CN107544481A - A kind of unmanned plane makes an inspection tour control method, apparatus and system - Google Patents
A kind of unmanned plane makes an inspection tour control method, apparatus and system Download PDFInfo
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Abstract
The embodiments of the invention provide a kind of unmanned plane to make an inspection tour control method, apparatus and system, in this method, obtain the current positional information of unmanned plane and the posture of head camera, according to the current positional information and the posture, determine the current visible monitoring range of head camera, according to the positional information of point of interest to be maked an inspection tour, judge whether the point of interest entered in current visible monitoring range, if, according to the current positional information of unmanned plane and the positional information of the point of interest entered in current visible monitoring range, the alignment of head camera is controlled into the position of the point of interest in current visible monitoring range.In the present invention, it is determined that after the current visible monitoring range of head camera, according to the positional information of point of interest to be maked an inspection tour, it it is automatically determined whether the point of interest into current visible monitoring range, and when being, the position for the point of interest that the alignment of head camera is entered in current visible monitoring range is automatically controlled, realizes that head camera is directed at point of interest location automatically.
Description
Technical field
The present invention relates to unmanned plane make an inspection tour technical field, more particularly to a kind of unmanned plane make an inspection tour control method,
Apparatus and system.
Background technology
With developing rapidly for unmanned plane correlation technique in recent years, unmanned plane is widely used in non-military aspect.
Wherein, particularly in terms of public security, traffic, the administration of justice and agricultural, the application of unmanned plane is more and more.Upper
State in industry, unmanned plane mainly performs tour task by the head camera of carrying, and these are maked an inspection tour
Task be typically right place repeat.Because existing non-combat unmanned plane mission planning technology is also located
In the budding stage, cause the intelligence degree of existing unmanned plane mission planning technology not high, therefore, it is necessary to
Substantial amounts of human intervention.
Such as：When traffic police needs to carry out conventional tour to some specific crossings with unmanned plane, although can be with
The trajectory planning of unmanned plane is carried out by existing unmanned aerial vehicle station, but during unmanned plane during flying
Still need constantly to be remotely controlled by unmanned aerial vehicle station to control the alignment sense of the airborne tripod head camera of unmanned plane
The point of interest location of interest, it is achieved in the monitoring to point of interest.
In the above-mentioned methods, because artificial manipulation can have operation delay so that in the airborne of control unmanned plane
There is larger error in head camera, when being directed at point of interest location interested it is difficult to make the alignment sense of head camera
The point of interest location of interest.
The content of the invention
The purpose of the embodiment of the present invention is that providing a kind of unmanned plane makes an inspection tour control method, apparatus and system, with
Realize that head camera is directed at point of interest location interested automatically, reduce operating error.Concrete technical scheme is such as
Under：
A kind of unmanned plane makes an inspection tour control method, and methods described includes：
Obtain the posture of the head camera carried on the current positional information of unmanned plane and the unmanned plane；
According to the current positional information of acquired unmanned plane and the posture of the head camera, the cloud is determined
The current visible monitoring range of platform camera；
According to the positional information of point of interest to be maked an inspection tour, judge whether to enter current visible monitoring model
Enclose interior point of interest；
If it is, according to the current positional information of acquired unmanned plane and enter current visible monitoring model
The positional information of point of interest in enclosing, the head camera alignment is controlled to enter the current visible monitoring range
The position of interior point of interest.
Optionally, the positional information of basis point of interest to be maked an inspection tour, judge whether to enter described work as
Point of interest in the range of preceding visual monitor, including：
According to the positional information of the point of interest to be maked an inspection tour preserved, judge whether currently may be used into described
Depending on the point of interest in monitoring range.
Optionally, the positional information of basis point of interest to be maked an inspection tour, judge whether to enter described work as
Point of interest in the range of preceding visual monitor, including：
According to the positional information of the point of interest to be maked an inspection tour received from unmanned aerial vehicle station, judge whether
Point of interest into the current visible monitoring range.
Optionally, when it is multiple to enter the point of interest in the current visible monitoring range, the basis
The current positional information of acquired unmanned plane and the point of interest entered in the current visible monitoring range
Positional information, the head camera alignment is controlled into the position of the point of interest in the current visible monitoring range
Put, including：
From entering in multiple points of interest in the current visible monitoring range, highest-ranking interest is determined
Point；
Believed according to the position of the current positional information of acquired unmanned plane and the highest-ranking point of interest
Breath, the head camera is controlled to be directed at the position of the highest-ranking point of interest.
Optionally, when it is multiple to enter the point of interest in the current visible monitoring range, the basis
The current positional information of acquired unmanned plane and the point of interest entered in the current visible monitoring range
Positional information, the head camera alignment is controlled into the position of the point of interest in the current visible monitoring range
Put, including：
According to the rank for entering multiple points of interest in the current visible monitoring range, it is determined that to the multiple
The tour order of point of interest；
The multiple point of interest is maked an inspection tour according to tour order, wherein, when making an inspection tour each point of interest, root
According to the current positional information of acquired unmanned plane and the positional information of point of interest currently to be maked an inspection tour, institute is controlled
State the position of the head camera alignment current point of interest to be maked an inspection tour.
Optionally, the current positional information of unmanned plane acquired in the basis and enter the current visible and supervise
The positional information of point of interest in the range of control, control the head camera alignment to enter the current visible and monitor
In the range of point of interest position, including：
According to the current positional information of acquired unmanned plane and enter in the current visible monitoring range
The positional information of point of interest, determine the unmanned plane current location to enter the current visible monitoring range in
Point of interest position vector；
According to the vector, the targeted attitude parameter value of the head camera is determined, wherein, the target appearance
State parameter value is the interest that the head camera is aligned into the current visible monitoring range
The numerical value of the position of point；
The head camera is controlled to be adjusted to the targeted attitude parameter value from current pose parameter value.
Optionally, a kind of unmanned plane provided in an embodiment of the present invention is maked an inspection tour control method and also included：
The positional information for the point of interest that unmanned aerial vehicle station is sent is received, updates the position of the point of interest preserved
Information, and return to the head camera for performing and obtaining and being carried on the current positional information of unmanned plane and the unmanned plane
Posture the step of.
Optionally, after judging to have the point of interest into the current visible monitoring range, the present invention is real
Applying a kind of unmanned plane tour control method of example offer also includes：
Start the head camera to adopt the point of interest progress data entered in the current visible monitoring range
Collection.
A kind of unmanned plane makes an inspection tour control device, and described device includes：
Acquisition module, for obtaining the head phase carried on the current positional information of unmanned plane and the unmanned plane
The posture of machine；
Determining module, for the appearance according to the current positional information of acquired unmanned plane and the head camera
State, determine the current visible monitoring range of the head camera；
Judge module, for the positional information according to point of interest to be maked an inspection tour, judge whether into described
Point of interest in current visible monitoring range, if it is, triggering alignment modules；
The alignment modules, for described current according to the current positional information of acquired unmanned plane and entrance
The positional information of point of interest in the range of visual monitor, the head camera alignment is controlled currently may be used into described
Depending on the position of the point of interest in monitoring range.
Optionally, the judge module, is specifically used for：
According to the positional information of the point of interest to be maked an inspection tour preserved, judge whether currently may be used into described
Depending on the point of interest in monitoring range, if it is, triggering alignment modules.
Optionally, the judge module, is specifically used for：
According to the positional information of the point of interest to be maked an inspection tour received from unmanned aerial vehicle station, judge whether
Point of interest into the current visible monitoring range, if it is, triggering alignment modules.
Optionally, the alignment modules, including：
Level deciding unit, for being multiple when the point of interest entered in the current visible monitoring range
When, from entering in multiple points of interest in the current visible monitoring range, determine highest-ranking point of interest；
Control unit, for according to the current positional information of acquired unmanned plane and described highest-ranking emerging
The positional information of interest point, controls the head camera to be directed at the position of the highest-ranking point of interest.
Optionally, the alignment modules, including：
Order determination unit is maked an inspection tour, for being more when entering the point of interest in the current visible monitoring range
When individual, according to the rank for entering multiple points of interest in the current visible monitoring range, it is determined that to described more
The tour order of individual point of interest；
Unit is maked an inspection tour, for making an inspection tour the multiple point of interest according to tour order, wherein, it is every making an inspection tour
During one point of interest, according to the current positional information of acquired unmanned plane and the position of point of interest currently to be maked an inspection tour
Confidence ceases, and controls the position of the head camera alignment current point of interest to be maked an inspection tour.
Optionally, the alignment modules, including：
Vector determination unit, for described current according to the current positional information of acquired unmanned plane and entrance
The positional information of point of interest in the range of visual monitor, determine that the unmanned plane current location is worked as to entrance is described
The vector of the position of point of interest in the range of preceding visual monitor；
Targeted attitude parameter value-determining unit, for according to the vector, determining the target of the head camera
Attitude parameter value, wherein, the targeted attitude parameter value is enables the head camera to be aligned into institute
State the numerical value of the position of the point of interest in current visible monitoring range；
Adjustment unit, for controlling the head camera to be adjusted to the targeted attitude from current pose parameter value
Parameter value.
Optionally, a kind of unmanned plane provided in an embodiment of the present invention is maked an inspection tour control device and also included：
Update module, the positional information of the point of interest for receiving the transmission of unmanned aerial vehicle station, renewal have preserved
Point of interest positional information, and trigger determining module.
Optionally, a kind of unmanned plane provided in an embodiment of the present invention is maked an inspection tour control device and also included：
Starting module, for after judging to have the point of interest into the current visible monitoring range, opening
Move the head camera and data acquisition is carried out to the point of interest entered in the current visible monitoring range.
A kind of unmanned plane makes an inspection tour control system, including：Unmanned plane and head camera, wherein, the head phase
Machine is equipped on the unmanned plane；
The unmanned plane, for obtaining the appearance of the current positional information of the unmanned plane and the head camera
State, according to the current positional information of acquired unmanned plane and the posture of the head camera, determine the cloud
The current visible monitoring range of platform camera；According to the positional information of point of interest to be maked an inspection tour, judge whether
Point of interest into the current visible monitoring range；If it is, current according to acquired unmanned plane
The positional information of positional information and the point of interest entered in the current visible monitoring range, controls the head
The position for the point of interest that camera alignment enters in the current visible monitoring range；
The head camera, enter current visible monitoring model for being aligned under the control of the unmanned plane
The position of point of interest in enclosing.
Optionally, the unmanned plane is maked an inspection tour control system and also included：
Unmanned aerial vehicle station, for point of interest location to be sent into the unmanned plane.
In the embodiment of the present invention, pass through the head camera carried on the current positional information of unmanned plane and unmanned plane
Posture, the current visible monitoring range of head camera is determined, then according to the position of point of interest to be maked an inspection tour
Information, it is automatically determined whether into the point of interest in current visible monitoring range, and where it has,
The position for the point of interest that the alignment of head camera is entered in current visible monitoring range is automatically controlled, it is thus, real
Existing head camera is directed at point of interest location automatically, without manual operation, reduces operating error.Certainly, it is real
Any product or method for applying the present invention must be not necessarily required to reach all the above advantage simultaneously.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to implementing
The required accompanying drawing used is briefly described in example or description of the prior art, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the first schematic flow sheet that unmanned plane provided in an embodiment of the present invention makes an inspection tour control method；
Fig. 2 is second of schematic flow sheet that unmanned plane provided in an embodiment of the present invention makes an inspection tour control method；
Fig. 3 is the current position of unmanned plane provided in an embodiment of the present invention to entering in current visible monitoring range
Point of interest position vectorial schematic diagram；
Fig. 4 is the third schematic flow sheet that unmanned plane provided in an embodiment of the present invention makes an inspection tour control method；
Fig. 5 is the first structural representation that unmanned plane provided in an embodiment of the present invention makes an inspection tour control device；
Fig. 6 is second of structural representation that unmanned plane provided in an embodiment of the present invention makes an inspection tour control device；
Fig. 7 is the first structural representation that unmanned plane provided in an embodiment of the present invention makes an inspection tour control system；
Fig. 8 is second of structural representation that unmanned plane provided in an embodiment of the present invention makes an inspection tour control system.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear
Chu, it is fully described by, it is clear that described embodiment is only part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
Property work under the premise of the every other embodiment that is obtained, belong to the scope of protection of the invention.
In order to solve prior art problem, the embodiments of the invention provide a kind of unmanned plane make an inspection tour control method,
Apparatus and system.
The unmanned plane that the unmanned plane provided first below the embodiment of the present invention performs is maked an inspection tour control method and entered
Row is introduced.
As shown in figure 1, a kind of unmanned plane provided in an embodiment of the present invention makes an inspection tour control method, this method can be with
Including：
S101：Obtain the posture of the head camera carried on the current positional information of unmanned plane and unmanned plane.
At present, unmanned plane correlation technique develops rapidly, tour task, the nothing that can typically complete as needed
Man-machine quantity and mission payload, carry out task distribution for each frame unmanned plane and formulated by trajectory planning
The flight path of each frame unmanned plane.
In unmanned plane during flying, the current positional information of unmanned plane is constantly obtained, speed can also be obtained
Control track flight of the unmanned plane along planning.Further, during unmanned plane tour, unmanned plane exists
When not receiving new course data, that is, press the airline operation when preplanning；Receiving new course data
Afterwards, you can control unmanned plane presses new airline operation, and this is all rational.
Specifically, the geographical position (longitude and latitude where such as) that unmanned plane is currently located is that unmanned plane is worked as
Preceding positional information, (yaw angle, bowed by the current three-axis attitude angle of the head camera carried on unmanned plane
The elevation angle and roll angle) determine posture be the current posture of head camera.In addition, it is necessary to, it is emphasized that
Obtain the specific implementation side of the posture of the head camera carried on the current positional information of unmanned plane and unmanned plane
Formula can use any implementation of the prior art, and the embodiment of the present invention is not limited this.
S102：According to the current positional information of acquired unmanned plane and the posture of head camera, head is determined
The current visible monitoring range of camera.
Position of the head camera in the earth is determined by the current positional information of unmanned plane, then passes through head
The current three-axis attitude angle of camera calculates the current monitoring azimuth of head camera, i.e. head camera and southeast west
The north to drift angle and inclined angle, thus, you can determine the specific setting angle of head camera, so
Head camera can be determined according to the field range of specific setting angle and the head camera of head camera afterwards
Current visible monitoring range.
S103：According to the positional information of point of interest to be maked an inspection tour, judge whether that entering current visible monitors
In the range of point of interest, if it is, perform step S104, if not, not processing.
During unmanned plane tour, region interested can be arranged to point of interest, such as：Unmanned plane
In applying in terms of the public security, point of interest can be some square；During unmanned plane is applied in terms of the traffic, interest
Point can be some crossing；For unmanned plane in electric inspection process application, point of interest can be some electric tower.
Then the positional information for the point of interest for being arranged to point of interest is defined as to the position of point of interest to be maked an inspection tour
Information, wherein, it is a variety of that unmanned plane knows that the mode of the positional information of point of interest to be maked an inspection tour has, a kind of mode
Can be that data wire (unmanned plane is at ground) is passed through by the unmanned aerial vehicle station being connected with UAV Communication
Or data transmission set (unmanned plane ground or it is aerial when) positional information of point of interest to be maked an inspection tour sent
Into unmanned plane, another way can be that the positional information of point of interest to be maked an inspection tour directly is passed through into data wire
(unmanned plane is at ground) is saved in the storage device of unmanned plane, and this is all rational.
According to the positional information of point of interest to be maked an inspection tour, judge whether to enter in current visible monitoring range
Point of interest, to carry out subsequent step.
S104：According to the current positional information of acquired unmanned plane and enter in current visible monitoring range
The positional information of point of interest, the position for the point of interest that the camera alignment of control head enters in current visible monitoring range
Put.
In the case where the point of interest entered in current visible monitoring range be present, because head camera currently may be used
Can be very big depending on monitoring range, therefore, it is likely located at into the point of interest in current visible monitoring range close
, now, can not be clearly into current visible on the position at head camera current visible monitoring range edge
Point of interest in monitoring range is monitored, and therefore, according to the current positional information of unmanned plane and is entered current
The positional information of point of interest in the range of visual monitor, the alignment of head camera can be controlled to enter current visible and supervised
The position of point of interest in the range of control so that be located at head phase into the point of interest in current visible monitoring range
The centre position of machine current visible monitoring range, so as to clearly emerging in current visible monitoring range to entering
Interest point is monitored, and obtains the image of clearly point of interest.
Wherein it is possible to understand, the precision grade of the current positional information of unmanned plane and the position of point of interest
The precision grade of information can with identical, such as：The precision grade of the current positional information of unmanned plane is that error exists
Precision grade within 10m, the precision grade of the positional information of point of interest is also essence of the error within 10m
Rank is spent, is monitored because the precision grade of positional information is identical so that entering current visible in the alignment of head camera
In the range of point of interest location when, deviation is smaller, to be preferably monitored to point of interest.
In the embodiment of the present invention, pass through the head camera carried on the current positional information of unmanned plane and unmanned plane
Posture, the current visible monitoring range of head camera is determined, then according to the position of point of interest to be maked an inspection tour
Information, it is automatically determined whether into the point of interest in current visible monitoring range, and where it has,
The position for the point of interest that the alignment of head camera is entered in current visible monitoring range is automatically controlled, it is thus, real
Existing head camera is directed at point of interest location automatically, without manual operation, reduces operating error.
Specifically, according to the positional information of point of interest to be maked an inspection tour, judge whether that entering current visible supervises
The mode of point of interest in the range of control have it is a variety of, the present invention a kind of implementation in, according to be maked an inspection tour
The positional information of point of interest, the point of interest entered in current visible monitoring range is judged whether, can be wrapped
Include：
According to the positional information of the point of interest to be maked an inspection tour preserved, judge whether that entering current visible supervises
Point of interest in the range of control.
Wherein, the positional information of the point of interest to be maked an inspection tour preserved can be to be stored in advance in unmanned plane
The positional information of point of interest to be maked an inspection tour, according to the positional information of the point of interest preserved, judge whether
Point of interest of the position in current visible monitoring range, enter current visible monitoring if it does, determining to exist
In the range of point of interest.
Such as：Point of interest Q position coordinates is (3,5), and point of interest P position coordinates is (11,11), cloud
The current visual monitor scope of platform camera is to arrive position coordinates (10,10) from position coordinates (0,0), due to depositing
Point of interest Q coordinate in current visible monitoring range, hence, it can be determined that exist enter current visible
Point of interest in monitoring range, the point of interest are point of interest Q.
During unmanned plane tour, according to being actually needed, it is sometimes desirable to point of interest is changed, therefore,
Based on above-mentioned implementation, a kind of unmanned plane provided by the invention makes an inspection tour control method, can also include：
The positional information for the point of interest that unmanned aerial vehicle station is sent is received, updates the position of the point of interest preserved
Information, and return and perform step S102.
During unmanned plane tour, according to being actually needed, it is sometimes desirable to point of interest is changed, such as
Increase, reduce or change point of interest, after the positional information for the point of interest that unmanned aerial vehicle station is sent is received,
The positional information of the point of interest preserved is updated, then carries out unmanned plane tour for the point of interest after renewal,
Specific control method of making an inspection tour is identical with method shown in Fig. 1, will not be repeated here.
Thus, after the positional information for the point of interest that unmanned aerial vehicle station is sent is received, renewal has preserved emerging
The positional information of interest point, carries out unmanned plane tour, so as to preferably perform unmanned plane to the point of interest after renewal
Tour task.
In another implementation of the present invention, according to the positional information of point of interest to be maked an inspection tour, judgement is
It is no the point of interest entered in current visible monitoring range to be present, it can include：
According to the positional information of the point of interest to be maked an inspection tour received from unmanned aerial vehicle station, judge whether
Point of interest into current visible monitoring range.
During unmanned plane during flying, the interest to be maked an inspection tour that can be sent with real-time reception from unmanned aerial vehicle station
The positional information of point, according to the positional information received, judges whether to enter current visible monitoring range
Interior point of interest.
It should be noted that when it is multiple to enter the point of interest in current visible monitoring range, according to institute
The position letter of the current positional information of the unmanned plane of acquisition and the point of interest entered in current visible monitoring range
Breath, the specific implementation side of the position for the point of interest that the camera alignment of control head enters in current visible monitoring range
Formula has many kinds, is exemplified below.
It is more when entering the point of interest in current visible monitoring range in a kind of implementation of the present invention
When individual, according to the current positional information of acquired unmanned plane and the interest entered in current visible monitoring range
The positional information of point, the position for the point of interest that the camera alignment of control head enters in current visible monitoring range,
It can include：
From entering in multiple points of interest in current visible monitoring range, highest-ranking point of interest is determined；
According to the current positional information of acquired unmanned plane and the positional information of highest-ranking point of interest, control
The position of head camera levels of alignment highest point of interest processed.
Due to point of interest region interested can have it is multiple, therefore, can basis when setting point of interest
Degree interested, to each point of interest degree of establishment, interest level is higher, and rank is higher.Entering
To the point of interest in current visible monitoring range for it is multiple when, believed according to the current position of acquired unmanned plane
The positional information of breath and highest-ranking point of interest, control the position of head camera levels of alignment highest point of interest
Put, so as to be monitored to most interested point of interest.
Further, if the highest-ranking point of interest entered in current visible monitoring range have it is more
It is individual, then it can control head camera alignment positional distance according to position from multiple highest-ranking points of interest
The position of the nearest highest-ranking point of interest of unmanned plane, so as to be monitored to the point of interest.
In another implementation of the present invention, when the point of interest entered in current visible monitoring range is
When multiple, according to the current positional information of acquired unmanned plane and enter emerging in current visible monitoring range
The positional information of interest point, the position for the point of interest that the camera alignment of control head enters in current visible monitoring range
Put, can include：
According to the rank for entering multiple points of interest in current visible monitoring range, it is determined that to multiple points of interest
Tour order；
Multiple points of interest are maked an inspection tour according to tour order, wherein, when making an inspection tour each point of interest, according to acquired
The current positional information of unmanned plane and point of interest currently to be maked an inspection tour positional information, control head camera pair
The position of accurate current point of interest to be maked an inspection tour.
When it is multiple to enter the point of interest in current visible monitoring range, according to the level of each point of interest
Not, it is determined that tour order to multiple points of interest, tour order can be that low from rank height to rank patrol
Depending on order, and multiple points of interest are maked an inspection tour according to tour order, wherein, when making an inspection tour each point of interest, according to
The positional information of the current positional information of acquired unmanned plane and point of interest currently to be maked an inspection tour, control head
The position of the current point of interest to be maked an inspection tour of camera alignment.
Such as：The point of interest entered in current visible monitoring range has H, J and K, point of interest H rank
For 1, point of interest J rank is 2, and point of interest K rank is 3, it is determined that tour order be from rank height to
The low tour order of rank, point of interest H, J and K are maked an inspection tour according to tour order；
First, point of interest H is maked an inspection tour, according to the current positional information of acquired unmanned plane and point of interest H
Positional information, control head camera alignment point of interest H position, then, makes an inspection tour point of interest J, according to being obtained
The positional information of the current positional information of the unmanned plane that takes and point of interest J, control head camera alignment point of interest J
Position, finally, make an inspection tour point of interest K, according to the current positional information of acquired unmanned plane and point of interest
K positional information, control head camera alignment point of interest K position.
It should be noted that according to the current positional information of acquired unmanned plane and enter current visible monitoring
In the range of point of interest positional information, control head camera alignment enters emerging in current visible monitoring range
The specific implementation of the position of interest point exists a variety of, carries out citing introduction below.
In one implementation, as shown in Fig. 2 according to the current positional information of acquired unmanned plane and
Into the positional information of the point of interest in current visible monitoring range, the camera alignment of control head, which enters, currently may be used
Depending on the position (S104) of the point of interest in monitoring range, can include：
S1041：According to the current positional information of acquired unmanned plane and enter in current visible monitoring range
Point of interest positional information, determine unmanned plane current location into the interest in current visible monitoring range
The vector of the position of point.
In order to which head camera to be aligned to the position of the point of interest entered in current visible monitoring range, it is thus necessary to determine that
The alignment of head camera enters the targeted attitude value during point of interest in current visible monitoring range, typically uses posture
Angle represents that attitude angle is used for indicating the relativeness in space between two coordinate systems, typically refers to some
Relative to the relation of earth axes, attitude angle is divided into three-axis attitude angle, respectively goes off course rigid body (aircraft)
Angle, the angle of pitch and roll angle.Therefore after the three-axis attitude angle of a rigid body determines, the posture of the rigid body is
It can determine that.
Therefore, after it is determined that entering the point of interest in current visible monitoring range, from unmanned plane current location
Make a vector to the position for entering the point of interest in current visible monitoring range, to determine head camera
Targeted attitude parameter value.
S1042：According to vector, the targeted attitude parameter value of head camera is determined, wherein, targeted attitude ginseng
Numerical value is to enable head camera to be directed at the number into the position of the point of interest in current visible monitoring range
Value.
After vector determines, the vector can be used as the alignment of head camera and enter in current visible monitoring range
Desired direction during point of interest, it is possible thereby to which it is inclined relative to the expectation of terrestrial coordinate system to calculate head camera
Navigate angle and the expectation angle of pitch, wherein, the computational methods of yaw angle and the angle of pitch are prior art, herein no longer
Repeat, meanwhile, in order to ensure that head camera monitors into the point of interest shadow in current visible monitoring range
Ground level as in is horizontal, the expectation roll angle of head camera is arranged into 0 °, thus, it is determined that
The three-axis attitude angle of head camera, that is, the targeted attitude parameter value of head camera is determined.
S1043：Control head camera is adjusted to targeted attitude parameter value from current pose parameter value.
After the targeted attitude parameter value of head camera is determined, by control head steering wheel by head camera from
Current pose parameter value is adjusted to the targeted attitude parameter value determined.
Such as：As shown in figure 3, solid line lines are the flight track of unmanned plane in figure, dashed lines are for nobody
Machine current location to the position into the point of interest in current visible monitoring range vector, according to the vector,
The targeted attitude parameter value of head camera is determined, control head camera is adjusted to target from current pose parameter value
Attitude parameter value.
Thus, by determining unmanned plane current location to the position of the point of interest into current visible monitoring range
Vectorial mode, the targeted attitude parameter value of head camera is determined, so as to control the alignment of head camera to enter
The position of point of interest in current visible monitoring range, without manual operation, reduce operating error.
On the basis of embodiment illustrated in fig. 1, as shown in figure 4, a kind of unmanned plane provided in an embodiment of the present invention
Control method is maked an inspection tour, this method can also include：
S105：Start head camera and data acquisition is carried out to the point of interest entered in current visible monitoring range.
Wherein, step S105 is after step S103 judges to exist and enters the point of interest in current visible monitoring range
Perform.
In order to be preferably monitored to point of interest, entered in interesting point in current visible monitoring range
When, just start head camera and data acquisition is carried out to the point of interest entered in current visible monitoring range, automatically
The image of point of interest is recorded, wherein, the mode that head camera carries out data acquisition can be that video recording can also be
Take pictures, this is all rational.
Thus, by carrying out automatic data acquisition to point of interest, manually-operated burden and artificial behaviour are reduced
The error of work.
It is above-mentioned that the embodiment that unmanned plane makes an inspection tour control method is performed for unmanned plane provided by the present invention, this nobody
Machine is maked an inspection tour control method and can also performed by unmanned aerial vehicle station, and concrete mode is as follows：
Obtain the posture of the head camera carried on the current positional information of unmanned plane and unmanned plane；
According to the current positional information of acquired unmanned plane and the posture of head camera, head camera is determined
Current visible monitoring range；
According to the positional information of point of interest to be maked an inspection tour, judge whether to enter in current visible monitoring range
Point of interest；
If it is, according to the current positional information of acquired unmanned plane and enter in current visible monitoring range
Point of interest positional information, the point of interest that control head camera alignment enters in current visible monitoring range
Position.
Wherein, unmanned aerial vehicle station obtains the head phase carried on the current positional information of unmanned plane and unmanned plane
The mode of the posture of machine is：The head phase that unmanned plane carries on current positional information and unmanned plane is detected
It is after the posture of machine, the posture of the head camera carried in the current positional information and unmanned plane that detect is real
When be sent to unmanned aerial vehicle station.
Specifically, according to the positional information of point of interest to be maked an inspection tour, judge whether that entering current visible supervises
Point of interest in the range of control, it can include：
According to the positional information for the point of interest to be maked an inspection tour that itself is preserved, judge whether into described current
Point of interest in the range of visual monitor.
Specifically, when it is multiple to enter the point of interest in current visible monitoring range, according to acquired
The positional information of the current positional information of unmanned plane and the point of interest entered in current visible monitoring range, control
The position for the point of interest that the alignment of head camera enters in current visible monitoring range, can include：
From entering in multiple points of interest in current visible monitoring range, highest-ranking point of interest is determined；
According to the current positional information of acquired unmanned plane and the positional information of highest-ranking point of interest, control
Make the position that the head camera is directed at the highest-ranking point of interest.
Specifically, when it is multiple to enter the point of interest in current visible monitoring range, according to acquired
The positional information of the current positional information of unmanned plane and the point of interest entered in current visible monitoring range, control
The position for the point of interest that the alignment of head camera enters in current visible monitoring range, can include：
According to the rank for entering multiple points of interest in current visible monitoring range, it is determined that to multiple points of interest
Tour order；
The multiple point of interest is maked an inspection tour according to tour order, wherein, when making an inspection tour each point of interest, according to institute
The positional information of the current positional information of the unmanned plane of acquisition and point of interest currently to be maked an inspection tour, controls head phase
The position of the machine alignment current point of interest to be maked an inspection tour.
Specifically, according to the current positional information of acquired unmanned plane and enter in current visible monitoring range
Point of interest positional information, the point of interest that control head camera alignment enters in current visible monitoring range
Position, it can include：
According to the current positional information of acquired unmanned plane and the interest entered in current visible monitoring range
The positional information of point, determine unmanned plane current location to the position into the point of interest in current visible monitoring range
The vector put；
According to the vector, the targeted attitude parameter value of head camera is determined, wherein, targeted attitude parameter value
To enable head camera to be directed at the numerical value into the position of the point of interest in current visible monitoring range；
Control head camera is adjusted to targeted attitude parameter value from current pose parameter value.
Specifically, after judging to exist and entering the point of interest in current visible monitoring range, this method can be with
Including：
Start head camera and data acquisition is carried out to the point of interest entered in current visible monitoring range.
Wherein, more specifical implementation may be referred to above-mentioned unmanned plane and perform unmanned plane tour controlling party
The specific implementation of method, will not be repeated here.
Hereby it is achieved that unmanned aerial vehicle station, which automatically controls the alignment of head camera, enters current visible monitoring range
The position of interior point of interest, without manual operation, reduce operating error.
Relative to above method embodiment, the embodiment of the present invention additionally provides a kind of unmanned plane and makes an inspection tour control dress
Put, as shown in figure 5, the device can include：
Acquisition module 201, for obtaining the cloud carried on the current positional information of unmanned plane and the unmanned plane
The posture of platform camera；
Determining module 202, for according to the current positional information of acquired unmanned plane and the head camera
Posture, determine the current visible monitoring range of the head camera；
Judge module 203, for the positional information according to point of interest to be maked an inspection tour, judge whether to enter
Point of interest in the current visible monitoring range, if it is, triggering alignment modules 204；
The alignment modules 204, for according to the current positional information of acquired unmanned plane and entrance
The positional information of point of interest in current visible monitoring range, the head camera alignment is controlled to enter described work as
The position of point of interest in the range of preceding visual monitor.
In the embodiment of the present invention, pass through the head camera carried on the current positional information of unmanned plane and unmanned plane
Posture, the current visible monitoring range of head camera is determined, then according to the position of point of interest to be maked an inspection tour
Information, it is automatically determined whether into the point of interest in current visible monitoring range, and where it has,
The position for the point of interest that the alignment of head camera is entered in current visible monitoring range is automatically controlled, it is thus, real
Existing head camera is directed at point of interest location automatically, without manual operation, reduces operating error.
Specifically, the judge module 203, can be specifically used for：
According to the positional information of the point of interest to be maked an inspection tour preserved, judge whether currently may be used into described
Depending on the point of interest in monitoring range, if it is, triggering alignment modules 204.
Specifically, the judge module 203, can be specifically used for：
According to the positional information of the point of interest to be maked an inspection tour received from unmanned aerial vehicle station, judge whether
Point of interest into the current visible monitoring range, if it is, triggering alignment modules 204.
Specifically, the alignment modules 204, can include：
Level deciding unit, for being multiple when the point of interest entered in the current visible monitoring range
When, from entering in multiple points of interest in the current visible monitoring range, determine highest-ranking point of interest；
Control unit, for according to the current positional information of acquired unmanned plane and described highest-ranking emerging
The positional information of interest point, controls the head camera to be directed at the position of the highest-ranking point of interest.
Specifically, the alignment modules 204, can include：
Order determination unit is maked an inspection tour, for being more when entering the point of interest in the current visible monitoring range
When individual, according to the rank for entering multiple points of interest in the current visible monitoring range, it is determined that to described more
The tour order of individual point of interest；
Unit is maked an inspection tour, for making an inspection tour the multiple point of interest according to tour order, wherein, it is every making an inspection tour
During one point of interest, according to the current positional information of acquired unmanned plane and the position of point of interest currently to be maked an inspection tour
Confidence ceases, and controls the position of the head camera alignment current point of interest to be maked an inspection tour.
Specifically, the alignment modules 204, can include：
Vector determination unit, for described current according to the current positional information of acquired unmanned plane and entrance
The positional information of point of interest in the range of visual monitor, determine that the unmanned plane current location is worked as to entrance is described
The vector of the position of point of interest in the range of preceding visual monitor；
Targeted attitude parameter value-determining unit, for according to the vector, determining the target of the head camera
Attitude parameter value, wherein, the targeted attitude parameter value is enables the head camera to be aligned into institute
State the numerical value of the position of the point of interest in current visible monitoring range；
Adjustment unit, for controlling the head camera to be adjusted to the targeted attitude from current pose parameter value
Parameter value.
A kind of unmanned plane provided in an embodiment of the present invention makes an inspection tour control device, can also include：
Update module, the positional information of the point of interest for receiving the transmission of unmanned aerial vehicle station, renewal have preserved
Point of interest positional information, and trigger determining module.
Thus, after the positional information for the point of interest that unmanned aerial vehicle station is sent is received, renewal has preserved emerging
The positional information of interest point, carries out unmanned plane tour, so as to preferably perform unmanned plane to the point of interest after renewal
Tour task.
On the basis of embodiment illustrated in fig. 5, as shown in fig. 6, a kind of unmanned plane provided in an embodiment of the present invention
Control device is maked an inspection tour, the device can also include：
Starting module 205, after in judgement in the presence of the point of interest entered in the current visible monitoring range,
Start the head camera and data acquisition is carried out to the point of interest entered in the current visible monitoring range.
Thus, by carrying out automatic data acquisition to point of interest, manually-operated burden and artificial behaviour are reduced
The error of work.
Further, as shown in fig. 7, the embodiment of the present invention, which additionally provides a kind of unmanned plane, makes an inspection tour control system
System, can include：Unmanned plane 10 and head camera 20, wherein, the head camera 20 is equipped on the nothing
On man-machine 10；
The unmanned plane 10, for obtaining the current positional information of the unmanned plane 10 and the head camera 20
Posture, according to the current positional information of acquired unmanned plane 10 and the posture of the head camera 20, really
The current visible monitoring range of the fixed head camera 20；According to the positional information of point of interest to be maked an inspection tour, sentence
It is disconnected to whether there is the point of interest entered in the current visible monitoring range；If it is, according to acquired nothing
The positional information of man-machine 10 current positional informations and the point of interest entered in the current visible monitoring range,
The alignment of head camera 20 is controlled into the position of the point of interest in the current visible monitoring range；
The head camera 20, enter current visible prison for being aligned under the control of the unmanned plane 10
The position of point of interest in the range of control.
Thus, by the posture of the head camera carried on the current positional information of unmanned plane and unmanned plane, really
Determine the current visible monitoring range of head camera, then the positional information of basis point of interest to be maked an inspection tour, automatically
The point of interest into current visible monitoring range is determined whether there is, and where it has, is automatically controlled
The position for the point of interest that the alignment of head camera is entered in current visible monitoring range, hereby it is achieved that head phase
Machine is directed at point of interest location automatically, without manual operation, reduces operating error.
On the basis of embodiment illustrated in fig. 7, as shown in figure 8, a kind of unmanned plane provided in an embodiment of the present invention
Control system is maked an inspection tour, can also be included：
Unmanned aerial vehicle station 40, for point of interest location to be sent into the unmanned plane 10.
It should be noted that herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these
Any this actual relation or order be present between entity or operation.Moreover, term " comprising ", " bag
Containing " or any other variant thereof is intended to cover non-exclusive inclusion, so that including a series of elements
Process, method, article or equipment not only include those key elements, but also including being not expressly set out
Other element, or also include for this process, method, article or the intrinsic key element of equipment.
Do not have in the case of more limiting, the key element limited by sentence "including a ...", it is not excluded that wrapping
Include in process, method, article or the equipment of the key element and other identical element also be present.
Each embodiment in this specification is described by the way of related, identical phase between each embodiment
As part mutually referring to, what each embodiment stressed be it is different from other embodiment it
Place.For system embodiment, because it is substantially similar to embodiment of the method, so description
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the protection model of the present invention
Enclose.Any modification, equivalent substitution and improvements made within the spirit and principles of the invention etc., are wrapped
Containing within the scope of the present invention.
Claims (18)
1. a kind of unmanned plane makes an inspection tour control method, it is characterised in that methods described includes：
Obtain the posture of the head camera carried on the current positional information of unmanned plane and the unmanned plane；
According to the current positional information of acquired unmanned plane and the posture of the head camera, the cloud is determined
The current visible monitoring range of platform camera；
According to the positional information of point of interest to be maked an inspection tour, judge whether to enter current visible monitoring model
Enclose interior point of interest；
If it is, according to the current positional information of acquired unmanned plane and enter current visible monitoring model
The positional information of point of interest in enclosing, the head camera alignment is controlled to enter the current visible monitoring range
The position of interior point of interest.
2. according to the method for claim 1, it is characterised in that basis point of interest to be maked an inspection tour
Positional information, the point of interest entered in the current visible monitoring range is judged whether, including：
According to the positional information of the point of interest to be maked an inspection tour preserved, judge whether currently may be used into described
Depending on the point of interest in monitoring range.
3. according to the method for claim 1, it is characterised in that basis point of interest to be maked an inspection tour
Positional information, the point of interest entered in the current visible monitoring range is judged whether, including：
According to the positional information of the point of interest to be maked an inspection tour received from unmanned aerial vehicle station, judge whether
Point of interest into the current visible monitoring range.
4. according to the method for claim 1, it is characterised in that monitored when entering the current visible
In the range of point of interest for it is multiple when, the current positional information of unmanned plane acquired in the basis and into institute
The positional information of the point of interest in current visible monitoring range is stated, is controlled described in the head camera alignment entrance
The position of point of interest in current visible monitoring range, including：
From entering in multiple points of interest in the current visible monitoring range, highest-ranking interest is determined
Point；
Believed according to the position of the current positional information of acquired unmanned plane and the highest-ranking point of interest
Breath, the head camera is controlled to be directed at the position of the highest-ranking point of interest.
5. according to the method for claim 1, it is characterised in that supervised when entering the current visible
Point of interest in the range of control for it is multiple when, the current positional information of unmanned plane acquired in the basis and entrance
The positional information of point of interest in the current visible monitoring range, the head camera alignment is controlled to enter institute
The position of the point of interest in current visible monitoring range is stated, including：
According to the rank for entering multiple points of interest in the current visible monitoring range, it is determined that to the multiple
The tour order of point of interest；
The multiple point of interest is maked an inspection tour according to tour order, wherein, when making an inspection tour each point of interest, root
According to the current positional information of acquired unmanned plane and the positional information of point of interest currently to be maked an inspection tour, institute is controlled
State the position of the head camera alignment current point of interest to be maked an inspection tour.
6. according to the method for claim 1, it is characterised in that the unmanned plane acquired in the basis is worked as
The positional information of preceding positional information and the point of interest entered in the current visible monitoring range, described in control
The position for the point of interest that the alignment of head camera enters in the current visible monitoring range, including：
According to the current positional information of acquired unmanned plane and enter in the current visible monitoring range
The positional information of point of interest, determine the unmanned plane current location to enter the current visible monitoring range in
Point of interest position vector；
According to the vector, the targeted attitude parameter value of the head camera is determined, wherein, the target appearance
State parameter value is the interest that the head camera is aligned into the current visible monitoring range
The numerical value of the position of point；
The head camera is controlled to be adjusted to the targeted attitude parameter value from current pose parameter value.
7. according to the method for claim 2, it is characterised in that methods described also includes：
The positional information for the point of interest that unmanned aerial vehicle station is sent is received, updates the position of the point of interest preserved
Information, and return to the head camera for performing and obtaining and being carried on the current positional information of unmanned plane and the unmanned plane
Posture the step of.
8. according to the method for claim 1, it is characterised in that currently may be used judging to exist into described
After the point of interest in monitoring range, methods described also includes：
Start the head camera to adopt the point of interest progress data entered in the current visible monitoring range
Collection.
9. a kind of unmanned plane makes an inspection tour control device, it is characterised in that described device includes：
Acquisition module, for obtaining the head phase carried on the current positional information of unmanned plane and the unmanned plane
The posture of machine；
Determining module, for the appearance according to the current positional information of acquired unmanned plane and the head camera
State, determine the current visible monitoring range of the head camera；
Judge module, for the positional information according to point of interest to be maked an inspection tour, judge whether into described
Point of interest in current visible monitoring range, if it is, triggering alignment modules；
The alignment modules, for described current according to the current positional information of acquired unmanned plane and entrance
The positional information of point of interest in the range of visual monitor, the head camera alignment is controlled currently may be used into described
Depending on the position of the point of interest in monitoring range.
10. device according to claim 9, it is characterised in that the judge module, be specifically used for：
According to the positional information of the point of interest to be maked an inspection tour preserved, judge whether currently may be used into described
Depending on the point of interest in monitoring range, if it is, triggering alignment modules.
11. device according to claim 9, it is characterised in that the judge module, be specifically used for：
According to the positional information of the point of interest to be maked an inspection tour received from unmanned aerial vehicle station, judge whether
Point of interest into the current visible monitoring range, if it is, triggering alignment modules.
12. device according to claim 9, it is characterised in that the alignment modules, including：
Level deciding unit, for being multiple when the point of interest entered in the current visible monitoring range
When, from entering in multiple points of interest in the current visible monitoring range, determine highest-ranking point of interest；
Control unit, for according to the current positional information of acquired unmanned plane and described highest-ranking emerging
The positional information of interest point, controls the head camera to be directed at the position of the highest-ranking point of interest.
13. device according to claim 9, it is characterised in that the alignment modules, including：
Order determination unit is maked an inspection tour, for being more when entering the point of interest in the current visible monitoring range
When individual, according to the rank for entering multiple points of interest in the current visible monitoring range, it is determined that to described more
The tour order of individual point of interest；
Unit is maked an inspection tour, for making an inspection tour the multiple point of interest according to tour order, wherein, it is every making an inspection tour
During one point of interest, according to the current positional information of acquired unmanned plane and the position of point of interest currently to be maked an inspection tour
Confidence ceases, and controls the position of the head camera alignment current point of interest to be maked an inspection tour.
14. device according to claim 9, it is characterised in that the alignment modules, including：
Vector determination unit, for described current according to the current positional information of acquired unmanned plane and entrance
The positional information of point of interest in the range of visual monitor, determine that the unmanned plane current location is worked as to entrance is described
The vector of the position of point of interest in the range of preceding visual monitor；
Targeted attitude parameter value-determining unit, for according to the vector, determining the target of the head camera
Attitude parameter value, wherein, the targeted attitude parameter value is enables the head camera to be aligned into institute
State the numerical value of the position of the point of interest in current visible monitoring range；
Adjustment unit, for controlling the head camera to be adjusted to the targeted attitude from current pose parameter value
Parameter value.
15. device according to claim 10, it is characterised in that described device also includes：
Update module, the positional information of the point of interest for receiving the transmission of unmanned aerial vehicle station, renewal have preserved
Point of interest positional information, and trigger determining module.
16. device according to claim 9, it is characterised in that described device also includes：
Starting module, for after judging to have the point of interest into the current visible monitoring range, opening
Move the head camera and data acquisition is carried out to the point of interest entered in the current visible monitoring range.
17. a kind of unmanned plane makes an inspection tour control system, it is characterised in that including：Unmanned plane and head camera,
Wherein, the head camera is equipped on the unmanned plane；
The unmanned plane, for obtaining the appearance of the current positional information of the unmanned plane and the head camera
State, according to the current positional information of acquired unmanned plane and the posture of the head camera, determine the cloud
The current visible monitoring range of platform camera；According to the positional information of point of interest to be maked an inspection tour, judge whether
Point of interest into the current visible monitoring range；If it is, current according to acquired unmanned plane
The positional information of positional information and the point of interest entered in the current visible monitoring range, controls the head
The position for the point of interest that camera alignment enters in the current visible monitoring range；
The head camera, enter current visible monitoring model for being aligned under the control of the unmanned plane
The position of point of interest in enclosing.
18. unmanned plane according to claim 17 makes an inspection tour control system, it is characterised in that it is described nobody
Machine, which makes an inspection tour control system, also to be included：
Unmanned aerial vehicle station, for point of interest location to be sent into the unmanned plane.
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