CN105141851B - Unmanned vehicle control system, unmanned vehicle and control method - Google Patents
Unmanned vehicle control system, unmanned vehicle and control method Download PDFInfo
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- CN105141851B CN105141851B CN201510634746.2A CN201510634746A CN105141851B CN 105141851 B CN105141851 B CN 105141851B CN 201510634746 A CN201510634746 A CN 201510634746A CN 105141851 B CN105141851 B CN 105141851B
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Abstract
The present invention provides the unmanned vehicle control system and method for the shooting of a kind of pair of specific objective, which is provided with the camera for shooting, which includes: communication unit, for receiving external shooting instruction；Resolution unit, for parsing the navigation channel trace information of the location information of specific objective to be captured and predetermined flight in the received shooting instruction of communication unit；Positioning unit, the navigation channel trace information of location information and predetermined flight for being parsed according to resolution unit, control unmanned vehicle flies to specified position to be shot according to the navigation channel trace information of predetermined flight, and the navigation channel trace information of the predetermined flight is stored in advance in the control system according to the environment where specific objective；Object-recognition unit, for identifying specific target when unmanned vehicle reaches the specified position of positioning unit；Therefore, it can control unmanned vehicle and specific objective accurately found according to shooting instruction, specific objective is prepared to shoot.
Description
Technical field
Fly the present invention relates to nobody of a kind of technical field of unmanned vehicle more particularly to a kind of pair of specific objective shooting
Row device control system, unmanned vehicle, management system and control method.
Background technique
With the development of the progress of electronic science and technology and computer industry level, unmanned vehicle steps into people's
The commercialization of sphere of life, especially four-axle aircraft, has obtained tremendous expansion；Such as in some shootings, article transmitting, flight
The occasions such as performance, are frequently necessary to unmanned vehicle just to execute corresponding task.
Unmanned vehicle why can obtain greatly developing and quick commercialization, main cause include as passing
The aircraft high-altitude of system is shot, and unmanned vehicle own vol is more compact, at low cost；And for common camera, it
Aerial photographing can be executed, and shooting angle also can well carry out special object according to desired trajectory, predetermined angular
It takes pictures.
For example, disclosing a kind in the patent application that Chinese Patent Application No. is CN201510092249.4 and revolving more
Wing flight capture apparatus and image pickup method control, only by user without complicated operation without cumbersome computer
Simple instruction is inputted with parameter, can be achieved with the shooting effect from special angle and orientation to specific reference object；But also
User can be allowed without inputting any parameter or carrying out any additional flight control behaviour by pre-seting Common Parameters
Make, in the case where shooting control operation, can be achieved with fixed point flight shooting function.
Another Chinese Patent Application No. is to disclose a kind of unmanned flight in the patent application of CN201410221759.2
The devices and methods therefor of device motion profile prediction on a surface target, movement target data acquisition module pass through unmanned vehicle
The data of airborne sensor system acquisition mobile surface targets in airborne device；Mobile target data processing module moves ground
Moving-target track three-dimensional polar is converted into three-dimensional rectangular coordinate, and divides after being standardized to target trajectory data
Analysis prediction；The method that mobile target trajectory generation module calls the mobile surface targets trajectory predictions in prediction technique library, to shifting
The track standardized data of moving-target carries out analysis prediction, and generates prediction result；Mobile target trajectory recommending module combines mark
Standardization data and prediction result calculate the recommendation of current mobile target trajectory prediction result；The innovation and creation have can be effective
The tracks of prediction mobile surface targets, the advantages that providing authentic communication for unmanned plane task grouping.
Inventor has found although above-mentioned two parts of patents provide unmanned vehicle accurate in the implementation of the present invention
Significant improvement is made on the problem of shooting specific objective, but only these improvement can not be met the needs of users；Inventor
By finding in the design to unmanned vehicle, in some public situations, how to allow more users can be to unmanned vehicle
The application requests such as shooting, article transmitting, demonstration flight are issued, and unmanned vehicle can quickly recognize the request letter of user
Breath, and corresponding movement is executed according to solicited message.
Summary of the invention
Inventor has found although above-mentioned two parts of patents provide unmanned vehicle accurate in the implementation of the present invention
Significant improvement is made on the problem of shooting specific objective, but only these improvement can not be met the needs of users；Inventor
By finding in the design to unmanned vehicle, in some public situations, how to allow more users can be to unmanned vehicle
The application requests such as shooting, article transmitting, demonstration flight are issued, and unmanned vehicle can quickly recognize the request letter of user
Breath, and corresponding movement is executed according to solicited message；User friendly can be preferably improved in this way.
In order to solve the technical problem of user friendly difference existing in the prior art, the present invention provides one kind to specific mesh
The unmanned vehicle control system and control method for marking shooting, by the way that user can preferably lead to unmanned vehicle
Letter, unmanned vehicle can be performed quickly corresponding actions according to the solicited message of user, improve the friendly of user.
In order to realize said effect, present invention provide the technical scheme that
On the one hand, the unmanned vehicle control system of a kind of pair of specific objective shooting, unmanned vehicle setting are provided
There is the camera for shooting, which is characterized in that the control system includes:
Communication unit, for receiving external shooting instruction；Wherein, the shooting instruction includes specific objective to be captured
Location information and unmanned vehicle complete the navigation channel track for the predetermined flight that shooting task needs；
Resolution unit, for parsing in the received shooting instruction of communication unit the location information of specific objective to be captured and pre-
Surely the navigation channel trace information to fly；
Positioning unit, the navigation channel trace information of location information and predetermined flight for being parsed according to resolution unit, control
The unmanned vehicle flies to specified position to be shot according to the navigation channel trace information of predetermined flight；And it is described predetermined winged
Capable navigation channel trace information is stored in advance in the control system according to the environment where specific objective；
Object-recognition unit, for identifying specific target when unmanned vehicle reaches the specified position of positioning unit.
Further, the control system further includes authorization identifying unit, when the communication unit receives shooting order
When, after being identified by the authorization identifying unit, just shooting order is parsed by the resolution unit.
Further, the communication unit is provided with third party's instant communication software log-in module, and user can pass through shifting
Third party's instant communication software in dynamic equipment sends shooting instruction information to the unmanned vehicle.
Further, the control instruction includes the scheduled movement speed of specific objective and moving direction, the control system
System controls the unmanned vehicle when shooting to specific target, according to specific objective movement speed in control instruction and
The identical speed of moving direction and direction flight.
Further, the control system further includes photo and/or visual classification unit, for according to user and/or
Shooting time and/or shooting location classify to the photo and/or video that shoot in camera.
Further, the control system further includes user management module, for judging whether the shooting formulation belongs to
Legal user and/or the user to have paid the fees；And the parsing of shooting instruction is selectively carrying out according to the result of judgement.
Second aspect includes aircraft body and for the camera of shooting the present invention also provides a kind of unmanned vehicle,
It is characterized in that, the unmanned vehicle further includes controlling described in any one of the above to the unmanned vehicle of specific objective shooting
System processed.
The third aspect, the present invention also provides the unmanned vehicle management system of a kind of pair of specific objective shooting, features
It is, which includes:
At least one is provided with the unmanned vehicle of the control system；
Navigation channel trajectory planning unit is cooked up for the location information according to unmanned vehicle and instruction target to be captured
The unmanned vehicle is set to be able to carry out the navigation channel track of the predetermined flight of flight；And the navigation channel track of the predetermined flight is believed
Breath is stored in advance in the control system according to the environment where specific objective.
Further, the management system is additionally provided with user management module, user log-in block and service management unit；
Wherein, the service management unit is used for the user's shooting instruction parsed include apart from specified target position information, and according to institute
User's shooting instruction is stated, the nearest unmanned vehicle of specific objective described in command range executes shooting task.
Fourth aspect, the present invention also provides the unmanned vehicle control method of a kind of pair of specific objective shooting, this nobody
Aircraft is provided with the camera for shooting, which is characterized in that the control method includes:
Receive the shooting instruction that user issues；Wherein, the shooting instruction includes the location information of specific objective to be captured
The navigation channel track for the predetermined flight that shooting task needs is completed with unmanned vehicle；
Parse the navigation channel trace information of the location information of specific objective to be captured and predetermined flight in shooting instruction；
According to the navigation channel trace information of the location information of resolution unit parsing and predetermined flight, the unmanned vehicle is controlled
Fly to prepare shooting to specified position according to the navigation channel trace information of predetermined flight；And the navigation channel track of the predetermined flight is believed
Breath is stored in advance in the control system according to the environment where specific objective；
When unmanned vehicle reaches the specified position of positioning unit, specific target is identified；And to the specific objective
Execute shooting task.
Using above-mentioned technical proposal provided by the invention, one of following beneficial effect can be at least obtained:
1, user can pass through above-mentioned unmanned vehicle control system and/or the directly opposite unmanned flight of control method
Device issues shooting instruction, and control system can control unmanned vehicle and accurately find specific objective according to shooting instruction, to spy
Set the goal preparation shooting；In this way user can in some specific occasions, such as on roller-coaster, wedding ceremony, celebration activity it is existing
, allow unmanned vehicle to help oneself to shoot specific objective according to their own needs, and by unmanned vehicle into
Row shooting, can not be influenced by specific objective position and angle, can shoot the angle that common camera can not be shot,
To more preferably meet the needs of users.
2, user's one-time consumption can be facilitated by authorization identifying unit, without individually buy one nobody fly
Row device.
3, third party's instant communication software can be set in control system, user can preferably be allowed to pass through mobile phone etc. in this way
Intelligent movable equipment issues control instruction to unmanned vehicle, user-friendly；Further increase user friendly.
It 4, may include the scheduled movement speed of specific objective in the received shooting instruction of control system, and according to the letter
Breath, and then target carries out mobile find a view；So as to complete the common impossible shooting function of camera, one is provided for user
The better screening-mode of kind.
5, user can issue the shooting instruction shot to specific objective, and unmanned vehicle management system can be with
Distance to a declared goal specific objective is shot apart from nearest unmanned vehicle, can more be quickly completed user's shooting in this way and be asked
It asks.
The other feature and advantage of invention will illustrate in the following description, also, partly become aobvious from specification
And it is clear to, or understood by implementing technical solution of the present invention.The objectives and other advantages of the invention can be by illustrating
Specifically noted structure and/or process are achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram for unmanned vehicle control system that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart for unmanned vehicle control method that the embodiment of the present invention one provides；
Fig. 3 is a kind of structural block diagram for unmanned vehicle management system that the embodiment of the present invention one provides；
Fig. 4 is that a kind of user that the embodiment of the present invention one provides shoots task by the application of unmanned vehicle management system
Flow chart；
Fig. 5 is the flow chart that a kind of unmanned vehicle that the embodiment of the present invention one provides executes shooting task；
Fig. 6 is a kind of structural block diagram of unmanned vehicle control system provided by Embodiment 2 of the present invention；
Fig. 7 is a kind of flow chart of unmanned vehicle control method provided by Embodiment 2 of the present invention；
Fig. 8 is a kind of structural block diagram for unmanned vehicle control system that the embodiment of the present invention three provides；
Fig. 9 is a kind of flow chart for unmanned vehicle control method that the embodiment of the present invention three provides.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
, these specific descriptions only allow those of ordinary skill in the art to be more easier, clearly understand the present invention, rather than to this hair
Bright limited explanation；And if conflict is not constituted, each spy in each embodiment and each embodiment in the present invention
Sign can be combined with each other, and it is within the scope of the present invention to be formed by technical solution.
In addition, step shown in the flowchart of the accompanying drawings can be in the control system of a such as group controller executable instruction
Middle execution, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence executes shown or described step.
It should be noted that this following unmanned vehicle can be multi-rotor aerocraft, including small-sized, miniature more rotors fly
Row device；Especially four axis multi-rotor aerocrafts；Certainly other types be may be arranged as.
Below by the drawings and specific embodiments, technical solution of the present invention is described in detail.
Embodiment one
As shown in Figure 1, the present embodiment provides the unmanned vehicle control system 110 of a kind of pair of specific objective shooting, it should
Unmanned vehicle is provided with execution unit 120, and execution unit 120 includes but is not limited to: camera 124 and support phase for shooting
The holder 123 of machine, and the motor 122 of driving force is provided for the rotor 121 of flight and to rotor；The control system for shooting
(hereinafter referred control system) 110 include:
Communication unit 111, for receiving external shooting instruction；Wherein, shooting instruction includes specific objective to be captured
Location information and unmanned vehicle complete the navigation channel track for the predetermined flight that shooting task needs；And navigation channel track generates can be with
According to built-in mapping module in the controls, (can also hereafter there be detailed solution due to the management system that control system connects
Release) carry out in management system storing map module to generate；
Resolution unit 112, for parsing the location information of specific objective to be captured in the received shooting instruction of communication unit
With the navigation channel trace information of predetermined flight；
Positioning unit 113, the navigation channel trace information of location information and predetermined flight for being parsed according to resolution unit, control
The unmanned vehicle is made to fly to specified position to be shot according to the navigation channel trace information of predetermined flight；And predetermined flight
Navigation channel trace information be stored in advance in control system 110 according to the environment where specific objective, i.e., can in control system 110
To be provided with the storage unit of the navigation channel trace information of the predetermined flight of storage；More specifically, unmanned vehicle is applied to recreation ground
The shooting of roller-coaster project when, control system 100 first according to the geography and environmental quality of roller-coaster project, targeted design nobody
The fixation flight line of aircraft, it is preferable that flight line follows the track of roller-coaster always, is clapped from track oblique upper
It takes the photograph, on this basis, can also be needed according to track feature, shooting angle, design the flight line of unmanned vehicle, due to
The flight freedom degree of unmanned vehicle is high, so can be realized the angle that many fixing cameras are difficult to realize；Using this needle
It can also include the flight frequency, the design on flight opportunity, flying speed for unmanned vehicle to property design, it is simplest
Mode is exactly that flight frequency and flight opportunity and the starting of roller-coaster each time are adapted；And the design of flying speed be then with
The speed of roller-coaster matches, to obtain best shooting effect；And control system 100 provided in this embodiment can also allow
For unmanned vehicle on default fixation locus in flight course, the instruction that foundation user issues is temporary to leave the retaining rail
Mark goes to complete track up task, completes track up task and then returns on preset fixation locus, continues to complete original
The fixation locus task come；
Object-recognition unit 114, for identifying specific mesh when unmanned vehicle reaches the specified position of positioning unit
Mark.
Further, control system 110 further includes authorization identifying unit, when communication unit receives shooting order, is led to
It crosses after authorization identifying unit identified, just shooting order is parsed by resolution unit；Wherein, authorization identifying unit
It can carry out judging that this is used for whether having shooting permission by the charging identification code for issuing user, therefore can also claim to authorize
Authentication unit is accounting code recognition unit.
Further, communication unit 111 include can be with identified single channel or dual-channels communication sensor.
Further, control system 110 can lead to according to the location information for the specific objective that object-recognition unit recognizes
Cross the shooting angle that holder adjusts camera.
Further, the received control instruction of communication unit 111 includes the scheduled movement speed of specific objective and movement side
To control system controls unmanned vehicle when shooting to specific target, mobile according to specific objective in control instruction
Speed and the identical speed of moving direction and direction flight.
Further, control system 111 further includes photo and/or visual classification unit, for according to user and/or bat
Time and/or shooting location is taken the photograph to classify to the photo and/or video that shoot in camera.Preferably, control system is allowed to unite
One is handled, can be according in fixed aerial mission or the photo without special object that other opportunitys shoot
Shooting time or shooting location are sorted out, and user is waited to call；It, can basis for the photo shot according to number-mark
User corresponding to number-mark sorts out, and corresponding user is waited to call.
Further, control system further includes user management module, for judging that shooting formulates whether belong to legal use
Family and/or the user to have paid the fees；And the parsing of shooting instruction is selectively carrying out according to the result of judgement.
Further, when shooting instruction further includes the self attributes, shooting duration of video, shooting delay of specified target to be captured
At least one of section information.Family can be used in this way can be according to the customized more acquisition parameters of setting, and style of shooting is more
Hommization.
On the other hand, the present embodiment also provides a kind of unmanned vehicle 100, which includes above-mentioned to spy
Set the goal the unmanned vehicle control system 110 of shooting, and the unmanned vehicle is additionally provided with execution unit 120, executes
Unit 120 includes but is not limited to: for the camera 124 of shooting and the holder 123 of support camera, and the rotor for flight
121 and to rotor provide driving force motor 122.
As shown in figure 3, the present embodiment also provides the unmanned vehicle management system of a kind of pair of specific objective shooting, the pipe
Reason system 300 includes:
At least one is provided with the unmanned vehicle of the control system such as any one of the above；
It is provided with the unit of user registration module, the user management of user's log-in module, i.e. user management system in Fig. 3
System, the Subscriber Management System include three modules: for exchange with casual user information managing caller module 311, be used for
Member user exchanges the registration user management module 312 of information, Admin Administration's module 313 for managing user information；
Aircraft calling system 320, for sending shooting and aerial mission, aircraft calling system packet to unmanned vehicle
It includes four modules: being requested according to user, the unmanned vehicle of Xiang Zhiding sends the unmanned vehicle task allocating module of task
321；It is requested according to user, the unmanned vehicle of Xiang Zhiding sends the unmanned vehicle task modification for the task that user needs to modify
Module 322；It is requested according to user, the unmanned vehicle of Xiang Zhiding sends the unmanned vehicle task cancellation mould that user cancels task
Block 322；And the unmanned vehicle data processing of the parameters such as comprehensive descision unmanned vehicle aerial mission cumulative amount, flying distance
Module 324；
Aircraft login system 330, for managing the status information of unmanned vehicle, the aircraft login system 330 packet
Include: the unmanned vehicle that aerial mission is logged in or marked based on the received logs in, mark module 331, is appointed according to flight
The unmanned vehicle cancellation module 332 that business performance is unregistered carries out unmanned vehicle according to user request information and awards
Power is authorized with the unmanned vehicle for cancelling task cancels module 333；
And service management unit (not illustrating), for parse include apart from specified target position information user shooting
Instruction, and according to user's shooting instruction, the nearest unmanned vehicle of command range specific objective executes shooting task.
And the unmanned vehicle that 300 system of management system can also manage simultaneously is not limited to a frame, is also possible to multi rack；
These unmanned vehicles can also be not limited to a route, can be on different routes, but either at which kind of
On machine and which route, when sensing identity user, unmanned vehicle completes specific aim shooting.
As shown in Fig. 2, the present embodiment also provides the unmanned vehicle control method of a kind of pair of specific objective shooting, the nothing
People's aircraft is provided with the camera for shooting, which includes:
S201, shooting instruction is received:
The communication unit of unmanned vehicle control system receives the shooting instruction that user issues；Wherein, the shooting refers to
Location information and unmanned vehicle including specific objective to be captured is enabled to complete the navigation channel rail for the predetermined flight that shooting task needs
Mark；
S202, parsing shooting instruction:
The location information of specific objective to be captured in the resolution unit parsing shooting instruction of unmanned vehicle control system
With the navigation channel trace information of predetermined flight；
S203, control unmanned vehicle fly to predetermined position:
According to the navigation channel trace information of the location information of resolution unit parsing and predetermined flight, the unmanned vehicle is controlled
Fly to prepare shooting to specified position according to the navigation channel trace information of predetermined flight；
S204, identification specific objective:
When unmanned vehicle reaches the specified position of positioning unit, specific target is identified；
S205, shooting task is completed:
Shooting task is executed to specific objective.
As shown in figure 4, for the present embodiment it is further preferred provide allow user to pass through unmanned vehicle management system
Apply for the flow chart of shooting task, specific steps include:
S401, beginning
User prepares to communicate with unmanned vehicle；
S402, user's application
Unmanned vehicle management system is temporarily logged in a manner of casual user if can choose, also can choose with
The mode of member user logs in unmanned vehicle management system；It can be according to actual needs, it will member's user setting is at than facing
When user possess more permissions, for example, member user can be with first to file post-paid, and casual user's necessity prepayment expense
With, could to unmanned vehicle issue control instruction.
S403, Subscriber Management System judge whether user has permission
Subscriber Management System verifies the user identity for issuing shooting instruction, for example whether having paid expense, is
It is no to belong to the information such as member user.If meeting the user of corresponding authority, S404 is executed；Otherwise it is back to S402.
Wherein, Subscriber Management System can also examine this application it is whether legal (such as, if system allow user class
Type, if paying etc.), when Subscriber Management System examine this application it is legal when, result from the corresponding unique encodings of the user
Mark, and the mark is sent to all unmanned vehicles for executing fixed aerial mission, unmanned vehicle receives the coding
After mark, it will identification has the special object of code identification in real time, is identified as reference object, implements specific aim shooting；
And when user files an application to nullify flight shooting demand, after system passes through this application, issued to unmanned vehicle described in nullifying
The instruction of code identification.
S404, aircraft login system allocation identification
The shooting instruction that unmanned vehicle login system is resolved to according to unmanned vehicle with control system, distribution distance are special
The unmanned vehicle for setting the goal nearest executes shooting task.
Preferably, about code identification realization mechanism using can simply carry, can identified single channel or binary channels
Signaling equipment, the equipment is uniquely corresponding with code identification, and can be complete with the signal transducer that is specially arranged on unmanned vehicle
At either simplex or duplex communication, after unmanned vehicle senses the signaling equipment, specific aim will be implemented according to preset mode
Shooting.
Unique code identification is issued user hand by the mechanism that can also be matched using the mobile phone carried with user, system
The mobile phone held, mobile phone constantly send out the signal transducer institute that can be specially arranged on unmanned vehicle according to the code identification
The id signal for receiving and recognizing, the communication acknowledgement between mobile phone that unmanned vehicle is held according to authorized user shoot need
It asks, and on signal strength appropriate and opportunity, implements specific aim shooting.
S405, aircraft login system send mark
Shooting instruction is sent to respective identification by aircraft login system (can be the number or name of unmanned vehicle
Claim) unmanned vehicle.
S406, unmanned vehicle receive mark (authorization)
The unmanned vehicle of response identification receives shooting instruction, that is, the unmanned vehicle is authorized to execute shooting task.
S407, Subscriber Management System receive user's application and are unregistered
If user wants to cancel shooting instruction suddenly, application/log-out instruction can be nullified to as Subscriber Management System application；
Then Subscriber Management System can be passed sequentially through to verify the user identity for issuing shooting instruction, used by unmanned vehicle
Control system parses log-out instruction；Then Subscriber Management System receives user's application and is unregistered.Certain Subscriber Management System can
Directly to receive the cancellation shooting instruction issued from user, cancellation task can be performed faster in this way.
If not receiving cancellation application in predetermined amount of time, unmanned vehicle executes corresponding shooting task；And it is complete
After shooting task, scheduled initial position is returned directly to.
S408, (nobody) aircraft login system send user's application and are unregistered
Log-out instruction/application is sent to respective identification by unmanned vehicle login system (can be the volume of unmanned vehicle
Number or title) unmanned vehicle.
S409, unmanned vehicle receive instruction (de-authorization)
The unmanned vehicle of response identification receives log-out instruction, that is, received shooting before authorizing the unmanned vehicle to cancel
Task.
S410, end
Therefore, user can cancel the shooting task having been sent from any time according to their own needs, further improve and use
Family friendly.
As shown in figure 5, the flow chart of shooting task is executed for the further preferred unmanned vehicle provided of the present embodiment,
Specifically include:
S501, beginning
Unmanned vehicle state self-test finishes, and state is ready, waits pending shooting instruction.
S502, aircraft calling system distribute aerial mission
The shooting instruction that unmanned vehicle login system is resolved to according to unmanned vehicle with control system, distribution distance are special
The unmanned vehicle for setting the goal nearest executes shooting task.
S503, unmanned vehicle implement aerial mission
Unmanned vehicle is according to the location information of specific objective in shooting instruction, and flight is to apart from specific objective preset distance
Position at.
S504, unmanned vehicle real time scan specific objective
After unmanned vehicle reaches at position apart from specific objective preset distance, start to scan specific objective whether
Around shooting instruction corresponding position.Scanning mode can be judged whether by face recognition technology or detection of obstacles mode
There is specific objective.
S505, judge whether it is specific objective
Judge specific objective whether around shooting instruction corresponding position；It is otherwise back to if so, executing S506
S504。
S506, unmanned vehicle implement shooting task
Unmanned vehicle passes through the camera being disposed thereon and shoots to specific objective, such as is continuously shot N picture,
Perhaps the video or predetermined point of time for shooting N minutes shoot picture or video etc..
Certainly can also be shot using preset regular logical, alternatively, it is also possible to according to aftermentioned identifier mechanism come
It realizes.So-called regular logical refers to, the shooting of unmanned vehicle can be to be shot in scheduled opportune moment, be also possible to according to
Scheduled frequency is shot, and is also possible to the combination of these modes.The photo shot by presetting regular logical mode, one
As without specific reference object, after shooting is completed, can show, be selected for ordinary user.
S507, unmanned vehicle complete task and make a return voyage
Unmanned vehicle is back to predetermined initial position after completing shooting task, if connect certainly during making a return voyage
New shooting task can be continued to execute by receiving new shooting task.
S508, end
Unmanned vehicle is back to scheduled initial position.
Unmanned vehicle executes shooting task can also be as follows:
In site of activity, unmanned vehicle flies in the way of preset 8 word wraparound always in site of activity overhead,
In one preset distance range, when having sensed a target object with number-mark, then it is detached from and fixes 8 word wraparound lines
Road direction target object flies to, and implements shooting action, after completing shooting action, continues back at predetermined 8 word wraparound offline mode.
Using above-mentioned technical proposal provided in this embodiment, one of following beneficial effect can be at least obtained:
1, user can pass through above-mentioned unmanned vehicle control system and/or the directly opposite unmanned flight of control method
Device issues shooting instruction, and control system can control unmanned vehicle and accurately find specific objective according to shooting instruction, to spy
Set the goal preparation shooting；In this way user can in some specific occasions, such as on roller-coaster, wedding ceremony, celebration activity it is existing
, allow unmanned vehicle to help oneself to shoot specific objective according to their own needs, and by unmanned vehicle into
Row shooting, can not be influenced by specific objective position and angle, can shoot the angle that common camera can not be shot,
To more preferably meet the needs of users.
2, user's one-time consumption can be facilitated by authorization identifying unit, without individually buy one nobody fly
Row device.
It 3, may include the scheduled movement speed of specific objective in the received shooting instruction of control system, and according to the letter
Breath, and then target carries out mobile find a view；So as to complete the common impossible shooting function of camera, one is provided for user
The better screening-mode of kind.
4, the shooting instruction that specific objective is shot that user can issue, and unmanned vehicle management system can
It is shot with distance to a declared goal specific objective apart from nearest unmanned vehicle, can more quickly complete user's shooting in this way
Request.
Embodiment two
Unmanned vehicle control system and/or controlling party in embodiment one equally can be set in the present embodiment
Method, and the unmanned vehicle management system to specific objective shooting.
The difference lies in that as shown in fig. 6, unmanned vehicle set-up of control system provided in this embodiment has third party soft
Part login unit 211, it is preferable that the third party software login unit 211 be instant communication software, such as Tencent QQ,
Wechat, Wang Wang, the Alipay of Ali group, the MSN etc. of Microsoft.Even if certain third party's communication software can be set into
A part of communication unit 212.
For the convenience of description, the present embodiment preferably uses wechat software to be described；If the communication of unmanned vehicle
Unit 212 is provided with wechat and logs in entrance, such user can directly pass through intelligent movable equipment (can be smart phone,
Pad etc.) to unmanned vehicle send shooting instruction information；Then after communication unit receives shooting instruction, unmanned vehicle can be with
It executes and the identical shooting task of embodiment one.
Correspondingly, as shown in fig. 7, in unmanned vehicle control method provided in this embodiment, shooting instruction is being received
Step S701 is increased before, even if logging in third party's communication software, bat from the user is received by third party's communication software
Take the photograph instruction.
Also, user not only can send shooting instruction by third party software, can also be by third party software
Included payment function, directly pays the fees.
Using above-mentioned technical proposal provided in this embodiment, one of following beneficial effect can be at least obtained:
Third party's instant communication software can be set in control system, user can preferably be allowed to move by mobile phone etc. in this way
Dynamic smart machine issues control instruction to unmanned vehicle, user-friendly；Further increase user friendly.
Embodiment three
In the present embodiment equally can be set embodiment one or implement unmanned vehicle control system in two and/
Or control method, and the unmanned vehicle management system to specific objective shooting.
The difference lies in that as shown in figure 8, unmanned vehicle set-up of control system provided in this embodiment has map unit
813, which can be third-party map (such as Baidu map or Amap) interface unit, and user can also
With by have map unit smart machine, quickly find specific objective around whether have can unmanned vehicle, this
While sample is user-friendly, it can allow the resolution unit of unmanned vehicle that can quickly position the accurate position of specific objective
It sets.
Correspondingly, as shown in figure 9, being swept in unmanned vehicle control method provided in this embodiment in unmanned vehicle
Before retouching, identifying specific objective, first in map unit, it is quickly pre-positioned the accurate location (S903) of specific objective；Then root
According to the position of specific objective in map, scan specific objective (S904)；The speed of scanning, identification can be improved in this way.
Finally, it should be noted that above description is only highly preferred embodiment of the present invention, not the present invention is appointed
What formal limitation.Anyone skilled in the art, it is without departing from the scope of the present invention, all available
The way and technology contents of the disclosure above make many possible variations and simple replacement etc. to technical solution of the present invention, these
Belong to the range of technical solution of the present invention protection.
Claims (10)
1. the unmanned vehicle control system of a kind of pair of specific objective shooting, the unmanned vehicle are provided with the phase for shooting
Machine, which is characterized in that the control system includes:
Communication unit, for receiving external shooting instruction；Wherein, the shooting instruction includes the position of specific objective to be captured
Information and unmanned vehicle complete the navigation channel track for the predetermined flight that shooting task needs；
Resolution unit, for parsing in the received shooting instruction of communication unit the location information of specific objective to be captured and predetermined flying
Capable navigation channel trace information；
Positioning unit, the navigation channel trace information of location information for being parsed according to resolution unit and predetermined flight, described in control
Unmanned vehicle flies to specified position to be shot according to the navigation channel trace information of predetermined flight；And the predetermined flight
Navigation channel trace information is stored in advance in the control system according to the environment where specific objective；
Object-recognition unit, for identifying specific target when unmanned vehicle reaches the specified position of positioning unit.
2. control system according to claim 1, which is characterized in that the control system further includes authorization identifying unit,
When the communication unit receives shooting instruction, after being identified by the authorization identifying unit, just pass through the solution
Analysis unit parses shooting instruction.
3. control system according to claim 1, which is characterized in that the unmanned vehicle, which is additionally provided with, is used to support institute
State the holder of camera, the location information for the specific objective that the control system can be recognized according to the object-recognition unit,
The shooting angle of the camera is adjusted by the holder.
4. control system according to claim 1, which is characterized in that the communication unit is provided with third party's instant messaging
Software log-in module, user can be sent to the unmanned vehicle by third party's instant communication software in mobile device and be clapped
Take the photograph command information.
5. control system according to claim 1, which is characterized in that the control system further includes photo and/or view
Frequency taxon, for according to user and/or shooting time and/or shooting location to the photo and/or view shot in camera
Frequency is classified.
6. control system according to claim 1, which is characterized in that the control system further includes user management module,
For judging that the user for whether belonging to legal user and/or having paid the fees is formulated in shooting；And choosing is had according to the result of judgement
Execute the parsing of shooting instruction with selecting.
7. a kind of unmanned vehicle includes aircraft body and the camera for shooting, which is characterized in that the unmanned vehicle
It further include the unmanned vehicle control system to specific objective shooting as described in any one of claim 1~6.
8. the unmanned vehicle management system of a kind of pair of specific objective shooting, which is characterized in that the management system includes:
At least one is provided with the unmanned vehicle of control system as claimed in claim 7；
Navigation channel trajectory planning unit plans institute of sening as an envoy to for the location information according to unmanned vehicle and instruction target to be captured
State the navigation channel track that unmanned vehicle is able to carry out the predetermined flight of flight；And the predetermined Flight Path trace information according to
Environment where specific objective is stored in advance in the control system.
9. management system according to claim 8, which is characterized in that the management system is additionally provided with user management mould
Block, user log-in block and service management unit；Wherein, the service management unit includes apart from specific objective position for parsing
User's shooting instruction of confidence breath, and according to user's shooting instruction, control the unmanned flight nearest from the specific objective
Device executes shooting task.
10. the unmanned vehicle control method of a kind of pair of specific objective shooting, the unmanned vehicle are provided with for shooting
Camera, which is characterized in that the control method includes:
Receive the shooting instruction that user issues；Wherein, the shooting instruction includes the location information and nothing of specific objective to be captured
People's aircraft completes the navigation channel track for the predetermined flight that shooting task needs；
Parse the navigation channel trace information of the location information of specific objective to be captured and predetermined flight in shooting instruction；
According to the navigation channel trace information of the location information of resolution unit parsing and predetermined flight, control the unmanned vehicle according to
The navigation channel trace information of predetermined flight flies to prepare shooting to specified position；And the navigation channel trace information root of the predetermined flight
It is stored in advance in the control system according to the environment where specific objective；
When unmanned vehicle reaches the specified position of positioning unit, specific target is identified；And the specific objective is executed
Shooting task.
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| CN201510634746.2A CN105141851B (en) | 2015-09-29 | 2015-09-29 | Unmanned vehicle control system, unmanned vehicle and control method |
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| CN201510634746.2A CN105141851B (en) | 2015-09-29 | 2015-09-29 | Unmanned vehicle control system, unmanned vehicle and control method |
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| CN105141851B true CN105141851B (en) | 2019-04-26 |
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