CN106909172A - Around tracking, device and unmanned plane - Google Patents
Around tracking, device and unmanned plane Download PDFInfo
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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
- G05D1/12—Target-seeking control
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Abstract
Circular tracking provided in an embodiment of the present invention, device and unmanned plane, are applied to flying vehicles control technical field.Methods described includes：The circular trace command that user terminal sends is received, destination object corresponding with the desire reference object is obtained.The current location in the unmanned plane acquired image and preset target position according to the destination object, calculate pose adjustment data.The unmanned plane adjustment attitude is controlled according to the pose adjustment data, so that the unmanned plane is around the tracking destination object.After determining that correspondence is intended to the destination object of reference object by user, do not need user to grasp multiple rudder amounts and control unmanned plane manually around tracking, pose adjustment is carried out and around tracking according to internal preset track algorithm by the unmanned plane, the semi-automatic reduction procedure that reference object is intended to around tracking of unmanned plane is realized, user experience is improve.
Description
Technical field
The present invention relates to flying vehicles control technical field, in particular to a kind of circular tracking, device and nobody
Machine.
Background technology
In tracking technique, unmanned plane is when carrying out surrounding tracking, it is necessary to user manually grasps for existing unmanned plane
The method of control come realize unmanned plane to the circular flight of target or around shoot.The manual control ring of user is around tracking, it is necessary to grasp
Author skillfully grasps using cooperatively for multiple rudder amounts, increased the use difficulty of beginner, reduces Consumer's Experience.
The content of the invention
In view of this, a kind of circular tracking, device and unmanned plane be the embodiment of the invention provides, it is intended to improve above-mentioned
Unmanned plane when carrying out surrounding tracking, it is necessary to user control manually multiple rudder amounts could control unmanned plane track surround, cause nothing
The problem that the circular operation difficulty considerable influence user of man-machine tracking uses.
To achieve these goals, the technical solution adopted by the present invention is as follows：
In a first aspect, a kind of circular tracking provided in an embodiment of the present invention, it is applied to surround track up and is intended to shoot
The unmanned plane of object.Methods described includes：The circular trace command that user terminal sends is received, is obtained and the desire reference object
Corresponding destination object.The current location in the unmanned plane acquired image and goal-selling according to the destination object
Position, calculates pose adjustment data.Control unmanned plane adjustment attitude according to the pose adjustment data so that it is described nobody
Machine is around the tracking destination object.
A kind of second aspect, circular tracks of device provided in an embodiment of the present invention is applied to surround track up and is intended to shoot
The unmanned plane of object.Described device includes：Command reception module, the circular trace command for receiving user terminal transmission.Mesh
Mark object acquisition module, for obtaining destination object corresponding with the desire reference object.Pose adjustment data computation module, uses
In the current location according to the destination object in the unmanned plane acquired image and preset target position, attitude is calculated
Adjustment data.Pose adjustment module, for controlling the unmanned plane adjustment attitude according to the pose adjustment data, so that described
Unmanned plane is around the tracking destination object.
A kind of third aspect, unmanned plane provided in an embodiment of the present invention, the unmanned plane includes：Memory；And treatment
Device, is electrically connected with the memory；And around tracks of device, the circular tracks of device is installed in the memory and wraps
Include one or more software function modules by the computing device.The circular tracks of device includes：Command reception module,
Circular trace command for receiving user terminal transmission.Semantic object extraction module, for obtaining with to be intended to reference object corresponding
Destination object.Pose adjustment data computation module, for according to the destination object in the unmanned plane acquired image
In current location and preset target position, calculate pose adjustment data.Pose adjustment module, for according to the pose adjustment
Data control the unmanned plane adjustment attitude, so that the unmanned plane is around the tracking destination object.
Circular tracking, device and unmanned plane that the invention described above is provided, for prior art unmanned plane it is circular with
, it is necessary to user controls multiple rudder amounts that unmanned plane could be controlled to track manually surround during track, unmanned plane is caused to track circular operation
The problem that difficulty considerable influence user uses.The circular tracking and device for providing are applied to nothing provided in an embodiment of the present invention
It is man-machine.After determining that correspondence is intended to the destination object of reference object by user, it is not necessary to which user grasps multiple rudder amounts and controls nothing manually
It is man-machine that pose adjustment is carried out and around tracking according to internal preset track algorithm by the unmanned plane around tracking, realize nothing
The man-machine semi-automatic reduction procedure that reference object is intended to around tracking, improves user experience.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is unmanned plane provided in an embodiment of the present invention interacts schematic diagram with user terminal；
Fig. 2 is the block diagram of unmanned plane provided in an embodiment of the present invention；
The step of Fig. 3 is the circular tracking of first embodiment of the invention offer flow chart；
Fig. 4 is the first embodiment of the invention unmanned plane applied and the relative position relation schematic diagram for being intended to reference object；
Fig. 5 second embodiment of the invention provide circular tracking the step of flow chart；
Fig. 6 is the module frame chart around tracks of device that third embodiment of the invention is provided；
Fig. 7 is the module frame chart of the unmanned plane that fourth embodiment of the invention is provided.
Specific embodiment
Those skilled in the art are seeking a kind of instrument or method for improving the problem always for a long time.
In consideration of it, designer of the invention is by long-term exploration and trial, and multiple experiment and effort, constantly
Reform and innovation, to draw and preferably surround tracking, device and unmanned plane shown in this programme.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.Therefore,
The detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit the model of claimed invention below
Enclose, but be merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
There is the every other embodiment made and being obtained under the premise of creative work, belong to the scope of protection of the invention.
The schematic diagram that reference picture 1 is unmanned plane provided in an embodiment of the present invention 200 to be interacted with user terminal 100.Nothing
Man-machine 200 are communicatively coupled by network with user terminal 100, to enter row data communication or interaction.User terminal 100 can be with
It is PC (personal computer, PC), panel computer, smart mobile phone, personal digital assistant (personal
Digital assistant, PDA) etc., or unmanned plane manual controller etc..In one embodiment, unmanned plane
200 can also be communicatively coupled by other transmission of wireless signals mode such as infrared ray, bluetooth and user terminal 100, other
Can realize that the mode of signal transmission between unmanned plane 200 and the user terminal 100 may be applicable to the present embodiment.
Reference picture 2, is the block diagram of unmanned plane 200.The unmanned plane 200 is included around tracks of device 201, storage
Device 202, storage control 203, processor 204, Peripheral Interface 205, input-output unit 206.
The memory 202, storage control 203, processor 204, Peripheral Interface 205, each yuan of input-output unit 206
Part is directly or indirectly electrically connected with each other, to realize the transmission or interaction of data.For example, these elements each other may be used
Realize being electrically connected with by one or more communication bus or holding wire.The circular tracks of device 201 can including at least one
During the memory 202 is stored in the form of the software or firmware (firmware).The processor 204 is used to perform memory
The executable module stored in 202, such as software function module or computer program that described circular tracks of device includes.
Wherein, memory 202 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 202 is used for storage program, and the processor 204 performs described program, subsequently after execute instruction is received
Method performed by the server/computer of the flow definition that embodiment of the present invention any embodiment is disclosed can apply to treatment
In device 204, or realized by processor 204.
Processor 204 is probably a kind of IC chip, the disposal ability with signal.Above-mentioned processor 204 can
Being general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), application specific integrated circuit (ASIC),
It is ready-made programmable gate array (FPGA) or other PLDs, discrete gate or transistor logic, discrete hard
Part component.Can realize or perform disclosed each method in the embodiment of the present invention, step and logic diagram.General processor
Can be microprocessor or the processor can also be any conventional processor etc..
Various input-output units 206 are coupled to processor 204 and memory 202 by the Peripheral Interface 205.One
In a little embodiments, Peripheral Interface, processor and storage control can be realized in one single chip.In some other example
In, they can be realized by independent chip respectively.
Input-output unit 206 is used to be supplied to user input data to realize interacting for user and the unmanned plane.It is described
Input-output unit be may be, but not limited to, touch-screen, mouse and keyboard etc., and correspondence is exported for the operation in response to user
Signal.
Fig. 3 is referred to, is the circular tracking of the unmanned plane being applied to shown in Fig. 2 that first embodiment of the invention is provided
The step of flow chart.Described unmanned plane can include unmanned plane body, surround tracks of device, flight controller and IMAQ
Device, flight controller controls the flight operation of unmanned plane body, and the circular tracks of device is used to process unmanned plane circular
The image real time transfers such as the target identification during tracking work, and image device is used to perform figure of the unmanned plane in flight course
As acquisition operations.The idiographic flow shown in Fig. 3 will be described in detail below.
Step S301, receives the circular trace command that user terminal sends.
User is communicated by user terminal with unmanned plane, surround the straighforward operation of tracking.User is confirming to need
Want the unmanned plane tracking after photographic subjects are intended to, sent around trace command by the user terminal.The ring of unmanned plane
Can only be set in tracks of device the present embodiment offer automanual circular tracing mode, unmanned plane starting up it
Afterwards, sent by user terminal by user and built with the unmanned plane to unmanned plane, or by user terminal around trace command
It is automatic to send around trace command to unmanned plane after vertical communication connection.
In other embodiments, the circular tracing mode for being set in the circular tracks of device of unmanned plane can also have many
Kind, such as automatically around tracing mode, semi-automatic circular tracing mode and purely manual circular tracing mode.The full-automatic ring
Can be that tracking clarification of objective information is preset with unmanned plane around tracing mode, it is internal pre- according to it after flight is started
If tracking target, automatically control data with reference to default, carry out the full-automatic tracking pattern to tracking target.It is semi-automatic to surround
Tracing mode, you can be construed to the circular tracing mode of the present embodiment offer, opens this semi-automatic around tracking by user terminal
Pattern, and confirmed to need the unmanned plane around the destination object of tracking by user, user can be by sending circular velocity
Information controls the operations such as the tracking circular velocity of unmanned plane, pose adjustment of the tracking during automatic by the unmanned plane
Complete.The purely manual circular tracing mode can be that the confirmation of destination object, unmanned plane figure adjusts, surround the control of tracking
System is controlled manually by user.
Step S302, obtains destination object corresponding with the desire reference object.
The unmanned plane confirms that execution is operated around tracking after the circular trace command for receiving user terminal transmission,
Then need to first confirm that desire reference object this time around tracking operation.The unmanned plane is controlled to be moved to the first shooting area,
So that first image information of the unmanned plane collection comprising the desire reference object, and obtain bag in described first image information
The destination object for containing.First shooting area is generally preferred to, and can be collected in the visual range in the region and included
The desire reference object, to carry out the operation such as follow-up position adjustment.The circular tracks of device is described by control
The flight controller of unmanned plane, the specific implementation process for controlling the unmanned plane to be moved to first shooting area can have many
Kind, the elements of a fix of the desire reference object can be directly transmitted by user terminal, to be shot according to described by the unmanned plane
The elements of a fix of object are moved to first shooting area.Can also be by the unmanned plane by right in the range of certain space
As identification process, the Position Approximate for being intended to reference object is recognized, then the unmanned plane is controlled by the flight controller of unmanned plane
It is moved to the first shooting area.Other can control the unmanned plane to be moved to the first image-region that can be collected and be intended to reference object
The first shooting area mode, may be applicable to the present embodiment.
After unmanned plane is moved to the first shooting area, first image information of the collection comprising the desire reference object, and from
The correspondence destination object for being intended to reference object is obtained in described first image information.Image during acquisition according to destination object
The difference of the execution terminal of processing procedure, the mode for obtaining the destination object included in described first image information can have
It is various.
In one embodiment, image processing operations are performed by the circular tracks of device.Calculated according to default identification
Method, recognizes the traceable object of multiple that the image information of target first collects.Identify many in described first image information
After individual traceable object, the traceable object of the whole of identification can be sent to the user terminal, by user by described
User terminal, selects at least one target that object can be traced, by selected at least one target from all traceable objects
Traceable object is sent to the circular tracks of device as selected object.Receive the user terminal sends at least one
After traceable object, the destination object is generated according to selected object.
If the quantity only one of which of selected traceable object, can directly by a selected object generation target
Object.If the quantity of selected traceable object has at least two, at least two selected object can be fused into one
Overall goals, using the overall goals after fusion as the destination object.It is of course also possible to user is selected by the user terminal
At least two traceable objects selected are fused into an overall goals, using the overall goals after fusion as selected target send to
The circular tracks of device.
In other embodiments, related image processing operations are performed by the user terminal.Unmanned plane will be gathered
The knowledge for being sent directly to user terminal comprising the first image information for being intended to reference object, traceable object being carried out by user terminal
Not.Be preset with recognizer in user terminal, the traceable object of the multiple in identification described first image information, and by user from
Correspondence is selected to be intended at least one traceable object of reference object in the traceable object of multiple, according at least one traceable object
Generation selected target, and the traceable object is sent to the unmanned plane, carried out surrounding tracking by the unmanned plane.With
When the quantity of the traceable object of family selection is at least two, user terminal can be using at least two traceable object as choosing
Determine object, send to the unmanned plane, overall goals fusion treatment is carried out by the unmanned plane.The user terminal can also be by
At least two traceable object is fused into an overall goals, using fusion after the overall goals sent as selected object
To unmanned plane.
On the basis of above-described embodiment, the subject fusion operation institute foundation that the unmanned plane or user terminal are performed
Image recognition algorithm and blending algorithm etc., can be found in the image recognition algorithm and subject fusion commonly used in existing image procossing
Algorithm, does not limit herein.
Step S303, the current location in the unmanned plane acquired image and default mesh according to the destination object
Cursor position, calculates pose adjustment data.
After obtaining the destination object of correspondence desire reference object according to above-mentioned steps, position locking and the ring of destination object are carried out
Operated around tracking.In the image collecting device acquired image of the unmanned plane, comprising the destination object, in order to realize compared with
To be accurately intended to the display effect of reference object around tracking and preferably, the destination object is preferably locked in the figure
At goal-selling as in.Obtain the current location of the destination object in the image of the unmanned plane collection, and goal-selling
The distance between position, current location and preset target position according to destination object, calculating unmanned plane needs the skew of compensation
Distance, and then calculate the pose adjustment data of unmanned plane.
In one embodiment, target's center point of the destination object at current location is obtained, the mesh is calculated
Offset distance between mark central point and the preset target position.Target's center point of the destination object at current location
Acquisition process can be：Obtain the end points pixel coordinate of the destination object, the end points pixel coordinate of the destination object can be with
Including horizontal minimum pixel point coordinates, horizontal maximum pixel point coordinates, longitudinal maximum pixel point coordinates and longitudinal minimum image vegetarian refreshments
Coordinate.End points pixel coordinate and default center point coordinate computing formula according to the destination object, in the calculating target
The coordinate of heart point.The center point coordinate computing formula includes that central point abscissa computing formula and central point ordinate calculate public
Formula, central point abscissa computing formula is：Central point abscissa=(horizontal minimum pixel point coordinates+transverse direction maximum pixel point is sat
Mark)/2, central point ordinate computing formula is：Central point ordinate=(longitudinal minimum pixel point coordinates+longitudinal direction maximum pixel point
Coordinate)/2.
During in view of actual rings around track up, user wishes that destination object gathers image positioned at image collecting device
In specific region, it is preset target position to set this specific region.In one embodiment, the preset target position is selected
The centre position of image transverse area is selected, and in the lower middle in the vertical region of image, i.e., near the vertical area of ground side
Domain.Therefore the preset target position can be reduced to default center point, the position of the default center point is chosen to be figure
In the middle of laterally, and vertical region on the lower side.The specific setting rule of the preset target position can be by the unmanned plane certainly
It is dynamic to set, or set by User Defined, do not limit herein.
After obtaining the pixel coordinate of target's center's point of the destination object, by target's center's point and the default mesh
The position coordinates of cursor position coordinate or default center point is compared, and calculates target's center's point and the default mesh
Offset distance between cursor position, and the pose adjustment data of the unmanned plane are generated according to the offset distance.
Step S304, controls the unmanned plane adjustment attitude, so that the unmanned plane ring according to the pose adjustment data
Around the tracking destination object.
After obtaining the pose adjustment data according to above-mentioned steps, the unmanned plane is controlled according to the pose adjustment data
Pose adjustment is carried out, to ensure that distance is substantially constant and head points to the desire reference object all the time between aircraft and target, enters
And ensure that the destination object is located at the preset target position, and with current relative position around the tracking target pair
As.Fig. 4 is referred to, the relative position relation between the unmanned plane applied by the embodiment of the present invention and the desire reference object shows
It is intended to.Horizontal range (as shown in R in figure) between the unmanned plane and the desire reference object, can by the unmanned plane with
Longitudinally opposed distance between the destination object and the vertical range between the destination object and the unmanned plane are (as schemed
Shown in middle L) determine.If the horizontal range R being intended between reference object and unmanned plane keeps stabilization, and the unmanned plane with
The holding of the vertical interval L of the destination object is constant, or its excursion be less than vertical threshold, you can ensure it is described nobody
Machine keeps relative stability with the distance between the reference object S that is intended to.In one embodiment, the vertical threshold can take
Positive and negative 1.5m.
The flight controller of the unmanned plane by monitor track algorithm return destination object pixel coordinate data, and
With reference to longitudinal center's coordinate and the ratio of the total pixel in longitudinal direction that above-mentioned steps are obtained, the longitudinally opposed of the destination object is calculated
Position.If it find that relative position of the destination object in acquired image is relatively low, then illustrate that plane distance is intended to reference object
Cross near, aircraft can be controlled away from the desire reference object by the flight controller of the unmanned plane.If it find that destination object
Relative position in acquired image is higher, then illustrate that unmanned plane is intended to reference object too far apart from described, can be by described
The flight controller control unmanned plane of unmanned plane is away near the desire reference object.During aforesaid operations, judge described
Whether the normal mode of relative position of the destination object in acquired image can be：According to target's center's point and institute
State just judging relatively for preset target position.If target's center's point is less than the preset target position, can be determined that
Position of the destination object in acquired image is relatively low, whereas if target's center's point is higher than goal-selling position
Put, then judge that position of the destination object in acquired image is higher.Other can judge that destination object is being gathered
Whether the normal mode of relative position in image may be applicable to the present embodiment, not limit herein.
Unmanned plane is intended to reference object after preliminary attitude updating is carried out around tracking.The unmanned plane can receive user
The aileron rudder amount sent by the user terminal adjusts the lateral circular speed of the unmanned plane, to facilitate user free
Control unmanned plane around tracking it is described be intended to reference object speed.Unmanned plane, can be with when carrying out surrounding track up
By the speed of the unmanned plane it is abstract be two while the action for carrying out：Roll collar is pointed to around with course angle.Therefore described
During the pose adjustment of unmanned plane, can include：By adjusting the roll angle of the unmanned plane, the unmanned plane transverse direction is adjusted
Circular speed, adjusts the course angular speed of the unmanned plane, and the head for adjusting the unmanned plane is pointed to.As long as ensureing the nothing
Man-machine lateral circular speed, and course angle rate of change, and meet following relation around radius：Can be complete
Into the unmanned plane around the circular circumvolant action for being intended to reference object.As long as aircraft transverse direction flying speed Vx, boat
To angle θ rate of change (as angular speed of the aircraft around target) and around radius meet above-mentioned equilibrium relationships when can completion around
The circumvolant action in the center of circle.Therefore, in the case where aircraft and target range are constant, changing aircraft lateral velocity can change
Angular speed of the aircraft around target.In one embodiment, sent according to user terminal by during around tracking
Aileron rudder amount, user is freely controlled the lateral velocity of aircraft, and then control the circular angular speed size of aircraft and side
To.
The circular tracking that the embodiments of the present invention are provided, is determining that correspondence is intended to the target pair of reference object by user
As rear, it is not necessary to which user grasps multiple rudder amounts and controls unmanned plane manually around tracking, by the unmanned plane according to internal preset with
Track algorithm carries out pose adjustment and around tracking, realizes the semi-automatic simplification side that reference object is intended to around tracking of unmanned plane
Case, improves user experience.
Fig. 5 is referred to, flow chart the step of the circular tracking provided for second embodiment of the invention.In above-mentioned implementation
On the basis of example, the working condition judgement and unmanned plane for being additionally arranged Navigation of Pilotless Aircraft equipment surround the tracking destination object
Specific implementation method.Below in conjunction with Fig. 5, specific explanations are carried out to circular tracking provided in an embodiment of the present invention.
Step S501, judges whether to enter semi-automatic circular tracing mode.
If into semi-automatic target following pattern, performing step S502, the unmanned plane is controlled to be moved to first count
Region is taken the photograph, so that first image information of the unmanned plane collection comprising the desire reference object.
If not entering into semi-automatic target following pattern, this time semi-automatic target following can be terminated and surround.By with
Family chooses whether to enter manual target following around pattern etc..
The circular tracks of device that the present embodiment is provided, can only set the automanual of the present embodiment offer and surround inside it
Tracing mode, after unmanned plane startup, circular trace command is sent to unmanned plane by user by user terminal, or by with
Family terminal is set up after communication connection with the unmanned plane, automatic to send around trace command to unmanned plane.In other implementations
In mode, circular the tracing mode set in the circular tracks of device of unmanned plane can also have various, for example it is full-automatic it is circular with
Track pattern, semi-automatic circular tracing mode and purely manual circular tracing mode.It is described to be around tracing mode automatically, nothing
Tracking clarification of objective information, after flight is started, the tracking target according to its internal preset, with reference to pre- are preset with man-machine
If the full-automatic tracking pattern for automatically controlling data, carrying out to tracking target.Semi-automatic circular tracing mode, you can be construed to
The circular tracing mode that the present embodiment is provided, opens the semi-automatic circular tracing mode, and confirmed by user by user terminal
Need the unmanned plane around the destination object of tracking, user can control the tracking of unmanned plane by sending circular velocity information
The operations such as circular velocity, pose adjustment of the tracking during are automatically performed by the unmanned plane.It is described purely manual circular
Tracing mode can be that the confirmation of destination object, unmanned plane figure adjustment, the control around tracking are controlled manually by user.
Unmanned plane was being performed before tracking, it is first determined whether into semi-automatic circular tracing mode.If it is confirmed that
Into semi-automatic target following pattern, then can carry out the follow-up treatment around tracking and operate.If it is confirmed that not entering half certainly
Around tracing mode, user is not recognized operation to rotating ring, or user's selection is exited, into manual circular tracing mode or entered
Enter automatically around tracing mode, then do not carry out it is follow-up it is semi-automatic operated around tracking, can terminate this time to be grasped around tracking
Make, or enter other circular tracing modes of access customer selection.
By first image information of the image acquisition device comprising the desire reference object, to carry out being intended to shoot right
The position tracking of elephant and calibration.The specific implementation process of the first image information collecting refers to above-described embodiment, repeats no more.
Step S503, obtains the destination object included in described first image information.
The first image information comprising the desire reference object is collected, identification and frame are selected in described first image information
Comprising correspondence it is described be intended to reference object destination object.The acquisition process of the destination object can be referring specifically to above-mentioned implementation
Example, will not be repeated here.
Step S504, obtains target's center's point of the destination object.
When the position correction of the destination object is carried out, the pixel coordinate according to the destination object calculates the target
Target's center's point of object.The specific calculating process of target's center's point of the destination object refers to above-described embodiment, no longer
Repeat.
Step S505, calculates the offset distance between target's center's point and the preset target position.
After obtaining target's center's point of the destination object, the image acquisition device image according to the unmanned plane
Preset target position, calculate the offset distance between target's center's point and the preset target position.The tool of offset distance
Body calculating process refers to above-described embodiment, repeats no more.
Step S506, according to the offset distance and the current pose data of the unmanned plane, calculates the pose adjustment
Data.
After obtaining the offset distance between the destination object and the preset target position according to above-mentioned steps, with reference to described
The current pose data of unmanned plane, calculate the pose adjustment data.The specific implementation process of pose adjustment data is referred to
Embodiment is stated, is repeated no more.
Step S507, judges whether the destination object is lost.
If the destination object is not lost, step S508 is performed.
If the destination object is lost, terminate this time to be operated around tracking.
After according to above-mentioned steps acquisition pose adjustment data, surround the state confirmation operation before tracking.Judge institute
State whether destination object is lost, as judge it is described desire reference object whether still in the unmanned plane image acquisition region
It is interior.If it is determined that the destination object is not lost, i.e., during described destination object is still in the image of collection, can continue follow-up
Operation.If it is determined that the destination object has been lost, then it represents that the destination object not in acquired image,
And then represent it is described be intended to reference object not the unmanned plane image collecting device visual range, now need terminate
This time around track up, or the acquisition operations for jumping back to the first image information.
In one embodiment, the unmanned plane is according to default target tracking algorism lock onto target object, and issues
Lock onto target object is pointed out.The prompting for issuing lock onto target object can have diversified forms, and such as prompting can play frame prompting,
Or target frame discoloration prompt etc., other prompt messages that can reach lock onto target object may be applicable to the present embodiment.
Step S508, judge the unmanned plane navigation equipment whether normal work.
If the navigation equipment normal work of the unmanned plane, step S509 is performed.
If the navigation equipment of the unmanned plane does not have normal work, terminate this time to be operated around tracking.
After determining that destination object is still located in the image of collection, whether the normal work of navigation equipment of the unmanned plane is judged
Make.The navigation equipment of the unmanned plane can include the unmanned plane inertial navigation measurement system (IMU), or it is described nobody
Measuring instrument (GPS, light stream camera, binocular camera) of machine etc..If it is determined that the equal normal work of the navigation equipment of the unmanned plane,
Follow-up circular tracking operation can then be carried out.If it is determined that the navigation equipment of the unmanned plane does not have normal work, then terminate
This time operated around tracking, it is to avoid target collides the danger such as air crash with losing, even caused by the navigation equipment of abnormal operating state
Dangerous accident.
Step S509, the unmanned plane adjustment attitude is controlled according to the pose adjustment data.
After determining around the premise state of tracking, the unmanned plane adjustment appearance is controlled according to the pose adjustment data
State.Control the specific implementation process of the unmanned plane adjustment attitude to refer to above-described embodiment, repeat no more.
Step S510, judges that whether receiving the user terminal within the default wait time limit sends aileron rudder amount.
If receiving the aileron rudder amount that the user terminal sends within the default wait time limit, step S511 is performed,
The rocking bar rudder amount of the unmanned plane is controlled according to the aileron rudder amount, around the tracking destination object.
If being not received by the aileron rudder amount that the user terminal sends within the default wait time limit, step is performed
S512, according to default circular velocity, around the tracking destination object.
Tracking is described to be shot right can freely to control the unmanned plane to surround by the user terminal for the convenience of the user
The speed of elephant, carrying out unmanned plane around tracking operation before, preset wait the time limit, judge it is default wait the time limit in whether
Receive the aileron rudder amount that the user terminal sends.Within the default wait time limit, the circular velocity is reduced to 0, can be with
Keep hovering.If the aileron rudder amount that the user terminal sends is received in the time limit in default the wait, according to institute
State the aileron rudder amount of user terminal transmission, control the circular angular speed of the unmanned plane, and according to current flight speed ring around with
Reference object is intended to described in track.Control the unmanned plane circular angular speed can by control the rocking bar rudder amount of the unmanned plane come
Control circular velocity, other can control the implementation around angular speed of unmanned plane to may be applicable to the present embodiment.If
The default wait is not received by the aileron rudder amount that user terminal sends in the time limit, then surround according to default in unmanned plane
Speed, around the tracking destination object.Both can guarantee that user can freely control the unmanned plane by sending aileron rudder amount
It is inconvenient or unskilled by controlling aileron rudder amount control ring around speed in user around the tracking speed for being intended to reference object
When spending, can be carried out surrounding tracking according to default circular velocity, further facilitate user and used.In other embodiment
In, the aileron rudder amount of the control circular velocity that user terminal sends can also be other types data, such as around tracking linear speed
Degree etc., other data forms that can characterize circular velocity may be applicable to the present embodiment.
In one embodiment, it is also possible to which pre-set velocity is only set around tracing mode.It is default in the unmanned plane
Circular velocity, no longer receives the circular velocity that user sends, and the circular velocity according only to its internal preset carries out surrounding tracking.Its
The circular velocity of internal preset can shift to an earlier date self-defined setting by user.In other embodiments, it is also possible to which basis is only set
The circular velocity that user sends surround the pattern of tracking.Circular velocity is not preset in unmanned plane, or it is preset around speed
Degree is set to 0, and only after the circular velocity for receiving user's transmission, the circular velocity sent according to user carries out surrounding tracking bat
Take the photograph.
Step S513, judges whether to receive the instruction for terminating this time around tracking that the user terminal sends.
If receiving the instruction for terminating this time around tracking that the user terminal sends, terminate this time around tracking
Operation.
If being not received by the instruction for terminating this time around tracking that the user terminal sends, step is jumped to
S507。
Normal during tracking, it is contemplated that user may wish to terminate current circular shooting operation.Institute
State and judge whether to receive the instruction for terminating this time around tracking that the user terminal sends around tracks of device.If received
To the instruction for terminating this time around tracking that the user terminal sends, then terminate this encircling operation., whereas if not connecing
The instruction for terminating this time around tracking that the user terminal sends is received, is then jumped back to the above-mentioned situation around tracking and is judged
And implementation procedure, until this terminates around tracking operation.
The circular tracking that the embodiments of the present invention are provided, sets up the semi-automatic confirmation choosing around tracking target pattern
Select, the confirmation of target lock-on state, the process such as the confirmation of the working condition of navigation equipment and the selection around tracking velocity,
User confirms to start semi-automatic surrounding after tracking, it is ensured that target lock-on and navigation equipment normal work, is sent according to user
Aileron rudder amount or default circular velocity around track up, further increase convenient degree, the accuracy around control
And security.
Fig. 6 is referred to, is the functional block diagram of the circular tracks of device 600 that third embodiment of the invention is provided, be applied to
The unmanned plane of reference object is intended to around track up.The circular tracks of device 600 that the present embodiment is provided can same above-described embodiment
Circular tracks of device 201.The circular tracks of device 600 includes：Command reception module 601, semantic object extraction module
602nd, pose adjustment data computation module 603 and pose adjustment module 604.
Command reception module 601, the circular trace command for receiving user terminal transmission；
Semantic object extraction module 602, for obtaining destination object corresponding with the desire reference object；
Pose adjustment data computation module 603, for according to the destination object in the unmanned plane acquired image
In current location and preset target position, calculate pose adjustment data；
Pose adjustment module 604, for controlling the unmanned plane adjustment attitude according to the pose adjustment data, so that institute
Unmanned plane is stated around the tracking destination object.
On the basis of above-described embodiment, the semantic object extraction module 602 is used for：
The unmanned plane is controlled to be moved to the first shooting area, so that unmanned plane collection includes the desire reference object
The first image information；
Obtain the destination object included in described first image information.
On the basis of above-described embodiment, the semantic object extraction module 602 specifically for：
According to default recognizer, the traceable object of multiple in described first image information is obtained；
Acquired multiple described traceable object is sent to the user terminal, so that the user terminal returns to choosing
Determine object, wherein, the selected object is at least one institute that the user terminal is selected from the multiple traceable object
State traceable object；
Using the selected object as the destination object.
On the basis of above-described embodiment, the semantic object extraction module 602 specifically for：
Described first image information is sent to the user terminal, so that the user terminal returns to described first image
Selected object in information；
The selected object that the user terminal is returned, as the destination object.
On the basis of above-described embodiment, the pose adjustment data computation module 603 is used for：
Obtain target's center's point of the destination object；
Calculate the offset distance between target's center's point and the preset target position；
According to the offset distance and the current pose data of the unmanned plane, the pose adjustment data are calculated.
On the basis of above-described embodiment, the pose adjustment data computation module 603 is used for：
Obtain the end points pixel coordinate of the destination object；
End points pixel coordinate and default center point coordinate computing formula according to the destination object, calculate the target
Central point.
On the basis of above-described embodiment, the pose adjustment data computation module 603 is used for：
The unmanned plane is controlled according to default circular velocity, around the tracking destination object.
On the basis of above-described embodiment, the pose adjustment module 604 is used for：
Receive the aileron rudder amount that the user terminal sends；
The rocking bar rudder amount of the unmanned plane is controlled according to the aileron rudder amount, so that the unmanned plane is around the tracking mesh
Mark object.
On the basis of above-described embodiment, the pose adjustment data computation module 603 is used for：
Judge whether the aileron rudder amount that the user terminal sends is received within the default wait time limit；
If the aileron rudder amount that the user terminal sends is received within the wait time limit, according to the aileron
Rudder amount controls the rocking bar rudder amount of the unmanned plane, around the tracking destination object；
If the aileron rudder amount that the user terminal sends is not received by within the wait time limit, according to default
Circular velocity, around the tracking destination object.
On the basis of above-described embodiment, described device 600 also includes equipment state judge module 605, the equipment shape
State judge module 605 is used for：
Judge the unmanned plane navigation equipment whether normal work, wherein, the navigation equipment include inertial navigation system
System or speed instrument；
If the navigation equipment normal work of the unmanned plane, perform according to the pose adjustment data control it is described nobody
The step of machine adjustment attitude；
If the navigation equipment of the unmanned plane is not normal work, terminate this time to be operated around tracking.
On the basis of above-described embodiment, the pose adjustment data include that lateral attitude adjusts data and vertical attitude is adjusted
Entire data, the pose adjustment module 604 is used for：
The roll angle of unmanned plane according to the lateral attitude data point reuse；
The course angle of the unmanned plane is adjusted according to the vertical attitude data.
The circular tracks of device that the embodiments of the present invention are provided, is determining that correspondence is intended to the target pair of reference object by user
As rear, it is not necessary to which user grasps multiple rudder amounts and controls unmanned plane manually around tracking, by the unmanned plane according to internal preset with
Track algorithm carries out pose adjustment and around tracking, realizes the semi-automatic simplification side that reference object is intended to around tracking of unmanned plane
Case, improves user experience.Set up it is semi-automatic around tracking target pattern confirm selection, the confirmation of target lock-on state,
The process such as the confirmation of the working condition of navigation equipment and the selection around tracking velocity, confirms to start semi-automatic surrounding in user
After tracking, it is ensured that target lock-on and navigation equipment normal work, in the aileron rudder amount or default ring that are sent according to user
Around speed ring around track up, further increase around the convenient degree, accuracy and security for controlling.What the present embodiment was provided
Above method embodiment is can be found in around the specific implementation process of tracks of device, this is no longer going to repeat them.
Fig. 7 is referred to, is the functional block diagram of the unmanned plane 200 that fourth embodiment of the invention is provided.The unmanned plane bag
Include：Memory 701 and processor 702, the memory 701 are electrically connected with the processor 702.
The unmanned plane 200 also includes that around tracks of device the circular tracks of device is installed in the memory 701
And the software function module performed by the processor 702 including one or more, the circular tracks of device includes：
Command reception module, the circular trace command for receiving user terminal transmission；
Semantic object extraction module, for obtaining destination object corresponding with reference object is intended to；
Pose adjustment data computation module, for according to the destination object in the unmanned plane acquired image
Current location and preset target position, calculate pose adjustment data；
Pose adjustment module, for controlling the unmanned plane adjustment attitude according to the pose adjustment data, so that described
Unmanned plane is around the tracking destination object.
In sum, circular tracking provided in an embodiment of the present invention, device and unmanned plane, correspondence is being determined by user
After being intended to the destination object of reference object, it is not necessary to which user grasps multiple rudder amounts and controls unmanned plane manually around tracking, by the nothing
It is man-machine that pose adjustment is carried out and around tracking according to internal preset track algorithm.Set up semi-automatic surrounding and track target pattern really
Recognize selection, the confirmation of target lock-on state, the confirmation of the working condition of navigation equipment and the selection around tracking velocity to wait
Journey, confirms that startup is semi-automatic after tracking, it is ensured that target lock-on and navigation equipment normal work, according to user in user
The aileron rudder amount or default circular velocity of transmission further increase convenient degree, the standard around control around track up
True property and security.The semi-automatic reduction procedure that reference object is intended to around tracking of unmanned plane is realized, Consumer's Experience is improve
Degree
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments of the invention, the architectural framework in the cards of method and computer program product,
Function and operation.At this point, each square frame in flow chart or block diagram can represent one the one of module, program segment or code
Part a, part for the module, program segment or code is used to realize holding for the logic function for specifying comprising one or more
Row instruction.It should also be noted that at some as in the implementation replaced, the function of being marked in square frame can also be being different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially be performed substantially in parallel, they are sometimes
Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of the square frame in individual square frame and block diagram and/or flow chart, can use the function or the special base of action for performing regulation
Realized in the system of hardware, or can be realized with the combination of computer instruction with specialized hardware.
In addition, each functional module in each embodiment of the invention can integrate to form an independent portion
Divide, or modules individualism, it is also possible to which two or more modules are integrated to form an independent part.
If the function is to realize in the form of software function module and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply these entities or there is any this reality between operating
The relation or order on border.And, term " including ", "comprising" or its any other variant be intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of key elements are not only including those key elements, but also including
Other key elements being not expressly set out, or it is this process, method, article or the intrinsic key element of equipment also to include.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, article or equipment in also there is other identical element.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, then it is not required in subsequent accompanying drawing
It is further defined and is explained.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (23)
1. a kind of circular tracking, it is characterised in that be applied to surround the unmanned plane that tracking is intended to reference object, methods described bag
Include：
Receive the circular trace command that user terminal sends；
Obtain destination object corresponding with the desire reference object；
The current location in the unmanned plane acquired image and preset target position according to the destination object, calculate appearance
State adjusts data；
The unmanned plane adjustment attitude is controlled according to the pose adjustment data, so that the unmanned plane is around the tracking target
Object.
2. method according to claim 1, it is characterised in that obtain the step of needing around the destination object of tracking and wrap
Include：
The unmanned plane is controlled to be moved to the first shooting area, so that unmanned plane collection comprising the desire reference object the
One image information；
Obtain the destination object included in described first image information.
3. method according to claim 2, it is characterised in that obtain the target included in described first image information
The step of object, includes：
According to default recognizer, the traceable object of multiple in described first image information is obtained；
Acquired multiple described traceable object is sent to the user terminal, so that the user terminal is returned selectes right
As, wherein, the selected object is the user terminal selected from the multiple traceable objects at least one described in can
Tracking object；
Using the selected object as the destination object.
4. method according to claim 2, it is characterised in that obtain the target included in described first image information
The step of object, includes：
Described first image information is sent to the user terminal, so that the user terminal returns to described first image information
In selected object；
The selected object that the user terminal is returned, as the destination object.
5. method according to claim 1, it is characterised in that gathered in the unmanned plane according to the destination object
The step of current location and preset target position in image, calculating pose adjustment data, includes：
Obtain target's center's point of the destination object；
Calculate the offset distance between target's center's point and the preset target position；
According to the offset distance and the current pose data of the unmanned plane, the pose adjustment data are calculated.
6. method according to claim 5, it is characterised in that the step of obtaining target's center's point of the destination object is wrapped
Include：
Obtain the end points pixel coordinate of the destination object；
End points pixel coordinate and default center point coordinate computing formula according to the destination object, obtain the target's center
Point.
7. method according to claim 1, it is characterised in that the unmanned plane is around the step of tracking the destination object
Including：
The unmanned plane is controlled according to default circular velocity, around the tracking destination object.
8. method according to claim 1, it is characterised in that the unmanned plane is around the step of tracking the destination object
Including：
Receive the aileron rudder amount that the user terminal sends；
The circular angular speed of the unmanned plane is controlled according to the aileron rudder amount, so that the unmanned plane is around the tracking target
Object.
9. method according to claim 1, it is characterised in that the unmanned plane is around the step of tracking the destination object
Including：
Judge that whether receiving the user terminal within the default wait time limit sends aileron rudder amount；
If the aileron rudder amount that the user terminal sends is received within the wait time limit, according to the aileron rudder amount
The rocking bar rudder amount of the unmanned plane is controlled, around the tracking destination object；
If the aileron rudder amount that the user terminal sends is not received by within the wait time limit, according to default ring
Around speed, around the tracking destination object.
10. method according to claim 1, it is characterised in that control the unmanned plane according to the pose adjustment data
Before the step of adjustment attitude, methods described also includes：
Judge the unmanned plane navigation equipment whether normal work, wherein, the navigation equipment include inertial navigation system or
Person's speed instrument；
If the navigation equipment normal work of the unmanned plane, perform and control the unmanned plane to adjust according to the pose adjustment data
The step of whole attitude；
If the navigation equipment of the unmanned plane does not have normal work, terminate this time to be operated around tracking.
11. methods according to claim 1, it is characterised in that the pose adjustment data include lateral attitude data and
The step of vertical attitude data, unmanned plane adjustment attitude according to pose adjustment data control, includes：
The roll angle of unmanned plane according to the lateral attitude data point reuse；
The course angle of the unmanned plane is adjusted according to the vertical attitude data.
12. a kind of circular tracks of device, it is characterised in that be applied to surround the unmanned plane that track up is intended to reference object, it is described
Device includes：
Command reception module, the circular trace command for receiving user terminal transmission；
Semantic object extraction module, for obtaining destination object corresponding with the desire reference object；
Pose adjustment data computation module, for current in the unmanned plane acquired image according to the destination object
Position and preset target position, calculate pose adjustment data；
Pose adjustment module, for controlling unmanned plane adjustment attitude according to the pose adjustment data so that it is described nobody
Machine is around the tracking destination object.
13. devices according to claim 12, it is characterised in that the semantic object extraction module is used for：
The unmanned plane is controlled to be moved to the first shooting area, so that unmanned plane collection comprising the desire reference object the
One image information；
Obtain the destination object included in described first image information.
14. devices according to claim 13, it is characterised in that the semantic object extraction module specifically for：
According to default recognizer, the traceable object of multiple in described first image information is obtained；
Acquired multiple described traceable object is sent to the user terminal, so that the user terminal is returned selectes right
As, wherein, the selected object is the user terminal selected from the multiple traceable objects at least one described in can
Tracking object；
Using the selected object as the destination object.
15. devices according to claim 13, it is characterised in that the semantic object extraction module specifically for：
Described first image information is sent to the user terminal, so that the user terminal returns to described first image information
In selected object；
The selected object that the user terminal is returned, as the destination object.
16. devices according to claim 12, it is characterised in that the pose adjustment data computation module is used for：
Obtain target's center's point of the destination object；
Calculate the offset distance between target's center's point and the preset target position；
According to the offset distance and the current pose data of the unmanned plane, the pose adjustment data are calculated.
17. devices according to claim 16, it is characterised in that the pose adjustment data computation module is used for：
Obtain the end points pixel coordinate of the destination object；
End points pixel coordinate and default center point coordinate computing formula according to the destination object, calculate the target's center
Point.
18. devices according to claim 12, it is characterised in that the pose adjustment data computation module is used for：
The unmanned plane is controlled according to default circular velocity, around the tracking destination object.
19. devices according to claim 12, it is characterised in that the pose adjustment module is used for：
Receive the aileron rudder amount that the user terminal sends；
The circular angular speed of the unmanned plane is controlled according to the aileron rudder amount, so that the unmanned plane is around the tracking target
Object.
20. devices according to claim 12, it is characterised in that the pose adjustment data computation module is used for：
Judge whether the aileron rudder amount that the user terminal sends is received within the default wait time limit；
If the aileron rudder amount that the user terminal sends is received within the wait time limit, according to the aileron rudder amount
The rocking bar rudder amount of the unmanned plane is controlled, around the tracking destination object；
If the aileron rudder amount that the user terminal sends is not received by within the wait time limit, according to default ring
Around speed, around the tracking destination object.
21. devices according to claim 12, it is characterised in that described device also includes equipment state judge module, institute
Stating equipment state judge module is used for：
Judge the unmanned plane navigation equipment whether normal work, wherein, the navigation equipment include inertial navigation system or
Person's speed instrument；
If the navigation equipment normal work of the unmanned plane, perform and control the unmanned plane to adjust according to the pose adjustment data
The step of whole attitude；
If the navigation equipment of the unmanned plane is not normal work, terminate this time to be operated around tracking.
22. devices according to claim 12, it is characterised in that the pose adjustment data include that lateral attitude adjusts number
According to vertical pose adjustment data, the pose adjustment module is used for：
The roll angle of unmanned plane according to the lateral attitude data point reuse；
The course angle of the unmanned plane is adjusted according to the vertical attitude data.
23. a kind of unmanned planes, it is characterised in that the unmanned plane includes：
Memory；And
Processor, is electrically connected with the memory；And
Around tracks of device, the circular tracks of device is installed in the memory and including one or more by the treatment
The software function module that device is performed, the circular tracks of device includes：
Command reception module, the circular trace command for receiving user terminal transmission；
Semantic object extraction module, for obtaining destination object corresponding with reference object is intended to；
Pose adjustment data computation module, for current in the unmanned plane acquired image according to the destination object
Position and preset target position, calculate pose adjustment data；
Pose adjustment module, for controlling unmanned plane adjustment attitude according to the pose adjustment data so that it is described nobody
Machine is around the tracking destination object.
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| CN201710128634.9A CN106909172A (en) | 2017-03-06 | 2017-03-06 | Around tracking, device and unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710128634.9A CN106909172A (en) | 2017-03-06 | 2017-03-06 | Around tracking, device and unmanned plane |
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