CN205263655U

CN205263655U - A system, Unmanned vehicles and ground satellite station for automatic generation panoramic photograph

Info

Publication number: CN205263655U
Application number: CN201520592119.2U
Authority: CN
Inventors: 余江
Original assignee: Individual
Current assignee: High Domain (beijing) Intelligent Technology Research Institute Co Ltd
Priority date: 2015-08-03
Filing date: 2015-08-03
Publication date: 2016-05-25
Anticipated expiration: 2025-08-03

Abstract

The utility model discloses a system, unmanned vehicles and ground satellite station for automatic generation panoramic photograph belongs to image information technical field. This system includes unmanned vehicles, image acquisition device, communication device, controlling means and graphic process unit, and controlling means requires, takes the predetermined shooting mode of environmental selection according to performance parameter, the shooting of image acquisition device, unmanned vehicles carries out flight and the task of taking photo by plane under control command, the image acquisition device carries out image acquisition, is predetermine the sample photo that contains some overlap area of quantity, the graphic process unit basis on schedule shoot the corresponding image processing of model selection and automatically process the sample photo, output panoramic photograph. The utility model discloses an unmanned vehicles takes photo by plane, and the panoramic photograph's that has integrateed automatic generation is with sharing the function, and use that can convenience of customers is with sharing.

Description

A kind of for automatically generating system, unmanned vehicle and the earth station of distant view photograph

Technical field

The utility model relates to image information field, is specifically related to a kind of for automatically generating system, unmanned vehicle and the earth station of distant view photograph.

Background technology

Unmanned vehicle in Aerial photography, demonstration flight, take precautions against natural calamities recover, there is wide application in the field such as scientific investigation. Along with the develop rapidly of electronic technology, small-sized, miniature unmanned vehicle has had obvious breakthrough in Remote, cruising time, flight quality, becomes the General Aviation field focus of rising in recent years, is generally considered and has good development prospect. Unmanned vehicle, especially four-axle aircraft have started extensively to enter consumer level market, and take photo by plane exactly in an extensive use field of unmanned vehicle. Typically, as four axle multi-rotor aerocrafts have become the preferred unit of taking photo by plane.

Take photo by plane and mean angle and the more unrestricted mode from being more difficult to obtain, realize the shooting to object, for subject, the experience never obtaining before can obtaining. When take photo by plane to as if when natural landscape, the photo that adopts the angle of taking photo by plane to obtain has the extremely strong power of playing up, and when finding a view under the environment that takes a crane shot, can obtain especially extremely having the shooting effect of impact.

For example: the Chinese invention patent application that application number is 201410075610.8, denomination of invention is " unmanned vehicle panorama tracking system real-time dynamic " discloses unmanned vehicle panorama tracking system real-time dynamic, it comprises that air information acquisition system and ground controls and information processing system. Air information acquisition system comprises: unmanned vehicle, be mounted in imaging device and data transmission set A on unmanned vehicle, unmanned vehicle is provided with servomechanism; Data transmission set A is connected with servomechanism and imaging device communication respectively. Ground is controlled and information processing system comprises: data transmission set B, industrial computer and panorama splicing treatment facility; Data transmission set B processes device talk with industrial computer and panorama splicing respectively and is connected. Air information acquisition system and ground control and information processing system by data transmission set A, communication is connected with data transmission set B. The present invention is carried imaging device by unmanned vehicle can carry out in real time dynamically observation to target.

In addition, the Chinese invention patent application that application number is 201410256963.8, denomination of invention is " the airborne panorama monitoring system of a kind of unmanned vehicle " discloses the airborne panorama monitoring system of a kind of unmanned vehicle, aerial remote sensing images is real-time transmitted to ground, and generates the real-time monitoring system of panorama remote sensing images; System is processed groups of subsystems by unmanned vehicle and remote sensor subsystem, communication with ground safeguard subsystem and panorama splicing and is become; Wherein, unmanned vehicle carries remote sensor, for obtaining remote sensing information; Information transmission equipment in communication and ground safeguard subsystem is for transmitting state and control signal and the lower blit picture of unmanned vehicle, The Cloud Terrace and remote sensor, and ground handling equipment is for transport, storage system equipment, and provide ground safeguard in all directions for system equipment; Panorama splicing processing subsystem completes automatic panorama splicing and realizes Real-Time Monitoring for realizing image information to passing down. The present invention guarantee monitoring equipment be convenient to unprofessional user use, simple to operate.

But current user is unmanned vehicle developer in other words, be only concerned about this demand itself of taking photo by plane in the air, and put forth effort on becoming more meticulous and controlledization of this process of taking photo by plane of lifting, and ignored the excavation for the demand of taking photo by plane.

For user, if go for pan-shot photo, need to manipulate respectively unmanned vehicle flight, manipulation The Cloud Terrace moves, manipulates camera and takes, then also to derive photo, process, be transferred to the suitable software of sharing, then could realize the displaying of content of shooting and show off. This for layman, complex operation, time-consuming many, require high, greatly reduce user experience.

Utility model content

Goal of the invention of the present utility model is to provide a kind of for automatically generating system, unmanned vehicle and the earth station of distant view photograph, adopt the mode of unmanned vehicle The Cloud Terrace rotation, automatically complete photo material obtaining, and the integrated automatic generation function of distant view photograph, simple to operate, greatly convenient for users to use, improve user's experience.

In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is as follows:

A kind of for automatically generating the system of distant view photograph, comprise unmanned vehicle, image collecting device, communicator, described image collecting device is equipped on described unmanned vehicle, also comprise control device and graphic process unit, described communicator connects described unmanned vehicle, described control device and described graphic process unit, wherein

Described control device is applicable to select predetermined screening-mode according to the performance parameter of described image collecting device, photographing request, shooting environmental, and by described communicator, control instruction is sent to described unmanned vehicle;

Described unmanned vehicle is applicable to carry out flight and the task of taking photo by plane under described control instruction;

Described image collecting device is applicable to carry out IMAQ according to described predetermined screening-mode, obtains the sample photo containing the region that overlaps of predetermined number, by described communicator, described sample photo is sent to described graphic process unit;

Described graphic process unit is applicable to select corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, output distant view photograph.

Further, described unmanned vehicle is multi-rotor aerocraft, and it is applicable to rotary taking three-dimensional samples photo under floating state.

Further, described image collector is set to camera, described communicator is data transmitter-receiver, and described control device is central processing unit, described data transmitter-receiver can with described unmanned vehicle, described central processing unit, described graphic process unit two-way communication.

Further, also comprise that distant view photograph shares button, it is applicable to distant view photograph of described graphic process unit output to share the terminal of specifying by wireless or wired mode.

Further, described predetermined screening-mode comprises ball-type pan-shot pattern and column type pan-shot pattern, wherein,

Described column type pan-shot pattern refers to that the observation viewpoint of described camera is positioned at a bit on cylinder internal rotating axle, is mapped to described sample photographic intelligence on cylinder model;

Described ball-type pan-shot pattern refers to that viewpoint at described camera, with observation arbitrarily angled, any direction, synthesizes described sample photographic projection to Sphere Measurement Model.

Further, described graphic process unit comprises image preprocessed chip, image registration chip, image co-registration chip, and described image registration chip connects respectively described image preprocessed chip and described image co-registration chip, wherein,

Described image preprocessed chip comprises geometric distortion correction unit and suppresses noise spot unit, Mathematical Modeling is set up in the source that described geometric distortion correction unit is applicable to find out image fault from described sample photo, the shape of target and locus in Recovery image, described inhibition noise spot unit is applicable to adopt frequency domain filtering or medium filtering to suppress noise;

Described image registration chip is applicable to, to the image characteristic information extraction to be spliced through described image preprocessed chip processing, described characteristic information be integrated, and calculates splicing parameter, according to described splicing parameter to images match;

Image after described image co-registration chip is applicable to the described image registration chip coupling splice is automatic analysis, optimum organization in addition, eliminates splicing line, generation distant view photograph.

According to another aspect of the present utility model, also provide a kind of for automatically generating the unmanned vehicle of distant view photograph, comprise image collecting device, first communication device, described image collecting device is equipped on described unmanned vehicle by The Cloud Terrace, it is characterized in that: described unmanned vehicle is applicable to the control instruction sending by described first communication device receiving control device, and carry out and fly and the task of taking photo by plane under described control instruction, wherein, described control instruction also comprises that described control device is according to the performance parameter of described image collecting device, photographing request, the predetermined screening-mode that shooting environmental is selected,

Described image collecting device is applicable to carry out IMAQ according to described predetermined screening-mode, obtain the sample photo containing the region that overlaps of predetermined number, by described first communication device, described sample photo is sent to graphic process unit, wherein, described graphic process unit selects corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, output distant view photograph.

According to another aspect of the present utility model, also provide a kind of for automatically generating the earth station of distant view photograph, comprise secondary communication device, graphic process unit and control device, described secondary communication device connects described control device and described graphic process unit, described control device is applicable to according to the performance parameter of the image collecting device carrying on unmanned vehicle, photographing request, shooting environmental is selected predetermined screening-mode, and by described secondary communication device, control instruction is sent to unmanned vehicle, wherein, described unmanned vehicle is carried out flight and the task of taking photo by plane under described control instruction,

Described graphic process unit is applicable to receive by described secondary communication device the sample photo that described unmanned vehicle sends, and select corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, output distant view photograph, wherein, described sample photo is that image collecting device by carrying on described unmanned vehicle collects according to described predetermined screening-mode.

Further, described graphic process unit is graphic process unit, described graphic process unit further comprises image preprocessed chip, image registration chip, image co-registration chip, and described image registration chip connects respectively described image preprocessed chip and described image co-registration chip.

The utility model discloses a kind of for automatically generating system, unmanned vehicle and the earth station of distant view photograph, when adopting unmanned vehicle to take photo by plane, the mode of carrying camera by The Cloud Terrace is taken, can realize very easily the shooting at 360 degree angles, The Cloud Terrace is from circling and taking the material that just can obtain being very suitable for converting to distant view photograph. And the distant view photograph of the angle of taking photo by plane, can be from the aerial fabulous complete landforms of reflection. With respect to traditional pan-shot, revolve and turn around if people is lifting camera, what easily occur to take is unstable, and adopts the mode of unmanned vehicle The Cloud Terrace rotation, even without tripod, also can better complete photo material obtaining; And the distant view photograph of taking photo by plane, has solved the physical restriction to pan-shot ground, even want from lake surface or steep cliff is realized pan-shot outward, also no problem; In addition, the utility model is also integrated generation and the sharing function of distant view photograph, can be user-friendly with share.

Above-mentioned explanation is only the general introduction of technical solutions of the utility model, in order to make technological means of the present utility model clearer, reach the degree that those skilled in the art can be implemented according to the content of description, and in order to allow above-mentioned and other objects, features and advantages of the present utility model become apparent, be illustrated with detailed description of the invention of the present utility model below.

Brief description of the drawings

By reading the detailed description in preferred detailed description of the invention below, various other advantage and the benefits of the utility model will become cheer and bright for those of ordinary skill in the art. Figure of description is only for the object of preferred embodiment is shown, and do not think restriction of the present utility model. Apparently, accompanying drawing described below is only embodiment more of the present utility model, for those of ordinary skill in the art, is not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing. And in whole accompanying drawing, represent identical parts with identical Reference numeral. In the accompanying drawings:

Fig. 1 shows the system architecture schematic diagram for automatic generation distant view photograph according to the utility model embodiment mono-;

Fig. 2 shows the system architecture schematic diagram for automatic generation distant view photograph according to the utility model embodiment bis-;

Fig. 3 shows the method flow diagram for automatic generation distant view photograph according to the utility model embodiment tri-;

Fig. 4 shows the method flow diagram for automatic generation distant view photograph according to the utility model embodiment tetra-;

Fig. 5 shows the unmanned vehicle structural representation for automatic generation distant view photograph according to the utility model embodiment five;

Fig. 6 shows the earth station's structural representation for automatic generation distant view photograph according to the utility model embodiment six.

Detailed description of the invention

Specific embodiment of the utility model is described below with reference to accompanying drawings in more detail. Although shown specific embodiment of the utility model in accompanying drawing, but should be appreciated that and can realize the utility model and the embodiment that should do not set forth limits here with various forms. On the contrary, it is in order more thoroughly to understand the utility model that these embodiment are provided, and can be by the those skilled in the art that conveys to complete scope of the present utility model.

It should be noted that, in the middle of description and claim, used some vocabulary to censure specific components. Those skilled in the art should be appreciated that hardware manufacturer may call same assembly with different nouns. This specification and claims are not used as distinguishing the mode of assembly with the difference of noun, but the difference in function is used as the criterion of distinguishing with assembly. If " comprising " mentioned in the middle of description and claim in the whole text or " comprising " is an open language, therefore should be construed to " comprise but be not limited to ". Description subsequent descriptions is for implementing preferred embodiments of the present utility model, and right described description is that rule taking description is as object, not in order to limit scope of the present utility model. Protection domain of the present utility model is when being as the criterion depending on the claims person of defining.

For ease of the understanding to the utility model embodiment, be further explained explanation below in conjunction with accompanying drawing as an example of several specific embodiments example, and each accompanying drawing does not form the restriction to the utility model embodiment.

Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft that utilizes radio robot and the presetting apparatus of providing for oneself to handle. Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.

In the utility model embodiment, preferred unmanned vehicle is many rotor unmanned aircrafts (or being called multi-rotor aerocraft), can be the unmanned vehicle that four rotors, six rotors and rotor quantity are greater than six. Preferably, fuselage is made up of carbon fibre material, meeting under the prerequisite of higher working strength and rigidity, can significantly alleviate the weight of fuselage, thereby reduce the power demand of many rotor unmanned aircrafts and improve the mobility of many rotor unmanned aircrafts. Certainly,, in other embodiment of the present utility model, fuselage can also be made up of plastics or other arbitrarily used materials. Fuselage is provided with multiple slurry arms that are symmetric with respect to the symmetrical plane in described fuselage, each slurry arm is provided with paddle components away from one end of described fuselage, described paddle components comprises the motor that is arranged on described slurry arm and is connected to the blade on the output shaft of described motor, and the rotation of every a slice blade is all positioned on the same face of cylinder.

The flight capture apparatus that technical solutions of the utility model adopt mainly refers to little, miniature many rotor unmanned aircrafts, and this unmanned vehicle volume is little, cost is low, flight stability is better, and flight shooting cost is low etc. The aircraft that the utility model uses, typically taking four axle multi-rotor aerocrafts as representative. And this aircraft has started to be widely used in the field of taking photo by plane.

Embodiment mono-, a kind of for automatically generating the system of distant view photograph.

Fig. 1 is the system architecture schematic diagram for automatic generation distant view photograph of the utility model embodiment mono-, and the utility model embodiment is specifically described in connection with Fig. 1.

As shown in Figure 1, it is a kind of for automatically generating the system of distant view photograph that the utility model embodiment provides, comprise unmanned vehicle 101, image collecting device 102, communicator 103, described image collecting device 103 is equipped on described unmanned vehicle 101, also comprise control device 104 and graphic process unit 105, described communicator 103 connects described unmanned vehicle 101, described control device 104 and described graphic process unit 105, wherein

Described control device 104 is applicable to select predetermined screening-mode according to the performance parameter of described image collecting device 102, photographing request, shooting environmental, and by described communicator 103, control instruction is sent to described unmanned vehicle 101;

Described unmanned vehicle 101 is applicable to carry out flight and the task of taking photo by plane under described control instruction;

Described image collecting device 102 is applicable to carry out IMAQ according to described predetermined screening-mode, obtains the sample photo containing the region that overlaps of predetermined number, by described communicator 103, described sample photo is sent to described graphic process unit 105;

Described graphic process unit 105 is applicable to select corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, output distant view photograph.

Preferred in the utility model embodiment, described unmanned vehicle 101 is multi-rotor aerocraft, and it is applicable to rotary taking three-dimensional samples photo under floating state.

Preferred in the utility model embodiment, described image collecting device 102 is camera, described communicator 103 is data transmitter-receiver, described control device 104 is central processing unit, described data transmitter-receiver can with described unmanned vehicle, described central processing unit, described graphic process unit two-way communication.

Preferred in the utility model embodiment, described system also comprises that distant view photograph shares button, and its distant view photograph that is applicable to described graphic process unit 105 to export is shared the terminal of specifying by wireless or wired mode. In the utility model embodiment, described terminal can be the networking electronic equipment arbitrarily such as the mobile terminal such as smart mobile phone and panel computer or PC, personal digital assistant. All smart mobile phone is that example describes below.

Preferred in the utility model embodiment, described predetermined screening-mode comprises ball-type pan-shot pattern and column type pan-shot pattern, wherein,

Preferred in the utility model embodiment, under described column type pan-shot pattern, the vertical height position of fixing described camera 102, rotate described camera 102 1 weeks, according to predetermined time interval take; Under described ball-type pan-shot pattern, keep horizontal level at camera 102 described in certain height, rotate described camera around fixed position and take continuously, more described camera 102 is upwards steeved respectively, overlooked preset angles downwards and take.

Preferred in the utility model embodiment, described graphic process unit 105 comprises image preprocessed chip, image registration chip, image co-registration chip, and described image registration chip connects respectively described image preprocessed chip and described image co-registration chip, wherein,

Preferred in the utility model embodiment, also comprise The Cloud Terrace, described camera 102 is connected on described unmanned vehicle 101 by described The Cloud Terrace, and described central processing unit 104 is controlled the rotation of described camera 102 by described The Cloud Terrace. In the utility model embodiment, select three axle stable inertia The Cloud Terraces.

Preferred in the utility model embodiment, described camera is camera or camera, comprises the fish eye lens of the larger wide-angle ken, wide-angle lens or the conventional camera lens of other parameter areas. Although can directly obtain a Zhang Quanjing image by panorama camera, for domestic consumer, use complexity and price very expensive. When shooting, around vertical axis revolving camera, by the angle a rotation of having selected, every rotation a angle, takes a photo in this position, will guarantee that adjacent photo has enough overlapping regions while choosing a. In theory, camera is around its optical axis rotation. The size of overlapping region is joining quality and the most important influence factor of splicing speed. Overlapping ratio is larger, and the formation speed of distant view photograph is slower, and the sample photo simultaneously needing is also more.

Preferred in the utility model embodiment, described central processing unit 104 can be selected predetermined screening-mode according to the performance parameter of camera, photographing request, shooting environmental. Concrete, because while adopting the camera of different classes of and parameter to take, viewfinder range is either large or small, and the sample photo distortion degree simultaneously obtaining is also different; And the quantity difference of the sample photo obtaining according to actual photographed, also can obtain different distant view photograph effects; In addition, external environment condition, as the difference of light, interference etc., is taken the sample photographic quality obtaining and is had difference, so, need to select different screening-modes according to camera classification, parameter, the shooting environmental of user's concrete photographing request and current employing. , aircraft comparatively stable at flight environment of vehicle hovers over aerial also highly stable in the situation that, can increase photograph taking quantity, improves the quality of final distant view photograph; Even can also on vertical coordinate, adjust the angle of camera lens, in the situation that thering is a fixed angle of altitude, take around sample photo, several groups of such sample photos are merged, thereby by increasing scope and the precision of IMAQ, promoted the quality of distant view photograph. On the other hand, under extreme case, also can successively differ 180 degree with fish eye lens, only take two sample photos, just can complete the work of photo material obtaining, greatly promote the speed of IMAQ.

Preferred in the utility model embodiment, described column type pan-shot pattern is further divided into triple time pattern and four bat patterns. Concrete, described triple time, pattern referred to that described camera is according to predetermined time interval, carried out in the process of 360 degree rotations at cradle head control camera, and every rotation 120 degree are implemented photograph takings, typically, such as taking respectively 3 sample photos at 0 degree, 120 degree, 240 degree; Described four bat patterns refer to that described camera is according to predetermined time interval, carry out in the process of 360 degree rotations at cradle head control camera, every 90-degree rotation is implemented photograph taking, typical, such as taking respectively 4 sample photos at 0 degree, 90 degree, 180 degree, 270 degree. In described column type pan-shot mode process, avoid deflection and the pitching of camera lens as far as possible, the sample photo feature with overlapping region obtaining is spliced to form to distant view photograph.

Preferred in the utility model embodiment, described ball-type pan-shot pattern can realize viewpoint at camera with observation arbitrarily angled, any direction, the sample photo of all shootings is all projected on Sphere Measurement Model and synthesized, just obtain spherical panorama photo. Spherical panorama photo meets the structure of human eye and adapts to people's observation habit most, and meets anisotropy, and the sense of reality can be more true to nature.

Concrete, first keep horizontal level at certain height camera, around fixed position, rotation camera is taken continuously, in shooting process, to ensure that adjacent photo has sufficient registration, the utility model embodiment selects 0.3 to be that two width images have 30% coincidence at least, guarantee comprises all image informations of surrounding environment, the shake of camera lens while simultaneously as far as possible avoiding horizontally rotating, otherwise increase unnecessary amount of calculation can to coupling, affect the precision of Image Mosaics, all Image Mosaics of this one deck are formed and look squarely a layer distant view photograph; Then 60 degree of camera upwards being steeved, method is with the shooting of plan view, and after splicing, result is as the to be spliced distant view photograph of looking up in spherical panorama photo; Overlook under the shooting together of panorama sketch, adjust camera and overlook 60 degree downwards, obtain the to be spliced distant view photograph of overlooking. The gatherer process of the utility model embodiment can obtain all scene information in whole view space.

In the utility model embodiment, described in described unmanned vehicle 101, the task of taking photo by plane can be to set in advance the route of having planned, fly according to navigation information and photographing request, be that described central processing unit 104 will comprise described predetermined screening-mode in advance, the control instruction of telecommand is sent in described unmanned vehicle 101 and stores, no longer there is halfway remote control control, the emergency processing of breaking down in situation is just set as required, such as making a return voyage after lost contact processed or in emergency circumstances utilize cellular base station frequency range to beam back finally dot information etc. or design relay point relay control. certainly, the in the situation that of remote control closely, also can, by the mode of wireless telecommunications, send in real time telecommand to described unmanned vehicle 101 via described central processing unit 104, control flight attitude and the state of flight of described unmanned vehicle 101. in the time of the unmanned plane user in the face of consumption levels, it is generally closely to operate unmanned vehicle to realize the generation distant view photograph task automatically of taking photo by plane of the present utility model, therefore, has selected in the following embodiments the latter's control mode.

Preferred in the utility model embodiment, described central processing unit 104 can comprise CPU module and remote controller, the geographical coordinate information that described CPU module can provide according to guider is described unmanned vehicle 101 devise optimum flight path paths, and carries out corresponding flare maneuver according to the actuator module of unmanned vehicle 101 described in designed optimal trajectory trajectory path information control. Be equipped with the unmanned vehicle 101 of camera, realize moving freely within the scope of six axles of space via the control of remote controller. In the time that user appointed place is arrived in described unmanned vehicle 101 flights, first enter floating state. When described unmanned vehicle 101 receives after the order that starts to carry out distant view photograph shooting from described remote controller, carry out pan-shot action.

Preferred in the utility model embodiment, also comprise distant view photograph storage device, it is applicable to receive the sample photo of described camera collection and/or the distant view photograph of described graphic process unit output, and is deposited in database.

Preferred in the utility model embodiment, also comprise distant view photograph display unit, it connects described distant view photograph and shares button, transfers the distant view photograph of storing in described distant view photograph storage device show according to respective request.

Unmanned vehicle 101 for taking photo by plane in the utility model embodiment, mainly comprises unmanned vehicle 101 and the aerial device that is arranged on unmanned vehicle 101 is described camera 102.

Concrete, comprise unmanned vehicle main body, damping device, aerial device bracket, wherein, described aerial device bracket is preferably aerolite bracket, make like this quality of unmanned vehicle 101 lighter, it is connected in unmanned vehicle 101 main bodys by described damping device, and unmanned vehicle 101 body interior are provided with control module and power supply. The aerial device of being located on described aerial device bracket is electrically connected with described control module and power supply respectively, and wherein, described power supply is lithium battery.

Described unmanned vehicle main body comprises fuselage, is located at the unmanned vehicle undercarriage on fuselage.

Wherein, described damping device can make when described unmanned vehicle 101 aloft in flight course owing to being subject to air-flow shock effect; produce swing vibration continuously time; use described damping device can eliminate the impact of these vibrations; the guarantee quality of taking photo by plane, plays a protective role to aerial device.

Preferred in the utility model embodiment, described unmanned vehicle 101 also comprises power plant module and locating module. And described control module further comprises:

Three-axis gyroscope, it is for measuring the angular velocity information of unmanned vehicle;

Three axis accelerometer, it is for measuring the acceleration information of unmanned vehicle; The ADXL330 that preferably adopts ADI company, its sensitivity is that 300mv/g, zero-bit are that 1.5V, impact resistance are 10000g.

Ultrasonic range finder, it for measuring the distance between described unmanned vehicle 101 and ground in the time that described unmanned vehicle 101 and ground are not more than 2 meters apart;

Barometer, it for measuring the distance between described unmanned vehicle 101 and ground in the time that described unmanned vehicle 101 and ground are greater than 2 meters apart;

Central controller, it is for receiving from the data of described three-axis gyroscope and three axis accelerometer transmission, receiving from the telecommand data of described central processing unit 104, from described ultrasonic range finder or barometrical measurement data, and received various data are processed to control described filming apparatus based on result; And control electron speed regulator, thereby can adjust in real time by described electron speed regulator the rotating speed of each motor.

The utility model embodiment discloses a kind of for automatically generating the system of distant view photograph, take full advantage of unmanned vehicle aloft find a view shooting, process taking pictures and obtain the possibility of distant view photograph, the function that distant view photograph is taken, processed, shares has been carried out integrated, and the step of dispersion has been become to practical function. After user has selected suitable spot for photography, the hovering of follow-up unmanned vehicle, The Cloud Terrace around rotation find a view, camera lens completes the work such as processing, the generation of distant view photograph of the view data of shootings, collection in suitable angle, all complete via automated manner, greatly saved user's running cost.

Embodiment bis-, a kind of for automatically generating the system of distant view photograph.

Fig. 2 is the system architecture schematic diagram for automatic generation distant view photograph of the utility model embodiment 2, and the utility model embodiment is specifically described in connection with Fig. 2.

As shown in Figure 2, it is a kind of for automatically generating the system of distant view photograph that the utility model embodiment provides, comprise unmanned vehicle 101, The Cloud Terrace 201, camera 102, described camera 102 is equipped on described unmanned vehicle 101 by described The Cloud Terrace 201, also comprise data transmitter-receiver 103, central processing unit 104, graphic process unit 105, distant view photograph is shared button 205, described data transmitter-receiver 103 is connected in described unmanned vehicle 101, camera 102, central processing unit 104, graphic process unit 105, can with they two-way communications, described distant view photograph is shared button 205 and is connected described graphic process unit 105, described graphic process unit 105 further comprises image preprocessed chip 202, image registration chip 203 and image co-registration chip 204.

Preferred in the utility model embodiment, described image preprocessed chip 202 comprises geometric distortion correction unit and suppresses noise spot unit, main being responsible for carried out geometric distortion correction, suppressed noise spot described sample photo, simplify unnecessary information, thereby provide reliable guarantee for follow-up image processing. In actual image acquisition, described sample photo can be subject to the impact of the factor such as illumination, shake, before images match, just need to do some basic image processing to image, for example histogram equalization and gray value processing, if image to be matched is not taken in direction, can produce angle when projection so, must carry out projective transformation to it, to be transformed into same projected coordinate system, after converting, projection also needs its backwards projection, form planar view picture so that observe.

In distant view photograph splicing, can contain much information for the initial overlapping region of images match, therefore calculation task is also corresponding heavy, by image pretreatment, to original image proofread and correct, feature extraction and coordinate transform, determine matched position roughly, effectively reduce operand, improve precision and the speed of coupling.

Concrete, described geometric distortion correction unit can be in the time obtaining described sample photo resource, and in the time that camera lens does not face scenery, may there is distortion in the scene image photographing, and produces geometric distortion, and geometric distortion has a strong impact on the registration of image. The basic ideas of geometric correction are, find out the source of image fault and set up Mathematical Modeling, image is done to corresponding geometric operation processing, needed information is extracted from produce the picture signal of distortion, the shape of target and locus in Recovery image, reduction style.

Concrete, described inhibition noise spot unit often adopts the method such as frequency domain filtering or medium filtering to suppress noise.

Preferred in the utility model embodiment, main being responsible for treated image characteristic information extraction to be spliced of described image registration chip 203. Then described characteristic information is integrated, is calculated splicing parameter, finally according to these resource datas to images match.

Image registration is the core link of whole Image Mosaics process, it has a great impact splicing speed and the quality of image, the pending image of having taken is compared, find the common characteristic in two width images, or go to find according to the known conditions of piece image the pattern that another width conforms to it. Image registration is generally the work that adjacent multiple pictures is carried out. Conventionally the width in this picture group is used as and is joined reference of reference, claim that it is reference diagram, another width is search graph. Two side's relations of plane are mainly determined in image registration, the one, determine that adjacent photo registration has the control point of sufficient amount; The 2nd, determine the pixel coordinate corresponding relation of this group photo according to control point.

Under different environment, condition, the two dimensional image that Same Scene forms also exists obvious difference. The method of the existing a lot of registrations of image processing field at present, every kind of method only adapts to the image of one or more types, and which kind of method can not make all types of images can obtain satisfied coupling. Selecting, before matching process, the type of analysis image itself, be to select method for registering according to the pixel of image, characteristics of image mostly. Typical matching process has: the long-pending relevant Gray-scale Matching algorithm of image normalization; Based on the method for registering images of transform domain; Sequential similarity detection method matching algorithm (SimilaritySequentialDetectionAlgorithmSSDA); Based on the image matching algorithm of feature.

In the utility model embodiment, can go to select proper method to image pretreatment according to definite registration Algorithm, also can, by the transformation model that collects image and determine stitching image, draw the pretreated result of image, and then select image registration algorithm.

In the utility model embodiment, preferably, adopt the technology of image co-registration in order to reach seamless spliced effect. Described image co-registration chip 204 is main be responsible for the view data coupling collecting under different condition splice after, it is processed again, in addition automatic analysis, optimum organization, generate width effect iamge description true to nature, is beneficial to and observes and processing. Image Fusion should meet the requirement of two aspects, and fusion method should have gradually changeable on the one hand, to ensure the transition of amalgamation edge smoothing, eliminates obvious splicing line; On the other hand, fusion treatment should be only effective to the overlapping region of splicing, the information that can not lose because of fusion treatment original image.

After all images in scene are spliced successively and merged, just generate the complete distant view photograph that a width comprises all information of viewpoint. The distant view photograph of generation is transferred to the user terminal that remote controller or other need to this distant view photograph results, confirms for user, and share button 205 by described distant view photograph and share micro-letter circle of friends of user, QQ space, microblogging etc.

Preferred in the utility model embodiment, due to the sequencing of screening-mode, system-computed burden reduces, and image processing method formula is fixed, and can realize graphic process unit of independent use and realize pan-shot function.

In addition, in the above-described embodiments, graphic process unit can be arranged on described unmanned vehicle 101, but in order to be further reduced in the load of unmanned vehicle end, comprise the load in mass loading and computing capability physically, also can be by all successive image processing procedures in pan-shot pattern, be placed on remote controller end or user terminal and realize. Be that described graphic process unit 105 can be an independent physical equipment, also can be integrated on user terminal or described central processing unit 104, can also be integrated on described unmanned vehicle 101.

The utility model embodiment is preferred, adopts described graphic process unit 105 and 101 points of schemes that are arranged of described unmanned vehicle. 101 of described unmanned vehicles need to be that described sample photo sends to described distant view photograph to share button 205 via suitable approach by the base image data that are collected, and described distant view photograph is shared button 205 can automatic splicing and the generation that complete distant view photograph according to pre-set programs. In this case, on unmanned vehicle the task of required realization still less, more succinct, the load that its corresponding flight need to be carried also further reduces, flying quality and the cruising time of having strengthened unmanned vehicle.

Preferred in the utility model embodiment, determine unmanned vehicle when described central processing unit 104 and carried out this and take photo by plane after task, it is carried out to the formulation of trajectory planning and photographing request. Described trajectory planning comprises described unmanned vehicle 101 take off place, concrete flight path, flight time, return route or landing place etc.; Described photographing request comprises appointed place, shooting height, shooting time interval, boat sheet definition, the requirements such as chip resolution of navigating that unmanned vehicle is taken.

The control module of described unmanned vehicle 101 receives the instruction from described central processing unit 104, and data based on received power plant module, locating module, the camera 102 to described unmanned vehicle 101 controlled. Described filming apparatus is here camera or linear array digital aviation video camera, and it is for receiving the instruction of described control module, and the instruction based on received is taken photo by plane.

Concrete, described central processing unit 104 sends the instruction of taking off to the take photo by plane described unmanned vehicle 101 of task of distribution by described data transmitter-receiver 103, the lift that now driven by motor screw produces after rotating takes off unmanned vehicle 101, remotely pilotless aircraft flight attitude, flying height, after described unmanned vehicle 101 formally enters default course line, described central processing unit 104 sends the photographic subjects point instruction in region to be measured to described unmanned vehicle 101, unmanned vehicle 101 flies according to instruction and under the guiding of locating module to photographic subjects point, arrive the overhead, appointed place of taking, and reach after the shooting height of appointment, unmanned vehicle hovering, wait is taken photo by plane.

Show through research, in the time that unmanned vehicle 101 is too high apart from ground distance, aerial photograph is unintelligible; When unmanned vehicle 101 is apart from ground when height, the photo utilization rate of taking photo by plane is low, the aerial photograph that contains a large amount of repetitions; In the time that unmanned vehicle 101 is 80 meters apart from ground level, the photo that camera is taken photo by plane out can reach equalization point between definition and utilization rate, both can take clear photograph, can improve again the utilization rate of aerial photograph, avoids aerial photograph to repeat. Certainly, taking photo by plane is here highly specifically to set according to the specification of filming apparatus and shooting clear degree, shooting resolution ratio, and general taking photo by plane of consumption levels highly can be selected between 50-100 rice.

In the process of taking photo by plane, control camera lens relative fixing with the angle on ground. In the time that unmanned vehicle 101 receives that the objective of halt instruction or current locating information and trajectory planning is consistent, this end of taking photo by plane, the sample photo of taking to described graphic process unit 105 passbacks; Or, also can, in the process of taking photo by plane, during by network implementation, return gathered sample photo.

It is a kind of for automatically generating the system of distant view photograph that the utility model embodiment is disclosed, when adopting unmanned vehicle to take photo by plane, the mode of carrying camera by The Cloud Terrace is taken, can realize very easily the shooting at 360 degree angles, The Cloud Terrace is from circling and taking the material that just can obtain being very suitable for converting to distant view photograph. And the distant view photograph of the angle of taking photo by plane, can be from the aerial fabulous complete landforms of reflection. With respect to traditional pan-shot, revolve and turn around if people is lifting camera, what easily occur to take is unstable, and adopts the mode of unmanned vehicle The Cloud Terrace rotation, even without tripod, also can better complete photo material obtaining; And the distant view photograph of taking photo by plane, has solved the physical restriction to pan-shot ground, even want from lake surface or steep cliff is realized pan-shot outward, also no problem; In addition, the utility model is also integrated generation and the sharing function of distant view photograph, can be user-friendly with share.

In the utility model embodiment, other content, referring to the content in above-mentioned utility model embodiment, does not repeat them here.

Embodiment tri-, a kind of for automatically generating the method for distant view photograph.

Fig. 3 is the method flow diagram for automatic generation distant view photograph of the utility model embodiment tri-, and the utility model embodiment is specifically described in connection with Fig. 3.

As shown in Figure 3, the utility model embodiment provides a kind of and has comprised image update subsystem and image data acquiring RACS for automatically generating the method for distant view photograph, and the method comprises the following steps:

Step S301: automatically generate distant view photograph task initialization;

Step S302: select predetermined screening-mode according to the performance parameter of image collecting device, photographing request, shooting environmental;

Step S303: described unmanned vehicle carries out IMAQ according to predetermined screening-mode, obtain predetermined number containing overlapping the sample photo in region;

Step S304: select corresponding image processing algorithm automatically to process described sample photo, generate distant view photograph.

Preferred in the utility model embodiment, after described step S304, also comprise and share step, share the terminal of specifying by wireless or wired mode by described distant view photograph. Concrete, the distant view photograph of generation is transferred to the client that remote controller end or other need to this distant view photograph results, after confirming for user, share to smart mobile phone or panel computer or PC.

Described column type pan-shot pattern refers to that the observation viewpoint of camera is positioned at a bit on cylinder internal rotating axle, is mapped to described sample photographic intelligence on cylinder model;

Described ball-type pan-shot pattern refers to that viewpoint at camera, with observation arbitrarily angled, any direction, synthesizes described sample photographic projection to Sphere Measurement Model.

Preferred in the utility model embodiment, under described column type pan-shot pattern, the vertical height position of fixing described image collecting device, rotate described image collecting device one week, according to predetermined time interval take; Under described ball-type pan-shot pattern, keep horizontal level at image collecting device described in certain height, rotate described image collecting device around fixed position and take continuously, more described image collecting device is upwards steeved respectively, overlooked preset angles downwards and take.

Preferred in the utility model embodiment, described step S304 selects corresponding image processing algorithm automatically to process described sample photo, generates the step of distant view photograph, specifically comprises the following steps:

Described sample photo is carried out to image pretreatment, described image pretreatment further comprises geometric distortion correction and suppresses noise spot, described geometric distortion correction refers to that the source by finding out image fault from described sample photo sets up Mathematical Modeling, the shape of target and locus in Recovery image, described inhibition noise spot refers to and adopts frequency domain filtering or medium filtering to suppress noise;

To carrying out image registration through described image pretreated image to be spliced, described image configurations refers to characteristic information extraction, and described characteristic information is integrated, and calculates splicing parameter, according to described splicing parameter to images match;

To mate spliced image through described image registration and carry out image co-registration, eliminate splicing line, generate distant view photograph.

Preferred in the utility model embodiment, described automatic generation distant view photograph task initialization comprises the following steps:

Described unmanned vehicle flies and arrives appointed place under control instruction;

After described unmanned vehicle hovering, enter rotary taking state.

Preferred in the utility model embodiment, in order to be further reduced in the load of unmanned vehicle end, comprise the load in mass loading and computing capability physically, all successive image processing procedures that described step S302 can be started, are placed on remote controller end or mobile client and realize. Now, unmanned vehicle need to be only that described sample photo sends to image processing apparatus via suitable approach by the base image data that are collected, and image processing apparatus can complete splicing and the generation of distant view photograph automatically according to pre-set programs. In this case, on unmanned vehicle the task of required realization still less, more succinct, the load that its corresponding flight need to be carried also further reduces, flying quality and the cruising time of having strengthened unmanned vehicle.

For instance, user drives in U.S.'s free walker tourism, find in the U.S. Yellowstone view that a place is delithted with, can simply handle unmanned vehicle completely and fly to the arbitrary orientation of oneself liking, then determine and start the key picture mode that pans, can be without any additional operations, wait distant view photograph to be generated to send on the cell-phone customer terminal of oneself binding.

The utility model embodiment, for above-mentioned discrete step, sums up its demand and rule, integratedly becomes a kind of fixing function, for user, by the operation that originally needed multistep to complete, has become the available function of a key, has greatly promoted user's experience.

It is a kind of for automatically generating the method for distant view photograph that the utility model embodiment is disclosed, take full advantage of unmanned vehicle aloft find a view shooting, process taking pictures and obtain the possibility of distant view photograph, the function that distant view photograph is taken, processed, shares has been carried out integrated, and the step of dispersion has been become to practical function. After user has selected suitable spot for photography, the hovering of follow-up unmanned vehicle, The Cloud Terrace around rotation find a view, camera lens completes the work such as processing, the generation of distant view photograph of the view data of shootings, collection in suitable angle, all complete via automated manner, greatly saved user's running cost. For user, originally went for pan-shot photo, need to manipulate respectively unmanned vehicle flight, manipulation The Cloud Terrace moves, manipulates camera and takes, and then also will derive photo, process, be transferred to the suitable software of sharing, then could realize the displaying of content of shooting and show off.

Embodiment tetra-, a kind of for automatically generating the method for distant view photograph.

Fig. 4 is the method flow diagram for automatic generation distant view photograph of the utility model embodiment tetra-, and the utility model embodiment is specifically described in connection with Fig. 4.

As shown in Figure 4, it is a kind of for automatically generating the method for distant view photograph that the utility model embodiment provides, and comprises the following steps:

Step S401: the unmanned vehicle appointed place of flying;

Concrete, be equipped with many rotor unmanned aircrafts of camera, control via remote controller realizes moving freely within the scope of six axles of space, described many rotor unmanned aircrafts are under the control of the telecommand receiving in real time or the telecommand that prestores, the place that considers appropriate to user of flight, comprises geographical coordinate, the shooting height of user appointed place here.

Step S402: unmanned vehicle enters floating state;

Step S403: described unmanned vehicle starts IMAQ;

In the utility model embodiment, carry out IMAQ according to predetermined screening-mode. Described predetermined screening-mode comprises ball-type pan-shot pattern, column type pan-shot pattern. For example, according to predetermined time interval, carry out in the process of 360 degree rotations at cradle head control camera, implement photograph taking; Typically, such as taking respectively 4 photos at 0 degree, 90 degree, 180 degree, 270 degree.

Step S404: the sample photo of collection is carried out to image pretreatment;

In the utility model embodiment, described sample photo is numbered according to sequential, then implement the pretreatment that distant view photograph generates.

Step S405: to the pretreated fulfillment image registration to be spliced of process image;

Step S406: the sample photo after image registration coupling is carried out to image co-registration;

Step S407: distant view photograph generates;

Concrete, after all sample photos in scene are spliced successively and merged, just generate the complete distant view photograph that a width comprises all information of viewpoint.

Step S408: judge whether to share described distant view photograph, if so, jump to step S410; Otherwise, jump to step S409;

Step S409: store described distant view photograph;

Step S410: the terminal that described distant view photograph is sent to appointment;

Step S411: finish.

In the utility model embodiment, the process of sharing about image, both can be after unmanned vehicle place completes all image works for the treatment of, be that distant view photograph is directly shared the user terminal of specifying by wireless mode by unmanned vehicle by last finished product; Equally, can be also that unmanned vehicle only completes the work of sample photo acquisition, then transfer to the image processor arranging separately to realize image work for the treatment of, and follow-uply realize image by appropriate ways and share.

Preferred in the utility model embodiment, because the visual angle of conventional camera lens is approximately 90 degree, a photo can not show enough large scene information, utilize rotating lens to collect the sample image containing the region that overlaps, by matching algorithm to its carry out registration, blending algorithm is subdued vestige, finally forms the seamless distant view photograph of a large visual field of width.

Because image to be matched is not taken in direction, can produce angle when projection so, must carry out projective transformation to it, to be transformed into same projected coordinate system, after converting, projection also needs its backwards projection, form planar view picture so that observe. Cylindrical surface projecting model and spherical projection model in the utility model embodiment, are adopted, respectively corresponding described column type pan-shot pattern and described ball-type pan-shot pattern.

Described cylinder orthographic projection algorithm is that image raw information is mapped on cylinder model, observe viewpoint be positioned on cylinder internal rotating axle certain a bit, can eliminate like this duplicate message on real image, the concrete orientation of every concrete pixel in whole space of getting back. Cylinder panoramic image is relatively easy, the face of cylinder is deployed in plane vertically, but it does not comprise the scene information on above-below direction, can not intactly give expression to scene. Spherical projection model has been avoided the shortcoming of insufficient space, it not only can be complete performance panoramic space, can search for and reflect directive scene in space, and it independently can only carry out any point on presentation graphs picture with azimuth and the angle of pitch under spherical coordinate system, intercepting work when can well completing the storage of image and roaming, this is the benefit of utilizing spherical projection model maximum.

It is a kind of for automatically generating the method for distant view photograph that the utility model embodiment is disclosed, take full advantage of unmanned vehicle aloft find a view shooting, process taking pictures and obtain the possibility of distant view photograph, the function that distant view photograph is taken, processed, shares has been carried out integrated, and the step of dispersion has been become to practical function. After user has selected suitable spot for photography, the hovering of follow-up unmanned vehicle, The Cloud Terrace around rotation find a view, camera lens completes the work such as processing, the generation of distant view photograph of the view data of shootings, collection in suitable angle, all complete via automated manner, greatly saved user's running cost.

Embodiment five, a kind of for automatically generating the unmanned vehicle of distant view photograph.

Fig. 5 is the unmanned vehicle structural representation for automatic generation distant view photograph of the utility model embodiment five, and the utility model embodiment is specifically described in connection with Fig. 5.

As shown in Figure 5, it is a kind of for automatically generating the unmanned vehicle 501 of distant view photograph that the utility model embodiment provides, comprise image collecting device 502, first communication device 503, described image collecting device 502 is equipped on described unmanned vehicle 501 by The Cloud Terrace (not shown), described unmanned vehicle 501 is applicable to the control instruction sending by described first communication device 503 receiving control devices 504, and carry out and fly and the task of taking photo by plane under described control instruction, wherein, described control instruction also comprises that described control device 504 is according to the performance parameter of described image collecting device 502, photographing request, the predetermined screening-mode that shooting environmental is selected,

Described image collecting device 502 is applicable to carry out IMAQ according to described predetermined screening-mode, obtain the sample photo containing the region that overlaps of predetermined number, by described first communication device 503, described sample photo is sent to graphic process unit 505, wherein, described graphic process unit 505 selects corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, output distant view photograph.

Preferred in the utility model embodiment, described unmanned vehicle 501 is multi-rotor aerocraft, and it is applicable to rotary taking three-dimensional samples photo under floating state.

Embodiment six, a kind of for automatically generating the earth station of distant view photograph.

Fig. 6 is the earth station's structural representation for automatic generation distant view photograph of the utility model embodiment six, and the utility model embodiment is specifically described in connection with Fig. 6.

As shown in Figure 6, it is a kind of for automatically generating the earth station 601 of distant view photograph that the utility model embodiment provides, comprise secondary communication device 603, graphic process unit 604 and control device 602, described secondary communication device 603 connects described control device 602 and described graphic process unit 604, described control device 602 is applicable to according to the performance parameter of the image collecting device carrying on unmanned vehicle 605, photographing request, shooting environmental is selected predetermined screening-mode, and by described secondary communication device 603, control instruction is sent to unmanned vehicle 605, wherein, described unmanned vehicle 605 is carried out flight and the task of taking photo by plane under described control instruction,

Described graphic process unit 604 is applicable to receive by described secondary communication device 603 the sample photo that described unmanned vehicle 605 sends, and select corresponding image processing algorithm automatically to process received sample photo according to described predetermined screening-mode, output distant view photograph, wherein, described sample photo is to collect according to described predetermined screening-mode by the image collecting device of lift-launch on described unmanned vehicle 605.

Preferred in the utility model embodiment, described graphic process unit 604 is graphic process unit, described graphic process unit further comprises image preprocessed chip, image registration chip, image co-registration chip, and described image registration chip connects respectively described image preprocessed chip and described image co-registration chip.

The utility model can bring these useful technique effects: the utility model embodiment is disclosed for automatically generating system, unmanned vehicle and the earth station of distant view photograph, when adopting unmanned vehicle to take photo by plane, the mode of carrying camera by The Cloud Terrace is taken, can realize very easily the shooting at 360 degree angles, The Cloud Terrace is from circling and taking the material that just can obtain being very suitable for converting to distant view photograph. And the distant view photograph of the angle of taking photo by plane, can be from the aerial fabulous complete landforms of reflection. With respect to traditional pan-shot, revolve and turn around if people is lifting camera, what easily occur to take is unstable, and adopts the mode of unmanned vehicle The Cloud Terrace rotation, even without tripod, also can better complete photo material obtaining; And the distant view photograph of taking photo by plane, has solved the physical restriction to pan-shot ground, even want from lake surface or steep cliff is realized pan-shot outward, also no problem; In addition, the utility model is also integrated generation and the sharing function of distant view photograph, can be user-friendly with share.

Obviously, those skilled in the art can carry out various changes and modification and not depart from spirit and scope of the present utility model the utility model. Like this, if these amendments of the present utility model and within modification belongs to the scope of the utility model claim and equivalent technologies thereof, the utility model is also intended to comprise these changes and modification interior.

Claims

1. the system for automatic generation distant view photograph, comprise unmanned vehicle, image collecting device, communicator, described image collecting device is equipped on described unmanned vehicle, it is characterized in that: also comprise control device and graphic process unit, described communicator connects described unmanned vehicle, described control device and described graphic process unit, wherein

2. the system for automatic generation distant view photograph according to claim 1, is characterized in that: described unmanned vehicle is multi-rotor aerocraft, and it is applicable to rotary taking three-dimensional samples photo under floating state.

3. according to claim 2 for automatically generating the system of distant view photograph, it is characterized in that: described image collector is set to camera, described communicator is data transmitter-receiver, described control device is central processing unit, described data transmitter-receiver can with described unmanned vehicle, described central processing unit, described graphic process unit two-way communication.

According to right want described in 3 for automatically generating the system of distant view photograph, it is characterized in that: also comprise that distant view photograph shares button, it is applicable to distant view photograph of described graphic process unit output to share the terminal of specifying by wireless or wired mode.

5. according to the system for automatic generation distant view photograph described in claim 3 or 4, it is characterized in that: described predetermined screening-mode comprises ball-type pan-shot pattern and column type pan-shot pattern, wherein,

6. according to claim 5 for automatically generating the system of distant view photograph, it is characterized in that: described graphic process unit comprises image preprocessed chip, image registration chip, image co-registration chip, described image registration chip connects respectively described image preprocessed chip and described image co-registration chip, wherein

7. the unmanned vehicle for automatic generation distant view photograph, comprise image collecting device, first communication device, described image collecting device is equipped on described unmanned vehicle by The Cloud Terrace, it is characterized in that: described unmanned vehicle is applicable to the control instruction sending by described first communication device receiving control device, and carry out and fly and the task of taking photo by plane under described control instruction, wherein, described control instruction also comprises the predetermined screening-mode that described control device is selected according to the performance parameter of described image collecting device, photographing request, shooting environmental;

8. the unmanned vehicle for automatic generation distant view photograph according to claim 7, is characterized in that: described unmanned vehicle is multi-rotor aerocraft, and it is applicable to rotary taking three-dimensional samples photo under floating state.

9. the earth station for automatic generation distant view photograph, comprise secondary communication device, graphic process unit and control device, described secondary communication device connects described control device and described graphic process unit, it is characterized in that: described control device is applicable to select predetermined screening-mode according to the performance parameter of the image collecting device carrying on unmanned vehicle, photographing request, shooting environmental, and by described secondary communication device, control instruction is sent to unmanned vehicle, wherein, described unmanned vehicle is carried out flight and the task of taking photo by plane under described control instruction;

10. according to claim 9 for automatically generating the earth station of distant view photograph, it is characterized in that: described graphic process unit further comprises image preprocessed chip, image registration chip, image co-registration chip, described image registration chip connects respectively described image preprocessed chip and described image co-registration chip.