CN110234003A - A kind of method, apparatus, terminal and system emulating unmanned plane during flying - Google Patents
A kind of method, apparatus, terminal and system emulating unmanned plane during flying Download PDFInfo
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- CN110234003A CN110234003A CN201910549733.3A CN201910549733A CN110234003A CN 110234003 A CN110234003 A CN 110234003A CN 201910549733 A CN201910549733 A CN 201910549733A CN 110234003 A CN110234003 A CN 110234003A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/156—Mixing image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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Abstract
The invention discloses a kind of method, apparatus, terminal and systems for emulating unmanned plane during flying, this method comprises: receiving the aerial mission information issued to target simulation machine, target simulation machine includes: video capture module and rotary module, and video capture module is mounted on rotary module；Obtain operating parameter corresponding with aerial mission information；According to operating parameter, driving rotary module rotation drives video capture block motion；It receives video capture module and acquires outer scene, and outer scene is switched into full view video flowing；Motion space coordinate and full view video data stream are carried out what comes into a driver's superposition, obtain three-dimensional scenic by the motion space coordinate for acquiring VR glasses；Three-dimensional scenic is sent to VR glasses to show.The above method, is overlapped the motion space coordinate and full view video data stream to obtain three-dimensional scene and passes to VR glasses and show, realizes three-dimensional scene and changes with the change of movement space coordinate, improves feeling of immersion.
Description
Technical field
The present invention relates to technical field of virtual reality more particularly to a kind of method, apparatus, terminals for emulating unmanned plane during flying
And system.
Background technique
Large-screen display equipment is generally adopted by the emulation of unmanned plane during flying task to show, that is, passes through fixed view
The scene input at angle obtains corresponding aerial mission information, and according to these information real-time control handles, realizes the mould of unmanned plane
It is quasi- to fly and complete task training.
Inventor carries out to the simulation process of existing unmanned plane during flying task the study found that the flight in display equipment is appointed
Information of being engaged in is fixed what comes into a driver's information, and operator can not adjust visual angle according to demand, feeling of immersion is caused to decline.
Summary of the invention
In view of this, the present invention provides a kind of method, apparatus, terminal and systems for emulating unmanned plane during flying, to solve
Show the aerial mission information in equipment in the prior art certainly as fixed what comes into a driver's information, operator can not adjust view according to demand
Angle, the problem of causing feeling of immersion to decline.Concrete scheme is as follows:
A method of emulation unmanned plane during flying, comprising:
Receive the aerial mission information that issues to target simulation machine, the target simulation machine include: video capture module and
Rotary module, the video capture module are mounted on the rotary module；
Obtain operating parameter corresponding with the aerial mission information；
According to the operating parameter, drives the rotary module to rotate, drive the video capture block motion；
The video capture module acquisition outer scene is received, and the outer scene is switched into full view video flowing；
The motion space coordinate for acquiring VR glasses carries out the motion space coordinate and the full view video data stream
What comes into a driver's superposition, obtains three-dimensional scenic；
The three-dimensional scenic is sent to the VR glasses to show.
Above-mentioned method, optionally, further includes:
When the three-dimensional scenic does not meet the mission requirements of the aerial mission information, the operating parameter is adjusted
It is whole, operating parameter adjusted is obtained, according to the operating parameter adjusted, runs the target simulation machine.
Above-mentioned method, optionally, obtaining operating parameter corresponding with the aerial mission information includes:
External scene domain in the aerial mission information is obtained, is joined according to being run described in the outer scene range computation
Number.
Above-mentioned method, optionally, the video capture module are camera.
Above-mentioned method, optionally, the rotary module are holder.
A kind of device emulating unmanned plane during flying, comprising:
Task receiving unit, for receiving the aerial mission information issued to target simulation machine；
Parameter acquiring unit, for obtaining operating parameter corresponding with the aerial mission information；
Driving unit is shot, for driving the rotary module to rotate according to the operating parameter, the video is driven to clap
Take the photograph block motion；
Converting unit is received, for receiving the video capture module acquisition outer scene, and the outer scene is turned
For full view video flowing；
What comes into a driver's superpositing unit, for acquiring the motion space coordinate of VR glasses, by the motion space coordinate and described complete
Multi-view video data flow carries out what comes into a driver's superposition, obtains three-dimensional scenic；
Three-dimensional scenic transmission unit is shown for the three-dimensional scenic to be sent to the VR glasses.
A kind of terminal emulating unmanned plane during flying, the device of above-mentioned emulation unmanned plane during flying.
A kind of system emulating unmanned plane during flying, comprising: emulate the terminal of unmanned plane during flying, target simulation machine and VR
Mirror, in which:
The terminal of the emulation unmanned plane during flying receives the aerial mission information that issues to target simulation machine, obtain with it is described
The corresponding operating parameter of aerial mission information controls the target simulator according to the operating parameter；
The target simulation machine includes: video capture module and rotary module, and the video capture module is mounted on described
On rotary module, wherein the rotary module receives operating parameter and drives the video capture mould according to the operating parameter
Block rotation, the video capture module acquires outer scene, and the outer scene is switched to full view video flowing, and will be described
Full view video flowing feeds back to the terminal of the emulation unmanned plane during flying；
The terminal of the emulation unmanned plane during flying receives the full view video flowing, and the motion space of acquisition VR glasses is sat
The motion space coordinate and the full view video data stream are carried out what comes into a driver's superposition, three-dimensional scenic are obtained, by described three by mark
Dimension scene is sent to the VR glasses；
The VR glasses, for the three-dimensional scenic received to be shown.
Above-mentioned system, optionally, further includes: earth station's man-machine interactive platform, in which:
Earth station's man-machine interactive platform, for calculating the outer scene range in the aerial mission information, foundation
The outer scene range, if calculate the operating parameter and the operating parameter do not meet the aerial mission information appoint
When business requires, the operating parameter is adjusted.
Above-mentioned system, optionally, further includes: the network exchange being connected with the terminal of the emulation unmanned plane during flying
Machine.
Compared with prior art, the present invention includes the following advantages:
The invention discloses a kind of method, apparatus, terminal and systems for emulating unmanned plane during flying, this method comprises: receiving
To the aerial mission information that target simulation machine issues, target simulation machine includes: video capture module and rotary module, video capture
Module is mounted on rotary module；Obtain operating parameter corresponding with aerial mission information；According to operating parameter, rotating mould is driven
Block rotation, drives video capture block motion；It receives video capture module and acquires outer scene, and outer scene is switched to regard entirely
Angle video flowing；Motion space coordinate and full view video data stream are carried out what comes into a driver's and folded by the motion space coordinate for acquiring VR glasses
Add, obtains three-dimensional scenic；Three-dimensional scenic is sent to VR glasses to show.The above method is rotated by driving rotary module,
Video capture block motion is driven, allows video capture module as rotary module rotates, therefore, video capture module is adopted
The outer scene of collection is full view, is no longer fixed viewpoint, receives video capture module and acquires outer scene, and will be external
Scene switchs to full view video flowing, and the motion space coordinate of full view video data stream and the VR glasses collected is folded
Add to obtain three-dimensional scene and pass VR glasses and shown, when motion space changes, three-dimensional scenic is sat with motion space
Target changes and changes, and improves feeling of immersion.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of system structure diagram for emulating unmanned plane during flying disclosed by the embodiments of the present invention；
Fig. 2 is that a kind of system for emulating unmanned plane during flying disclosed by the embodiments of the present invention interconnects schematic diagram；
Fig. 3 is a kind of method flow diagram for emulating unmanned plane during flying disclosed by the embodiments of the present invention；
Fig. 4 is a kind of apparatus structure block diagram for emulating unmanned plane during flying disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The invention discloses a kind of method, apparatus, terminal and systems for emulating unmanned plane during flying, apply to unmanned plane
During aerial mission is emulated, in the prior art, the analog machine for emulation be the camera of upper installation be it is fixed,
The three-dimensional scenic that camera collects directly display at the terminal, due to, camera be it is fixed, based on camera acquisition
Outer scene is fixed, and the three-dimensional scenic being converted to is caused to be fixed, and can not carry out what comes into a driver's adjustment according to demand, feeling of immersion is low, base
In above-mentioned problem, the present invention provides a kind of systems for emulating unmanned plane during flying, as shown in Figure 1, comprising: emulation unmanned plane flies
Capable terminal 101, the target simulation machine and VR glasses 104 being made of video capture module 102 and rotary module 103, in which:
The terminal of the emulation unmanned plane during flying receives the aerial mission information issued to target simulation machine, the target mould
Quasi- machine includes: video capture module 102 and rotary module 103, and the video capture module 102 is mounted on the rotary module
On 103, operating parameter corresponding with the aerial mission information is obtained；According to the operating parameter, the rotary module is driven to revolve
Turn, drives the video capture block motion.
The target simulation machine includes: video capture module 102 and rotary module 103, and the video capture module 102 is pacified
On the rotary module 103, the video capture module 102 acquires outer scene, and the outer scene is switched to entirely
View video stream, the rotary module 103, according to the operating parameter, drive the video capture for receiving operating parameter
Module 102 rotates, and the video capture module 102 acquires outer scene, and the outer scene is switched to full view video flowing,
And the full view video flowing is fed back to the terminal of the emulation unmanned plane during flying, wherein the video capture module includes
Camera, the rotary module include holder.
The terminal 101 of the emulation unmanned plane during flying receives the full view video flowing；Acquire the motion space of VR glasses
The motion space coordinate and the full view video data stream are carried out what comes into a driver's superposition, obtain three-dimensional scenic by coordinate；It will be described
Three-dimensional scenic is sent to the VR glasses and is shown, wherein the terminal 101 of the emulation unmanned plane during flying can be calculating
Machine, plate or other types of terminal.
The VR glasses 104 are connected with the terminal 101 of the emulation unmanned plane during flying, the three dimensional field for will receive
Scape is shown, wherein the VR glasses 104 are worn on the head of the target simulation machine manipulator, the VR glasses 104
The three-dimensional scene of displaying with the rotation on the target simulation machine manipulator head, movement or other change in location form and
It changes.
The system of the emulation unmanned plane during flying provided by the invention drives video to clap by driving rotary module rotation
Block motion is taken the photograph, allows video capture module as rotary module rotates, therefore, the external field of video capture module acquisition
Scape is full view, is no longer fixed viewpoint, receives video capture module and acquires outer scene, and outer scene is switched to entirely
View video stream is overlapped the motion space coordinate of full view video data stream and the VR glasses collected to obtain three-dimensional
Scene figure is passed VR glasses and is shown, when motion space changes, three-dimensional scenic with movement space coordinate change and
Change, improves feeling of immersion.
In the embodiment of the present invention, in the system of the emulation unmanned plane during flying, the terminal acquisition of unmanned plane during flying is emulated
Terminal that the corresponding operating parameter of the aerial mission information can be emulation unmanned plane during flying, which is voluntarily handled, to be obtained, can also be with
It is to obtain other equipment to handle after obtaining operating parameter, emulates what the terminal of unmanned plane during flying obtained from these equipment, example
Such as, which can be earth station's man-machine interactive platform 105.
Earth station's man-machine interactive platform 105 can obtain the aerial mission information, calculate the aerial mission letter
Outer scene range in breath, wherein the outer scene range includes that target corresponding with the aerial mission information is three-dimensional
The X of scene is to, the range of Y-direction and Z-direction, wherein the aerial mission information can also include: original base information, oil mass letter
Breath, flying speed and way point information etc., the terminal 101 of the emulation unmanned plane during flying is according to the aerial mission information China and foreign countries
Portion's scene domain calculates operating parameter corresponding with the aerial mission information.Wherein, the operating parameter can be taken the photograph to be described
As first 102 shooting angle, the rotation angle of the holder, the travel route of the target simulation machine, the target simulation machine
Flying speed and the estimated flying distance of the target simulation machine etc..The target simulation machine is controlled according to the operating parameter
Carry out aerial mission.
In actual simulation process, there may be inclined for the control due to the operating parameter to the target simulation machine
Difference needs to be adjusted operating parameter, parameter adjustment process equally can the imitative unmanned plane during flying terminal 101 or
Ground unmanned plane interaction platform 105 described in person carries out, and is carried out for the ground unmanned plane interaction platform 105 by adjusting process
Illustrate, identical in the implementation procedure of the terminal 101 of the imitative unmanned plane during flying, details are not described herein.
Method of adjustment is as follows: since target simulation machine is affected by actual operating parameter in simulation process
There may be difference, the external environment may include the operating parameter issued with earth station's unmanned plane interaction platform 105
Influenced caused by influence or controller error caused by the weather such as sleet or wind etc..Earth station's man-machine interactive platform
105 can also receive the actual operation parameters of the target simulation machine, judge whether the actual operation parameters meet the fortune
Row parameter request, wherein to whether meeting the operating parameter and judge, it can be determined that whether the difference of corresponding data is accidentally
In the range of difference allows, for example, by taking the rotation angle of the rotary module as an example, by the requirement rotation angle in the operating parameter
Degree is compared with practical rotation angle, judges whether the difference of the two meets preset error threshold, if meeting preset mistake
Poor threshold value determines that angle is rotated in the operating parameter to be met the requirements, conversely, sentencing if being unsatisfactory for preset error threshold
Rotation angle is unsatisfactory for requiring in the fixed operating parameter, according to the difference of the rotation angle and practical rotation angle to reality
Rotation angle is adjusted.
It further, can also be by obtaining the ground unmanned plane interaction platform 105 to the adjustment of the operating parameter
In target three-dimensional scenic corresponding with the aerial mission information, by the task of the three-dimensional scenic and the aerial mission information
It is required that corresponding target three-dimensional scenic is compared, the difference value of the two is fed back into earth station's unmanned plane interaction platform
105, the ground unmanned plane interaction platform 105 is adjusted the operating parameter according to the difference value, after being adjusted
Parameter, obtain the parameter adjusted according to operating parameter adjusted and run the target simulation machine.Such as: it is described
Three-dimensional scenic and the target three-dimensional scenic lack 3m in the distance that X-direction is shown, the ground unmanned plane interaction platform can improve
The shooting angle of the video capture module 102 enables the three-dimensional scenic consistent with the target three-dimensional scenic.
Wherein, the side of the communication of the terminal 101 and earth station's man-machine interactive platform 105 of the emulation unmanned plane during flying
Formula may include: two kinds of wired connection or wireless connection.It further, can be with the aerial mission number of the target simulation machine
According to offline downloading storage is carried out, the aerial mission data are studied, provide foundation for subsequent simulation process.
In the embodiment of the present invention, the system of the emulation unmanned plane during flying further include: with the emulation unmanned plane during flying
The schematic diagram of the network switch that terminal 101 is connected, connection relationship is as shown in Figure 2, in which:
The network switch realizes the interconnection of the system of each emulation unmanned plane during flying for establishing high speed Ethernet,
Target simulation machine in the system of each emulation unmanned plane during flying is subjected to seat interconnection, forms more seat interactions.
Based on the system of above-mentioned emulation unmanned plane during flying, in the embodiment of the present invention, a kind of emulation unmanned plane is additionally provided
The executing subject of the method for flight, the method can be the emulation unmanned plane during flying in the system of the emulation unmanned plane during flying
Terminal 101, the execution process of the method as shown in figure 3, comprising steps of
The aerial mission information that S201, reception issue target simulation machine, the target simulation machine includes: video capture mould
Block and rotary module, the video capture module are mounted on the rotary module；
In the embodiment of the present invention, during emulating unmanned plane during flying, the aerial mission information is for controlling the mesh
Mark analog machine.Video capture module in the target simulation machine is for shooting outer scene, the video capture module installation
On the rotary module, when rotary module rotation, the video capture module is rotated with it, wherein the video
Shooting module includes camera, and the rotary module includes holder.
S202, operating parameter corresponding with the aerial mission information is obtained；
In the embodiment of the present invention, when receiving the aerial mission information, according to the aerial mission information, calculate with
The corresponding operating parameter of the aerial mission information, further, or the man-machine friendship of earth station is passed through by the ground
Mutual platform 105 calculates the corresponding operating parameter of the aerial mission information according to the aerial mission information.For example, according to boat
Waypoint information, can determine video capture module described in the target simulation machine shooting angle and the rotary module
Angle is rotated, the mark for including in the aerial mission information is obtained, according to the mark, is obtained and the aerial mission information
Corresponding operating parameter, in the embodiment of the present invention, to the concrete form of mark without limiting.
S203, according to the operating parameter, drive the rotary module to rotate, drive the video capture block motion；
In the embodiment of the present invention, the terminal 101 of the emulation unmanned plane during flying drives the rotation according to the operating parameter
The rotation of revolving die block is rotated according to corresponding rotation angle, and the video capture module is driven to join according to the operation
The corresponding shooting angle of number moves under the rotation angle.
S204, the video capture module acquisition outer scene is received, and the outer scene is switched into full view video
Stream；
In the embodiment of the present invention, the video capture module acquisition outer scene is received, under standard video transmission agreement,
The outer scene is converted into full view video data stream by video frequency collection card, the full view video flowing is level 180
The video flowing of degree and vertical 180 degree.
S205, the motion space coordinate for acquiring VR glasses, by the motion space coordinate and the full view video data
Stream carries out what comes into a driver's superposition, obtains three-dimensional scenic；
In the embodiment of the present invention, the motion space coordinate may include the visual angle of VR glasses 104, the X away from initial origin
Y-direction distance, the Z-direction distance away from initial origin to distance, away from initial origin, wherein the initial origin is preparatory according to institute
State what the initial positions of VR glasses 104 was set.The motion space coordinate of the VR glasses turns with the wearer of VR glasses
It is dynamic or mobile generate variation, wherein rotation may include seeing to the left and right and to seeing up and down, movement may include be moved forward and backward with
It moves left and right, perhaps movement can all generate the variation of motion space coordinate in corresponding sensor or data for rotation each time
The motion space coordinate is obtained in output interface, it will be corresponding in the motion space coordinate and the full view video data stream
Video frame carry out what comes into a driver's superposition, the principle of superposition: motion space coordinate and the video frame in the full view video flowing are built
Vertical corresponding relationship, obtains three-dimensional scene.
S205, it the three-dimensional scenic is sent to the VR glasses shows.
In the embodiment of the present invention, the three-dimensional scene is sent to the VR glasses and carries out visual display, for described
For the wearer of VR glasses, it can achieve three-dimensional scenic and dynamically change with the movement of wearer, feeling of immersion is promoted.
The invention discloses a kind of methods for emulating unmanned plane during flying, comprising: receives the flight issued to target simulation machine
Mission bit stream, target simulation machine include: video capture module and rotary module, and video capture module is mounted on rotary module；
Obtain operating parameter corresponding with aerial mission information；According to operating parameter, driving rotary module rotation drives video capture mould
Block movement；It receives video capture module and acquires outer scene, and outer scene is switched into full view video flowing；Acquire VR glasses
Motion space coordinate and full view video data stream are carried out what comes into a driver's superposition, obtain three-dimensional scenic by motion space coordinate；It will be described
Three-dimensional scenic is sent to the VR glasses and is shown.The above method drives video capture mould by driving rotary module rotation
Block movement, allows video capture module as rotary module rotates, and therefore, the outer scene of video capture module acquisition is
Full view, be no longer fixed viewpoint, receives video capture module and acquires outer scene, and outer scene is switched to full view
Video flowing is overlapped the motion space coordinate of full view video data stream and the VR glasses collected to obtain three-dimensional scenic
Figure is passed VR glasses and is shown, when motion space changes, three-dimensional scenic changes with the change of movement space coordinate,
Improve feeling of immersion.
Based on a kind of method of above-mentioned emulation unmanned plane during flying, is additionally provided in the embodiment of the present invention and a kind of emulate nobody
The device of machine flight, the structural block diagram of described device are as shown in Figure 4, comprising:
Task receiving unit 301, shooting driving unit 303, receives converting unit 304, what comes into a driver's at parameter acquiring unit 302
Superpositing unit 305 and three-dimensional scenic transmission unit 306.
Wherein,
The task receiving unit 301, for receiving the aerial mission information issued to target simulation machine；
The parameter acquiring unit 302, for obtaining operating parameter corresponding with the aerial mission information；
The shooting driving unit 303 drives institute for driving the rotary module to rotate according to the operating parameter
State video capture block motion；
The reception converting unit 304, for receiving video capture module acquisition outer scene, and by the outside
Scene switchs to full view video flowing；
The what comes into a driver's superpositing unit 305, for acquiring the motion space coordinate of VR glasses, by the motion space coordinate and
The full view video data stream carries out what comes into a driver's superposition, obtains three-dimensional scenic；
The three-dimensional scenic transmission unit 306 is shown for the three-dimensional scenic to be sent to the VR glasses.
The invention discloses a kind of devices for emulating unmanned plane during flying, comprising: receives the flight issued to target simulation machine
Mission bit stream, target simulation machine include: video capture module and rotary module, and video capture module is mounted on rotary module；
Obtain operating parameter corresponding with aerial mission information；According to operating parameter, driving rotary module rotation drives video capture mould
Block movement；It receives video capture module and acquires outer scene, and outer scene is switched into full view video flowing；Acquire VR glasses
Motion space coordinate and full view video data stream are carried out what comes into a driver's superposition, obtain three-dimensional scenic by motion space coordinate；It will be described
Three-dimensional scenic is sent to the VR glasses and is shown.Above-mentioned apparatus drives video capture mould by driving rotary module rotation
Block movement, allows video capture module as rotary module rotates, and therefore, the outer scene of video capture module acquisition is
Full view, be no longer fixed viewpoint, receives video capture module and acquires outer scene, and outer scene is switched to full view
Video flowing is overlapped the motion space coordinate of full view video data stream and the VR glasses collected to obtain three-dimensional scenic
Figure is passed VR glasses and is shown, when motion space changes, three-dimensional scenic changes with the change of movement space coordinate,
Improve feeling of immersion.
It is winged that a kind of emulation unmanned plane is additionally provided based on the device of above-mentioned emulation unmanned plane during flying, in the embodiment of the present invention
Capable terminal, the terminal of the emulation unmanned plane during flying include the device of above-mentioned emulation unmanned plane during flying, wherein the emulation
The terminal of unmanned plane during flying can be computer, plate or other types of terminal.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
A kind of method, apparatus of unmanned plane during flying, terminal and the system of emulating provided by the present invention is carried out above
It is discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of method for emulating unmanned plane during flying characterized by comprising
The aerial mission information issued to target simulation machine is received, the target simulation machine includes: video capture module and rotation
Module, the video capture module are mounted on the rotary module；
Obtain operating parameter corresponding with the aerial mission information；
According to the operating parameter, drives the rotary module to rotate, drive the video capture block motion；
The video capture module acquisition outer scene is received, and the outer scene is switched into full view video flowing；
The motion space coordinate and the full view video data stream are carried out what comes into a driver's by the motion space coordinate for acquiring VR glasses
Superposition obtains three-dimensional scenic；
The three-dimensional scenic is sent to the VR glasses to show.
2. the method according to claim 1, wherein further include:
When the three-dimensional scenic does not meet the mission requirements of the aerial mission information, the operating parameter is adjusted,
Operating parameter adjusted is obtained, according to the operating parameter adjusted, runs the target simulation machine.
3. the method according to claim 1, wherein obtaining operating parameter corresponding with the aerial mission information
Include:
External scene domain in the aerial mission information is obtained, according to operating parameter described in the outer scene range computation.
4. the method according to claim 1, wherein the video capture module is camera.
5. the method according to claim 1, wherein the rotary module is holder.
6. a kind of device for emulating unmanned plane during flying characterized by comprising
Task receiving unit, for receiving the aerial mission information issued to target simulation machine；
Parameter acquiring unit, for obtaining operating parameter corresponding with the aerial mission information；
Driving unit is shot, for driving the rotary module to rotate, driving the video capture mould according to the operating parameter
Block movement；
Converting unit is received, for receiving the video capture module acquisition outer scene, and the outer scene is switched to entirely
View video stream；
What comes into a driver's superpositing unit, for acquiring the motion space coordinate of VR glasses, by the motion space coordinate and the full view
Video data stream carries out what comes into a driver's superposition, obtains three-dimensional scenic；
Three-dimensional scenic transmission unit is shown for the three-dimensional scenic to be sent to the VR glasses.
7. a kind of terminal for emulating unmanned plane during flying, which is characterized in that including emulating unmanned plane during flying as claimed in claim 6
Device.
8. a kind of system for emulating unmanned plane during flying characterized by comprising emulate the terminal of unmanned plane during flying, target simulation
Machine and VR glasses, in which:
The terminal of the emulation unmanned plane during flying receives the aerial mission information issued to target simulation machine, obtains and the flight
The corresponding operating parameter of mission bit stream controls the target simulator according to the operating parameter；
The target simulation machine includes: video capture module and rotary module, and the video capture module is mounted on the rotation
In module, wherein the rotary module receives the operating parameter and drives the video capture mould according to the operating parameter
Block rotation, the video capture module acquires outer scene, and the outer scene is switched to full view video flowing, and will be described
Full view video flowing feeds back to the terminal of the emulation unmanned plane during flying；
The terminal of the emulation unmanned plane during flying receives the full view video flowing, acquires the motion space coordinate of VR glasses, will
The motion space coordinate and the full view video data stream carry out what comes into a driver's superposition, three-dimensional scenic are obtained, by the three dimensional field
Scape is sent to the VR glasses；
The VR glasses, for the three-dimensional scenic received to be shown.
9. system according to claim 8, which is characterized in that further include: earth station's man-machine interactive platform, in which:
Earth station's man-machine interactive platform, for calculating the outer scene range in the aerial mission information, according to described in
Outer scene range, if calculating the operating parameter and the operating parameter does not meet the task of the aerial mission information and wants
When asking, the operating parameter is adjusted.
10. system according to claim 8, which is characterized in that further include: the terminal phase with the emulation unmanned plane during flying
The network switch of connection.
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Application publication date: 20190913 |