CN105242686B - A kind of unmanned plane system and method for taking photo by plane - Google Patents
A kind of unmanned plane system and method for taking photo by plane Download PDFInfo
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Abstract
The invention discloses a kind of unmanned plane system and unmanned plane method, including at least two frame unmanned planes and ground control station, information mutual communication is carried out by data transmission link between ground control station and unmanned plane, by setting mobile video base station mission payload device on nobody, wireless communication connection is set up between the different unmanned planes, using the good unmanned plane of channel condition as mobile communication terminal, the pictorial information of taking photo by plane that earthward control station transmission is photographed.Unmanned plane system and unmanned plane method in the present invention are used as mobile communication terminal by the use of the good unmanned plane of channel, solve the problem of resulting picture quality of being taken photo by plane present in prior art is poor, the laser propagation effect of Aerial Images is improved, the quality of Aerial Images is improved.
Description
Technical field
The present invention relates to unmanned flight's machine technique for taking field, more particularly to a kind of unmanned plane system and the side of taking photo by plane
Method.
Background technology
With the continuous ripe and development of unmanned air vehicle technique, because unmanned plane has advantage of lower cost, no one was injured
The advantage such as risk, survival ability are strong, mobility is good, easy to use so that unmanned plane at civilian aspect using wide, mainly
Application market includes：Aerial photography, aeroplane photography, geology and geomorphology mapping, forest fire protection, seismic survey, nuclear radiation detection, border
Patrol, emergency disaster relief, Crop Estimation, agricultural land information monitoring, pipeline, ultra-high-tension power transmission line inspection, the conservation of wildlife, scientific research
Experiment, maritime affairs scouting, movement pattern of fish monitoring, environmental monitoring, air sampling, increasing rain, resource exploration, the prohibition of drug, anti-terrorism, police investigation are patrolled
Patrol, the multiple fields such as are built in take photo by plane investigation, communication relay, urban planning, digitalized city of security monitoring, fire-fighting, due to boat
The reason for empty product is to strict demand and the air traffic control of security, does not dare to inquire people.To be general boat in a few years from now on
Empty cause and the epoch of unmanned plane career development.According to analysis, the market demand of a large amount of civilian unmanned planes of Lai Jinian China, unmanned plane
Using distant view preferably, but in related application at this stage also in not yet formation, the primary stage of scale.Existing many rotors nobody
Machine, major advantage is can be relatively low to site requirements with VTOL, has Safety Redundancy, security is higher, can load total class wide
It is general, therefore widespread adoption market will be obtained.
Method of the prior art of taking photo by plane, because the flight environment of vehicle of unmanned plane is difficult to control to, and the letter of image return path
Make an uproar than it is unstable cause to take photo by plane obtained by picture quality it is poor, it is difficult to meet application demand, limit unmanned plane work,
Application agriculturally.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provide a kind of unmanned plane system and
Take photo by plane method, improve the laser propagation effect of Aerial Images, improve the quality of Aerial Images.
Technical scheme：To achieve the above object, unmanned plane system of the invention, including at least two frame unmanned planes and ground
Face control station, is provided with data transmission link between the ground control station and the unmanned plane, the ground control station according to
Task of taking photo by plane sends control instruction to unmanned plane, and receives the data message that the unmanned plane is sent；
The unmanned plane includes passing through mobile video between mobile video base station mission payload device, the different unmanned planes
Base station mission payload device sets up wireless communication connection.
Correspondingly, present invention also offers a kind of unmanned plane method, applied to the boat that there are at least two frame unmanned planes
In shooting system, comprise the following steps：
（1）With the cycle set in advance, earthward control station sends data message, the data letter to unmanned plane in-flight
Breath includes：State of flight information, take photo by plane pictorial information and mobile communication transfer load information；
（2）The ground control station is stored to the data message, and is updated according to the cycle set in advance
Store list；
（3）If the ground control station detects unmanned plane and comes into region of taking photo by plane, transmission is taken photo by plane instruction, and according to
Shooting demand set in advance sends flight control instruction to unmanned plane；
（4）State of flight is adjusted to photograph according to flight control instruction on the unmanned plane and meets the image of shooting demand
Information, according to take photo by plane instruction acquisition image and to image be compressed processing after to the ground control station send take photo by plane picture letter
Breath；
（5）If the received signal to noise ratio that the ground control station detects the unmanned plane is less than channel noise set in advance
Than being then that the unmanned plane finds mobile communication terminal according to the mobile communication transfer load information；
（6）Taken pictorial information of taking photo by plane is synchronized to the mobile communication terminal, the shifting by the unmanned plane
Dynamic communication terminal is other unmanned planes different from the unmanned plane in system, and the mobile communication terminal is taken photo by plane described
Pictorial information sends the ground control station to.
Beneficial effect：Unmanned plane system and unmanned plane method in the present invention utilize idle unmanned plane in system
As mobile communication terminal, the laser propagation effect of Aerial Images is improved, the quality of Aerial Images is improved；The present invention nobody
Machine takes photo by plane system to the servomechanism in unmanned plane, mobile video base station mission payload device, filming apparatus and channel radio
T unit carries out coordination control so that each device can cooperate, earthward control on the basis of itself function is completed again
Transmission of standing is taken photo by plane pictorial information, improves the data transmission efficiency and data transmission quality between unmanned plane and ground control station；
The good unmanned plane of channel as mobile communication terminal, is further increased data transfer by the unmanned plane method of the present invention
Efficiency and data transmission quality, improve aerial photography effect, contribute to popularization and use that unmanned plane is applied, are industry, agriculture
Bring bigger economic benefit in industry field.
Brief description of the drawings
Fig. 1 is the unmanned plane system schematic of the present invention；
Fig. 2 is the high-level schematic functional block diagram of unmanned plane；
Fig. 3 is the module diagram of unmanned plane servomechanism；
Fig. 4 is the module diagram of unmanned plane mobile video base station mission payload device；
Fig. 5 is the module diagram of unmanned plane filming apparatus.
Embodiment
The present invention is further described with reference to embodiment.
Unmanned plane system in Fig. 1 includes：At least 2 frame unmanned planes 1 and ground control station 2, unmanned plane 1 and ground control
System station 2 is by communicating wireless signals, and by communicating wireless signals between different unmanned planes 1, any frame unmanned plane 1 can be used as it
The mobile communication terminal of his unmanned plane 1.Ground control station 2 sends control instruction, the control according to the task of taking photo by plane to unmanned plane 1
Instruction includes：Flight control instruction, take photo by plane instruction and information transfer instruction, and receive the data message of the transmission of unmanned plane 1, the number
It is believed that breath includes：State of flight information, take photo by plane pictorial information and mobile communication transfer load information.
Above-mentioned unmanned plane 1 includes as shown in Figure 2：Servomechanism 11, mobile video base station mission payload device 12, bat
Take the photograph device 13 and radio communication device 14, radio communication device 14 respectively with servomechanism 11, mobile video base station task
Load device 12, filming apparatus 13 are connected by serial ports, and the control that radio communication device 14 receives the transmission of ground control station 2 refers to
Order, and earthward control station 2 sends data message；The one side of servomechanism 11 is received according to radio communication device 14
Flight control instruction adjusts the state of flight of unmanned plane 1, and on the other hand by radio communication device 14, earthward control station 2 is sent
State of flight information；In the information that the one side of mobile video base station mission payload device 12 is received according to radio communication device 14
Turn instruction and serve as mobile communication terminal for other unmanned planes 1, on the other hand pass through earthward control station 2 of radio communication device 14
Send mobile communication transfer load information；The one side of filming apparatus 13 according to the taking photo by plane of receiving of radio communication device 14 instruct into
Row IMAQ and processing, on the other hand by radio communication device 14, earthward control station 2 sends pictorial information of taking photo by plane.
Radio communication device is provided with ground control station 2（Not shown in figure）, with the radio communication on any unmanned plane 1
Data transmission link is set up between device 14, in order to avoid interference, the information transfer link frequency of synchronization difference unmanned plane 1
Difference, above-mentioned data link includes up-link LuWith downlink Ld：Up-link LuFor ground control station 2 to unmanned plane 1
Control instruction is sent, the control to unmanned plane 1 and airborne device is realized；Downlink LdThere are two passages, first passage is
State telemetering channel, for unmanned plane 1, earthward control station 2 transmits current state of flight information and pictorial information of taking photo by plane；The
Two passages are used for the earthward transmission of control station 2 mobile communication transfer load information.
As shown in figure 3, the servomechanism 11 of above-mentioned unmanned plane 1 includes：Survey appearance and navigation module 111, fly control module
112 and manipulation module 113.On the one hand, the servomechanism 11 can be according to current flight state adjust automatically unmanned plane 1
State of flight, surveys appearance and navigation module 111 measures the state of flight of unmanned plane 1, including inclination angle, the angle of pitch, course angle, height
Degree, speed and course line, and guidance command guiding unmanned plane 1 is sent according to predetermined airline operation or specified location hovering；Survey appearance
And using serial line interface connection between navigation module 111 and winged control module 112；Fly control module 112 real-time reception and survey appearance and navigation
The measured state of flight and guidance command of module 111, the first control instruction is formed simultaneously according to measurement data and guidance command
It is sent to manipulation module 113；Manipulation module 113 is electromechanical executing agency, is adjusted according to the first control instruction of winged control module 112
The state of flight of whole unmanned plane 1, realizes that the flight to unmanned plane 1 is controlled.
On the other hand, the servomechanism 11 of above-mentioned unmanned plane 1 can be according to the flight control instruction of ground control station 2
It is adjusted the state of flight of unmanned plane 1.Fly control module 112 to electrically connect with radio communication device 14, flying control module 112 will fly
State is sent to ground control station 2 by radio communication device 14；Fly control module 112 and receive flying for the transmission of radio communication device 14
Row control instruction, forms the second control instruction according to flight control instruction and is sent to manipulation module 113；Manipulation module 113
The state of flight of unmanned plane 1 is adjusted according to the second control instruction.
The mobile video base station mission payload device 12 of unmanned plane 1 is in other unmanned planes 1, earthward control station 2 to be transmitted
Take photo by plane pictorial information when, its downlink LdFirst passage it is second-rate in the case of, be other unmanned planes 1 provide information in
Turn passage.Above-mentioned mobile communication transfer load information includes：The maximum transfer load of corresponding unmanned plane, and current transfer are born
Carry, for judge the unmanned plane 1 whether can as other unmanned planes 1 mobile communication terminal, for example：One unmanned plane is most
Big-and-middle reprinting lotus be 5, the i.e. unmanned plane at most can be 5 other unmanned planes as mobile communication terminal, if the unmanned plane
Current transfer load<5, then it can also serve as mobile communication terminal again for a frame unmanned plane.As shown in figure 4, mobile video
Base station mission payload device 12 includes base station equipment 121 and antenna for base station 123, and mobile video base station mission payload device 12 is integrated
On unmanned plane 1, base station equipment 121 is using lightweight base station, and integrated installation is in driving cabin, and antenna for base station 123 is arranged on and driven
Sail cabin bottom.Antenna for base station 123 is used to fill with the mobile video base station mission payload of other unmanned planes 1 as wireless transmitting-receiving equipments
Radio communication is set up between putting 12, pictorial information of synchronously taking photo by plane, base station equipment 121 is used to pass through antenna for base station 123 to other nothings
Man-machine 1 intercommunicated wireless connection setup order, records and updates transfer task list, recorded in transfer task list it is corresponding nobody
The relaying pairing situation of machine 1.
As shown in figure 5, the filming apparatus 13 of unmanned plane 1 includes：Image capture module 131, image coding module 132, figure
As compression module 133, image storage module 134 and micro-control module 135, by being limited by the load of SUAV 1, image
Acquisition module 131 gathers vision signal using the high-resolution analog video camera of lighter in weight, and by the vision signal of collection
Image coding module 132 is sent to, the vision signal is a series of set of analog images；Image coding module 132 will be received
To analog image encoded, be converted into the higher digital picture of resolution ratio and be sent to image compression module 133；Image
Image storage module 134 is sent to after the digital video image progress coding compression that 133 pairs of compression module is received to store；
Micro-control module 135 and image capture module 131, image coding module 132, image compression module 133, image storage module
134 electrically connect, the control collection vision signal of image capture module 131 of micro-control module 135, such as control image capture module
131 camera lens changes shooting angle, zoom, zoom etc.；The coordinated scheduling image coding module 132 of micro-control module 135 is schemed
As coding, image compression module 133 encoded after compression of images, 134 pairs of image storage module compresses images and stores.
Micro-control module 135 is electrically connected with radio communication device 14, is received the shooting instruction sent from ground control station 2, is deposited from image
The compression image that storage is extracted in storage module 134 is sent to ground control station 2 by radio communication device 14.
Because the digital image data amount after coding is huge, and the bandwidth of radio communication channel is limited, it is difficult to ensure video
The real-time Transmission of image, therefore the image handled through overcompression can reduce data volume on the premise of certain image quality is ensured, compress
Work can generally be completed from software or specialized hardware.But own coding compressed software code size is larger, equipment will
Ask high, and the airborne microprocessor function of unmanned plane is limited, is restricted its application.To ensure system optimal functional status,
Hardware encoding compression is carried out to the digital picture obtained after collection from MPEG-4 own codings chip, MPEG-4 code streams are generated,
Real-time is good, and reliability is high.
When being taken photo by plane using the unmanned plane system in Fig. 1, software program can be preset and controlled using ground
Stand 2 planning unmanned planes 1 aerial mission, demarcation with modification flight path, monitoring flight position, control aircraft, control and supervise
Depending on mobile video base station mission payload, storage and processing mobile communication base station mission payload data, transmitting with reclaim many rotors without
Man-machine, detailed process is as follows：
（1）With the cycle set in advance, earthward control station 2 sends data message, data letter to unmanned plane 1 in-flight
Breath includes：State of flight information, take photo by plane pictorial information and mobile communication transfer load information；
（2）2 pairs of data messages of ground control station are stored, and update storage row according to the above-mentioned cycle set in advance
Table；
（3）Region of taking photo by plane is come into when ground control station 2 detects unmanned plane 1, then sends instruction of taking photo by plane, and according to pre-
The shooting demand first set sends flight control instruction to unmanned plane 1；
（4）Servomechanism 11 on unmanned plane 1 adjusts state of flight according to flight control instruction and met with photographing
Filming apparatus 13 on the image information of shooting demand, unmanned plane 1 instruction acquisition image and is compressed according to taking photo by plane to image
After processing pictorial information of taking photo by plane is sent to ground control station 2；
（5）If ground control station 2 detects downlink LdThe data-signal signal to noise ratio that first passage is received is less than advance
The channel SNRs of setting, then the transmission of image information can not be met by judging that the first passage of the unmanned plane 1 is second-rate, now
Mobile communication transfer load information according to being stored judges the unmanned plane 1（Main frame）Whether surrounding has can be as mobile communication
Other unmanned planes 1 of terminal（Subsidiary engine）, if any then selecting one of unmanned plane 1（Subsidiary engine）It is used as mobile communication terminal；
Then to two unmanned planes 1（Main frame and selected subsidiary engine）Send to set up between information transfer instruction, two unmanned planes 1 and wirelessly connect
Connect；
（6）Taken pictorial information of taking photo by plane is synchronized to the subsidiary engine of mobile communication terminal by main frame, and subsidiary engine is utilized certainly
Downlink L between body and ground control station 2dFirst passage transmit main frame pictorial information of taking photo by plane.
In order to improve the transmission quality for pictorial information of taking photo by plane, above-mentioned subsidiary engine is the downlink L between ground control station 2d
First passage channel SNRs highest unmanned plane 1.Utilize the unmanned plane system and method for taking photo by plane of the present invention so that
It can cooperate and carry out data transmission between multiple unmanned planes, can reach the remote HD video real-time Transmission of low transmitting power
Purpose.
The preferred embodiment of the present invention described in detail above, still, the present invention are not limited in above-mentioned embodiment
Detail, in the range of the technology design of the present invention, a variety of equivalents can be carried out to technical scheme, this
A little equivalents belong to protection scope of the present invention.
Claims (6)
1. a kind of unmanned plane system, it is characterised in that described including at least two frame unmanned planes (1) and ground control station (2)
Data transmission link is provided between ground control station (2) and the unmanned plane (1), ground control station (2) basis is taken photo by plane
Task sends control instruction to unmanned plane (1), and receives the data message of the unmanned plane (1) transmission；Unmanned plane (1) bag
Include and pass through mobile video base station mission payload between mobile video base station mission payload device (12), the different unmanned planes (1)
Device (12) sets up wireless communication connection；
The control instruction includes：Flight control instruction, take photo by plane instruction and information transfer instruction, the data message include：Fly
Row status information, take photo by plane pictorial information and mobile communication transfer load information；
The unmanned plane (1) also includes：Servomechanism (11), filming apparatus (13) and radio communication device (14), it is described
Radio communication device (14) receives the control instruction that the ground control station (2) sends, and is sent to the ground control station (2)
Data message；The flight control that the servomechanism (11) on the one hand receives according to the radio communication device (14) refers to
The state of flight of the order adjustment unmanned plane (1), is on the other hand controlled by the radio communication device (14) to the ground
Stand (2) send state of flight information；The mobile video base station mission payload device (12) is on the one hand according to the radio communication
The information transfer instruction that device (14) is received serves as mobile communication terminal for other unmanned planes (1), on the other hand passes through nothing
Line communicator (14) sends mobile communication transfer load information to the ground control station (2)；The filming apparatus (13) one
The instruction of taking photo by plane that aspect is received according to the radio communication device (14) carries out IMAQ and processing, on the other hand passes through institute
Radio communication device (14) is stated to the ground control station（2）Transmission is taken photo by plane pictorial information；
The radio communication device (14) respectively with the servomechanism (11), mobile video base station mission payload device
(12), filming apparatus (13) is connected by serial ports；
The servomechanism (11) includes surveying appearance and navigation module (111), flies control module (112) and manipulation module (113)；
The survey appearance and navigation module (111) and manipulation module (113) are electrically connected with the winged control module (112) respectively, the winged control
Module is electrically connected with radio communication device (14).
2. unmanned plane system according to claim 1, it is characterised in that the survey appearance and navigation module (111) are obtained
Take the state of flight information of the unmanned plane (1) and send the state of flight and guidance command；The winged control module (112) connects
The state of flight information and guidance command are received, the first control instruction is formed simultaneously according to the state of flight information and guidance command
It is sent to the manipulation module (113)；The manipulation module (113) adjusts unmanned plane (1) according to first control instruction
State of flight, realizes controlling certainly to the unmanned plane (1).
3. unmanned plane system according to claim 1, it is characterised in that the survey appearance and navigation module (111) are obtained
The state of flight information of the unmanned plane (1) is taken, and by the state of flight information transmission to the winged control module (112)；Institute
State and fly the flight control instruction that control module (112) receives radio communication device (14) transmission, controlled according to the flight
System instruction forms the second control instruction and is sent to the manipulation module (113)；The manipulation module (113) is according to described second
Control instruction adjusts the state of flight of the unmanned plane (1).
4. a kind of unmanned plane system, it is characterised in that described including at least two frame unmanned planes (1) and ground control station (2)
Data transmission link is provided between ground control station (2) and the unmanned plane (1), ground control station (2) basis is taken photo by plane
Task sends control instruction to unmanned plane (1), and receives the data message of the unmanned plane (1) transmission；Unmanned plane (1) bag
Include and pass through mobile video base station mission payload between mobile video base station mission payload device (12), the different unmanned planes (1)
Device (12) sets up wireless communication connection；
The control instruction includes：Flight control instruction, take photo by plane instruction and information transfer instruction, the data message include：Fly
Row status information, take photo by plane pictorial information and mobile communication transfer load information；
The unmanned plane (1) also includes：Servomechanism (11), filming apparatus (13) and radio communication device (14), it is described
Radio communication device (14) receives the control instruction that the ground control station (2) sends, and is sent to the ground control station (2)
Data message；The flight control that the servomechanism (11) on the one hand receives according to the radio communication device (14) refers to
The state of flight of the order adjustment unmanned plane (1), is on the other hand controlled by the radio communication device (14) to the ground
Stand (2) send state of flight information；The mobile video base station mission payload device (12) is on the one hand according to the radio communication
The information transfer instruction that device (14) is received serves as mobile communication terminal for other unmanned planes (1), on the other hand passes through nothing
Line communicator (14) sends mobile communication transfer load information to the ground control station (2)；The filming apparatus (13) one
The instruction of taking photo by plane that aspect is received according to the radio communication device (14) carries out IMAQ and processing, on the other hand passes through institute
Radio communication device (14) is stated to the ground control station（2）Transmission is taken photo by plane pictorial information；
The radio communication device (14) respectively with the servomechanism (11), mobile video base station mission payload device
(12), filming apparatus (13) is connected by serial ports；
The filming apparatus (13) includes：Image capture module (131), image coding module (132), image compression module
(133), image storage module (134) and micro-control module (135), described image acquisition module (131) collection vision signal, institute
State a series of set that vision signal is analog images；Described image coding module (132) is encoded to the analog image
It is converted into digital picture；Described image compression module (133) carries out forming compression image after coding compression to the digital picture
Described image memory module (134) is sent to be stored；The micro-control module (135) controls described image acquisition module
(131) vision signal is gathered, coordinates control described image coding module (132) and carries out Image Coding, described image compression
Module (133) carries out compression of images, and described image memory module (134) is stored to the compression image.
5. unmanned plane system according to claim 4, it is characterised in that the micro-control module (135) with it is described
Radio communication device (14) is electrically connected, instruction of being taken photo by plane described in reception, and the institute of storage is extracted from described image memory module (134)
State compression image and the ground control station (2) is sent to by radio communication device (14).
6. a kind of unmanned plane method, applied in the presence of at least system of taking photo by plane of two frame unmanned planes, it is characterised in that including
Following steps：
(1) with the cycle set in advance, earthward control station sends data message, the data packets to unmanned plane in-flight
Include：State of flight information, take photo by plane pictorial information and mobile communication transfer load information；
(2) ground control station is stored to the data message, and updates storage according to the cycle set in advance
List；
(3) if the ground control station detects unmanned plane and comes into region of taking photo by plane, instruction of taking photo by plane is sent, and according to advance
The shooting demand of setting sends flight control instruction to unmanned plane；
(4) on the unmanned plane according to flight control instruction adjust state of flight with photograph meet shooting demand image believe
Breath, according to take photo by plane instruction acquisition image and to image be compressed processing after to the ground control station send take photo by plane picture letter
Breath；
(5) if the received signal to noise ratio that the ground control station detects the unmanned plane is less than channel SNRs set in advance,
It is then that the unmanned plane finds mobile communication terminal according to the mobile communication transfer load information；
(6) taken pictorial information of taking photo by plane is synchronized to the mobile communication terminal by the unmanned plane, and the movement is led to
Believe that terminal is other unmanned planes different from the unmanned plane in system, the mobile communication terminal is by the picture of taking photo by plane
Information transmission gives the ground control station.
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| CN201510781293.6A CN105242686B (en) | 2015-11-13 | 2015-11-13 | A kind of unmanned plane system and method for taking photo by plane |
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| CN201510781293.6A CN105242686B (en) | 2015-11-13 | 2015-11-13 | A kind of unmanned plane system and method for taking photo by plane |
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| CN105912016A (en) * | 2016-04-08 | 2016-08-31 | 合肥工业大学 | Sub-lens shooting script-guided unmanned plane aerial photography planning system |
| CN109155838A (en) | 2016-05-13 | 2019-01-04 | 深圳市大疆创新科技有限公司 | System and method for video to be presented by transcoding |
| CN105979146B (en) * | 2016-06-22 | 2019-12-10 | 韦程耀 | Unmanned aerial vehicle's control system that takes photo by plane |
| CN106020238A (en) * | 2016-07-06 | 2016-10-12 | 深圳市高巨创新科技开发有限公司 | Unmanned aerial vehicle search and rescue method and system |
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