CN113541763A - Unmanned aerial vehicle video shooting transmission control method and device in chimney - Google Patents
Unmanned aerial vehicle video shooting transmission control method and device in chimney Download PDFInfo
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The application discloses unmanned aerial vehicle video shooting transmission control method and device in chimney, the method includes: receiving a first signal strength between a base station unmanned aerial vehicle and a ground control console in flight; receiving a second signal strength between the base station unmanned aerial vehicle in flight and the camera unmanned aerial vehicle in flight; judging whether the first signal intensity and the second signal intensity meet a preset condition or not, wherein the preset condition is the minimum signal intensity meeting the real-time image transmission; and under the condition that the first signal strength and/or the second signal strength do not meet the preset conditions, controlling the base station unmanned aerial vehicle, wherein the control is used for adjusting the first signal strength and/or the second signal strength. Through the application, the problem that the shooting unmanned aerial vehicle flies in a chimney and cannot effectively transmit real-time images is solved, so that the reliability of the shooting unmanned aerial vehicle image real-time transmission is improved.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a video shooting transmission control method and device for an unmanned aerial vehicle in a chimney.
Background
The unmanned camera is used to photograph areas where people are not likely to enter, for example, in order to guarantee and maintain a chimney, the inside of the chimney needs to be obtained, and at the moment, the artificial entering is dangerous, and the use of the unmanned camera is a good choice.
When unmanned aerial vehicle flies in open area, wireless signal is more stable can be through wireless real-time transmission image. However, in a semi-closed space such as a chimney, wireless signals are not good enough, and images cannot be transmitted in real time. This problem has not been a good solution in the prior art.
Disclosure of Invention
The embodiment of the application provides a video shooting transmission control method and device for an unmanned aerial vehicle in a chimney, and aims to at least solve the problem that a shooting unmanned aerial vehicle cannot effectively transmit real-time images when flying in the chimney.
According to an aspect of the application, an unmanned aerial vehicle video shooting transmission control method in a chimney is provided, which is characterized by comprising the following steps: receiving a first signal strength between a base station unmanned aerial vehicle and a ground control console in flight; receiving a second signal intensity between a base station unmanned aerial vehicle in flight and a camera unmanned aerial vehicle in flight, wherein the camera unmanned aerial vehicle flies in a chimney, the base station unmanned aerial vehicle serves as a signal relay between the camera unmanned aerial vehicle and a ground control console, a real-time picture shot by the camera unmanned aerial vehicle is transmitted to the ground control console, and the camera unmanned aerial vehicle is wirelessly connected with the base station unmanned aerial vehicle through a wireless communication module and performs signal transmission; judging whether the first signal intensity and the second signal intensity meet a preset condition or not, wherein the preset condition is that the minimum signal intensity of the real-time picture transmission is met; controlling the base station drone when the first signal strength and/or the second signal strength do not satisfy the predetermined condition, wherein the controlling is to adjust the first signal strength and/or the second signal strength.
Further, controlling the base station drone includes: and increasing the transmitting power of the base station unmanned aerial vehicle.
Further, increasing the transmit power of the base station drone includes: increasing the transmit power in a direction of the ground console if the first signal strength does not satisfy the predetermined condition.
Further, increasing the transmit power of the base station drone includes: and under the condition that the second signal strength does not meet the preset condition, increasing the transmitting power to the flying direction of the camera unmanned aerial vehicle.
According to another aspect of this application, still provide an unmanned aerial vehicle video shooting transmission control device in chimney, include: the first receiving module is used for receiving first signal strength between a base station unmanned aerial vehicle and a ground control console in flight; the second receiving module is used for receiving second signal intensity between a base station unmanned aerial vehicle in flight and a shooting unmanned aerial vehicle in flight, wherein the shooting unmanned aerial vehicle flies in a chimney, the base station unmanned aerial vehicle serves as a signal relay between the shooting unmanned aerial vehicle and the ground control console and transmits a real-time picture shot by the shooting unmanned aerial vehicle to the ground control console, and the shooting unmanned aerial vehicle is wirelessly connected with the base station unmanned aerial vehicle through the wireless communication module and transmits signals; the judging module is used for judging whether the first signal strength and the second signal strength meet a preset condition or not, wherein the preset condition is that the minimum signal strength of the real-time image transmission is met; a control module, configured to control the base station drone when the first signal strength and/or the second signal strength do not satisfy the predetermined condition, where the control is configured to adjust the first signal strength and/or the second signal strength.
Further, the control module is configured to: and increasing the transmitting power of the base station unmanned aerial vehicle.
Further, the control module is configured to: increasing the transmit power in a direction of the ground console if the first signal strength does not satisfy the predetermined condition.
Further, the control module is configured to: and under the condition that the second signal strength does not meet the preset condition, increasing the transmitting power to the flying direction of the camera unmanned aerial vehicle.
According to another aspect of the application, there is also provided a processor for executing software for performing the above method.
According to another aspect of the present application, there is also provided a memory for storing software for performing the above-described method.
In the embodiment of the application, the method comprises the steps of receiving first signal strength between a base station unmanned aerial vehicle and a ground control console in flight; receiving a second signal intensity between a base station unmanned aerial vehicle in flight and a camera unmanned aerial vehicle in flight, wherein the camera unmanned aerial vehicle flies in a chimney, the base station unmanned aerial vehicle serves as a signal relay between the camera unmanned aerial vehicle and a ground control console, a real-time picture shot by the camera unmanned aerial vehicle is transmitted to the ground control console, and the camera unmanned aerial vehicle is wirelessly connected with the base station unmanned aerial vehicle through a wireless communication module and performs signal transmission; judging whether the first signal intensity and the second signal intensity meet a preset condition or not, wherein the preset condition is that the minimum signal intensity of the real-time picture transmission is met; controlling the base station drone when the first signal strength and/or the second signal strength do not satisfy the predetermined condition, wherein the controlling is to adjust the first signal strength and/or the second signal strength. Through the application, the problem that the shooting unmanned aerial vehicle flies in a chimney and cannot effectively transmit real-time images is solved, so that the reliability of the shooting unmanned aerial vehicle image real-time transmission is improved.
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The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a flowchart of a video shooting transmission control method for an unmanned aerial vehicle in a chimney according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In this embodiment, a 5G micro base station including a drone is provided, and this base station can fly under the lead of the drone. When the little basic station of unmanned aerial vehicle 5G is two or more, can be called as the little basic station crowd of unmanned aerial vehicle 5G, this embodiment still provides ground portable control center (or called ground control platform) and makes a video recording unmanned aerial vehicle, and wherein, make a video recording unmanned aerial vehicle is used for shooing the image in the chimney.
The ground mobile control center is in communication connection with the unmanned aerial vehicle 5G micro base station group and is accessed to the core network through the ground mobile control center. Meanwhile, the ground movable control center can deploy and mobilize the unmanned aerial vehicle 5G micro base station group. The aerial unmanned aerial vehicle 5G micro base station group is connected with the camera unmanned aerial vehicle. Wherein each unmanned aerial vehicle 5G little basic station also can be as the relay of other unmanned aerial vehicle 5G little basic stations in the air, receive and dispatch data. And finally, transmitting the information data of the camera unmanned aerial vehicle in the target coverage area to a ground movable control center and connecting the ground movable control center to a core network. The ground mobile control center comprises three parts, namely an unmanned aerial vehicle control system, a communication system and a battery charging system. The unmanned aerial vehicle control system is mainly used for monitoring the flight state of each unmanned aerial vehicle in an unmanned aerial vehicle 5G micro base station (also called base station unmanned aerial vehicle) group and controlling and deploying the unmanned aerial vehicles (including the base station unmanned aerial vehicles and the camera unmanned aerial vehicles). After the unmanned aerial vehicle carrying the 5G micro base station completes communication service work in a period of time according to a set track, the unmanned aerial vehicle can return to the ground according to a planned path due to limited electric quantity of the unmanned aerial vehicle. The communication system transmits data from the unmanned aerial vehicle 5G micro base station group and data from the core network to the aerial unmanned aerial vehicle 5G micro base station group through the ground movable control center in real time. The power charging system is used for charging the power supply battery of the unmanned aerial vehicle 5G micro base station group, has the characteristics of rapidness, high efficiency and safety, and can safely complete battery charging in limited time to ensure that the unmanned aerial vehicle 5G micro base station group can have sufficient batteries for standby at any time. Every unmanned aerial vehicle in the little base station crowd of unmanned aerial vehicle 5G all is provided with communication system I, power supply battery and the unmanned aerial vehicle system of taking oneself. The communication system I comprises a 5G micro base station and a relay system, wherein the 5G micro base station is used for providing 5G communication service for the camera shooting unmanned aerial vehicle in the target coverage area; the relay system is used for connecting adjacent unmanned aerial vehicle 5G micro base station groups, and the unmanned aerial vehicle serves as an aerial relay node at the moment, smoothly accesses an aerial communication network into a ground movable control center and then merges into a ground communication core network. The power supply battery supplies power for communication system I and unmanned aerial vehicle system. The unmanned aerial vehicle system utilizes the communication unit of the unmanned aerial vehicle to communicate with the ground movable control center, and is used for carrying out flight control and returning each parameter of the unmanned aerial vehicle. According to a preset path planning instruction of the ground movable control center, the unmanned aerial vehicle flies above the camera unmanned aerial vehicle in the target coverage area and then is kept hovering, or flies back to the ground to guarantee stable landing. Meanwhile, the unmanned aerial vehicle system acquires the information such as angular velocity, acceleration, distance, positioning information and the like from each sensor by using a central processing unit of the unmanned aerial vehicle to help the unmanned aerial vehicle to control the flight attitude.
The base station unmanned aerial vehicle cluster plans the path according to the principle that the path in the three-dimensional space is shortest, the time consumption is shortest and the energy consumption is least. And thirdly, setting the takeoff time interval of the unmanned aerial vehicle according to the peak staggering return principle of the battery power, and ensuring that the unmanned aerial vehicle can return to the home after the battery residual power reaches the preset value. And finally, using the 5G micro base station and the relay system according to the service scene requirements, and finally realizing the signal communication of the air 5G micro base station to the ground core network.
There are two kinds of unmanned aerial vehicles in this embodiment, one is basic station unmanned aerial vehicle, one is the unmanned aerial vehicle of making a video recording. In this embodiment, a method for controlling video shooting and transmission of an unmanned aerial vehicle in a chimney is provided, and fig. 1 is a flowchart of a method for controlling video shooting and transmission of an unmanned aerial vehicle in a chimney according to an embodiment of the present application, and as shown in fig. 1, the flowchart includes the following steps:
step S102, receiving a first signal intensity between a base station unmanned aerial vehicle and a ground control console in flight;
step S104, receiving a second signal intensity between a base station unmanned aerial vehicle in flight and a camera unmanned aerial vehicle in flight, wherein the camera unmanned aerial vehicle flies in a chimney, the base station unmanned aerial vehicle serves as a signal relay between the camera unmanned aerial vehicle and a ground control console, a real-time picture shot by the camera unmanned aerial vehicle is transmitted to the ground control console, and the camera unmanned aerial vehicle is in wireless connection with the base station unmanned aerial vehicle through a wireless communication module and performs signal transmission;
step S106, judging whether the first signal intensity and the second signal intensity meet a preset condition or not, wherein the preset condition is that the minimum signal intensity of the real-time picture transmission is met;
step S108, controlling the base station drone under the condition that the first signal strength and/or the second signal strength do not satisfy the predetermined condition, wherein the controlling is used for adjusting the first signal strength and/or the second signal strength.
As an optional implementation manner, when the first signal strength is greater than the second signal strength and the second signal strength does not satisfy the predetermined condition, the hovering direction of the base station unmanned aerial vehicle is adjusted, the base station unmanned aerial vehicle is moved closer to the camera unmanned aerial vehicle, the strength of the second signal is monitored during the moving closer, and the base station unmanned aerial vehicle is controlled to hover after the second signal strength satisfies the predetermined condition.
Similarly, when the first signal strength is smaller than the second signal strength and the first signal strength does not meet the predetermined condition, the hovering direction of the base station unmanned aerial vehicle is adjusted, the base station unmanned aerial vehicle is drawn close to the ground control console, the first signal strength is monitored in the drawing process, and after the first signal strength meets the predetermined condition, the base station unmanned aerial vehicle is controlled to hover.
As an alternative embodiment, a route may be planned for the camera drone in advance, for example, an internal structure of the chimney is obtained, and the internal structure is displayed using a three-dimensional coordinate system; obtaining a passage in the internal structure, and planning a path according to the passage to obtain a first path under the three-dimensional coordinate system, wherein the starting point of the first path is at the inlet of the chimney; acquiring coordinates of a shooting unmanned aerial vehicle flying point under the three-dimensional coordinate system, and planning a second path from the shooting unmanned aerial vehicle flying point to a starting point of the first path, wherein the flying point is outside the chimney; combining the first path and the second path to obtain a third path under the three-dimensional coordinate system; converting the third path into a relative distance and a relative direction from the flying point to the flying point according to the three-dimensional coordinate system; and inputting the relative distance and the relative direction into the camera unmanned aerial vehicle. Similarly, the information input into the camera unmanned aerial vehicle is also input into the base station unmanned aerial vehicle, the takeoff time of the base station unmanned aerial vehicle is later than that of the camera unmanned aerial vehicle, and the base station unmanned aerial vehicle also flies along the planned third path. The base station unmanned aerial vehicle judges a first signal intensity and a second signal intensity in the flying process, if the difference value between the first signal intensity and the second signal intensity is smaller than a threshold value, the base station unmanned aerial vehicle hovers for the first time, and after the first hovering, the base station unmanned aerial vehicle starts to receive a real-time picture sent by the camera unmanned aerial vehicle and forwards the real-time picture to the ground control console.
As an optional manner, the number of the base station drones serving as the signal transmission relay is determined according to the length of the third path and the coverage of the base station drone, and the hovering position of each base station drone on the third path is determined according to the coverage of the base station drone.
The problem that the camera unmanned aerial vehicle flies in a chimney and cannot effectively transmit real-time images is solved through the steps, and the reliability of real-time image transmission of the camera unmanned aerial vehicle is improved.
Preferably, controlling the base station drone includes: and increasing the transmitting power of the base station unmanned aerial vehicle.
Preferably, increasing the transmit power of the base station drone includes: increasing the transmit power in a direction of the ground console if the first signal strength does not satisfy the predetermined condition.
Preferably, increasing the transmit power of the base station drone includes: and under the condition that the second signal strength does not meet the preset condition, increasing the transmitting power to the flying direction of the camera unmanned aerial vehicle.
As another optional implementation, the power of the base station drone may be determined, and if the power is less than a predetermined value, a signal may be sent to the ground console, where the signal is used to indicate that the base station drone cannot increase the transmission power. The base station control console controls another base station unmanned aerial vehicle to take off, after the base station unmanned aerial vehicle reaches the position of the base station unmanned aerial vehicle with the electric quantity smaller than the preset value after taking off, a base station switching command is sent to the camera unmanned aerial vehicle, and after the camera unmanned aerial vehicle is switched to the other base station unmanned aerial vehicle, the base station unmanned aerial vehicle with the electric quantity smaller than the preset value flies back to the ground control console to be charged.
In this embodiment, an electronic device is provided, comprising a memory in which a computer program is stored and a processor configured to run the computer program to perform the method in the above embodiments.
These computer programs may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks, and corresponding steps may be implemented by different modules. In this case, the computer program may also be referred to as an in-chimney drone video capture transmission control apparatus, the apparatus comprising: the first receiving module is used for receiving first signal strength between a base station unmanned aerial vehicle and a ground control console in flight; the second receiving module is used for receiving second signal intensity between a base station unmanned aerial vehicle in flight and a shooting unmanned aerial vehicle in flight, wherein the shooting unmanned aerial vehicle flies in a chimney, the base station unmanned aerial vehicle serves as a signal relay between the shooting unmanned aerial vehicle and the ground control console and transmits a real-time picture shot by the shooting unmanned aerial vehicle to the ground control console, and the shooting unmanned aerial vehicle is wirelessly connected with the base station unmanned aerial vehicle through the wireless communication module and transmits signals; the judging module is used for judging whether the first signal strength and the second signal strength meet a preset condition or not, wherein the preset condition is that the minimum signal strength of the real-time image transmission is met; a control module, configured to control the base station drone when the first signal strength and/or the second signal strength do not satisfy the predetermined condition, where the control is configured to adjust the first signal strength and/or the second signal strength.
The problem that the camera unmanned aerial vehicle flies in a chimney and cannot effectively transmit real-time images is solved through the steps, and the reliability of real-time image transmission of the camera unmanned aerial vehicle is improved.
Preferably, the control module is configured to: and increasing the transmitting power of the base station unmanned aerial vehicle.
Preferably, the control module is configured to: increasing the transmit power in a direction of the ground console if the first signal strength does not satisfy the predetermined condition.
Preferably, the control module is configured to: and under the condition that the second signal strength does not meet the preset condition, increasing the transmitting power to the flying direction of the camera unmanned aerial vehicle.
The programs described above may be run on a processor or may also be stored in memory (or referred to as computer-readable media), which includes both non-transitory and non-transitory, removable and non-removable media, that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. An unmanned aerial vehicle video shooting transmission control method in a chimney is characterized by comprising the following steps:
receiving a first signal strength between a base station unmanned aerial vehicle and a ground control console in flight;
receiving a second signal intensity between a base station unmanned aerial vehicle in flight and a camera unmanned aerial vehicle in flight, wherein the camera unmanned aerial vehicle flies in a chimney, the base station unmanned aerial vehicle serves as a signal relay between the camera unmanned aerial vehicle and a ground control console, a real-time picture shot by the camera unmanned aerial vehicle is transmitted to the ground control console, and the camera unmanned aerial vehicle is wirelessly connected with the base station unmanned aerial vehicle through a wireless communication module and performs signal transmission;
judging whether the first signal intensity and the second signal intensity meet a preset condition or not, wherein the preset condition is that the minimum signal intensity of the real-time picture transmission is met;
controlling the base station drone when the first signal strength and/or the second signal strength do not satisfy the predetermined condition, wherein the controlling is to adjust the first signal strength and/or the second signal strength.
2. The method of claim 1, wherein controlling the base station drone comprises:
and increasing the transmitting power of the base station unmanned aerial vehicle.
3. The method of claim 2, wherein increasing the transmit power of the base station drone comprises:
increasing the transmit power in a direction of the ground console if the first signal strength does not satisfy the predetermined condition.
4. The method of claim 2, wherein increasing the transmit power of the base station drone comprises:
and under the condition that the second signal strength does not meet the preset condition, increasing the transmitting power to the flying direction of the camera unmanned aerial vehicle.
5. The utility model provides an unmanned aerial vehicle video shooting transmission control device in chimney which characterized in that includes:
the first receiving module is used for receiving first signal strength between a base station unmanned aerial vehicle and a ground control console in flight;
the second receiving module is used for receiving second signal intensity between a base station unmanned aerial vehicle in flight and a shooting unmanned aerial vehicle in flight, wherein the shooting unmanned aerial vehicle flies in a chimney, the base station unmanned aerial vehicle serves as a signal relay between the shooting unmanned aerial vehicle and the ground control console and transmits a real-time picture shot by the shooting unmanned aerial vehicle to the ground control console, and the shooting unmanned aerial vehicle is wirelessly connected with the base station unmanned aerial vehicle through the wireless communication module and transmits signals;
the judging module is used for judging whether the first signal strength and the second signal strength meet a preset condition or not, wherein the preset condition is that the minimum signal strength of the real-time image transmission is met;
a control module, configured to control the base station drone when the first signal strength and/or the second signal strength do not satisfy the predetermined condition, where the control is configured to adjust the first signal strength and/or the second signal strength.
6. The apparatus of claim 5, wherein the control module is configured to:
and increasing the transmitting power of the base station unmanned aerial vehicle.
7. The apparatus of claim 6, wherein the control module is configured to:
increasing the transmit power in a direction of the ground console if the first signal strength does not satisfy the predetermined condition.
8. The apparatus of claim 6, wherein the control module is configured to:
and under the condition that the second signal strength does not meet the preset condition, increasing the transmitting power to the flying direction of the camera unmanned aerial vehicle.
9. A processor configured to execute software, wherein the software is configured to perform the method of any one of claims 1 to 4.
10. A memory for storing software, characterized in that the software is adapted to perform the method of any of claims 1 to 4.
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- 2021-06-04 CN CN202110623096.7A patent/CN113541763A/en active Pending
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| CN109544894A (en) * | 2017-01-23 | 2019-03-29 | 深圳市大疆创新科技有限公司 | Control method, unmanned plane and remote control equipment |
| JP2019018664A (en) * | 2017-07-14 | 2019-02-07 | キヤノン株式会社 | Imaging control system |
| CN108631858A (en) * | 2018-04-25 | 2018-10-09 | 李良杰 | Unmanned plane signal relay system and its method |
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Application publication date: 20211022 |