WO2020211813A1 - 立面环绕飞行的控制方法、装置、终端及存储介质 - Google Patents

立面环绕飞行的控制方法、装置、终端及存储介质 Download PDF

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Publication number
WO2020211813A1
WO2020211813A1 PCT/CN2020/085083 CN2020085083W WO2020211813A1 WO 2020211813 A1 WO2020211813 A1 WO 2020211813A1 CN 2020085083 W CN2020085083 W CN 2020085083W WO 2020211813 A1 WO2020211813 A1 WO 2020211813A1
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WIPO (PCT)
Prior art keywords
trajectory
flight
uav
elevation
view mode
Prior art date
Application number
PCT/CN2020/085083
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English (en)
French (fr)
Inventor
钟自鸣
Original Assignee
深圳市道通智能航空技术有限公司
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Publication of WO2020211813A1 publication Critical patent/WO2020211813A1/zh
Priority to US17/451,355 priority Critical patent/US11789467B2/en

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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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • 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
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • This application relates to the technical field of unmanned aerial vehicles, in particular to a flight control method, device, terminal and storage medium surrounded by a facade.
  • Existing drones have an intelligent flight function around points of interest. This function can capture images for applications such as aerial photography or security inspections while flying around the points of interest.
  • the existing points of interest are limited to those on a horizontal plane. Flying around, thereby limiting the capturing angle of view of the lens on the drone for image capture, thereby reducing the functional practicability of flying around the point of interest of the drone.
  • the embodiment of the present invention provides a flying control method, device, terminal, and storage medium surrounding the facade, so as to realize the flying of the drone under different capturing angles.
  • an embodiment of the present invention provides a flying control method surrounded by a facade, which is used in an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a fuselage and a photographing device provided on the fuselage, including:
  • the surround parameter information includes position information of points of interest and a surround radius of the drone
  • the capturing angle of view mode includes a free capturing angle of view mode and a centripetal capturing angle of view mode
  • the free capturing angle of view mode means that the shooting direction of the camera is any direction
  • the centripetal capturing angle of view mode Means that the shooting direction of the shooting device always points to the point of interest
  • the drone is controlled to fly along the trajectory of the facade.
  • controlling the UAV to fly along the trajectory of the elevation according to the capturing view mode includes:
  • the capturing perspective mode is the centripetal capturing perspective mode, adopting the second flight rule to control the drone to fly along the trajectory of the elevation;
  • the first flight rule is different from the second flight rule.
  • using the first flight rule to control the drone to fly along the trajectory of the facade includes:
  • the first velocity vector of the UAV at each track point of the trajectory of the elevation is adjusted to make the UAV orbit along the elevation
  • the trajectory is flying at a constant speed.
  • using a second flight rule to control the drone to fly along the trajectory of the elevation includes:
  • the capturing angle of view mode is the centripetal capturing angle of view
  • control the UAV to maintain a second flight attitude in which the axis of the fuselage and the trajectory of the facade are in the same plane during flight, and when the UAV is When flying to the highest trajectory point or the lowest trajectory point, mirror-convert the second flight attitude of the UAV along a set axis, and use the converted mirror-image attitude as the new second flight attitude;
  • the second velocity vector of the UAV at each track point of the trajectory of the elevation is adjusted to make the UAV orbit along the elevation
  • the trajectory is flying at a constant speed.
  • an embodiment of the present invention also provides a control device for flying around on a facade, which is configured in an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a fuselage and a photographing device provided on the fuselage.
  • the device includes:
  • An information acquisition module configured to acquire surround parameter information of the drone, where the surround parameter information includes position information of points of interest and the surround radius of the drone;
  • the trajectory determining module determines the surrounding trajectory of the elevation to be surrounded according to the surrounding parameter information, wherein the surrounding trajectory of the elevation is a plane centered on the point of interest and the surrounding radius is a radius, and the erection The plane where the surface surrounds the track is perpendicular to the horizontal plane;
  • the angle of view acquisition module is used to obtain a capturing angle of view mode, wherein the capturing angle of view mode includes a free capturing angle of view mode and a centripetal capturing angle of view mode.
  • the free capturing angle of view mode means that the shooting direction of the camera is any direction, so
  • the centripetal capture angle of view mode means that the shooting direction of the shooting device always points to the point of interest;
  • the flight control module is used to control the UAV to fly along the trajectory of the elevation according to the capturing view mode.
  • the flight control module includes:
  • the flight control module includes:
  • the first control unit is configured to use the first flight rule to control the UAV to fly along the trajectory of the facade when the capture angle mode is the free capture angle mode;
  • the second control unit is configured to use a second flight rule to control the drone to fly along the trajectory of the elevation when the capturing angle mode is the centripetal capturing angle mode;
  • the first flight rule is different from the second flight rule.
  • the first control unit is specifically configured to:
  • the first velocity vector of the UAV at each track point of the trajectory of the elevation is adjusted to make the UAV orbit along the elevation
  • the trajectory is flying at a constant speed.
  • control unit is specifically configured to:
  • the capturing angle of view mode is the centripetal capturing angle of view
  • control the UAV to maintain a second flight attitude in which the axis of the fuselage and the trajectory of the facade are in the same plane during flight, and when the UAV is When flying to the highest trajectory point or the lowest trajectory point, mirror-convert the second flight attitude of the UAV along a set axis, and use the converted mirror-image attitude as the new second flight attitude;
  • the second velocity vector of the UAV at each track point of the trajectory of the elevation is adjusted to make the UAV orbit along the elevation
  • the trajectory is flying at a constant speed.
  • an embodiment of the present invention also provides a drone, including:
  • the power plant is arranged on the arm;
  • At least one processor At least one processor
  • a memory communicatively connected with the at least one processor; wherein,
  • an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored.
  • the program When executed by a processor, it realizes the flight around the facade as described in any of the embodiments of the present invention. Control Method.
  • FIG. 1a is a schematic flowchart of a method for controlling an elevation orbiting flight according to Embodiment 1 of the present invention
  • FIG. 1b is a block diagram of an example structure of an unmanned aerial vehicle for flying and aerial photography according to Embodiment 1 of the present invention
  • Figure 2c shows a schematic diagram of the second flight attitude of the UAV when flying along the trajectory of the elevation
  • FIG. 3 is a structural block diagram of a control device for flying around an elevation according to the third embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the hardware structure of an unmanned aerial vehicle according to the fourth embodiment of the present invention.
  • the method provided in the embodiments of the present invention specifically relates to a consumer-grade drone product for smart aerial photography.
  • the consumer-grade drone product is a drone used for flying aerial photography, and the drone can be integrated with
  • the functional program allows the drone to fly autonomously through the integrated functional program, so the execution subject of the method provided in this embodiment can be the drone.
  • Fig. 1b is a block diagram of an example structure of an unmanned aerial vehicle for flying and aerial photography provided by the first embodiment of the present invention.
  • the external structure of the consumer-grade unmanned aerial vehicle specifically includes: a body 11, The arms 12 at the top four corners of the fuselage 11 and the camera 13 connected to the fuselage 11 at the side end of the fuselage 11 are provided with a power device that drives the arm to rotate.
  • the camera 13 mainly includes a pan and tilt A camera connected to the pan-tilt, the camera can be used to capture image information and the pan-tilt is used to adjust the camera's capture angle of view.
  • the end of the fuselage with the camera can be marked as the nose, and the end of the nose can be regarded as the front end of the drone.
  • the nose direction is the positive direction
  • the left and right ends of the nose can be used as the left and right sides of the drone.
  • the method for controlling the flying around the facade includes the following steps:
  • the unmanned aerial vehicle as the execution subject of this embodiment can obtain the position information of the point of interest pre-selected or input by the user and the parameter information such as the surrounding radius, the surrounding direction, and the surrounding speed required to form the surrounding plane.
  • parameter information such as the position information of the point of interest, the surrounding radius, the surrounding direction, and the surrounding speed preset by the user can be obtained for the subsequent determination of the surrounding trajectory of the facade, wherein the surrounding direction may be clockwise.
  • the orbiting speed may specifically refer to the speed value of the UAV in the tangential direction when the drone is flying around
  • the surrounding trajectory of the elevation to be circulated can be determined in this step based on the obtained surrounding parameter information, and the surrounding trajectory of the elevation is specifically understandable
  • the orbiting trajectory used to control the UAV to fly around the facade
  • the surrounding track of the elevation is a plane centered on the point of interest
  • the surrounding radius is a radius
  • the plane on which the surrounding track of the elevation is located is perpendicular to the horizontal plane.
  • the position of the point of interest selected by the user can be extracted from the surround parameter information (the position of the point of interest can be represented by the spatial coordinates of the point of interest in the global coordinate system), and thus it can be formed to include the point of interest.
  • the vertical plane It can be known that if only the position of the point of interest is determined, it can determine multiple vertical planes centered on the point of interest, and any vertical plane determined can be used as the elevation orbit of this embodiment.
  • the capturing angle of view mode can be specifically used to limit the image capturing angle of view of the drone in flight.
  • menu options for different capturing angle modes can be preset for the user to select the angle of view mode.
  • the capturing perspective mode selected by the user may include a free capturing perspective mode, a directional capturing perspective mode, and a centripetal capturing perspective mode.
  • the capturing angle of view mode includes a free capturing angle of view mode and a centripetal capturing angle of view mode
  • the free capturing angle of view mode means that the shooting direction of the camera is any direction
  • the centripetal capturing angle of view mode means the The shooting direction of the shooting device always points to the point of interest. That is, the free capture perspective mode may specifically refer to the shooting device in the drone that can shoot in any shooting direction, and the centripetal capture perspective mode may specifically refer to the shooting device in the drone that needs to point to the point of interest for shooting.
  • Direction to shoot is
  • S104 Control the drone to fly along the trajectory of the elevation according to the capturing angle of view mode.
  • the drone can control the drone to circle in different flight modes. Flying, and different flight modes can be defined by different capture angle modes.
  • different capturing viewing angle modes can be set to correspond to different flight control rules, and the flight control rules can include rules for controlling the flight attitude and flight speed vector of the drone during flight.
  • different flight control rules are set for different capture angle modes in advance.
  • the corresponding flight control rules can be determined according to the selected capture angle mode, and the UAV can be controlled according to different flight control rules. Flying around the trajectory of the facade.
  • Figure 2a is a schematic flow chart of a method for controlling flying around an elevation according to the second embodiment of the present invention.
  • This embodiment is optimized on the basis of the above-mentioned embodiment.
  • the capturing perspective mode is further used. Control the drone to fly along the trajectory of the elevation, which is embodied as: when the capture view mode is the free capture view mode, use the first flight rule to control the drone to traverse the trajectory along the elevation Flight; when the capturing perspective mode is the centripetal capturing perspective mode, the second flight rule is adopted to control the drone to fly along the trajectory of the facade; wherein, the first flight rule and the second flight The rules are different.
  • the method for controlling the flying around the elevation provided by the second embodiment of the present invention specifically includes the following operations:
  • the surrounding parameter information may specifically include: position information of points of interest used to determine the surrounding trajectory of the elevation, and the surrounding radius, the surrounding direction, and the surrounding speed.
  • a plane with the point of interest as the surrounding center and perpendicular to the horizontal plane may be used as the plane of the surrounding trajectory of the elevation, and then the surrounding trajectory of the elevation may be formed according to the surrounding radius in the surrounding parameter information.
  • the camera on the drone can capture images from two capture angle modes.
  • This capture angle mode can be the free capture angle mode and the centripetal capture angle.
  • the free capture angle of view mode can also be called universal capture angle of view mode, in this capture angle mode, the pan/tilt in the shooting device of the drone can drive the camera to take aerial photography with a shooting angle of view in any direction;
  • the capturing angle of view mode can be understood as the lens direction of the camera in the shooting device is always aligned with the angle of view of the point of interest. In this angle of view mode, the camera can only take aerial photography from the shooting angle of view corresponding to the direction of the point of interest.
  • the first flight rule corresponding to the free capture angle of view can be used to control the drone to fly around the elevation.
  • the first flight rule defines that the flight attitude of the drone is that the fuselage is perpendicular to the trajectory of the elevation, and there is no The man-machine maintains this flight attitude during the flight. It should be noted that in this flight attitude, the drone is in a state where the top of the drone is facing up and the rotors are rotating horizontally.
  • the first flight rule also defines the speed channel of the drone, and the speed channel includes the speed vector in the vertical direction and the speed vector in the horizontal direction along the left and right sides of the drone.
  • the vector size of these two directions can be adjusted to keep the UAV flying at a constant speed around the tangent direction of the trajectory.
  • using the first flight rule to control the drone to fly along the trajectory of the elevation can be embodied as: controlling the first flight of the drone to keep the fuselage perpendicular to the trajectory of the elevation during flight Attitude; when the UAV is flying in the first flight attitude, the first velocity vector of the UAV at each trajectory point of the trajectory of the elevation is adjusted to make the UAV along the elevation The surface circles the track at a constant speed.
  • the first flight rule it is necessary to control the drone to fly in the first flight attitude.
  • the first flight attitude is that the fuselage is perpendicular to the trajectory of the facade.
  • the first flight rule also requires Adjust the first speed vector of the drone at each trajectory point.
  • the first speed vector is specifically set according to the first flight attitude, and mainly includes the speed vector in the vertical direction and the horizontal direction along the left and right sides of the drone. Speed vector.
  • Fig. 2b shows a schematic diagram of the first flight attitude of the UAV when flying along the trajectory of the elevation.
  • the fuselage of the UAV 21 is perpendicular to the trajectory 22 of the elevation, and The top of the drone 21 is kept facing up, and the rotors are rotating horizontally.
  • the second flight rule corresponding to the centripetal capture angle of view can be used to control the drone to fly around the elevation.
  • the second flight rule defines the flight attitude of the drone as the axis of the fuselage and the elevation. The trajectory is on the same plane, and during the flight of the drone, if the drone is at the highest trajectory point or the lowest trajectory point, the current flight attitude will be mirrored, and the flight attitude adjusted by mirroring will continue to fly until it reaches The highest trajectory point or the lowest trajectory point is mirrored again, and the purpose of the mirroring adjustment is to ensure that the pan/tilt lens can be aligned with the center of the trajectory around the facade in real time within the range of the pan/tilt.
  • the second flight rule also defines the speed channel of the drone, and the speed channel includes the speed vector in the parallel direction of the fuselage and the speed vector in the vertical direction.
  • the vector size of these two directions can be adjusted to keep the UAV flying at a constant speed around the tangent direction of the trajectory.
  • using the second flight rule to control the drone to fly along the trajectory of the elevation can be embodied as: controlling the drone to keep the axis of the fuselage and the trajectory of the elevation in the same plane during flight
  • the second flight attitude of the drone is mirrored along the set axis, and the converted mirror attitude is taken as A new second flight attitude;
  • the UAV is flying in the second flight attitude, the second speed vector of the UAV at each track point of the trajectory of the elevation is adjusted to make the unmanned The plane flies at a constant speed along the trajectory of the facade.
  • the second flight rule it is necessary to control the drone to fly in a second flight attitude.
  • the second flight attitude is that the axis of the fuselage and the trajectory of the elevation are on the same plane.
  • the rules also need to regulate the second speed vector of the drone at each trajectory point.
  • the second speed vector is specifically set according to the second flight attitude, and mainly includes the speed vector in the parallel direction of the fuselage and the vertical direction. Speed vector.
  • the setting axis when mirroring the second flight attitude may specifically be a straight line passing through the highest trajectory point and the lowest trajectory point.
  • the main purpose of flying around the elevation of the drone in this embodiment is to perform aerial photography. Therefore, it is necessary to control the camera during the flight of the drone to capture images in a capturing mode corresponding to the capturing perspective mode.
  • the capture angle mode includes free capture angle view mode and centripetal capture angle view mode.
  • the pan/tilt in the shooting device can be controlled to rotate at will, and the camera can be controlled during the rotation of the pan/tilt. To capture images, or you can adjust the pan/tilt in real time to align the camera to the center of the circle to capture images.
  • the above-mentioned process of controlling the pan/tilt lens set at the nose of the drone to perform image capture based on the capturing angle of view mode can be expressed as: when the capturing angle of view mode is the free capturing angle of view mode, controlling the pan/tilt The lens captures images in any viewing angle direction; when the capturing viewing angle mode is a centripetal capturing viewing angle mode, control and adjust the viewing angle direction of the pan/tilt lens to align with the surrounding center of the surrounding track of the facade for image capture.
  • the executor of this embodiment can control the photographing device installed at the nose of the drone.
  • the camera can control the pan/tilt to adjust the angle of view when the camera captures an image.
  • the capturing angle of view mode is the free capturing angle of view mode
  • the angle of view captured by the camera in the shooting device is not limited, and the angle of view direction of the camera can be selected within the maximum rotation range of the pan/tilt in the shooting device.
  • the capturing perspective mode is the centripetal capturing perspective mode
  • the perspective direction captured by the camera in the shooting device needs to be aligned with the surrounding center (that is, the point of interest) of the surrounding track of the facade in real time.
  • the second embodiment of the present invention provides a method for controlling the flight around the elevation, which embodies the realization process of the drone flying around the elevation in different capturing angle modes.
  • the drone can fly around the elevation.
  • the UAV can fly around the points of interest based on different image capture perspectives to fly in different attitudes, thereby providing a wider range of flight modes for special inspection scenarios such as bridge inspection inspections and security inspections.
  • it also provides a new lens to capture the field of view for the drone's intelligent aerial photography, thereby effectively improving the functional practicability of the drone's flying around points of interest.
  • Fig. 3 is a structural block diagram of a control device for flying around the elevation provided by the third embodiment of the present invention.
  • the device can be suitable for controlling drones to fly around points of interest.
  • the device can adopt software and/or hardware It can be integrated in the drone.
  • the device includes: an information acquisition module 31, a trajectory determination module 32, a viewing angle acquisition module 33, and a flight control module 34.
  • the information acquisition module 31 is configured to acquire surround parameter information of the drone, where the surround parameter information includes position information of points of interest and the surround radius of the drone;
  • the trajectory determination module 32 determines the surrounding trajectory of the elevation to be surrounded according to the surrounding parameter information, wherein the surrounding trajectory of the elevation is a plane centered on the point of interest and the surrounding radius is a radius, and The plane where the façade surrounds the track is perpendicular to the horizontal plane;
  • the angle of view acquisition module 33 is configured to obtain a capturing angle of view mode, wherein the capturing angle of view mode includes a free capturing angle of view mode and a centripetal capturing angle of view mode.
  • the free capturing angle of view mode means that the shooting direction of the camera is any direction
  • the centripetal capture angle of view mode means that the shooting direction of the shooting device always points to the point of interest;
  • the flight control module 34 is configured to control the UAV to fly along the trajectory of the elevation according to the capturing angle mode.
  • the flight control module 34 includes:
  • the first flight rule is different from the second flight rule.
  • the first control unit is specifically configured to:
  • the control device for flying around the elevation provided by this embodiment can realize the flying of the UAV in different attitudes around the point of interest based on different image capturing perspectives, thereby providing special inspections for bridge inspections and security inspections.
  • the inspection scene provides a wider range of flight modes, and at the same time provides a new lens capture field of view for the UAV to perform intelligent aerial photography, thereby effectively improving the functional practicability of the UAV flying around points of interest.
  • FIG. 4 is a schematic diagram of the hardware structure of an unmanned aerial vehicle according to the fourth embodiment of the present invention.
  • the drone shown in FIG. 4 is only an example, and should not bring any limitation to the function and application scope of the embodiment of the present invention.
  • the drone provided by the fourth embodiment of the present invention includes: a fuselage (not shown), an arm (not shown), a power device 41, a photographing device 42, as well as a processor 43 and a storage device 44.
  • the arm of the unmanned aerial vehicle of this embodiment is connected to the fuselage; the power device 41 is arranged on the arm, and the photographing device 42 is arranged on the fuselage and connected to the fuselage.
  • the photographing device includes a pan-tilt and a pan-tilt.
  • the connected camera, in addition, the processor 43 and the storage device 44 are both installed in the fuselage, and there can be one or more processors.
  • one processor 43 is taken as an example.
  • the power device in the drone 41 and the camera 42 are respectively connected to the processor 43 through a bus or other means to receive control instructions of the processing 44; at the same time, the processor 43 and the storage device 44 can also be connected through a bus or other means. Take for example.
  • the program when one or more programs included in the aforementioned drone are executed by the one or more processors 43, the program performs the following operations:
  • the surround parameter information includes the position information of the point of interest and the surround radius of the drone; according to the surround parameter information, determine the surrounding trajectory of the facade to be surrounded, Wherein, the surrounding trajectory of the elevation is a plane centered on the point of interest, the surrounding radius is a radius, and the plane on which the trajectory of the elevation is located is perpendicular to the horizontal plane; the capturing perspective mode is acquired, wherein the capturing The angle of view mode includes a free capture angle of view mode and a centripetal capture angle of view mode.
  • the embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for controlling the flying around the facade as provided by all the embodiments of the invention is obtained: obtaining user presets According to the surrounding parameter information, determine the surrounding trajectory of the elevation to be surrounded; according to the flight rule corresponding to the capturing perspective mode, control the drone to fly along the trajectory of the vertical.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

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Abstract

本发明实施例公开了一种立面环绕的飞行控制方法、装置、终端及存储介质，该方法包括：获取所述无人机的环绕参数信息；根据所述环绕参数信息，确定待环绕的立面环绕轨迹，其中，所述立面环绕轨迹为以所述兴趣点为中心，所述环绕半径为半径的平面，且所述立面环绕轨迹所在的平面垂直于水平面；获取捕获视角模式；根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行。通过本发明的技术方案，能够实现无人机基于不同的图像捕获视角环绕兴趣点进行不同姿态的立面飞行，由此为桥梁环绕检查巡检及安防巡检等特殊巡检场景提供了更广泛的飞行方式，同时也提升了无人机兴趣点环绕飞行的功能实用性。

Description

立面环绕飞行的控制方法、装置、终端及存储介质
本申请要求于2019年4月19日提交中国专利局、申请号为201910319646.9、申请名称为“立面环绕飞行的控制方法、装置、终端及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及无人机技术领域，尤其涉及立面环绕的飞行控制方法、装置、终端及存储介质。
背景技术
目前，无人机产品多用于航拍，而消费级的无人机产品则将一些原来需要丰富航拍操纵经验及精细操控的飞行航拍动作通过程序来智能化自主实现，由此更好打开了消费级无人机产品的市场。
现有无人机具备兴趣点环绕的智能飞行功能，该功能能够在环绕兴趣点飞行过程中进行航拍或安防巡检等应用的图像捕获，然而，现有兴趣点环绕仅限于在水平平面上的环绕飞行，由此限定了无人机上的镜头的进行图像捕获的捕获视角，进而降低了无人机兴趣点环绕飞行的功能实用性。
发明内容
本发明实施例提供了一种立面环绕的飞行控制方法、装置、终端及存储介质，以实现无人机在不同捕获视角下的立面环绕飞行。
第一方面，本发明实施例提供了一种立面环绕的飞行控制方法，用于无人机，所述无人机包括机身和设于所述机身的拍摄装置，包括：
获取所述无人机的环绕参数信息，其中，所述环绕参数信息包括兴趣点的位置信息和所述无人机的环绕半径；
根据所述环绕参数信息，确定待环绕的立面环绕轨迹，其中，所述立面环绕轨迹为以所述兴趣点为中心，所述环绕半径为半径的平面，且所述立面环绕轨迹所在的平面垂直于水平面；
获取捕获视角模式，其中，所述捕获视角模式包括自由捕获视角模式和向心捕获视角模式，所述自由捕获视角模式是指所述拍摄装置的拍摄方向为任意方向，所述向心捕获视角模式是指所述拍摄装置的拍摄方向始终指向所述兴趣点；
根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行。
进一步的，所述根据所述捕获视角模式，控制所述无人机沿所述立面环绕 轨迹飞行，包括：
当所述捕获视角模式为所述自由捕获视角模式时，采用第一飞行规则控制无人机沿所述立面环绕轨迹飞行；
当所述捕获视角模式为所述向心捕获视角模式时，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行；
其中，所述第一飞行规则与所述第二飞行规则不同。
进一步的，所述当所述捕获视角模式为所述自由捕获视角模式时，采用第一飞行规则控制无人机沿所述立面环绕轨迹飞行，包括：
当所述捕获视角模式为自由捕获视角时，控制所述无人机在飞行中保持机身与所述立面环绕轨迹垂直的第一飞行姿态；
在所述无人机以第一飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第一速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
进一步地，所述当所述捕获视角模式为所述向心捕获视角模式时，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行，包括：
当所述捕获视角模式为向心捕获视角时，控制所述无人机在飞行中保持机身的轴线与所述立面环绕轨迹处于同一平面的第二飞行姿态，并当所述无人机飞行至所述最高轨迹点或最低轨迹点时，沿设定轴镜像转换所述无人机的第二飞行姿态，将转换后的镜像姿态作为新的第二飞行姿态；
在所述无人机以第二飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第二速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
第二方面，本发明实施例还提供了一种立面环绕飞行的控制装置，配置于无人机，所述无人机包括机身和设于所述机身的拍摄装置，该装置包括：
信息获取模块，用于获取所述无人机的环绕参数信息，其中，所述环绕参数信息包括兴趣点的位置信息和所述无人机的环绕半径；
轨迹确定模块，根据所述环绕参数信息，确定待环绕的立面环绕轨迹，其中，所述立面环绕轨迹为以所述兴趣点为中心，所述环绕半径为半径的平面，且所述立面环绕轨迹所在的平面垂直于水平面；
视角获取模块，用于获取捕获视角模式，其中，所述捕获视角模式包括自由捕获视角模式和向心捕获视角模式，所述自由捕获视角模式是指所述拍摄装置的拍摄方向为任意方向，所述向心捕获视角模式是指所述拍摄装置的拍摄方向始终指向所述兴趣点；
飞行控制模块，用于根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行。
进一步地，所述飞行控制模块，包括：
所述飞行控制模块，包括：
第一控制单元，用于当所述捕获视角模式为所述自由捕获视角模式时，采 用第一飞行规则控制无人机沿所述立面环绕轨迹飞行；
第二控制单元，用于当所述捕获视角模式为所述向心捕获视角模式时，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行；
其中，所述第一飞行规则与所述第二飞行规则不同。
进一步的，所述第一控制单元，具体用于：
当所述捕获视角模式为自由捕获视角时，控制所述无人机在飞行中保持机身与所述立面环绕轨迹垂直的第一飞行姿态；
在所述无人机以第一飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第一速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
进一步的，所述第二控制单元，具体用于：
当所述捕获视角模式为向心捕获视角时，控制所述无人机在飞行中保持机身的轴线与所述立面环绕轨迹处于同一平面的第二飞行姿态，并当所述无人机飞行至所述最高轨迹点或最低轨迹点时，沿设定轴镜像转换所述无人机的第二飞行姿态，将转换后的镜像姿态作为新的第二飞行姿态；
在所述无人机以第二飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第二速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
第三方面，本发明实施例还提供了一种无人机，包括：
机身；
机臂，与所述机身相连；
动力装置，设于所述机臂；
拍摄装置，与所述机身相连，所述拍摄装置包括云台和与所述云台相连的相机；
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如本发明实施例中任一所述的立面环绕飞行的控制方法。
第四方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本发明实施例中任一所述的立面环绕飞行的控制方法。
本发明实施例提供了立面环绕的飞行控制方法、装置、终端及存储介质，该方法首先获取无人机的环绕参数信息；然后根据环绕参数信息，确定待环绕的立面环绕轨迹；之后获取捕获视角模式，最终根据所述捕获视角模式，控制无人机沿所述立面环绕轨迹飞行。利用该方法，能够实现无人机基于不同的图像捕获视角环绕兴趣点进行不同姿态的立面飞行，由此为桥梁环绕检查巡检及安防巡检等特殊巡检场景提供了更广泛的飞行方式，同时也提升了无人机兴趣 点环绕飞行的功能实用性。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1a为本发明实施例一提供的一种立面环绕飞行的控制方法的流程示意图；
图1b为本发明实施例一提供的一种用于飞行航拍的无人机的示例结构框图；
图2a为本发明实施例二提供的一种立面环绕飞行的控制方法的流程示意图；
图2b给出了无人机沿立面环绕轨迹飞行时第一飞行姿态的示意图；
图2c给出了无人机沿立面环绕轨迹飞行时第二飞行姿态的示意图；
图3为本发明实施例三提供的一种立面环绕飞行的控制装置的结构框图；
图4为本发明实施例四提供的一种无人机的硬件结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本发明的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
实施例一
图1a为本发明实施例一提供的一种立面环绕飞行的控制方法的流程示意图，该方法可适用于控制无人机进行兴趣点环绕飞行的情况，该方法可以由本发明实施例中的立面环绕飞行的控制装置来执行，该装置可采用软件和/或硬件的方式实现，具体可集成在无人机中。
需要说明的是，本发明实施例所提供方法具体涉及了智能航拍的消费级无人机产品，该消费级无人机产品为用于飞行航拍的无人机，该无人机中可以集成有功能程序，以使无人机通过集成的功能程序进行自主飞行，由此本实施例所提供方法的执行主体可以为无人机。
同时，图1b为本发明实施例一提供的一种用于飞行航拍的无人机的示例结构框图，如图1b所示，该消费级无人机的外形结构具体包括了：机身11、 位于机身11顶端四角的机臂12以及位于机身11侧端与机身11相连的拍摄装置13，机臂12中设置了带动机臂旋转的动力装置，拍摄装置13主要包括了云台和与云台相连的相机，相机可用于捕获图像信息且云台用于调整相机的捕获视角。
需要说明的是，对于具备上述外形结构的消费级无人机，可将机身上设置有拍摄装置的一端记为机头，并将机头这端作为无人机的前端，机头的对应端作为无人机的后端，若以机头方向为正方向，则可将机头的左右端分别作为无人机的左侧和右侧。
具体地，如图1a所示，本发明实施例提供的一种立面环绕飞行的控制方法，包括如下步骤：
S101、获取所述无人机的环绕参数信息。
在本实施例中，所述环绕参数信息具体可理解为用于确定无人机环绕飞行所需环绕平面的参数信息，所述环绕参数具体可以包括：兴趣点的位置信息、所述无人机的环绕半径、环绕方向和环绕速度等，其中，所述兴趣点具体可理解为用户预先设定的无人机环绕飞行所需的环绕中心；且兴趣点的位置信息具体可包括兴趣点的地理坐标，所述地理坐标具体可理解为全球地理坐标系中的经纬度值。
可以知道的是，作为本实施例执行主体的无人机可获取用户预先选择或输入的兴趣点位置信息以及形成环绕平面所需的环绕半径、环绕方向以及环绕速度等参数信息。具体地，本步骤可以获取用户预先设定的兴趣点位置信息、环绕半径、环绕方向以及环绕速度等参数信息，以用于后续立面环绕轨迹的确定，其中，所述环绕方向可以是顺时针环绕或逆时针环绕，所述环绕速度具体可指无人机环绕飞行时在切线方向的速度值
S102、根据所述环绕参数信息，确定待环绕的立面环绕轨迹。
在本实施例中，为实现无人机的在竖直平面的兴趣点环绕飞行，可以通过本步骤基于获取的环绕参数信息确定待环绕的立面环绕轨迹，所述立面环绕轨迹具体可理解为控制无人机进行立面环绕飞行所依据的环绕轨迹。其中，所述立面环绕轨迹为以所述兴趣点为中心，所述环绕半径为半径的平面，且所述立面环绕轨迹所在的平面垂直于水平面。
具体地，本步骤首先可以从环绕参数信息中提取用户选定的兴趣点位置(所述兴趣点位置可通过兴趣点在全局坐标系中的空间坐标来表示)，由此可形成包含该兴趣点的竖直平面。可以知道的是，如果只确定兴趣点位置，其可确定出多个以该兴趣点为中心的竖直平面，所确定出的任一竖直平面均可作为本实施例的立面环绕轨迹，
S103、获取捕获视角模式。
在本实施例中，所述捕获视角模式具体可用于限定无人机飞行中的图像捕获视角，本实施例可预先设定不同捕获视角模式的菜单选项，以供用户进行视角模式选择。示例性地，供用户选择的捕获视角模式可以有自由捕获视角模式， 定向捕获视角模式以及向心捕获视角模式等。
优选地，所述捕获视角模式包括自由捕获视角模式和向心捕获视角模式，所述自由捕获视角模式是指所述拍摄装置的拍摄方向为任意方向，所述向心捕获视角模式是指所述拍摄装置的拍摄方向始终指向所述兴趣点。即，所述自由捕获视角模式具体可以指无人机中的拍摄装置能够以任意拍摄方向进行拍摄，所述向心捕获视角模式具体可以指无人机中的拍摄装置需要以指向兴趣点的拍摄方向进行拍摄。
S104、根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行。
可以理解的是，本实施例需要实现的是控制无人机在立面环绕轨迹上环绕飞行，一般地，作为本实施例执行主体的无人机可以控制无人机以不同的飞行模式进行环绕飞行，而不同的飞行模式则可通过不同捕获视角模式来限定。
在本实施例中，可设定不同的捕获视角模式对应了不同的飞行控制规则，所述飞行控制规则中可以包括对无人机飞行时飞行姿态以及飞行速度矢量等进行控制的规则。本实施例预先为不同的捕获视角模式设定不同的飞行控制规则，本步骤可以根据选定的捕获视角模式来确定相应的飞行控制规则，并根据不同的飞行控制规则来控制无人机沿立面环绕轨迹进行立面环绕飞行。
本发明实施例一提供的一种立面环绕飞行的控制方法，首先获取无人机的环绕参数信息；然后根据环绕参数信息，确定待环绕的立面环绕轨迹；之后获取捕获视角模式，最终根据所述捕获视角模式，控制无人机沿所述立面环绕轨迹飞行。利用该方法，能够实现无人机基于不同的图像捕获视角环绕兴趣点进行不同姿态的立面飞行，由此为桥梁环绕检查巡检及安防巡检等特殊巡检场景提供了更广泛的飞行方式，同时也提升了无人机兴趣点环绕飞行的功能实用性。
实施例二
图2a为本发明实施例二提供的一种立面环绕飞行的控制方法的流程示意图，本实施例以上述实施例为基础进行优化，在本实施例中，进一步将根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行，具体化为：当所述捕获视角模式为所述自由捕获视角模式时，采用第一飞行规则控制无人机沿所述立面环绕轨迹飞行；当所述捕获视角模式为所述向心捕获视角模式时，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行；其中，所述第一飞行规则与所述第二飞行规则不同。
如图2a所示，本发明实施例二提供的一种立面环绕飞行的控制方法，具体包括如下操作：
S201、获取无人机的环绕参数信息。
示例性地，可以获取到用户通过本实施例执行主体的输入模块输入环绕参数信息等。所述环绕参数信息具体可包括：用于确定立面环绕轨迹的兴趣点位置信息以及环绕半径、环绕方向以及环绕速度等。
S202、根据所述环绕参数信息，确定待环绕的立面环绕轨迹。
示例性地，可以将以兴趣点为环绕中心，且与水平面垂直的平面作为立面环绕轨迹的所在平面，之后可根据环绕参数信息中的环绕半径等形成立面环绕轨迹。
S203、获取捕获视角模式。
S204、若为自由捕获视角模式，则执行S205；若为向心捕获视角模式，则执行S206。
在本实施例中，控制无人机进行立面环绕飞行时，无人机上的拍摄装置可以从两个捕获视角模式进行图像捕获，这个捕获视角模式可分别为自由捕获视角模式和向心捕获视角模式，所述自由捕获视角模式还可称为万向捕获视角模式，在该捕获视角模式下，无人机上拍摄装置中的云台可以带动相机以任意方向的拍摄视角进行航拍；所述向心捕获视角模式则可理解为拍摄装置中相机的镜头方向总是对准兴趣点的视角，在该视角模式下，相机只能以对应兴趣点方向的拍摄视角进行航拍。
本实施例为实现捕获视角模式下的有效航拍，对应各捕获视角模式设定了相应的飞行规则，本步骤在捕获视角模式不同时，后续采用不同的步骤来实现对无人机立面环绕飞行的不同控制。具体地，可以在捕获视角模式为自由捕获视角模式时，执行S205来实现飞行控制，或者，在为向心捕获视角模式时，执行S206来实现飞行控制。
S205、采用第一飞行规则控制无人机沿所述立面环绕轨迹飞行。
本步骤可以采用对应自由捕获视角的第一飞行规则来控制无人机立面环绕飞行，所述第一飞行规则中限定了无人机的飞行姿态为机身与立面环绕轨迹垂直，且无人机在飞行过程中一直保持该飞行姿态。需要说明的是，该飞行姿态下，无人机处于机顶朝上且各旋翼水平转动的状态。
同时，所述第一飞行规则中还限定了无人机的速度通道，速度通道中包括了竖直方向的速度矢量以及沿无人机左右侧水平方向的速度矢量。在无人机飞行过程中，可以通过控制调整这两个方向的矢量大小来保持无人机在立面环绕轨迹切线方向的匀速飞行。
进一步地，采用第一飞行规则控制无人机沿所述立面环绕轨迹飞行，可具体化为：控制所述无人机在飞行中保持机身与所述立面环绕轨迹垂直的第一飞行姿态；在所述无人机以第一飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第一速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
可以理解的是，所述第一飞行规则中需要控制无人机保持第一飞行姿态飞行，所述第一飞行姿态为机身与所述立面环绕轨迹垂直，该第一飞行规则中还需要调整无人机在各轨迹点处的第一速度矢量，所述第一速度矢量具体根据第一飞行姿态来设定，主要包括了竖直方向的速度矢量以及沿无人机左右侧水平方向的速度矢量。
示例性地，图2b给出了无人机沿立面环绕轨迹飞行时第一飞行姿态的示 意图，如图2b所示，无人机21的机身与立面环绕轨迹22呈垂直状态，且无人机21的机顶保持朝上状态，各旋翼水平转动的状态。
S206、采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行。
本步骤可以采用对应向心捕获视角的第二飞行规则来控制无人机立面环绕飞行，所述第二飞行规则中限定了无人机的飞行姿态为机身的轴线与所述立面环绕轨迹处于同一平面，且无人机在飞行过程中，如果无人机处于最高轨迹点或最低轨迹点处，将对当前的飞行姿态进行镜像调整，并采用镜像调整后的飞行姿态继续飞行直至到达最高轨迹点或最低轨迹点再次镜像调整，其镜像调整的目的就是保证云台镜头能够在云台可转动的范围内保证云台镜头实时对准所述立面环绕轨迹的环绕中心。
同时，所述第二飞行规则中也限定了无人机的速度通道，速度通道中包括了机身平行方向的速度矢量以及竖直方向的速度矢量。在无人机飞行过程中，可以通过控制调整这两个方向的矢量大小来保持无人机在立面环绕轨迹切线方向的匀速飞行。
进一步地，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行，可具体化为：控制所述无人机在飞行中保持机身的轴线与所述立面环绕轨迹处于同一平面的第二飞行姿态，并当所述无人机飞行至所述最高轨迹点或最低轨迹点时，沿设定轴镜像转换所述无人机的第二飞行姿态，将转换后的镜像姿态作为新的第二飞行姿态；在所述无人机以第二飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第二速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
可以理解的是，所述第二飞行规则中需要控制无人机保持第二飞行姿态飞行，所述第二飞行姿态为机身的轴线与所述立面环绕轨迹处于同一平面，该第二飞行规则中还需要调控无人机在各轨迹点处的第二速度矢量，所述第二速度矢量具体根据第二飞行姿态来设定，主要包括了机身平行方向的速度矢量以及竖直方向的速度矢量。此外，在本实施例中，镜像第二飞行姿态时的设定轴具体可以是经过最高轨迹点与最低轨迹点的直线。
示例性地，图2c给出了无人机沿立面环绕轨迹飞行时第二飞行姿态的示意图，如图2c所示，无人机23的机身的轴线与立面环绕轨迹24处于同一平面，且无人机飞行至最高轨迹点25时，沿镜像轴26镜像调整飞行姿态，此外，无人机23飞行过程中的旋翼保持水平且向上的状态，云台镜头保持始终对应环绕中心的状态。
同时，可以理解的是，本实施例中无人机立面环绕飞行的主要目的在于进行航拍，由此需要在无人机飞行过程中控制拍摄装置以对应捕获视角模式的捕获方式进行图像捕获。可以理解的是，本实施例考虑捕获视角模式包括自由捕获视角模式和向心捕获视角模式，不同捕获视角模式下，可控制拍摄装置中的云台随意转动，并在云台转动过程中控制相机来捕获图像，或者还可实时调整云台以使相机对准环绕中心来捕获图像。
具体地，上述控制设置于无人机机头处的云台镜头基于所述捕获视角模式进行图像捕获的过程可表述为：当所述捕获视角模式为自由捕获视角模式时，控制所述云台镜头以任一视角方向进行图像捕获；当所述捕获视角模式为向心捕获视角模式时，控制调整所述云台镜头的视角方向对准所述立面环绕轨迹的环绕中心进行图像捕获。
在本实施例中，本实施例的执行主体可以对设置于无人机机头处的拍摄装置进行控制，具体可通过控制云台来调整相机捕获图像时的视角方向。当捕获视角模式为自由捕获视角模式时，拍摄装置中相机捕获的视角方向没有限制，可以在拍摄装置中云台转动的最大转动范围内确定选择相机的视角方向。当所述捕获视角模式为向心捕获视角模式时，拍摄装置中相机捕获的视角方向需要实时对准立面环绕轨迹的环绕中心(即兴趣点)。
示例性地，当无人机处于最低轨迹点时，就需要控制云台的俯仰角为正90度，当无人机处于最高轨迹点是，就需要控制云台的俯仰角为负90度。
本发明实施例二提供的一种立面环绕飞行的控制方法，具体化了无人机在不同捕获视角模式下进行立面环绕飞行的实现过程，此外还给出了无人机在立面环绕飞行中进行不同捕获视角模式的图像捕获过程。利用该方法，能够实现无人机基于不同的图像捕获视角环绕兴趣点进行不同姿态的立面飞行，由此为桥梁环绕检查巡检及安防巡检等特殊巡检场景提供了更广泛的飞行方式，同时也为无人机进行智能航拍提供了新的镜头捕获视野，从而有效提升了无人机兴趣点环绕飞行的功能实用性。
实施例三
图3为本发明实施例三提供的一种立面环绕飞行的控制装置的结构框图，该装置可适用于控制无人机进行兴趣点环绕飞行的情况，该装置可采用软件和/或硬件的方式实现，具体可集成在无人机中。如图3所示，该装置包括：信息获取模块31、轨迹确定模块32、视角获取模块33以及飞行控制模块34。
其中，信息获取模块31，用于获取所述无人机的环绕参数信息，其中，所述环绕参数信息包括兴趣点的位置信息和所述无人机的环绕半径；
轨迹确定模块32，根据所述环绕参数信息，确定待环绕的立面环绕轨迹，其中，所述立面环绕轨迹为以所述兴趣点为中心，所述环绕半径为半径的平面，且所述立面环绕轨迹所在的平面垂直于水平面；
视角获取模块33，用于获取捕获视角模式，其中，所述捕获视角模式包括自由捕获视角模式和向心捕获视角模式，所述自由捕获视角模式是指所述拍摄装置的拍摄方向为任意方向，所述向心捕获视角模式是指所述拍摄装置的拍摄方向始终指向所述兴趣点；
飞行控制模块34，用于根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行。
可选的，飞行控制模块34，包括：
第一控制单元，用于当所述捕获视角模式为所述自由捕获视角模式时，采 用第一飞行规则控制无人机沿所述立面环绕轨迹飞行；
第二控制单元，用于当所述捕获视角模式为所述向心捕获视角模式时，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行；
其中，所述第一飞行规则与所述第二飞行规则不同。
进一步的，所述第一控制单元，具体用于：
当所述捕获视角模式为自由捕获视角时，控制所述无人机在飞行中保持机身与所述立面环绕轨迹垂直的第一飞行姿态；
在所述无人机以第一飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第一速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
进一步的，所述第二控制单元，具体用于：
当所述捕获视角模式为向心捕获视角时，控制所述无人机在飞行中保持机身的轴线与所述立面环绕轨迹处于同一平面的第二飞行姿态，并当所述无人机飞行至所述最高轨迹点或最低轨迹点时，沿设定轴镜像转换所述无人机的第二飞行姿态，将转换后的镜像姿态作为新的第二飞行姿态；
在所述无人机以第二飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第二速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
本实施例提供的立面环绕飞行的控制装置，能够实现无人机基于不同的图像捕获视角环绕兴趣点进行不同姿态的立面飞行，由此为桥梁环绕检查巡检及安防巡检等特殊巡检场景提供了更广泛的飞行方式，同时也为无人机进行智能航拍提供了新的镜头捕获视野，从而有效提升了无人机兴趣点环绕飞行的功能实用性。
实施例四
图4为本发明实施例四提供的一种无人机的硬件结构示意图。图4显示的无人机仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。如图4所示，本发明实施例四提供的无人机，包括：机身(未示出)、机臂(未示出)，动力装置41、拍摄装置42、以及处理器43和存储装置44。本实施例的无人机中的机臂与机身相连；动力装置41设置于机臂上，拍摄装置42设置于机身上，与机身相连，其中，拍摄装置包括云台及与云台相连的相机，此外，处理器43和存储装置44均设置与机身内，且处理器可以是一个或多个，图4中以一个处理器43为例，所述无人机中的动力装置41及拍摄装置42分别通过总线或其他方式与处理器43连接，以接收处理44的控制指令；同时，处理器43和存储装置44也可以通过总线或其他方式连接，图4中以通过总线连接为例。
该无人机中的存储装置44作为一种计算机可读存储介质，可用于存储一个或多个程序，所述程序可以是软件程序、计算机可执行程序以及模块，如本发明实施例一或二所提供立面环绕飞行的控制方法对应的程序指令/模块(例 如，附图3所示的立面环绕飞行的控制装置中的模块，包括：信息获取模块31、轨迹确定模块32、视角获取模块33以及飞行控制模块34)。处理器43通过运行存储在存储装置44中的软件程序、指令以及模块，从而执行无人机的各种功能应用以及数据处理，即实现上述方法实施例中立面环绕飞行的控制方法。
存储装置44可包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据设备的使用所创建的数据等。此外，存储装置44可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储装置44可进一步包括相对于处理器43远程设置的存储器，这些远程存储器可以通过网络连接至设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
并且，当上述无人机所包括一个或者多个程序被所述一个或者多个处理器43执行时，程序进行如下操作：
获取所述无人机的环绕参数信息，其中，所述环绕参数信息包括兴趣点的位置信息和所述无人机的环绕半径；根据所述环绕参数信息，确定待环绕的立面环绕轨迹，其中，所述立面环绕轨迹为以所述兴趣点为中心，所述环绕半径为半径的平面，且所述立面环绕轨迹所在的平面垂直于水平面；获取捕获视角模式，其中，所述捕获视角模式包括自由捕获视角模式和向心捕获视角模式，所述自由捕获视角模式是指所述拍摄装置的拍摄方向为任意方向，所述向心捕获视角模式是指所述拍摄装置的拍摄方向始终指向所述兴趣点；根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行。
本发明实施例提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请所有发明实施例提供的立面环绕飞行的控制方法：获取用户预设的捕获视角模式和环绕参数信息；根据所述环绕参数信息，确定待环绕的立面环绕轨迹；根据所述捕获视角模式对应的飞行规则，控制无人机沿所述立面环绕轨迹飞行。
可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数 据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种立面环绕飞行的控制方法，用于无人机，所述无人机包括机身和设于所述机身的拍摄装置，其特征在于，包括：
    获取所述无人机的环绕参数信息，其中，所述环绕参数信息包括兴趣点的位置信息和所述无人机的环绕半径；
    根据所述环绕参数信息，确定待环绕的立面环绕轨迹，其中，所述立面环绕轨迹为以所述兴趣点为中心，所述环绕半径为半径的平面，且所述立面环绕轨迹所在的平面垂直于水平面；
    获取捕获视角模式，其中，所述捕获视角模式包括自由捕获视角模式和向心捕获视角模式，所述自由捕获视角模式是指所述拍摄装置的拍摄方向为任意方向，所述向心捕获视角模式是指所述拍摄装置的拍摄方向始终指向所述兴趣点；
    根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行，包括：
    当所述捕获视角模式为所述自由捕获视角模式时，采用第一飞行规则控制无人机沿所述立面环绕轨迹飞行；
    当所述捕获视角模式为所述向心捕获视角模式时，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行；
    其中，所述第一飞行规则与所述第二飞行规则不同。
  3. 根据权利要求2所述的方法，其特征在于，所述当所述捕获视角模式为所述自由捕获视角模式时，采用第一飞行规则控制无人机沿所述立面环绕轨迹飞行，包括：
    当所述捕获视角模式为自由捕获视角时，控制所述无人机在飞行中保持机身与所述立面环绕轨迹垂直的第一飞行姿态；
    在所述无人机以第一飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第一速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
  4. 根据权利要求2所述的方法，其特征在于，所述当所述捕获视角模式为所述向心捕获视角模式时，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行，包括：
    当所述捕获视角模式为向心捕获视角时，控制所述无人机在飞行中保持机身的轴线与所述立面环绕轨迹处于同一平面的第二飞行姿态，并当所述无人机飞行至所述最高轨迹点或最低轨迹点时，沿设定轴镜像转换所述无人机的第二 飞行姿态，将转换后的镜像姿态作为新的第二飞行姿态；
    在所述无人机以第二飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第二速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
  5. 一种立面环绕飞行的控制装置，配置于无人机，所述无人机包括机身和设于所述机身的拍摄装置，其特征在于，包括：
    信息获取模块，用于获取所述无人机的环绕参数信息，其中，所述环绕参数信息包括兴趣点的位置信息和所述无人机的环绕半径；
    轨迹确定模块，根据所述环绕参数信息，确定待环绕的立面环绕轨迹，其中，所述立面环绕轨迹为以所述兴趣点为中心，所述环绕半径为半径的平面，且所述立面环绕轨迹所在的平面垂直于水平面；
    视角获取模块，用于获取捕获视角模式，其中，所述捕获视角模式包括自由捕获视角模式和向心捕获视角模式，所述自由捕获视角模式是指所述拍摄装置的拍摄方向为任意方向，所述向心捕获视角模式是指所述拍摄装置的拍摄方向始终指向所述兴趣点；
    飞行控制模块，用于根据所述捕获视角模式，控制所述无人机沿所述立面环绕轨迹飞行。
  6. 根据权利要求5所述的装置，其特征在于，所述飞行控制模块，包括：
    第一控制单元，用于当所述捕获视角模式为所述自由捕获视角模式时，采用第一飞行规则控制无人机沿所述立面环绕轨迹飞行；
    第二控制单元，用于当所述捕获视角模式为所述向心捕获视角模式时，采用第二飞行规则控制无人机沿所述立面环绕轨迹飞行；其中，所述第一飞行规则与所述第二飞行规则不同。
  7. 根据权利要求6所述的装置，其特征在于，所述第一控制单元，具体用于：
    当所述捕获视角模式为自由捕获视角时，控制所述无人机在飞行中保持机身与所述立面环绕轨迹垂直的第一飞行姿态；
    在所述无人机以第一飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第一速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
  8. 根据权利要求6所述的装置，其特征在于，所述第二控制单元，具体用于：
    当所述捕获视角模式为向心捕获视角时，控制所述无人机在飞行中保持机身的轴线与所述立面环绕轨迹处于同一平面的第二飞行姿态，并当所述无人机 飞行至所述最高轨迹点或最低轨迹点时，沿设定轴镜像转换所述无人机的第二飞行姿态，将转换后的镜像姿态作为新的第二飞行姿态；
    在所述无人机以第二飞行姿态飞行中，调控所述无人机在所述立面环绕轨迹各轨迹点处的第二速度矢量，以使所述无人机沿所述立面环绕轨迹匀速飞行。
  9. 一种无人机，其特征在于，包括：
    机身；
    机臂，与所述机身相连；
    动力装置，设于所述机臂；
    拍摄装置，与所述机身相连，所述拍摄装置包括云台和与所述云台相连的相机；
    至少一个处理器；以及与所述至少一个处理器通信连接的存储装置；
    其中，所述存储装置存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-4中任一项所述的方法。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-4中任一项所述的立面环绕飞行的控制方法。
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CN112649003B (zh) * 2020-12-11 2024-03-12 国网辽宁省电力有限公司沈阳供电公司 一种基于组合导航和图像信息的无人机变高绕圈方法
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CN113625738B (zh) * 2021-08-17 2024-04-12 佛山市鹰火微峰科技有限公司 一种自适应姿态调整系统及方法

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