CN107807659A - A kind of UAV Flight Control method and device - Google Patents
A kind of UAV Flight Control method and device Download PDFInfo
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- CN107807659A CN107807659A CN201710997928.5A CN201710997928A CN107807659A CN 107807659 A CN107807659 A CN 107807659A CN 201710997928 A CN201710997928 A CN 201710997928A CN 107807659 A CN107807659 A CN 107807659A
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides a kind of UAV Flight Control method and device, wherein, this method includes：Obtain the target image of the camera shooting set on unmanned plane；Determine the object and at least one tracing point that user selects on target image, and the unmanned plane during flying strategy of user's selection；Coordinate information and countermeasures based at least one tracing point, flight path information when generation instruction unmanned plane is around object flight；Flight path information is sent to unmanned plane, in order to which unmanned plane flies according to flight path information and to object shooting image.The present invention is it is determined that after selection intention of the user on target image, and the flight path information according to corresponding to selection is intended to generation, in order to which unmanned plane is flown according to the flight path information, the flexibility for control of flying is preferable, time saving and energy saving.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of UAV Flight Control method and device.
Background technology
Unmanned plane (Unmanned Aerial Vehicle, UAV) is referred to using radio robot and provided for oneself
The not manned aircraft of presetting apparatus manipulation.With the rapid development of unmanned air vehicle technique, unmanned plane be applied to ground mapping,
The fields such as Forest servey, rescue and relief work, logistics express delivery, high-altitude shooting.Wherein, extensively should in high-altitude shooting field unmanned plane
With.
Current unmanned plane is to plan the flight path of unmanned plane by user's hand-held remote control device to clap target mostly
Take the photograph.Wherein, it is necessary to while the state of flight of observation unmanned plane, on one side adjustment in real time during above-mentioned planning flight path
Unmanned plane course.
Inventor has found under study for action, due to carrying out flight control in real time using artificial view mode in correlation technique, takes
When it is laborious.
The content of the invention
In view of this, it is an object of the invention to provide a kind of UAV Flight Control method and device, with raising nobody
The flexibility of machine flight control, it is time saving and energy saving.
In a first aspect, the invention provides a kind of UAV Flight Control method, methods described includes：
Obtain the target image of the camera shooting set on unmanned plane；
Determine the object and at least one tracing point that user selects on the target image, and the nothing of user's selection
Man-machine countermeasures；
Coordinate information and the countermeasures based at least one tracing point, generation indicate the unmanned plane around institute
State flight path information during object flight；
The flight path information is sent to the unmanned plane, in order to which the unmanned plane is believed according to the flight path
Breath flies and to the object shooting image.
With reference in a first aspect, the invention provides the possible embodiment of the first of first aspect, wherein, it is described at least
One tracing point is a tracing point, and the countermeasures are using the object as the center of circle, with the object and the rail
Horizontal range between mark point carries out general toroidal flight for radius.
With reference to the first possible embodiment of first aspect, the invention provides second of first aspect is possible
Embodiment, wherein, the coordinate information based at least one tracing point and the countermeasures, generate described in instruction
Flight path information when unmanned plane is around the object flight, including：
Attribute information, described based on first pixel coordinate of the tracing point under pixel coordinate system, the camera
The current location information of the elevation information of unmanned plane and the unmanned plane calculates the first position information of the tracing point；
Based on second pixel coordinate of the object under the pixel coordinate system, the camera attribute information,
The current location information of the elevation information of the unmanned plane and the unmanned plane calculates the second place information of the object；
Determine that the unmanned plane flies around the object according to the first position information and the second place information
Capable flight path information, in order to the unmanned plane according to the flight path information from the current location information fly to
The first position information of the tracing point, and flown at the first position information around the object.
It is possible the invention provides the third of first aspect with reference to second of possible embodiment of first aspect
Embodiment, wherein, the first pixel coordinate, the attribute of the camera based on the tracing point under pixel coordinate system
The current location information of information, the elevation information of the unmanned plane and the unmanned plane calculates the first position letter of the tracing point
Breath, including：
Based on first pixel coordinate of the tracing point under the pixel coordinate system, the camera attribute information in
Focus information and shooting angle information, and the unmanned plane elevation information determine the tracing point and the unmanned plane it
Between the first relative position information；
Current location information based on the unmanned plane and first relative position information calculate the of the tracing point
One positional information.
With reference in a first aspect, the invention provides the possible embodiment of the 4th of first aspect kind, wherein, it is described at least
One tracing point is multiple tracing points that user selects to set, and the countermeasures are to fly according to a tracing point straight line therefrom
Row to next tracing point and formed dog leg path flight.
With reference to the 4th kind of possible embodiment of first aspect, the invention provides the 5th of first aspect kind is possible
Embodiment, wherein, the coordinate information based at least one tracing point and the countermeasures, generate described in instruction
Flight path information when unmanned plane is around the object flight, including：
Attribute information, described based on first pixel coordinate of each tracing point under pixel coordinate system, the camera
The current location information of the elevation information of unmanned plane and the unmanned plane calculates the first position information of each tracing point；
The selecting sequence and multiple first position information for corresponding to tracing point to each first position information according to user determine
The flight path information that the path that the unmanned plane is indicated according to the multiple tracing point is flown, in order to the unmanned plane according to
The flight path information is flown to the first position information of first tracing point from the current location information, and according to
The selecting sequence at family is successively by the first position information flight of other tracing points.
With reference in a first aspect, the invention provides the possible embodiment of the 6th of first aspect kind, wherein, it is described at least
One tracing point is any smoothed curve or straight line that user is set, i.e. the set of tracing point, the countermeasures is according to institutes
State the path flight of any smoothed curve or straight line instruction.
With reference to the 6th kind of possible embodiment of first aspect, the invention provides the 7th of first aspect kind is possible
Embodiment, wherein, the coordinate information based at least one tracing point and the countermeasures, generate described in instruction
Flight path information when unmanned plane is around the object flight, including：
Based on first pixel coordinate of each tracing point on any smoothed curve or straight line under pixel coordinate system,
The current location information of the attribute information of the camera, the elevation information of the unmanned plane and the unmanned plane calculates described every
The first position information of individual tracing point；
The selecting sequence and multiple first position information for corresponding to tracing point to each first position information according to user determine
The flight path information that the unmanned plane flies according to the path of any smoothed curve or straight line instruction, in order to the nothing
It is man-machine flown according to the flight path information from the current location information to any smoothed curve or straight line the
The first position information of one tracing point, and according to the selecting sequence of any smoothed curve or the tracing point of straight line instruction successively
By the first position information flight of other tracing points.
Second aspect, present invention also offers a kind of UAV Flight Control device, including：
Acquisition module, for obtaining the target image of the camera set on unmanned plane shooting；
Determining module, for determining object and at least one tracing point that user selects on the target image, with
And the unmanned plane during flying strategy of user's selection；
Generation module, for the coordinate information based at least one tracing point and the countermeasures, generation instruction
The flight path information when unmanned plane is around the object flight；
Sending module, for the flight path information to be sent to the unmanned plane, in order to the unmanned plane according to
The flight path information is flown and to the object shooting image.
With reference to second aspect, the invention provides the possible embodiment of the first of second aspect, wherein, it is described at least
One tracing point is a tracing point, and the countermeasures are using the object as the center of circle, with the object and the rail
Horizontal range between mark point carries out general toroidal flight for radius.
With reference to the first possible embodiment of second aspect, the invention provides second of second aspect is possible
Embodiment, wherein, the generation module includes：
First computing unit, for based on first pixel coordinate of the tracing point under pixel coordinate system, the shooting
The current location information of the attribute information of head, the elevation information of the unmanned plane and the unmanned plane calculates the of the tracing point
One positional information；
Second computing unit, for based on second pixel coordinate of the object under the pixel coordinate system, described
The current location information of the attribute information of camera, the elevation information of the unmanned plane and the unmanned plane calculates the object
Second place information；
First determining unit, for determining the unmanned plane according to the first position information and the second place information
Around the flight path information of object flight, in order to which the unmanned plane is worked as according to the flight path information from described
Front position information is flown to the first position information of the tracing point, and the target is surrounded at the first position information
Thing flies.
It is possible the invention provides the third of second aspect with reference to second of possible embodiment of second aspect
Embodiment, wherein, first computing unit includes：
Determination subelement, for based on first pixel coordinate of the tracing point under the pixel coordinate system, described take the photograph
As head attribute information in focus information and shooting angle information, and the elevation information of the unmanned plane determines the track
The first relative position information between point and the unmanned plane；
Computation subunit, calculated for the current location information based on the unmanned plane and first relative position information
The first position information of the tracing point.
With reference to second aspect, the invention provides the possible embodiment of the 4th of second aspect kind, wherein, it is described at least
One tracing point is multiple tracing points that user selects to set, and the countermeasures are to fly according to a tracing point straight line therefrom
Row to next tracing point and formed dog leg path flight.
With reference to the 4th kind of possible embodiment of second aspect, the invention provides the 5th of second aspect kind is possible
Embodiment, wherein, the generation module includes：
3rd computing unit, for based on first pixel coordinate of each tracing point under pixel coordinate system, the shooting
The current location information of the attribute information of head, the elevation information of the unmanned plane and the unmanned plane calculates each tracing point
First position information；
Second determining unit, for corresponding to the selecting sequence of tracing point and multiple to each first position information according to user
First position information determines the flight path information that the path that the unmanned plane indicates according to the multiple tracing point is flown, so as to
Flown in the unmanned plane according to the flight path information from the current location information to first of first tracing point
Confidence ceases, and is flown successively by the first position information of other tracing points according to the selecting sequence of user.
With reference to second aspect, the invention provides the possible embodiment of the 6th of second aspect kind, wherein, it is described at least
One tracing point is any smoothed curve or straight line that user is set, i.e. the set of tracing point, the countermeasures is according to institutes
State the path flight of any smoothed curve or straight line instruction.
With reference to the 6th kind of possible embodiment of second aspect, the invention provides the 7th of second aspect kind is possible
Embodiment, wherein, the generation module includes：
4th computing unit, for based on each tracing point on any smoothed curve or straight line in pixel coordinate system
Under the first pixel coordinate, the attribute information of the camera, the elevation information of the unmanned plane and the unmanned plane it is current
The first position information of each tracing point described in positional information calculation；
3rd determining unit, for corresponding to the selecting sequence of tracing point and multiple to each first position information according to user
First position information determines the flight path that the unmanned plane flies according to the path of any smoothed curve or straight line instruction
Information, in order to which the unmanned plane flies to described any smooth according to the flight path information from the current location information
The first position information of first tracing point on curve or straight line, and the track indicated according to any smoothed curve or straight line
The selecting sequence of point is successively by the first position information flight of other tracing points.
UAV Flight Control method and device provided by the invention, with using artificial view mode real-time in correlation technique
Flight control is carried out, wastes time and energy and compares, the target image of its camera set first by obtaining on unmanned plane shooting, really
Determine object and at least one tracing point that user selects on the target image, and the unmanned plane during flying plan of user's selection
Slightly；The coordinate information and countermeasures of at least one tracing point are then based on, when generation instruction unmanned plane is around object flight
Flight path information；Finally the flight path information is sent to unmanned plane, in order to which the unmanned plane is according to flight path information
Fly and to object shooting image, that is, it is intended to it is determined that after selection intention of the user on target image according to selection
Flight path information corresponding to generation, in order to which unmanned plane is flown according to the flight path information, control of flying it is flexible
Property is preferable, time saving and energy saving.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of flow chart for UAV Flight Control method that the embodiment of the present invention is provided；
Fig. 2 shows the flow chart for another UAV Flight Control method that the embodiment of the present invention is provided；
Fig. 3 shows the flow chart for another UAV Flight Control method that the embodiment of the present invention is provided；
Fig. 4 shows the flow chart for another UAV Flight Control method that the embodiment of the present invention is provided；
Fig. 5 shows the flow chart for another UAV Flight Control method that the embodiment of the present invention is provided；
Fig. 6-Fig. 9 shows a kind of application schematic diagram for UAV Flight Control method that the embodiment of the present invention is provided；
Figure 10 shows a kind of module composition schematic diagram for UAV Flight Control device that the embodiment of the present invention is provided；
Figure 11 shows the module of generation module in a kind of UAV Flight Control device that the embodiment of the present invention is provided
Composition schematic diagram；
Figure 12 shows the first computing unit in a kind of UAV Flight Control device that the embodiment of the present invention is provided
Module composition schematic diagram.
Main element symbol description：
11st, acquisition module；12nd, determining module；13rd, generation module；14th, sending module；131st, the first computing unit；132、
Second computing unit；133rd, the first determining unit；134th, the 3rd computing unit；135th, the second determining unit；136th, the 4th calculate
Unit；137th, the 3rd determining unit；1311st, determination subelement；1312nd, computation subunit.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
It is part of the embodiment of the present invention, rather than whole embodiments.The present invention being generally described and illustrated herein in the accompanying drawings is real
Applying the component of example can be configured to arrange and design with a variety of.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
In view of the control unmanned plane during flying in correlation technique method due to being flown in real time using artificial view mode
Row control, wastes time and energy.Based on this, the invention provides a kind of UAV Flight Control method and device, to improve unmanned plane
The flexibility of flight control, it is time saving and energy saving.
The flow chart of UAV Flight Control method provided in an embodiment of the present invention shown in Figure 1, this method are held
Row main body is that the processor of terminal device or other processing modules, methods described specifically comprise the following steps：
S110, the target image for obtaining the camera shooting set on unmanned plane；
Wherein, what UAV Flight Control method provided in an embodiment of the present invention obtained is the target figure that unmanned plane is sent
Picture, the target image are the images of the camera shooting set on unmanned plane, wherein, above-mentioned target image includes object.
In addition, above-mentioned camera can be demarcated during setting, and determine the attribute information of the camera, its
In, the attribute information comprises at least shooting angle information and focus information, and shooting angle information refers to above-mentioned camera with working as
Angle information between ground relative coordinate system, focus information are then the parameter-embedded information of camera.
S120, determine object and at least one tracing point that user selects on target image, and user's selection
Unmanned plane during flying strategy；
Wherein, above-mentioned object, tracing point and unmanned plane during flying strategy are the mesh that user shows on the terminal device
The result selected in logo image.In addition, user can be carried out as follows to the actual mechanical process of terminal device：First, user touches
The object in the target image for clicking on unmanned plane shooting is touched as landscape mark, a triangle, generation occurs in landscape cursor position
Object selected by table；Then, the point that user touch point is hit around landscape mark, the tracing point for being set as detouring on track, with
Circle is representative, and selects the countermeasures corresponding to unmanned plane, and surrounding target thing flies in this way, also according to multiple tracing points
Path flight of instruction etc..Again, can also be after tracing point is selected, terminal device is right to determine the tracing point of selection institute
The countermeasures answered, such as select a tracing point, it is determined that for the countermeasures of surrounding target thing flight, such as select multiple tracks
Point or geometric locus, it is determined that be the countermeasures to be flown according to the path of multiple tracing points instruction.
S130, coordinate information and countermeasures based at least one tracing point, generation instruction unmanned plane fly around object
Flight path information during row；
The seat of at least one tracing point of the UAV Flight Control method provided in an embodiment of the present invention based on above-mentioned determination
Mark information and countermeasures, flight path information when generation instruction unmanned plane is around object flight.Wherein, corresponding to according to more
The countermeasures of the path flight of individual tracing point instruction are, it is necessary to according to each tracing point position in the target image, camera appearance
State and camera calibration parameter, the geographical location information of tracing point is obtained, and according to the geographical location information control of each tracing point
Unmanned plane processed flies to appointed place；The countermeasures to be flown corresponding to surrounding target thing, the ground of tracing point is not only calculated
Manage positional information, it is also necessary to the radius information of the tracing point and object is calculated, with according to the radius information and geographical position letter
Breath control unmanned plane flies around object.
S140, flight path information sent to unmanned plane, in order to which unmanned plane flies and right according to flight path information
Object shooting image.
Wherein, flight path information corresponding to above-mentioned each countermeasures can be sent to unmanned plane, in order to nobody
Machine can fly according to flight path information, so that user directly can control unmanned plane to fly in the operation of user terminal
OK, easy to operation, flexibility ratio is higher.
UAV Flight Control method provided in an embodiment of the present invention, with using artificial view mode real-time in correlation technique
Flight control is carried out, wastes time and energy and compares, the target image of its camera set first by obtaining on unmanned plane shooting, really
Determine object and at least one tracing point that user selects on the target image, and the unmanned plane during flying plan of user's selection
Slightly；The coordinate information and countermeasures of at least one tracing point are then based on, when generation instruction unmanned plane is around object flight
Flight path information；Finally the flight path information is sent to unmanned plane, in order to which the unmanned plane is according to flight path information
Fly and to object shooting image, that is, it is intended to it is determined that after selection intention of the user on target image according to selection
Flight path information corresponding to generation, in order to which unmanned plane is flown according to the flight path information, control of flying it is flexible
Property is preferable, time saving and energy saving.
It is the selection according to user in view of the unmanned plane in UAV Flight Control method provided in an embodiment of the present invention
What the flight path information for being intended to generate was flown, it is seen then that the generating process of flight path information is the embodiment of the present invention
Final steps.Wherein, above-mentioned flight path information and user select on target image object, tracing point and nobody
Machine countermeasures are related, that is, the embodiment of the present invention depends on flight path information corresponding to the generation of above three information,
Specifically include following three kinds of situations.
The first situation：
It is determined that at least one tracing point of user's selection is a tracing point, when countermeasures are surrounding target thing flight
Using object as the center of circle, the horizontal range between object and tracing point carries out general toroidal flight as radius.Referring to Fig. 2,
Realized according to above-mentioned tracing point and countermeasures generation flight path information especially by following steps：
S210, based on first pixel coordinate of the tracing point under pixel coordinate system, the attribute information of camera, unmanned plane
The current location information of elevation information and unmanned plane calculates the first position information of tracing point；
S220, based on second pixel coordinate of the object under pixel coordinate system, the attribute information of camera, unmanned plane
The current location information of elevation information and unmanned plane calculates the second place information of object；
S230, the flight path for determining according to first position information and the second place information flight of unmanned plane surrounding target thing
Information, in order to which unmanned plane flies to the first position information of tracing point according to flight path information from current location information, with
And surrounding target thing flies at the information of first position.
Wherein, the embodiment of the present invention is based on tracing point using the UAV Flight Control method of surrounding target thing countermeasures
First position information and object second place information determine corresponding to flight path information.Wherein, above-mentioned first position
Information and second place information are the elevation informations of the attribute information combination unmanned plane according to target image, camera and its worked as
The actual geographic position that front position information determines.
In addition, when unmanned plane carries out flight according to flight path information, can carry out in the following way path planning with
Flight is realized, first, user terminal directly can send first position information and second place information to unmanned plane, unmanned plane
Relative position information between tracing point and object is calculated based on above-mentioned first position information and second place information, can be with
It is determined that around the direction of flight, such as counter clockwise direction or clockwise direction, then according to above-mentioned first position information, relative position
The information such as information and directional information is flown to the first position information of tracing point, and in first position from current location information
Flown at information according to relative position information and directional information surrounding target thing；Second, user terminal can be based on above-mentioned first
Positional information and second place information calculate the relative position information between tracing point and object, can also determine around flight
Direction, such as counterclockwise or clockwise, the then flight path using the above-mentioned information being calculated as unmanned plane
Information is sent to unmanned plane, in order to which unmanned plane can be flown to the first of tracing point based on above- mentioned information from current location information
Positional information, and flown at the information of first position according to relative position information and directional information surrounding target thing, so as to full
The different demands of sufficient different user.
Wherein, referring to Fig. 3, the calculating process of first position information specifically comprises the following steps corresponding to above-mentioned S210：
S310, based on first pixel coordinate of the tracing point under pixel coordinate system, camera attribute information in focal length
Information and shooting angle information, and the elevation information of unmanned plane determine that the first relative position between tracing point and unmanned plane is believed
Breath；
S320, the current location information based on unmanned plane and the first relative position information calculate the first position letter of tracing point
Breath.
Specifically, UAV Flight Control method provided in an embodiment of the present invention based on tracing point under pixel coordinate system
First pixel coordinate, the elevation information of the attribute information of camera and unmanned plane and its current location information calculate the of tracing point
One positional information.The calculating process of first position information is now specifically described by following content：
First, it is defined as follows parameter：The current location information (initial position P) of unmanned plane can use longitude and latitude (L0,λ0) come
Represent, obtained by body GPS.Tracing point P1 first position information can use longitude and latitude (L1,λ1) represent, by being calculated.
(γ, θ, ψ) is camera and the angle of local relative coordinate system, is respectively (roll angle, the angle of pitch, course angle), can be by camera
Inertial sensor and navigation calculation obtain.(the pixel coordinate of Δ u, Δ v) between track dot center and picture centre coordinate
Difference.F is camera focal length, in units of pixel, can shift to an earlier date and be obtained by camera calibration.Known H is unmanned plane apart from ground
Highly, can be obtained according to height sensor information.
Definition pixel coordinate system is p systems；Camera coordinates system is c systems；Relative coordinate system using camera as origin is t systems.
Secondly, step is as follows：Tracing point is expressed as P1 under pixel coordinate systemp=(Δ u, Δ v), wherein, P1 represents rail
Mark point P1, upper right corner p represent the expression under pixel coordinate system.Tracing point can be obtained in camera coordinates by national forest park in Xiaokeng
Normalization coordinate under systemWherein, P1 represents tracing point P1, and upper right corner c is represented under camera coordinates system
Expression.
The transition matrix between camera coordinates system and relative coordinate system can be obtained by Eulerian angles (γ, θ, ψ)
By normalization Coordinate Conversion of the tracing point under camera coordinates system to using camera as under the relative coordinate system of origin,Wherein,RepresentTransposition, p is the results of intermediate calculations for asking for P1 point coordinates.
Calculate normalization coordinate --- first geographical coordinate of the tracing point under t systems, that is to say tracing point and unmanned plane it
Between the first relative position information.
Wherein,Upper right corner t represents to represent under coordinate system in east northeast, and the lower right corner 1 represents label, for distinguishing normalizing
Change coordinate and three-dimensional coordinate.
Known H is height of the unmanned plane apart from ground, it is assumed that tracing point is located at ground, then tracing point is under relative coordinate system
Three-dimensional coordinate --- the second geographical coordinate, namely the first position information of tracing point is
Because camera is connected with unmanned plane body, the current location of camera is (L0,λ0).ByIt is available
Longitude and latitude (the L of tracing point1,λ1)。
Image intended trajectory point (L is flown to by the flight control system control unmanned plane of unmanned plane1,λ1)。
In addition, similar with above method step, the second confidence of object can also be calculated in the embodiment of the present invention
Breath, will not be repeated here.
Finally, the horizontal range between tracing point and landscape mark is made as the radius that detours.It is determined that tracing point P1, and landscape mark
After Q, it is referred to above method and obtains the three-dimensional coordinate of P1 and Q under t systemsWithThen radius is
After unmanned plane during flying to tracing point, adjustment cradle head camera ensures that landscape is marked on picture centre, then controls nothing
It is man-machine to be flown by radius R surrounding targets thing.
Second of situation：
It is determined that user selection at least one tracing point for user select set multiple tracing points, countermeasures for by
During the dog leg path flight formed according to a tracing point rectilinear flight therefrom to next tracing point, referring to Fig. 4, according to upper
State tracing point and countermeasures generation flight path information is realized especially by following steps：
S410, based on first pixel coordinate of each tracing point under pixel coordinate system, camera attribute information, nobody
The elevation information of machine and the current location information of unmanned plane calculate the first position information of each tracing point；
S420, the selecting sequence of tracing point and multiple first position information corresponded to each first position information according to user
The flight path information that the path that unmanned plane indicates according to multiple tracing points is flown is determined, in order to which unmanned plane is according to flight path
Information is flown to the first position information of first tracing point from current location information, and according to user selecting sequence successively
By the first position information flight of other tracing points.
Specifically, the embodiment of the present invention uses the unmanned plane during flying control of the path countermeasures according to the instruction of multiple tracing points
The selection that first position information and user of the method processed based on each tracing point correspond to tracing point to each first position information is suitable
Flight path information corresponding to sequence determination.Wherein, above-mentioned multiple first position information are also the category according to target image, camera
Property information combination unmanned plane elevation information and its current location information determine actual geographic position.
In addition, when unmanned plane carries out flight according to flight path information, can carry out in the following way path planning with
Flight is realized, first, user terminal directly can send multiple first position information to unmanned plane, unmanned plane is based on above-mentioned the
The selecting sequence that one positional information and user correspond to tracing point to each first position information determines flight path information, can be with
The relative position information of adjacent track point is determined, then according to above-mentioned multiple first position information, relative position information and use
The selecting sequence at family is flown to the first position information of first tracing point, and the selection according to user from current location information
Order is successively by the first position information flight of other tracing points；Second, user terminal can be directly based upon above-mentioned first
The selecting sequence that confidence breath corresponds to tracing point with user to each first position information determines flight path information, can also determine
The relative position information of adjacent track point, then sent the above-mentioned information being calculated as the flight path information of unmanned plane
To unmanned plane, in order to which unmanned plane can be flown to first of first tracing point based on above- mentioned information from current location information
Confidence ceases, and is flown successively by the first position information of other tracing points according to the selecting sequence of user, so as to meet not
With the different demands of user.
What deserves to be explained is the calculating process of the first position information of above-mentioned each tracing point with the first situation
The calculating process of tracing point is identical, is not repeating herein.
The third situation：
It is determined that any smoothed curve or straight line that at least one tracing point of user's selection is set for user, i.e. tracing point
Set, when countermeasures are the path flight indicated according to any smoothed curve or straight line, referring to Fig. 5, according to above-mentioned track
Point and countermeasures generation flight path information are realized especially by following steps：
S510, the first pixel based on each tracing point on any smoothed curve or straight line under pixel coordinate system are sat
The current location information of mark, the attribute information of camera, the elevation information of unmanned plane and unmanned plane calculates the of each tracing point
One positional information；
S520, the selecting sequence of tracing point and multiple first position information corresponded to each first position information according to user
Determine the flight path information that the path that unmanned plane indicates according to any smoothed curve or straight line is flown, in order to unmanned plane according to
Flight path information is flown to the first position of first tracing point on any smoothed curve or straight line from current location information
Information, and the selecting sequence of the tracing point indicated according to any smoothed curve or straight line pass through the first of other tracing points successively
Positional information is flown.
Specifically, the embodiment of the present invention uses the unmanned plane during flying control of the path countermeasures according to the instruction of multiple tracing points
First position information of the method processed based on each tracing point, any smoothed curve or straight line of user's selection and user are to every
Individual first position information corresponds to flight path information corresponding to the selecting sequence determination of tracing point.Wherein, above-mentioned multiple first
Confidence breath is also true according to target image, the elevation information of the attribute information combination unmanned plane of camera and its current location information
Fixed physical location.
In addition, when unmanned plane carries out flight according to flight path information, can carry out in the following way path planning with
Flight is realized, first, user terminal directly can send multiple first position information to unmanned plane, unmanned plane is based on above-mentioned the
The selecting sequence that one positional information and user correspond to tracing point to each first position information on geometric locus or straight line determines to fly
Row trace information, the relative position information of adjacent track point can also be determined, then according to above-mentioned multiple first position information, phase
Positional information and the selecting sequence of user are flown to first track on geometric locus or straight line from current location information
The first position information of point, and the selecting sequence of the tracing point indicated according to geometric locus or straight line pass through other tracks successively
The first position information flight of point；Second, user terminal can be directly based upon above-mentioned first position information and with user to any
Each first position information corresponds to the selecting sequence of tracing point and determines flight path information on smoothed curve or straight line, can also be really
Determine the relative position information of adjacent track point, then sent out the above-mentioned information being calculated as the flight path information of unmanned plane
Unmanned plane is delivered to, in order to which unmanned plane can be flown to geometric locus or straight line based on above- mentioned information from current location information
The first position information of first tracing point, and the selecting sequence of the tracing point indicated according to geometric locus or straight line pass through successively
The first position information flight of other tracing points is crossed, so as to meet the different demands of different user.
What deserves to be explained is the calculating process of the first position information of above-mentioned each tracing point with the first situation
The calculating process of tracing point is identical, is not repeating herein.
In order to intuitively illustrate the operating process of user on the terminal device, further said especially exemplified by following example now
It is bright.
Operation APP interfaces as shown in Figures 6 to 9, into intended trajectory offline mode, wherein right-hand column is setting landscape
Mark, setting track, start the icon around the flight of landscape mark.
The step of specifying flight path is as follows：
(1) landscape mark is set：Referring to Fig. 6, click on setting landscape and mark on a map, in the image for then clicking on unmanned plane shooting
Object occurs a triangle in landscape cursor position, represents selected landscape mark as landscape mark.
(2) track is set：
Unmanned plane is set with 3 kinds around the flight path of landscape mark shooting thing：
1) radius that detours is specified：
Click on setting track icon, then touch click on landscape mark around a point, be set as detouring on track one
Individual track index point, using circle as representative；As shown in fig. 7, clicking on setting track index point P1, click on and start flight icon, nothing
It is man-machine to keep present level from initial position P, flown with straight line path to set track index point, then using triangle in
The heart, the horizontal range between track index point and landscape mark are carried out surrounding flight and taken pictures as radius.
2) flight path index point is specified:
Setting track icon is clicked on, then touches and clicks on setting flight path index point around landscape mark, of index point
Number is at least 2, and using circle as representative, the sequencing in flight path is the order for clicking on setting.As shown in figure 8, point
Setting tri- tracing points of Pos1, Pos2, Pos3 are hit, clicks on and starts flight icon, unmanned plane keeps current high from initial position P
Spend, flown with straight line path to set track index point Pos1, then fly along straight line path to Pos2, Pos3, Pos4, realize edge
Specified path flight to take pictures to landscape mark.
3) arbitrary trajectory is specified：
Setting track icon is clicked on, then touches screen drawing flight path, as shown in Figure 9, it is assumed that set flight
Track is a curve, and its starting point is S, end point E, clicks on and starts flight icon, and unmanned plane keeps working as from initial position P
Preceding height, flown to the starting point S of set track with straight line path, then flown along set path to E, realized along specifying
Path flight is taken pictures to landscape mark.
N number of flight index point is set in the flight path of setting between S and E, calculates the longitude and latitude of each flight index point
Coordinate is spent, control unmanned plane flies to each index point successively, realizes and specifies arbitrary trajectory flight.
UAV Flight Control method provided in an embodiment of the present invention, with using artificial view mode real-time in correlation technique
Flight control is carried out, wastes time and energy and compares, the target image of its camera set first by obtaining on unmanned plane shooting, really
Determine object and at least one tracing point that user selects on the target image, and the unmanned plane during flying plan of user's selection
Slightly；The coordinate information and countermeasures of at least one tracing point are then based on, when generation instruction unmanned plane is around object flight
Flight path information；Finally the flight path information is sent to unmanned plane, in order to which the unmanned plane is according to flight path information
Fly and to object shooting image, that is, it is intended to it is determined that after selection intention of the user on target image according to selection
Flight path information corresponding to generation, in order to which unmanned plane is flown according to the flight path information, control of flying it is flexible
Property is preferable, time saving and energy saving.
The embodiment of the present invention additionally provides a kind of UAV Flight Control device, and referring to Figure 10, the control device includes：
Acquisition module 11, for obtaining the target image of the camera set on unmanned plane shooting；
Determining module 12, for determining object and at least one tracing point that user selects on target image, and
The unmanned plane during flying strategy of user's selection；
Generation module 13, for coordinate information and countermeasures based at least one tracing point, generation instruction unmanned plane
Flight path information during around object flight；
Sending module 14, for flight path information to be sent to unmanned plane, in order to which unmanned plane is believed according to flight path
Breath flies and to object shooting image.
It is the selection according to user in view of the unmanned plane in UAV Flight Control device provided in an embodiment of the present invention
What the flight path information for being intended to generate was flown, it is seen then that the generating process of flight path information is the embodiment of the present invention
Final steps.Wherein, above-mentioned flight path information and user select on target image object, tracing point and nobody
Machine countermeasures are related, that is, the embodiment of the present invention depends on flight path information corresponding to the generation of above three information,
Then above-mentioned generation module 13 can generate flight path information by following three kinds of modes.
The first situation：
It is determined that at least one tracing point of user's selection is a tracing point, when countermeasures are surrounding target thing flight
Using object as the center of circle, the horizontal range between object and tracing point carries out general toroidal flight as radius.Referring to Figure 11,
The generation module 13 includes：
First computing unit 131, for the category based on first pixel coordinate of the tracing point under pixel coordinate system, camera
Property information, the elevation information of unmanned plane and unmanned plane current location information calculate tracing point first position information；
Second computing unit 132, for the category based on second pixel coordinate of the object under pixel coordinate system, camera
Property information, the elevation information of unmanned plane and unmanned plane current location information calculate object second place information；
First determining unit 133, for determining unmanned plane surrounding target according to first position information and second place information
The flight path information of thing flight, in order to which unmanned plane flies to tracing point according to flight path information from current location information
First position information, and surrounding target thing flies at the information of first position.
Wherein, specifically included referring to Figure 12, above-mentioned first computing unit 131：
Determination subelement 1311, for the category based on first pixel coordinate of the tracing point under pixel coordinate system, camera
Property information in focus information and shooting angle information, and the elevation information of unmanned plane determined between tracing point and unmanned plane
First relative position information；
Computation subunit 1312, track is calculated for the current location information based on unmanned plane and the first relative position information
The first position information of point.
Second of situation：
It is determined that user selection at least one tracing point for user select set multiple tracing points, countermeasures for by
During the dog leg path flight formed according to a tracing point rectilinear flight therefrom to next tracing point, above-mentioned generation module 13
Including the 3rd computing unit 134, for based on first pixel coordinate of each tracing point under pixel coordinate system, camera
The current location information of attribute information, the elevation information of unmanned plane and unmanned plane calculates the first position information of each tracing point；
Second determining unit 135, for corresponding to the selecting sequence and multiple first of tracing point to each first position information according to user
Positional information determines the flight path information that the path that unmanned plane is indicated according to multiple tracing points is flown, in order to unmanned plane according to
Flight path information is flown to the first position information of first tracing point, and the selection according to user from current location information
Order is successively by the first position information flight of other tracing points.
The third situation：
It is determined that any smoothed curve or straight line that at least one tracing point of user's selection is set for user, i.e. tracing point
Set, when countermeasures are the path flight indicated according to any smoothed curve or straight line, what above-mentioned generation module 13 included
4th computing unit 136, for based on each tracing point on any smoothed curve or straight line under pixel coordinate system first
Pixel coordinate, the attribute information of camera, the current location information of the elevation information of unmanned plane and unmanned plane calculate each track
The first position information of point；3rd determining unit 137, for corresponding to the choosing of tracing point to each first position information according to user
Select order and multiple first position information determine the flight that the path that unmanned plane indicates according to any smoothed curve or straight line is flown
Trace information, in order to which unmanned plane flies to any smoothed curve or straight line according to flight path information from current location information
First tracing point first position information, and the selecting sequence of the tracing point indicated according to any smoothed curve or straight line
Successively by the first position information flight of other tracing points.
UAV Flight Control device provided in an embodiment of the present invention, with using artificial view mode real-time in correlation technique
Flight control is carried out, wastes time and energy and compares, it obtains the target that the camera set on unmanned plane is shot by acquisition module 11
Image, the object and at least one tracing point that the determination user of determining module 12 selects on the target image, and user's choosing
The unmanned plane during flying strategy selected, coordinate information and countermeasures of the generation module 13 based at least one tracing point, generation instruction
Flight path information when unmanned plane is around object flight, sending module 14 send the flight path information to unmanned plane, with
Be easy to the unmanned plane according to flight path information fly and to object shooting image, that is, its it is determined that user in target figure
After being intended to as upper selection, the flight path information according to corresponding to selection is intended to generation, in order to which unmanned plane is according to the flight rail
Mark information is flown, and the flexibility for control of flying is preferable, time saving and energy saving.
The computer program product of the method for the carry out UAV Flight Control that the embodiment of the present invention is provided, including storage
The computer-readable recording medium of program code, the instruction that described program code includes can be used for performing previous methods embodiments
Described in method, specific implementation can be found in embodiment of the method, will not be repeated here.
The device for the UAV Flight Control that the embodiment of the present invention is provided can be specific hardware or peace in equipment
Loaded on the software in equipment or firmware etc..The device that the embodiment of the present invention is provided, its realization principle and caused technique effect
Identical with preceding method embodiment, to briefly describe, device embodiment part does not refer to part, refers to preceding method embodiment
Middle corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, described above is
The specific work process of system, device and unit, may be referred to the corresponding process in above method embodiment, no longer superfluous herein
State.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can be by others side
Formula is realized.Device embodiment described above is only schematical, for example, the division of the unit, only one kind are patrolled
Function division is collected, there can be other dividing mode when actually realizing, in another example, multiple units or component can combine or can
To be integrated into another system, or some features can be ignored, or not perform.Another, shown or discussed is mutual
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
Connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in embodiment provided by the invention can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing, in addition, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (16)
- A kind of 1. UAV Flight Control method, it is characterised in that including：Obtain the target image of the camera shooting set on unmanned plane；Determine the object and at least one tracing point that user selects on the target image, and the unmanned plane of user's selection Countermeasures；Coordinate information and the countermeasures based at least one tracing point, generation indicate the unmanned plane around the mesh Mark flight path information during thing flight；The flight path information is sent to the unmanned plane, in order to which the unmanned plane flies according to the flight path information Go and to the object shooting image.
- 2. according to the method for claim 1, it is characterised in that at least one tracing point is a tracing point, described Countermeasures are using the object as the center of circle, and the horizontal range between the object and the tracing point is carried out as radius General toroidal is flown.
- 3. according to the method for claim 2, it is characterised in that the coordinate information based at least one tracing point With the countermeasures, flight path information when generation indicates the unmanned plane around the object flight, including：Based on first pixel coordinate of the tracing point under pixel coordinate system, the camera attribute information, it is described nobody The current location information of the elevation information of machine and the unmanned plane calculates the first position information of the tracing point；Attribute information, described based on second pixel coordinate of the object under the pixel coordinate system, the camera The current location information of the elevation information of unmanned plane and the unmanned plane calculates the second place information of the object；Determine what the unmanned plane flew around the object according to the first position information and the second place information Flight path information, in order to which the unmanned plane flies to described according to the flight path information from the current location information The first position information of tracing point, and flown at the first position information around the object.
- 4. according to the method for claim 3, it is characterised in that it is described based on the tracing point under pixel coordinate system the One pixel coordinate, the attribute information of the camera, the present bit confidence of the elevation information of the unmanned plane and the unmanned plane Breath calculates the first position information of the tracing point, including：Based on first pixel coordinate of the tracing point under the pixel coordinate system, the camera attribute information in Jiao Determined away from information and shooting angle information, and the elevation information of the unmanned plane between the tracing point and the unmanned plane First relative position information；Current location information and first relative position information based on the unmanned plane calculate first of the tracing point Confidence ceases.
- 5. according to the method for claim 1, it is characterised in that at least one tracing point is that user selects the more of setting Individual tracing point, the countermeasures is according to the broken lines that a tracing point rectilinear flight is formed to next tracing point therefrom Fly in path.
- 6. according to the method for claim 5, it is characterised in that the coordinate information based at least one tracing point With the countermeasures, flight path information when generation indicates the unmanned plane around the object flight, including：Based on first pixel coordinate of each tracing point under pixel coordinate system, the camera attribute information, it is described nobody The current location information of the elevation information of machine and the unmanned plane calculates the first position information of each tracing point；Each first position information is corresponded to according to user described in selecting sequence and the determination of multiple first position information of tracing point The flight path information that the path that unmanned plane indicates according to the multiple tracing point is flown, in order to which the unmanned plane is according to described Flight path information is flown to the first position information of first tracing point, and according to user's from the current location information Selecting sequence is successively by the first position information flight of other tracing points.
- 7. according to the method for claim 1, it is characterised in that at least one tracing point is any flat of user's setting The set of sliding curve or straight line, i.e. tracing point, the countermeasures are the road according to any smoothed curve or straight line instruction Fly in footpath.
- 8. according to the method for claim 7, it is characterised in that the coordinate information based at least one tracing point With the countermeasures, flight path information when generation indicates the unmanned plane around the object flight, including：Based on first pixel coordinate of each tracing point on any smoothed curve or straight line under pixel coordinate system, described The current location information of the attribute information of camera, the elevation information of the unmanned plane and the unmanned plane calculates each rail The first position information of mark point；Each first position information is corresponded to according to user described in selecting sequence and the determination of multiple first position information of tracing point The flight path information that unmanned plane flies according to the path of any smoothed curve or straight line instruction, in order to the unmanned plane Flown according to the flight path information from the current location information to first on any smoothed curve or straight line The first position information of tracing point, and the selecting sequence of the tracing point indicated according to any smoothed curve or straight line are passed through successively The first position information flight of other tracing points.
- A kind of 9. UAV Flight Control device, it is characterised in that including：Acquisition module, for obtaining the target image of the camera set on unmanned plane shooting；Determining module, for determining object and at least one tracing point that user selects on the target image, Yi Jiyong The unmanned plane during flying strategy of family selection；Generation module, for the coordinate information based at least one tracing point and the countermeasures, generate described in instruction Flight path information when unmanned plane is around the object flight；Sending module, for the flight path information to be sent to the unmanned plane, in order to which the unmanned plane is according to Flight path information is flown and to the object shooting image.
- 10. device according to claim 9, it is characterised in that at least one tracing point is a tracing point, described Countermeasures are using the object as the center of circle, and the horizontal range between the object and the tracing point is carried out as radius General toroidal is flown.
- 11. device according to claim 10, it is characterised in that the generation module includes：First computing unit, for based on first pixel coordinate of the tracing point under pixel coordinate system, the camera The current location information of attribute information, the elevation information of the unmanned plane and the unmanned plane calculates first of the tracing point Confidence ceases；Second computing unit, for based on second pixel coordinate of the object under the pixel coordinate system, the shooting The current location information of the attribute information of head, the elevation information of the unmanned plane and the unmanned plane calculates the of the object Two positional informations；First determining unit, for determining that the unmanned plane surrounds according to the first position information and the second place information The flight path information of object flight, in order to the unmanned plane according to the flight path information from the present bit Confidence breath flies to the first position information of the tracing point, and flies at the first position information around the object OK.
- 12. device according to claim 11, it is characterised in that first computing unit includes：Determination subelement, for the first pixel coordinate, the camera based on the tracing point under the pixel coordinate system Attribute information in focus information and shooting angle information, and the unmanned plane elevation information determine the tracing point with The first relative position information between the unmanned plane；Computation subunit, for described in the current location information based on the unmanned plane and first relative position information calculating The first position information of tracing point.
- 13. device according to claim 9, it is characterised in that at least one tracing point is that user selects what is set Multiple tracing points, the countermeasures is according to the foldings that a tracing point rectilinear flight is formed to next tracing point therefrom Thread path flies.
- 14. device according to claim 13, it is characterised in that the generation module includes：3rd computing unit, for based on first pixel coordinate of each tracing point under pixel coordinate system, the camera The current location information of attribute information, the elevation information of the unmanned plane and the unmanned plane calculates the of each tracing point One positional information；Second determining unit, for corresponding to the selecting sequence and multiple first of tracing point to each first position information according to user Positional information determines the flight path information that the path that the unmanned plane indicates according to the multiple tracing point is flown, in order to institute State unmanned plane and flown according to the flight path information from the current location information to the first position of first tracing point and believed Breath, and flown successively by the first position information of other tracing points according to the selecting sequence of user.
- 15. device according to claim 9, it is characterised in that at least one tracing point is any of user's setting The set of smoothed curve or straight line, i.e. tracing point, the countermeasures are according to any smoothed curve or straight line instruction Fly in path.
- 16. device according to claim 15, it is characterised in that the generation module includes：4th computing unit, for based on each tracing point on any smoothed curve or straight line under pixel coordinate system First pixel coordinate, the attribute information of the camera, the current location of the elevation information of the unmanned plane and the unmanned plane Information calculates the first position information of each tracing point；3rd determining unit, for corresponding to the selecting sequence and multiple first of tracing point to each first position information according to user Positional information determines the flight path information that the unmanned plane flies according to the path of any smoothed curve or straight line instruction, In order to which the unmanned plane flies to any smoothed curve according to the flight path information from the current location information Or the first position information of first tracing point on straight line, and the tracing point indicated according to any smoothed curve or straight line Selecting sequence is successively by the first position information flight of other tracing points.
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