CN109643131A - Unmanned plane, its control method and recording medium - Google Patents
Unmanned plane, its control method and recording medium Download PDFInfo
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- 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
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Abstract
Embodiment of the present invention provides a kind of control method of unmanned plane, the unmanned plane flies according to the prebriefed pattern planned in advance for target, and the filming apparatus by being arranged on the unmanned plane shoots the target, include the following steps: the flight information (S1001) that unmanned plane plan is calculated according to the prebriefed pattern, obtain the current flight information of the unmanned plane (S1002), the unmanned plane is adjusted according to the current flight information and the flight information of the plan, so that the filming apparatus is shot (S1003) to the target always.The control method of unmanned plane provided by the invention enables to the filming apparatus carried on unmanned plane that can shoot always to target, to effectively improve efficiency when unmanned plane carries out the operations such as line walking.
Description
Technical field
The present embodiments relate to unmanned plane, its control method and recording mediums more particularly to the industry of unmanned plane to answer
Use field.
Background technique
With the continuous expansion of unmanned plane application field, the application scenarios of inspection are carried out increasingly to target using unmanned plane
It is universal.The especially fixed-wing unmanned plane of VTOL, due to its in terms of cruise duration, flying speed relative to multiaxis nobody
Machine is advantageous, is very suitable for applying in the industrial application of line walking class, such as inspection expressway, inspection pipeline etc..
In existing inspection scheme, inspection operation is generally carried out as follows:
1, the GPS location in earth station according to target line has planned the course line of unmanned plane.
2, unmanned plane flies according to course line, while the camera carried on unmanned plane will acquire the location of unmanned plane process
Video.
However VTOL fixed-wing unmanned plane is when executing destination task, meeting when turning round and wind speed is larger
Deviate pre-set course line to a certain extent, when drifting off the course, the camera carried on unmanned plane can not just be captured
The content that desired target (expressway, petroleum pipeline) etc. or camera capture is not the target pre-set.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned plane, its control method and recording medium, can be dynamically to unmanned plane
It is controlled such that the filming apparatus carried on unmanned plane always can shoot target.
The first aspect of the present invention provides a kind of control method of unmanned plane, and the unmanned plane is according to preparatory for target
The prebriefed pattern of planning is flown, and the filming apparatus by being arranged on the unmanned plane shoots the target, including as follows
Step: calculating the flight information of unmanned plane plan according to the prebriefed pattern, obtains the current flight information of the unmanned plane,
The unmanned plane is adjusted according to the current flight information and the flight information of the plan, so that the shooting fills
It sets and the target is shot always.
The second aspect of the present invention provides a kind of control method of unmanned plane, and the unmanned plane is according to preparatory for target
The prebriefed pattern of planning is flown, and the filming apparatus by being arranged on the unmanned plane shoots the target, including as follows
Step: the target in the image taken to the filming apparatus identifies, according to the change of the target in the picture
Change is adjusted the unmanned plane, so that the filming apparatus always shoots the target.
The third aspect of the present invention provides a kind of unmanned plane, is flown according to the prebriefed pattern planned in advance for target, packet
Include: filming apparatus shoots the target；And one or more processors, for individually or collectively carrying out such as
Lower processing: calculating the flight information of unmanned plane plan according to the prebriefed pattern, obtains the current flight letter of the unmanned plane
Breath, is adjusted the unmanned plane according to the current flight information and the flight information of the plan, so that the bat
Device is taken the photograph always to shoot the target.
The fourth aspect of the present invention provides a kind of unmanned plane, is flown according to the prebriefed pattern planned in advance for target, packet
Include: filming apparatus shoots the target；And one or more processors, for individually or collectively carrying out such as
Lower processing: the target in the image taken to the filming apparatus identifies, in the picture according to the target
Variation is adjusted the unmanned plane, so that the filming apparatus always shoots the target.
The fifth aspect of the present invention provides a kind of recording medium, has program recorded thereon, which makes according to preparatory for target
The prebriefed pattern of planning is flown and the filming apparatus by being arranged thereon holds the computer for the unmanned plane that the target is shot
The following processing of row: calculating the flight information of unmanned plane plan according to the prebriefed pattern, obtains that the unmanned plane is current to fly
Row information is adjusted the unmanned plane according to the current flight information and the flight information of the plan, so that institute
Filming apparatus is stated always to shoot the target.
The sixth aspect of the present invention provides a kind of recording medium, has program recorded thereon, which makes according to preparatory for target
The unmanned plane that the prebriefed pattern of planning is flown and the filming apparatus by being arranged thereon shoots the target executes as follows
Reason: the target in the image taken to the filming apparatus identifies, according to the variation of the target in the picture
The unmanned plane is adjusted, so that the filming apparatus always shoots the target.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is simply introduced, it should be apparent that, drawings in the following description are some embodiments of the invention, for ability
For the those of ordinary skill of domain, without any creative labor, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the schematic diagram for indicating the unmanned plane 100 and its application scenarios of first embodiment of the invention.
Fig. 2 is the flow chart for indicating the control method of unmanned plane 100 of first embodiment of the invention.
Fig. 3 is the flow chart for indicating a concrete example of the step S1003 in Fig. 2.
Fig. 4 represents the schematic diagram of the concrete example of explanatory diagram 3.
Fig. 5 is the flow chart for indicating another concrete example of the step S1003 in Fig. 2.
Fig. 6 represents the schematic diagram of the concrete example of explanatory diagram 5.
Fig. 7 is the schematic diagram for indicating the unmanned plane 200 and its application scenarios of second embodiment of the present invention.
Fig. 8 is the flow chart for indicating the control method of unmanned plane 200 of second embodiment of the present invention.
Fig. 9 is the flow chart for indicating a concrete example of the step S2002 in Fig. 8.
(A), (B), (C) of Figure 10 are the schematic diagrames for the flow chart of the concrete example of explanatory diagram 9.
Figure 11 is the flow chart for indicating another concrete example of the step S2002 in Fig. 8.
(A), (B), (C) of Figure 12 are the schematic diagrames for the flow chart of the concrete example of explanatory diagram 11.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
First embodiment
Fig. 1 is the schematic diagram for indicating the unmanned plane 100 and its application scenarios of first embodiment of the invention.Here, saving
The structure for illustrating not tight association slightly in unmanned plane 100 and to embodiment.
Unmanned plane 100 for example can be appointing for the unmanned plane of multiaxis unmanned plane, fixed-wing unmanned plane or VTOL formula
What is a kind of, including holder 101 and filming apparatus 102.Unmanned plane 100 flies according to the prebriefed pattern planned in advance for target 110
Row, and the filming apparatus 102 by carrying on unmanned plane 100 shoots target 110, by being directed at mesh while flying, 110
It is shot to complete the inspection to target.
Holder 101 is connected with unmanned plane 100, for carrying filming apparatus 102.Holder has multiple axis that can be rotated,
It can rotate in all directions, so as to adjust the shooting direction of filming apparatus 102.
Filming apparatus 102 is equipped on holder 101, for shooting to target.Filming apparatus 102 can be various types
Filming apparatus, such as can shoot high-definition image camera, shoot continuous videos video camera, shoot infrared image night vision
Instrument etc..Filming apparatus 102, which can also have, multiple towards different directions or has the camera of different function.
The target facility of 110 unmanned plane inspection of target, the preferably linear target line extended, for example (,) it is highway, defeated
Oil pipeline, coastline, power transmission cable etc.
Fig. 2 is the flow chart for indicating the control method of unmanned plane 100 of first embodiment of the invention.
In step S1001, unmanned plane 100 calculates the flight information of unmanned plane plan according to prebriefed pattern.
Here, prebriefed pattern is the patrol plan for target and course line pre-planned, by course line route and each
The height of destination forms, and can be planned by the earth station (not shown) for being controlled unmanned plane 100, can also be with
It itself is planned by operation unmanned plane 100 by unmanned plane 100.
Unmanned plane 100 calculates the flight information of unmanned plane 100 according to above-mentioned prebriefed pattern.Here flight information,
It is the information that unmanned plane 100 controls the movement in itself flight course, location information, flight attitude including unmanned plane
At least one of information and filming apparatus status information.
Wherein, the location information of unmanned plane, including at least one of GPS information and elevation information.Here, also and unlimited
The location information being set under GPS system is also possible at least one system determination of GPS, Beidou, Galileo, GLONASS
Location information
Further more, flight attitude information includes the flying speed, yaw angle, roll angle, pitch angle of 100 current flight of unmanned plane
Deng.
In addition, filming apparatus status information includes the acquisition parameters information of filming apparatus 102 and the posture letter of holder 101
Breath.
The acquisition parameters information of filming apparatus 102, including zoom ratio, shooting resolution ratio, shutter speed, aperture, Bai Ping
Weighing apparatus, exposure compensating etc..
The posture information of holder 101, the angle etc. of each rotation axis including holder 101.
Unmanned plane is determined in step S1001, such as according to the location information of target 110 and the location information of prebriefed pattern
Plan flight attitude information and plan filming apparatus status information.It is preferred that by the project flight posture information of unmanned plane and
The shooting state information of plan is adapted so that and target 110 can be taken device 102 is clear, completely takes.
In step S1002, the current flight information of unmanned plane 100 is obtained.For example, having not by unmanned plane 100
The various sensors of diagram, to obtain the current various flight informations of unmanned plane 100.
In step S1003, unmanned plane 100 is adjusted according to current flight information and the flight information of plan, is made
Filming apparatus 102 is obtained always to shoot target 110.
Fig. 3 is the flow chart for indicating a concrete example of the step S1003 in Fig. 2.It is true in the scheme of this concrete example
Recognize unmanned plane 100 current flight information deviate from the flight information of plan after, unmanned plane 100 is adjusted.
In step S10031, the flight information of the plan at current time is obtained.As an example, the plan at current time is obtained
Flight information in elevation information Hj.
In step S10032, the first difference of the flight information of the plan of current flight information and current time is calculated.
Fig. 4 represents the schematic diagram of the concrete example of explanatory diagram 3.If unmanned plane 100 is during flight, because of air-flow
Sudden change cause its height to become Hd to deviate from the height Hj in the flight information of plan.As schematically in the figure,
If not being adjusted to unmanned plane 100, the coverage of the filming apparatus 102 of unmanned plane 100 will can cover mesh from original
The region A (range shown in wide dotted line) of mark 110 is offset to region B (range shown in narrow dotted line), so that target can not be taken
110。
In this concrete example, the elevation information in the current flight information of the unmanned plane 100 obtained in step S1002 is utilized
Hd finds out the difference DELTA H=Hd-Hj of elevation information Hd and Hj as the first difference.That is, the difference DELTA H table as the first difference
Show the difference of the elevation information at 100 current time of unmanned plane and the elevation information in the flight information of original plan.
Then, in step S10033, the unmanned plane 100 is adjusted according to the first difference.Here, such as according to difference
Value Δ H is adjusted unmanned plane 100, so that the coverage of the filming apparatus 102 of unmanned plane 100 remains region A, thus
Always target 110 is shot.As the mode adjusted to unmanned plane 100, for example, can by using precalculate with
The corresponding adjustment constant K of height change H calculates adjustment angle α=K* Δ H of holder 101, by adjusting the angle of holder 101
Degree comes so that the coverage of filming apparatus 102 becomes region A (range shown in solid) from region B (range shown in narrow dotted line),
Coverage is remained into region A.
Fig. 5 is the flow chart for indicating another concrete example of the step S1003 in Fig. 2.In the scheme of this concrete example, be
It is big in flight information when predicting the flight information of the subsequent time (at the time of given) of unmanned plane 100 for significantling change
Before amplitude variation, unmanned plane 100 is adjusted in advance (or at the time of changing generation).
In step S10031 ', the flight information of the plan of subsequent time is obtained.As an example, the meter of subsequent time is obtained
The elevation information Hjn in flight information drawn.
In step S10032 ', the second difference of the flight information of the plan of current flight information and subsequent time is calculated.
Fig. 6 represents the schematic diagram of the concrete example of explanatory diagram 5.If unmanned plane 100 is during flight, current height
Degree is Hd, but because there are the reason of the barriers such as building, fixation means etc., in the flight information of the plan of subsequent time
Height will become Hjn.As schematically in the figure, if not being adjusted to unmanned plane 100, at next moment, unmanned plane 100
The coverage of filming apparatus 102 will be offset to area from the original region A (range shown in wide dotted line) for capableing of coverage goal 110
Domain B (range shown in narrow dotted line), so that target 110 can not be taken.
In this concrete example, the elevation information in the current flight information of the unmanned plane 100 obtained in step S1002 is utilized
Hd finds out the difference DELTA H=Hjn-Hd of the height Hjn and present level Hd of the plan of subsequent time as the second difference.That is, making
Elevation information of the unmanned plane 100 in the flight information of the plan of subsequent time and current is indicated for the difference DELTA H of the second difference
Elevation information difference.
Then, in step S10033 ', the unmanned plane is adjusted according to the second difference.Here, such as according to difference
Δ H is adjusted unmanned plane 100, so that the coverage of the filming apparatus 102 of unmanned plane 100 remains region A, to begin
Target 110 is shot eventually.As the mode adjusted to unmanned plane 100, such as can be by using precalculating and height
The corresponding adjustment constant K of degree changes delta H calculates adjustment angle α=K* Δ H of holder 101, by adjusting the angle of holder 101
Come so that the coverage of filming apparatus 102 becomes region A (range shown in solid) from region B (range shown in narrow dotted line), i.e.,
Coverage is remained into region A.
Subsequent time in the concrete example can be prespecified next chronomere, by allowing the chronomere
More than or equal to being adjusted the required time to unmanned plane, so as to when predicting flight information will significantly change, in advance
Or unmanned plane 100 is adjusted at the time of changing and occurring.
But present invention is not limited to this, the first difference and the second difference are not limited only to change based on elevation information
Obtained height change, be also possible to further according to GPS information variation, flight attitude (flying speed, yaw angle, roll angle,
Pitch angle) variation etc. calculated state of flight entirety variable quantity.
In addition, being also not limited only to the angle adjustment to holder 101 to the adjustment of unmanned plane 100, including to unmanned plane 100
State of flight and/or the shooting state of filming apparatus 102 be adjusted.
Wherein, the state of flight of unmanned plane 100 is adjusted, comprising: position to unmanned plane 100 and/or to nobody
The flight attitude of machine 100 is adjusted.The position of unmanned plane 100 is adjusted, including to unmanned plane GPS coordinate and/or
The height of unmanned plane is adjusted；The flight attitude of unmanned plane is adjusted, including the yaw angle to unmanned plane, roll
At least one of angle, pitch angle and speed are adjusted.
Further more, being adjusted to the shooting state of filming apparatus 102, it is adjusted including the acquisition parameters to filming apparatus
And/or the posture of holder 101 is adjusted；Wherein, the acquisition parameters of filming apparatus include zoom ratio.
As long as enabling filming apparatus 102 always to target that is, being adjusted by the state of flight to unmanned plane 100
110 are shot, specific specific which or which aspect adjusted in state of flight, can according to the needs of adjustment,
The other factors such as condition, the characteristic of unmanned plane, the weather condition of adjustment are suitable for determining.
The unmanned plane 100 and its control method of first embodiment according to the present invention can dynamically carry out unmanned plane
Control is so that the filming apparatus carried on unmanned plane always can shoot target.
Second embodiment
Fig. 7 is the schematic diagram for indicating the unmanned plane 200 and its application scenarios of second embodiment of the present invention.Here, right
Part same as the first embodiment marks same label, and omits detailed description.
Unmanned plane 200 for example can be appointing for the unmanned plane of multiaxis unmanned plane, fixed-wing unmanned plane or VTOL formula
What is a kind of, including holder 101 and filming apparatus 102.
Holder 101 is connected with unmanned plane 100, for carrying filming apparatus 102.
Filming apparatus 102 is equipped on holder 101, for shooting to target.
Target 110 is the target facility of unmanned plane inspection, and the target 110 in present embodiment is not limited to linear extension
Target.
The difference of the unmanned plane 100 of the unmanned plane 200 and first embodiment of second embodiment is its control method,
It is described in detail below by unmanned plane 200 of the emphasis to second embodiment of the difference.In addition, the nothing of second embodiment
Man-machine 200 are not limited to according to the prebriefed pattern flight planned in advance, are clapped as long as tracking target in flight course
The scene taken the photograph can apply the unmanned plane 200 of second embodiment.
Fig. 8 is the flow chart for indicating the control method of unmanned plane 200 of second embodiment of the present invention.
Target 110 in step S2001, the image taken to filming apparatus 102 identifies.Here it is possible to make
With the identification method based on clarification of objective point, the identification method based on target shape, the identification method based on template, it is based on spy
Levy the identification method, artificial intelligence, the identification method of any one or their combination of machine learning of mark.
In step S2002, unmanned plane 200 is adjusted according to the variation of target 110 in the picture, so that filming apparatus
102 always shoot target 110.
Fig. 9 is the flow chart for indicating a concrete example of the step S2002 in Fig. 8, and Figure 10 is for the specific of explanatory diagram 9
The schematic diagram of the flow chart of example.Figure 10 (A) indicates that target 110 is in the situation in the range of the predetermined position Py in image
Figure.
In step S20021, the position of the target 110 at current time in the picture is obtained.Here it is possible to by target
Center of gravity, center, line of symmetry or circumscribed circle the position as target in the picture such as center.In the schematic diagram of Figure 10, with mesh
Position of the position of the line of symmetry of mark 110 as target 110 in the picture.
Figure 10 (B) indicates the reason because of air-flow etc., and the flight attitude of unmanned plane 200 changes, and target 110 is in image
In current location Pd deviate from predetermined position Py range situation figure.
In step S20022, the third difference of current position Pd and preset position Py are calculated.Here it is possible to
It is calculated by the track algorithm based on region, the track algorithm based on feature, the track algorithm based on profile, the tracking based on model
Any one of method, track algorithm based on detection, tracking target simultaneously confirm its current position Pd, and after calculating variation
Difference DELTA P=Pd-Py between the current location Pd of target 110 and preset predetermined position Py is as third difference.
In step S20023, unmanned plane 200 is adjusted according to third difference.
Here, such as according to difference DELTA P to unmanned plane 200 be adjusted so that Δ P=0 or be less than defined threshold value,
To allow target 110 to be located in the picture as shown in Figure 10 (C) or generally within predetermined position Py, i.e., always to target
110 are shot.As the mode adjusted to unmanned plane 200, such as can be adjusted by using predetermined adjustment stride
The angle of whole holder 101, come so that Δ P=0 or be less than defined threshold value.
Figure 11 is the flow chart for indicating another concrete example of the step S2002 in Fig. 8, and Figure 12 is for explanatory diagram 11
The schematic diagram of the flow chart of concrete example.Figure 12 (A) indicates the situation when size of target 110 is the predefined size Sy in image
Figure.
In step S20021 ', the size of the target 110 at current time in the picture is obtained.Here it is possible to by target
The size as target in the picture such as width, length, height, area, volume.In the schematic diagram of Figure 12, with the width of target 110
Size of the size of degree as target 110 in the picture.
Figure 12 (B) indicates that the reason because of air-flow etc., the flying height of unmanned plane 200 rise, and target 110 is in the picture
Current size Sd deviates from the figure of the situation (becoming smaller) of predefined size Sy.
In step S20022 ', the 4th difference of current size Sd and preset size Sy are calculated.Here, may be used
With by the track algorithm based on region, the track algorithm based on feature, the track algorithm based on profile, based on the tracking of model
Any one of algorithm, track algorithm based on detection, tracking target simultaneously confirm its current size Sd, and after calculating variation
Target 110 current size Sd and preset predefined size Sy between difference DELTA S=Sd-Sy as the 4th difference.
In step S20023 ', unmanned plane 200 is adjusted according to the 4th difference.
Here, such as according to difference DELTA S to unmanned plane 200 be adjusted so that Δ S=0 or be less than defined threshold value,
To allow the size of target 110 to be in the picture equal or substantially equal to predefined size Sy, i.e., always as shown in Figure 12 (C)
Target 110 is shot.As the mode adjusted to unmanned plane 200, such as can be walked by using predetermined adjustment
Width adjusts the zoom ratio of filming apparatus 102, comes so that Δ S=0 or being less than defined threshold value.
But present invention is not limited to this, is also not limited only to the adjustment of unmanned plane 200 above-mentioned each specific
Example, the shooting state including state of flight and/or filming apparatus 102 to unmanned plane 200 are adjusted.
Wherein, the state of flight of unmanned plane 200 is adjusted, comprising: position to unmanned plane 200 and/or to nobody
The flight attitude of machine 200 is adjusted.The position of unmanned plane 200 is adjusted, including to unmanned plane GPS coordinate and/or
The height of unmanned plane is adjusted；The flight attitude of unmanned plane is adjusted, including the yaw angle to unmanned plane, roll
At least one of angle, pitch angle and speed are adjusted.
Further more, being adjusted to the shooting state of filming apparatus 102, it is adjusted including the acquisition parameters to filming apparatus
And/or the posture of holder 101 is adjusted；Wherein, the acquisition parameters of filming apparatus include optical zoom multiplying power and/or number
Zoom ratio.
As long as enabling filming apparatus 102 always to target that is, being adjusted by the state of flight to unmanned plane 200
110 are shot, specific specific which or which aspect adjusted in state of flight, can according to the needs of adjustment,
The other factors such as condition, the characteristic of unmanned plane, the weather condition of adjustment are suitable for determining.
The unmanned plane 200 and its control method of second embodiment according to the present invention can dynamically carry out unmanned plane
Control is so that the filming apparatus carried on unmanned plane always can shoot target.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (42)
1. a kind of control method of unmanned plane, the unmanned plane flies according to the prebriefed pattern planned in advance for target, and by
The filming apparatus being arranged on the unmanned plane shoots the target, includes the following steps:
The flight information of unmanned plane plan is calculated according to the prebriefed pattern,
The current flight information of the unmanned plane is obtained,
The unmanned plane is adjusted according to the current flight information and the flight information of the plan, so that the bat
Device is taken the photograph always to shoot the target.
2. the control method of unmanned plane according to claim 1, it is characterised in that:
The flight information includes at least one in the location information of unmanned plane, flight attitude information and filming apparatus status information
It is a.
3. the control method of unmanned plane according to claim 2, which is characterized in that the location information of the unmanned plane includes
At least one of GPS information and elevation information.
4. the control method of unmanned plane according to claim 2, which is characterized in that the unmanned plane includes holder, described
Filming apparatus is equipped on the holder；
The filming apparatus status information includes the acquisition parameters information of the filming apparatus and the posture information of the holder.
5. the control method of unmanned plane according to claim 4, which is characterized in that described to be calculated according to the prebriefed pattern
The flight information of unmanned plane plan out, comprising:
The flight attitude of the plan of unmanned plane is determined according to the location information of the location information of the target and the prebriefed pattern
The filming apparatus status information of information and plan.
6. the control method of unmanned plane according to claim 4, which is characterized in that described to be believed according to the current flight
It ceases and the unmanned plane is adjusted with the flight information of the plan, comprising:
Obtain the flight information of the plan at current time；
Calculate the first difference of the flight information of the plan of current flight information and the current time；
The unmanned plane is adjusted according to first difference.
7. the control method of unmanned plane according to claim 4, which is characterized in that described to be believed according to the current flight
It ceases and the unmanned plane is adjusted with the flight information of the plan, comprising:
Obtain the flight information of the plan of subsequent time；
Calculate the second difference of the flight information of the plan of current flight information Yu the subsequent time；
The unmanned plane is adjusted according to second difference.
8. the control method of unmanned plane according to claim 6 or 7, which is characterized in that described to be carried out to the unmanned plane
Adjustment, the shooting state including state of flight and/or the filming apparatus to the unmanned plane are adjusted.
9. the control method of unmanned plane according to claim 8, which is characterized in that the flight shape to the unmanned plane
State is adjusted, comprising:
Position to unmanned plane and/or the flight attitude of unmanned plane is adjusted.
10. the control method of unmanned plane according to claim 9, which is characterized in that
The position to unmanned plane is adjusted, and is adjusted including the GPS coordinate to unmanned plane and/or to the height of unmanned plane
It is whole；
The flight attitude to unmanned plane is adjusted, including to unmanned plane yaw angle, roll angle, in pitch angle at least
One is adjusted.
11. the control method of unmanned plane according to claim 8, which is characterized in that the bat to the filming apparatus
The state of taking the photograph is adjusted, and is adjusted including the acquisition parameters to filming apparatus and/or is adjusted to the posture of holder；Its
In, the acquisition parameters of the filming apparatus include zoom ratio.
12. the control method of unmanned plane according to claim 1, which is characterized in that
The unmanned plane is the fixed-wing unmanned plane of VTOL formula；And/or
The target is the linear target line extended.
13. a kind of control method of unmanned plane, the unmanned plane flies according to the prebriefed pattern planned in advance for target, and by
The filming apparatus being arranged on the unmanned plane shoots the target, includes the following steps:
The target in the image taken to the filming apparatus identifies,
The unmanned plane is adjusted according to the variation of the target in the picture, so that the filming apparatus is always to described
Target is shot.
14. the control method of unmanned plane according to claim 13, which is characterized in that the unmanned plane includes holder, institute
Filming apparatus is stated to be equipped on the holder,
It is described that the unmanned plane is adjusted, the bat including state of flight and/or the filming apparatus to the unmanned plane
The state of taking the photograph is adjusted.
15. the control method of unmanned plane according to claim 13, which is characterized in that it is described according to the target in image
In variation the unmanned plane is adjusted, comprising:
Obtain the position of the target at current time in the picture；
Calculate the third difference of current position and preset position；
The unmanned plane is adjusted according to the third difference.
16. the control method of unmanned plane according to claim 13, which is characterized in that it is described according to the target in image
In variation the unmanned plane is adjusted, comprising:
Obtain the size of the target at current time in the picture；
Calculate the 4th difference of current size and preset size；
The unmanned plane is adjusted according to the 4th difference.
17. the control method of unmanned plane according to claim 14, which is characterized in that
The state of flight to the unmanned plane is adjusted, comprising:
Position to unmanned plane and/or the flight attitude of unmanned plane is adjusted.
18. the control method of unmanned plane according to claim 17, which is characterized in that
The position to unmanned plane is adjusted, and is adjusted including the GPS coordinate to unmanned plane and/or to the height of unmanned plane
It is whole；
The flight attitude to unmanned plane is adjusted, including to unmanned plane yaw angle, roll angle, in pitch angle at least
One is adjusted.
19. the control method of unmanned plane according to claim 14, which is characterized in that the bat to the filming apparatus
The state of taking the photograph is adjusted, and is adjusted including the acquisition parameters to filming apparatus and/or is adjusted to the posture of holder；Its
In, the acquisition parameters of the filming apparatus include zoom ratio.
20. the control method of unmanned plane according to claim 13, which is characterized in that
The unmanned plane is the fixed-wing unmanned plane of VTOL formula；And/or
The target is the linear target line extended.
21. a kind of unmanned plane flies according to the prebriefed pattern planned in advance for target, comprising:
Filming apparatus shoots the target；With
One or more processors, for being individually or collectively handled as follows: being calculated according to the prebriefed pattern
The flight information of unmanned plane plan obtains the current flight information of the unmanned plane, according to the current flight information and institute
The flight information for stating plan is adjusted the unmanned plane, so that the filming apparatus always shoots the target.
22. unmanned plane according to claim 21.It is characterized by:
The flight information includes at least one in the location information of unmanned plane, flight attitude information and filming apparatus status information
It is a.
23. unmanned plane according to claim 22, which is characterized in that the location information of the unmanned plane includes GPS information
At least one of with elevation information.
24. unmanned plane according to claim 22, which is characterized in that the unmanned plane includes holder, the filming apparatus
It is equipped on the holder；
The filming apparatus status information includes the acquisition parameters information of the filming apparatus and the posture information of the holder.
25. unmanned plane according to claim 24, which is characterized in that described to calculate unmanned plane according to the prebriefed pattern
The flight information of plan, comprising:
The flight attitude of the plan of unmanned plane is determined according to the location information of the location information of the target and the prebriefed pattern
The filming apparatus status information of information and plan.
26. unmanned plane according to claim 24, which is characterized in that it is described according to the current flight information with it is described
The flight information of plan is adjusted the unmanned plane, comprising:
Obtain the flight information of the plan at current time；
Calculate the first difference of the flight information of the plan of current flight information and the current time；
The unmanned plane is adjusted according to first difference.
27. unmanned plane according to claim 24, which is characterized in that it is described according to the current flight information with it is described
The flight information of plan is adjusted the unmanned plane, comprising:
Obtain the flight information of the plan of subsequent time；
Calculate the second difference of the flight information of the plan of current flight information Yu the subsequent time；
The unmanned plane is adjusted according to second difference.
28. the unmanned plane according to claim 26 or 27, which is characterized in that described to be adjusted to the unmanned plane, packet
It includes and the state of flight of the unmanned plane and/or the shooting state of the filming apparatus is adjusted.
29. unmanned plane according to claim 28, which is characterized in that the state of flight to the unmanned plane is adjusted
It is whole, comprising:
Position to unmanned plane and/or the flight attitude of unmanned plane is adjusted.
30. unmanned plane according to claim 29, it is characterised in that.
The position to unmanned plane is adjusted, and is adjusted including the GPS coordinate to unmanned plane and/or to the height of unmanned plane
It is whole；
The flight attitude to unmanned plane is adjusted, including to unmanned plane yaw angle, roll angle, in pitch angle at least
One is adjusted.
31. unmanned plane according to claim 28, which is characterized in that the shooting state to the filming apparatus carries out
Adjustment, is adjusted including the acquisition parameters to filming apparatus and/or is adjusted to the posture of holder；Wherein, the shooting
The acquisition parameters of device include zoom ratio.
32. unmanned plane according to claim 21, which is characterized in that
The unmanned plane is the fixed-wing unmanned plane of VTOL formula；And/or
The target is the linear target line extended.
33. a kind of unmanned plane flies according to the prebriefed pattern planned in advance for target, comprising:
Filming apparatus shoots the target；With
One or more processors, for being individually or collectively handled as follows: being taken to the filming apparatus
The target in image is identified, is adjusted according to the variation of the target in the picture to the unmanned plane, so that
The filming apparatus always shoots the target.
34. unmanned plane according to claim 33, which is characterized in that the unmanned plane includes holder, the filming apparatus
It is equipped on the holder,
It is described that the unmanned plane is adjusted.Bat including state of flight and/or the filming apparatus to the unmanned plane
The state of taking the photograph is adjusted.
35. unmanned plane according to claim 33, which is characterized in that the variation pair according to the target in the picture
The unmanned plane is adjusted, comprising:
Obtain the position of the target at current time in the picture；
Calculate the third difference of current position and preset position；
The unmanned plane is adjusted according to the third difference.
36. unmanned plane according to claim 33, which is characterized in that the variation pair according to the target in the picture
The unmanned plane is adjusted, comprising:
Obtain the size of the target at current time in the picture；
Calculate the 4th difference of current size and preset size；
The unmanned plane is adjusted according to the 4th difference.
37. unmanned plane according to claim 34.It is characterized in that.
The state of flight to the unmanned plane is adjusted, comprising:
Position to unmanned plane and/or the flight attitude of unmanned plane is adjusted.
38. the unmanned plane according to claim 37, which is characterized in that
The position to unmanned plane is adjusted, and is adjusted including the GPS coordinate to unmanned plane and/or to the height of unmanned plane
It is whole；
The flight attitude to unmanned plane is adjusted, including to unmanned plane yaw angle, roll angle, in pitch angle at least
One is adjusted.
39. unmanned plane according to claim 34, which is characterized in that the shooting state to the filming apparatus carries out
Adjustment, is adjusted including the acquisition parameters to filming apparatus and/or is adjusted to the posture of holder；Wherein, the shooting
The acquisition parameters of device include zoom ratio.
40. unmanned plane according to claim 33, which is characterized in that
The unmanned plane is the fixed-wing unmanned plane of VTOL formula；And/or
The target is the linear target line extended.
41. a kind of recording medium, has program recorded thereon, the program make according to the prebriefed pattern flight planned in advance for target and by
The computer for the unmanned plane that the filming apparatus being arranged thereon shoots the target executes following processing:
The flight information of unmanned plane plan is calculated according to the prebriefed pattern,
The current flight information of the unmanned plane is obtained,
The unmanned plane is adjusted according to the current flight information and the flight information of the plan, so that the bat
Device is taken the photograph always to shoot the target.
42. a kind of recording medium, has program recorded thereon, the program make according to the prebriefed pattern flight planned in advance for target and by
The unmanned plane that the filming apparatus being arranged thereon shoots the target executes following processing:
The target in the image taken to the filming apparatus identifies,
The unmanned plane is adjusted according to the variation of the target in the picture, so that the filming apparatus is always to described
Target is shot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/113948 WO2019104641A1 (en) | 2017-11-30 | 2017-11-30 | Unmanned aerial vehicle, control method therefor and recording medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109643131A true CN109643131A (en) | 2019-04-16 |
Family
ID=66053531
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780036299.8A Pending CN109643131A (en) | 2017-11-30 | 2017-11-30 | Unmanned plane, its control method and recording medium |
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| CN (1) | CN109643131A (en) |
| WO (1) | WO2019104641A1 (en) |
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