body, is connected with the winged control module (10), for obtaining unmanned seat in the plane
Confidence, which is ceased and sent it to, flies control module (10)；
Information acquisition module (6), including it is located at camera (7) and laser range finder (8) below the unmanned plane body, it is used for
It obtains the range information and ambient image information of unmanned plane and measuring point and sends wireless communication module (3).
2. a kind of continuous fixed point of unmanned plane according to claim 1 is around the flight system of shooting, it is characterised in that：Institute
Stating unmanned generator terminal further includes,
Picture recognition module (5) is located in the unmanned plane body and is connected with described image processing module (4), for identification ring
Circular target in the image information of border and contour pattern around target is differentiated, and by ambient image information and contour pattern information
It is sent to image processing module (4)；
Image processing module (4) is located in the unmanned plane body and is connected with wireless communication module (3), for being surround same
The contour pattern information generation three-D profile information associated with range information of target, and by ambient image information and three-D profile
Information is sent to wireless communication module (3)；
The camera (7) is connected to picture recognition module (5), knows for obtaining ambient image information and being sent to described image
Other module (5), the laser range finder (8) is connected to image processing module (4), for obtaining unmanned plane at a distance from measuring point
Information is simultaneously sent to image processing module (4).
3. a kind of continuous fixed point of unmanned plane according to claim 2 is around the flight system of shooting, it is characterised in that：Institute
It states image processing module (4) to be also connected with the winged control module (10), for identifying around target in picture recognition module (5)
But when can not obtain completely contour pattern around target, flight signal is sent out to the winged control module (10).
4. a kind of continuous fixed point of unmanned plane according to claim 1 or 2 exists around the flight system of shooting, feature
In：The camera (7) and the laser range finder (8) are mounted on by automatically controlled shaft (12) under the unmanned plane body
Face, the unmanned generator terminal further include acquisition control module (13), the wireless communication module (3), the automatically controlled shaft (12)
Control module and inductor are all connected to the acquisition control module (13).
5. a kind of continuous fixed point of unmanned plane according to claim 1 or 2 exists around the flight system of shooting, feature
In：Described information acquisition module (6) further includes altimeter (9), and the altimeter (9) is connected to the winged control module (10), is used
In the elevation information for providing unmanned plane to the winged control module (10).
6. a kind of continuous fixed point of unmanned plane according to any one of claims 1-5 flies around the flight system shot
Row control method, it is characterised in that：Include the following steps：
S1, ground control station send out take off signal and cruise routing information to unmanned generator terminal, and cruise routing information includes around mesh
Target location information；
S2, the unmanned generator terminal are taken off and are flown along cruise path to self poisoning by flying control module (10) and GPS module (11)
Row, until first that reaches cruise path stops here after target；
S3, arrival obtain ambient image information by camera (7) around unmanned generator terminal after target and pass through picture recognition module (5)
Identification ring sends out ambient image information around target, and to the ground control station；
S4, ground control station send the circular routing information calculated, winged control module (10) foundation to unmanned generator terminal
The circular path obtained, which is surrounded, to be made around target around flight, and the circular routing information further includes in each circular mission phase pair
The flying height information answered；
S5, the winged control module (10) complete the control unmanned plane after flight and continue to reach next ring along the flight of cruise path
Around target；Step S3 to S4 is repeated later, until completing the circular flight of all circular targets, cruise is reached eventually along cruise path
Point landing.
7. a kind of continuous fixed point of unmanned plane according to any one of claims 1-5 flies around the flight system shot
Row control method, it is characterised in that：Include the following steps：
S1, ground control station send out take off signal and cruise routing information to unmanned generator terminal, and cruise routing information includes around mesh
Target location information；
S2, the unmanned generator terminal are taken off and are flown along cruise path to self poisoning by flying control module (10) and GPS module (11)
Row, until first that reaches cruise path stops here after target；
S3, arrival obtain ambient image information by camera (7) around unmanned generator terminal after target and pass through picture recognition module (5)
Identification ring around target, and by laser range finder (8) obtain unmanned plane with around the range information of target；
Ambient image information is identified in S4, described image identification module (5), obtains the contour pattern information around target,
Laser range finder (8) then obtains the range information of unmanned plane and each measuring point of contour pattern around target, contour pattern information
It is sent to image processing module (4) with range information；
S5, described image processing module (4) incite somebody to action contour pattern information generation three-D profile information associated with range information
Module (3) is sent to ground control station by radio communication for it；
S6, the ground control station generate around routing information according to the three-D profile information of acquisition and send it to unmanned plane
End, the winged control module (10) surrounds according to the circular path obtained to be made around target around flight, the circular routing information
It further include flying height information corresponding in each circular mission phase；
S7, the winged control module (10) complete the control unmanned plane after flight and continue to reach next ring along the flight of cruise path
Around target；Step S3 to S6 is repeated later, until completing the circular flight of all circular targets, cruise is reached eventually along cruise path
Point landing.
8. a kind of flight control of flight system of the continuous fixed point of unmanned plane described according to claim 6 or 7 around shooting
Method, it is characterised in that：It is reached in the step S2 after being stopped here after target, the ground control station can obtain institute
It states ambient image information that unmanned generator terminal is obtained by information acquisition module (6) and range information, the ground control station passes through
Acquisition control module (13) is remotely controlled the automatically controlled shaft (12) of control camera (7) and laser range finder (8), passes through simultaneously
The flight of described winged control module (10) remote controlled drone.
9. a kind of flight controlling party of flight system of the continuous fixed point of unmanned plane according to claim 7 around shooting
Method, it is characterised in that：Vertically downward, in the step S4, picture recognition module (5) exists for camera (7) and laser range finder (8)
When identifying around target but can not obtain completely contour pattern around target, image processing module (4) is to the winged control
Module (10) sends out flight signal, and flight signal includes upward flight signal, when picture recognition module (5) obtains complete surround
When the contour pattern of target, image processing module (4) is calculated by all contour patterns of each height in target
The linear signal path is simultaneously sent to winged control module (10), winged control module (10) control by the linear signal path of point distance measurement
Unmanned plane processed flies along straight line path obtains the elevation information of contour pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810501754.3A CN108733075B (en) | 2018-05-23 | 2018-05-23 | Unmanned aerial vehicle continuous fixed-point surrounding shooting flight system and flight control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810501754.3A CN108733075B (en) | 2018-05-23 | 2018-05-23 | Unmanned aerial vehicle continuous fixed-point surrounding shooting flight system and flight control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108733075A true CN108733075A (en) | 2018-11-02 |
| CN108733075B CN108733075B (en) | 2021-03-16 |
Family
ID=63935300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810501754.3A Active CN108733075B (en) | 2018-05-23 | 2018-05-23 | Unmanned aerial vehicle continuous fixed-point surrounding shooting flight system and flight control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108733075B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112486199A (en) * | 2020-12-11 | 2021-03-12 | 国网辽宁省电力有限公司沈阳供电公司 | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group |
| WO2021072766A1 (en) * | 2019-10-18 | 2021-04-22 | 深圳市大疆创新科技有限公司 | Flight control method and system, unmanned aerial vehicle, and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104714557A (en) * | 2015-03-26 | 2015-06-17 | 清华大学 | Method for controlling fixed point circular flying of unmanned plane |
| CN105388905A (en) * | 2015-10-30 | 2016-03-09 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle flight control method and device |
| CN106657779A (en) * | 2016-12-13 | 2017-05-10 | 重庆零度智控智能科技有限公司 | Surround shooting method and device, and unmanned aerial vehicle |
| CN106909172A (en) * | 2017-03-06 | 2017-06-30 | 重庆零度智控智能科技有限公司 | Around tracking, device and unmanned plane |
| CN107340781A (en) * | 2016-09-30 | 2017-11-10 | 广州亿航智能技术有限公司 | UAV flight control method and system |
| CN107765709A (en) * | 2016-08-22 | 2018-03-06 | 广州亿航智能技术有限公司 | The method and device of self-timer is realized based on aircraft |
-
2018
- 2018-05-23 CN CN201810501754.3A patent/CN108733075B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104714557A (en) * | 2015-03-26 | 2015-06-17 | 清华大学 | Method for controlling fixed point circular flying of unmanned plane |
| CN105388905A (en) * | 2015-10-30 | 2016-03-09 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle flight control method and device |
| CN107765709A (en) * | 2016-08-22 | 2018-03-06 | 广州亿航智能技术有限公司 | The method and device of self-timer is realized based on aircraft |
| CN107340781A (en) * | 2016-09-30 | 2017-11-10 | 广州亿航智能技术有限公司 | UAV flight control method and system |
| CN106657779A (en) * | 2016-12-13 | 2017-05-10 | 重庆零度智控智能科技有限公司 | Surround shooting method and device, and unmanned aerial vehicle |
| CN106909172A (en) * | 2017-03-06 | 2017-06-30 | 重庆零度智控智能科技有限公司 | Around tracking, device and unmanned plane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021072766A1 (en) * | 2019-10-18 | 2021-04-22 | 深圳市大疆创新科技有限公司 | Flight control method and system, unmanned aerial vehicle, and storage medium |
| CN112486199A (en) * | 2020-12-11 | 2021-03-12 | 国网辽宁省电力有限公司沈阳供电公司 | Unmanned aerial vehicle inspection control system and method suitable for remote power transmission tower group |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108733075B (en) | 2021-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106774431B (en) | Method and device for planning air route of surveying and mapping unmanned aerial vehicle | |
| EP3743781B1 (en) | Automated and adaptive three-dimensional robotic site surveying | |
| US9013576B2 (en) | Aerial photograph image pickup method and aerial photograph image pickup apparatus | |
| AU2018388887B2 (en) | Image based localization for unmanned aerial vehicles, and associated systems and methods | |
| CN103941750B (en) | Patterning apparatus based on small-sized four rotor wing unmanned aerial vehicles and method | |
| WO2018095407A1 (en) | Method and apparatus for controlling flight of unmanned aerial vehicle | |
| CN106054924B (en) | A kind of unmanned plane accompanying flying method, accompanying flying device and accompanying flying system | |
| CN105867397A (en) | Unmanned aerial vehicle accurate position landing method based on image processing and fuzzy control | |
| CN109085851A (en) | Unmanned plane pinpoint landing method | |
| CN105182992A (en) | Unmanned aerial vehicle control method and device | |
| CN106403942B (en) | Personnel indoor inertial positioning method based on substation field depth image identification | |
| CN103941746A (en) | System and method for processing unmanned aerial vehicle polling image | |
| CN105867404A (en) | Equipment and method for measuring earthwork through unmanned aerial vehicle | |
| CN111006646B (en) | Method for monitoring construction progress based on unmanned aerial vehicle oblique photography measurement technology | |
| CN109669474B (en) | Priori knowledge-based multi-rotor unmanned aerial vehicle self-adaptive hovering position optimization algorithm | |
| CN109099925A (en) | A kind of unmanned farm machinery navigation path planning and operation quality appraisal procedure and device | |
| CN107144281A (en) | Unmanned plane indoor locating system and localization method based on cooperative target and monocular vision | |
| CN205940550U (en) | Unmanned aerial vehicle measures equipment of side slope and foundation ditch excavation volume | |
| CN106094876A (en) | A kind of unmanned plane target locking system and method thereof | |
| CN105487550A (en) | Autonomous landing system of flight device and method | |
| CN109753079A (en) | A kind of unmanned plane precisely lands in mobile platform method | |
| JP2023041675A (en) | Drone-work support system and drone-work support method | |
| CN108733075A (en) | Flight system and its flight control method of the continuous fixed point of unmanned plane around shooting | |
| CN109883398A (en) | The system and method that the green amount of plant based on unmanned plane oblique photograph is extracted | |
| CN107390699A (en) | The route planning system and its route planning method of a kind of sugarcane planting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |