Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The core idea of the invention is as follows: when the unmanned investigation system is controlled to conduct investigation, the mobile terminal is communicated with the shooting device in the unmanned investigation system, so that the mobile terminal can control the investigation path and the investigation range of the unmanned investigation system according to the requirements of users, and the video data shot by the shooting device can be transmitted back to the mobile terminal in real time to be displayed, so that the real-time investigation of the unmanned investigation system is realized.
Fig. 1 shows a first embodiment of a control method of the unmanned surveillance system according to the present invention. In the first embodiment, the control method of the unmanned reconnaissance system may include the steps of:
step S101, establishing a first data link and a second data link between the shooting device 201 and the mobile terminal 100;
the unmanned reconnaissance system 200 includes a camera 201, a cradle head 202, and an unmanned aerial vehicle 203, where the unmanned aerial vehicle 203 flies according to a control path of a user, such as a flight direction, a flight altitude, a flight speed, and the like. The cradle head 202 is mounted on the unmanned aerial vehicle 203, and may include a fixed cradle head and an electric cradle head, and is preferably an electric cradle head in this embodiment, so that the shooting range of the shooting device 201 mounted on the cradle head is larger. In addition, the electric pan-tilt can be further divided into a first-axis pan-tilt, a second-axis pan-tilt, and a third-axis pan-tilt, wherein the first-axis pan-tilt is used for controlling the pitching amount of the shooting device 201 in the vertical direction, the second-axis pan-tilt is used for controlling the offset of the shooting device 201 in the vertical direction and the offset of the shooting device 201 in the horizontal direction, and the third-axis pan-tilt is used for controlling the offset of the shooting device 201 in the vertical direction, the offset of the shooting. The photographing device 201 is mounted on the pan/tilt head 202, and a photographing range of the photographing device 201 is adjusted along with the movement of the pan/tilt head 202. In addition, the shooting device 201, the cradle head 202 and the unmanned aerial vehicle 203 can communicate with each other. And the photographing device 201 is used by the unmanned reconnaissance system 200 to communicate with the outside, for example, the mobile terminal 100. Therefore, to realize the control of the unmanned investigation system 200 by the mobile terminal 100, the communication between the unmanned investigation system 200 and the mobile terminal 100 needs to be established through the photographing device 201. That is, a first data link and a second data link are established, where the first data link is used to transmit a control instruction from mobile terminal 100 to unmanned aerial vehicle system 200 and a response result, status data, and the like from unmanned aerial vehicle system 200 back to mobile terminal 100; the second data link is used to transmit video data that is captured by the capture device 201 in real time. Because the two data links have different functions, the communication protocols corresponding to the data links are different, that is, the communication protocol of the first data link may be the RTSP protocol, and the communication protocol of the second data link may be the TCP/UDP protocol.
Step S102, the mobile terminal generates a corresponding control instruction according to the control of a user, wherein the control instruction comprises a control object identifier and a control parameter;
to realize the control of the mobile terminal on the unmanned reconnaissance system, a control program with a corresponding control function must be installed on the mobile terminal or the mobile terminal is embedded with the corresponding control function. The control function may be implemented by a separate APP application, or may be implemented by a plug-in loaded in another application. Then, after the mobile terminal 100 starts the control function, the mobile terminal 100 may generate a corresponding control command according to a control request of the user to control the unmanned reconnaissance system 200. Since the mobile terminal 100 only establishes a data link with the camera 201, when the mobile terminal 100 wants to control the unmanned aerial vehicle 203 and the pan/tilt head 202, it needs to forward the control parameters through the camera 201, and at this time, a control object identifier is added to a control command sent by the mobile terminal 100 to specify a target control object of the control parameters.
Step S103, based on the established first data link, the mobile terminal sends a control instruction to the shooting device;
step S104, based on the established first data link, the shooting device receives a control instruction sent by the mobile terminal;
step S105, the shooting device analyzes the control instruction to obtain a control object identifier and control parameters, wherein the control object identifier is used for identifying the shooting device, the unmanned aerial vehicle and the holder;
step S106, the shooting device sends the control parameters to the control object corresponding to the control object identification so as to control the unmanned investigation system to perform real-time investigation;
after receiving the control instruction, the shooting device 201 analyzes the control instruction to obtain the control object identifier and the control parameter. The control object identifier is used to identify the photographing device 201, the pan/tilt head 202, and the unmanned aerial vehicle 203. And the shooting device determines a corresponding control object according to the control object identification in the control instruction, and then sends the control parameter to the determined control object. For example, the mobile terminal 100 sends a shooting instruction to control the shooting device 201 to start and perform real-time shooting, the mobile terminal 100 sends a flight instruction to control the aircraft 203 to fly according to a specified path, and the mobile terminal 100 sends a shooting range adjustment instruction to control the cradle head 202 to adjust the shooting range of the shooting device 201, so as to implement real-time detection of the unmanned detection system.
Step S107, when the unmanned investigation system 200 performs real-time investigation, the photographing device 201 performs video photographing;
when the unmanned surveillance system 200 performs real-time surveillance, the camera 201 is turned on and performs video shooting until the camera 200 receives a shooting stop command sent by the mobile terminal 100.
In step S108, the shooting device 201 transmits the video data shot in real time back to the mobile terminal 100 through the established second data link.
When the shooting device 201 shoots the video in real time, the shot video data is also transmitted back to the mobile terminal 100 in real time for the user to view.
According to the embodiment of the invention, when the unmanned investigation system is controlled to perform investigation, the mobile terminal is communicated with the shooting device in the unmanned investigation system, so that the mobile terminal can control the investigation path and the investigation range of the unmanned investigation system according to the requirements of users, and the video data shot by the shooting device can be transmitted back to the mobile terminal in real time for display, so that the real-time investigation of the unmanned investigation system is realized.
Further, the control method of the unmanned reconnaissance system may further include:
step S109, the pan/tilt head 202 sends the feedback data of the pan/tilt head 202 to the shooting device 201;
step S110, the unmanned aerial vehicle 203 sends feedback data of the unmanned aerial vehicle 203 to the shooting device 201;
step S111, the shooting device 201 transmits the feedback data sent by the cradle head 202 and the unmanned aerial vehicle 203 back to the mobile terminal 100 through the first data link.
Specifically, when the unmanned surveillance system 200 performs real-time surveillance, the shooting device 201 not only transmits video data shot in real time to the mobile terminal 100, but also the pan/tilt 202 can return the adjusted shooting range or the result of the pan/tilt 202 responding to the control instruction sent by the mobile terminal to the mobile terminal 100 for the user to check; the unmanned aerial vehicle 203 may also return the location where it is located, flight parameters, and the results of the unmanned aerial vehicle 203 in response to control instructions sent by the mobile terminal 100 to the mobile terminal 100.
Further, as shown in fig. 2, the step S101 may specifically include:
step S201, the shooting device builds a wireless network;
step S202, the mobile terminal searches a wireless network built by the shooting device according to a search request of a user;
step S203, the mobile terminal sends a link establishment request to the searched wireless network;
and step S204, when the shooting device receives the link establishment request, establishing a first data link and a second data link between the shooting device and the mobile terminal according to the link establishment request.
In this embodiment, a wireless network is built by the shooting device. The method specifically comprises the following steps: taking a wireless network as a wifi network as an example, the camera 201 converts the GPRS or 3G signal received by itself into a wifi signal, so that the camera 201 forms a wifi hotspot for other devices to use. As shown in fig. 3, the mobile terminal 100 starts a wifi search function according to the control of the user on the control S1 to search for a wifi network, and displays the wifi network that is searched on the wifi connection interface for the user to select a corresponding network. Since the wireless network is built by the shooting device 201 and named as an unmanned reconnaissance system, the wifi network built by the shooting device is searched, and the name of the built network is displayed on the wifi connection interface. When the user selects the wifi network, the mobile terminal 100 establishes a connection with the selected wifi network according to the selection of the user, that is, establishes a first data link and a second data link.
It can be understood that if the shooting device builds a wireless network, after the mobile terminal is connected to the wireless network, other network access operations can be performed through the wireless network, for example, chat with friends is performed by using social software, a new map is downloaded to adjust a flight path of the unmanned aerial vehicle, and the like. In addition, since the photographing device builds a wireless network, it is necessary to provide a power supply with sufficient capacity for the photographing device to use.
Further, as shown in fig. 4, the step S101 may further specifically include:
step S301, the mobile terminal builds a wireless network;
step S302, after the shooting device is started, a wireless network built by the mobile terminal is searched in real time;
step S303, the shooting device sends a link establishment request to the searched wireless network;
step S304, when the mobile terminal receives the link establishment request, establishing a first data link and a second data link between the shooting device and the mobile terminal according to the link establishment request.
In this embodiment, the mobile terminal 100 establishes a wireless network. The method specifically comprises the following steps: taking a wireless network as a wifi network as an example, the mobile terminal 100 converts the GPRS or 3G signal received by itself into a wifi signal, so that the mobile terminal 100 forms a wifi hotspot for other devices to use. As shown in fig. 5, after the shooting device is turned on, the wifi search function is turned on according to the control of the user on the control S2 to search the wifi network in real time, and the searched wifi network is displayed on the wifi connection interface for the user to select a corresponding network. Since the mobile terminal 100 has built a wireless network and is named as "terminal 1" at this time, the wifi network built by the mobile terminal will be searched, and the name of the built network will be displayed on the wifi connection interface. When the user selects the wifi network, the shooting device 201 establishes a connection with the selected wifi network according to the selection of the user, that is, establishes a first data link and a second data link.
It can be understood that, if the mobile terminal establishes the wireless network, after the mobile terminal is connected with the shooting device to the wireless network, the mobile terminal itself may also perform other network access operations through the wireless network, for example, chat with friends by using social software, download a new map to adjust a flight path of the unmanned aerial vehicle, and the like. In addition, since the mobile terminal builds a wireless network, it is necessary to provide a power supply with sufficient capacity for the mobile terminal to use.
Further, the step S107 may specifically include: the shooting device 201 respectively codes the shot data according to different coding modes to form two paths of video data; and one path of video data is stored in the shooting device, and the other path of video data is used for transmitting back to the mobile terminal.
Specifically, the encoding system includes a high-resolution encoding system and a low-resolution encoding system. The shooting device 201 collects image information through an image collector, collects sound information through a sound collector, and then performs processing such as encoding and synthesizing on the collected image information and sound information to generate corresponding video data. Because the encoding modes are different, the video data generated after processing are also different, namely one path of video data is high-resolution video data and the capacity of the video data is large; the other path of video data is low-resolution video data and has small capacity. The high-resolution video data is used for being stored in the shooting device 201, so that the unmanned reconnaissance system returns to a user to view a specific reconnaissance situation, and the high-resolution video data can reflect the reconnaissance situation more realistically due to the clear picture quality. The low-resolution video data is used for the shooting device 201 to transmit back to the mobile terminal 100, and the low-resolution video data can be used for the user to check the investigation situation in real time, and is transmitted quickly and saves traffic.
Furthermore, the mobile terminal can also provide a sharing function so as to share the video data intercepted by the unmanned interception system in real time to other friends according to the requirements of the user. In addition, the mobile terminal also provides a corresponding control interface for a user to trigger a corresponding control function in the control interface, so that the control of the unmanned reconnaissance system is realized. The specific control interface is shown in fig. 6-8, and fig. 6 is an initial interface entered when the mobile terminal starts the control software of the unmanned reconnaissance system; fig. 7 is a real-time photographing interface when the mobile terminal controls the unmanned reconnaissance system; fig. 8 is a flight path interface when the mobile terminal controls the unmanned reconnaissance system. In the initial interface, at least three display areas may be included, where a first display area is used to display a shooting main interface, that is, a picture being shot by the shooting device 201; the second display area is used for displaying a playback interface, namely, a picture which is stored on the mobile terminal and is shot by the shooting device 201 before; the third display area is used for displaying operation controls of the control software, such as a 'setting' function control, a 'help' control, a 'networking' control and the like. And corresponding operation can be carried out by triggering the function control. When the photographing function of the photographing device is triggered, the mobile terminal jumps to the real-time photographing interface shown in fig. 7. In the shooting interface, images shot in real time, shooting states, shooting controls, pan-tilt controls, and the like are displayed. The real-time shot image is video data sent back by the mobile terminal in real time by the shooting device, and the shooting state can include shooting time, shooting parameters of the shooting device 201, and the like; the shooting controls may include pause, stop, open, and the like; the holder control is used for controlling the movement of the holder. It will be appreciated that, in order to better display the captured image, the capture control and the pan/tilt control may be arranged as floating controls, i.e., superimposed on the displayed image, with corresponding transparency.
Furthermore, the control software also provides a ground station function, namely the mobile terminal can realize the switching between a real-time shooting interface and a flight path interface. As shown in fig. 8, on the flight path interface, a map of the flight will be displayed, and the flight position of the unmanned aerial vehicle will be updated on the map in real time. In addition, map controls, such as a joystick control, a route setting control, and the like, will also be displayed on the flight path interface. Wherein, the rocker control is superposed on the map and used for controlling the throttle, the pitch, the rotation, the course value and the like of the unmanned aerial vehicle.
Further, in order to make the control distance between the mobile terminal and the unmanned reconnaissance system longer, in this embodiment, the relay is used to relay between the mobile terminal and the unmanned reconnaissance system. That is, the mobile terminal first sends the information to the relay, and then forwards the information to the photographing device 201 of the unmanned surveillance system through the relay.
Correspondingly, as shown in fig. 9, the present invention further provides a second embodiment of a control method of the unmanned reconnaissance system. The control method of the unmanned reconnaissance system of the embodiment is applied to the photographing device of the unmanned reconnaissance system, and specifically comprises the following steps:
step S110, establishing a first data link and a second data link between the shooting device and the mobile terminal;
step S120, based on the established first data link, the shooting device receives a control instruction sent by the mobile terminal, wherein the control instruction comprises a control object identifier and a control parameter, and the control object identifier is used for identifying the shooting device, the unmanned aerial vehicle and the holder;
step S130, the shooting device analyzes the control instruction and sends the control parameters in the control instruction to a control object so as to control the unmanned investigation system to perform real-time investigation;
step S140, when the unmanned reconnaissance system performs real-time reconnaissance, the shooting device further transmits the video data shot in real time to the mobile terminal through the established second data link.
According to the embodiment of the invention, when the unmanned investigation system is controlled to perform investigation, the mobile terminal is communicated with the shooting device in the unmanned investigation system, so that the mobile terminal can control the investigation path and the investigation range of the unmanned investigation system according to the requirements of users, and the video data shot by the shooting device can be transmitted back to the mobile terminal in real time for display, so that the real-time investigation of the unmanned investigation system is realized.
Further, the control method of the unmanned reconnaissance system may further include the steps of:
and S150, the shooting device receives feedback data sent by the unmanned aerial vehicle and the cradle head, and sends the feedback data sent by the unmanned aerial vehicle and the cradle head back to the mobile terminal through the established first data link.
Specifically, when the unmanned surveillance system 200 performs real-time surveillance, the shooting device 201 not only transmits video data shot in real time to the mobile terminal 100, but also the pan/tilt 202 can return the adjusted shooting range or the result of the pan/tilt 202 responding to the control instruction sent by the mobile terminal to the mobile terminal 100 for the user to check; the unmanned aerial vehicle 203 may also return the location where it is located, flight parameters, and the results of the unmanned aerial vehicle 203 in response to control instructions sent by the mobile terminal 100 to the mobile terminal 100.
Further, as shown in fig. 10, before the step S140, the method further includes:
step S160, the shooting device respectively codes the shot data according to different coding formats to form two paths of video data; and one path of video data is stored in the shooting device, and the other path of video data is used for transmitting back to the mobile terminal.
Specifically, the encoding system includes a high-resolution encoding system and a low-resolution encoding system. The shooting device 201 collects image information through an image collector, collects sound information through a sound collector, and then performs processing such as encoding and synthesizing on the collected image information and sound information to generate corresponding video data. Because the encoding modes are different, the video data generated after processing are also different, namely one path of video data is high-resolution video data and the capacity of the video data is large; the other path of video data is low-resolution video data and has small capacity. The high-resolution video data is used for being stored in the shooting device 201, so that the unmanned reconnaissance system returns to a user to view a specific reconnaissance situation, and the high-resolution video data can reflect the reconnaissance situation more realistically due to the clear picture quality. The low-resolution video data is used for the shooting device 201 to transmit back to the mobile terminal 100, and the low-resolution video data can be used for the user to check the investigation situation in real time, and is transmitted quickly and saves traffic.
Further, as shown in fig. 11, the step S110 may include:
s111, the shooting device builds a wireless network;
step S112, when receiving a link establishment request sent by the mobile terminal, establishing a first data link and a second data link between the camera and the mobile terminal according to the link establishment request.
In this embodiment, a wireless network is built by the shooting device. The method specifically comprises the following steps: taking a wireless network as a wifi network as an example, the camera 201 converts the GPRS or 3G signal received by itself into a wifi signal, so that the camera 201 forms a wifi hotspot for other devices to use. As shown in fig. 3, the mobile terminal 100 starts a wifi search function according to the control of the user on the control S1 to search for a wifi network, and displays the wifi network that is searched on the wifi connection interface for the user to select a corresponding network. Since the wireless network is built by the shooting device 201 and named as an unmanned reconnaissance system, the wifi network built by the shooting device is searched, and the name of the built network is displayed on the wifi connection interface. When the user selects the wifi network, the mobile terminal 100 establishes a connection with the selected wifi network according to the selection of the user, that is, establishes a first data link and a second data link.
It can be understood that if the shooting device builds a wireless network, after the mobile terminal is connected to the wireless network, other network access operations can be performed through the wireless network, for example, chat with friends is performed by using social software, a new map is downloaded to adjust a flight path of the unmanned aerial vehicle, and the like. In addition, since the photographing device builds a wireless network, it is necessary to provide a power supply with sufficient capacity for the photographing device to use.
As shown in fig. 12, in another embodiment, the step S110 may further include:
step S113, after the mobile terminal builds a wireless network, the shooting device searches the mobile terminal with the built wireless network;
and step S114, sending a link establishment request to the searched mobile terminal so as to establish a first data link and a second data link between the shooting device and the mobile terminal.
In this embodiment, the mobile terminal 100 establishes a wireless network. The method specifically comprises the following steps: taking a wireless network as a wifi network as an example, the mobile terminal 100 converts the GPRS or 3G signal received by itself into a wifi signal, so that the mobile terminal 100 forms a wifi hotspot for other devices to use. As shown in fig. 5, after the shooting device is turned on, the wifi search function is turned on according to the control of the user on the control S2 to search the wifi network in real time, and the searched wifi network is displayed on the wifi connection interface for the user to select a corresponding network. Since the mobile terminal 100 has built a wireless network and is named as "terminal 1" at this time, the wifi network built by the mobile terminal will be searched, and the name of the built network will be displayed on the wifi connection interface. When the user selects the wifi network, the shooting device 201 establishes a connection with the selected wifi network according to the selection of the user, that is, establishes a first data link and a second data link.
It can be understood that, if the mobile terminal establishes the wireless network, after the mobile terminal is connected with the shooting device to the wireless network, the mobile terminal itself may also perform other network access operations through the wireless network, for example, chat with friends by using social software, download a new map to adjust a flight path of the unmanned aerial vehicle, and the like. In addition, since the mobile terminal builds a wireless network, it is necessary to provide a power supply with sufficient capacity for the mobile terminal to use.
Further, in step S110, it is also possible to: and establishing a first data link and a second link between the shooting device and the mobile terminal through the repeater. In order to make the control distance between the mobile terminal and the unmanned reconnaissance system longer, in this embodiment, a relay is used to relay between the mobile terminal and the unmanned reconnaissance system. That is, the mobile terminal first sends the information to the relay, and then forwards the information to the photographing device 201 of the unmanned surveillance system through the relay.
Further, as shown in fig. 13, the present invention also provides a second embodiment of a control method of the unmanned reconnaissance system. The control method of the unmanned reconnaissance system of the embodiment is applied to the mobile terminal, and specifically comprises the following steps:
step S210, establishing a first data link and a second data link between the shooting device and the mobile terminal;
step S220, based on the established first data link, the mobile terminal sends a control instruction to the shooting device, so that the shooting device sends a control parameter in the control instruction to a control object, and the unmanned investigation system is controlled to perform real-time investigation; the control instruction comprises a control object identifier and control parameters, wherein the control object identifier is used for identifying the shooting device, the unmanned aerial vehicle and the holder;
step S230, based on the established second data link, the mobile terminal receives video data when the shooting device shoots in real time.
According to the embodiment of the invention, when the unmanned investigation system is controlled to perform investigation, the mobile terminal is communicated with the shooting device in the unmanned investigation system, so that the mobile terminal can control the investigation path and the investigation range of the unmanned investigation system according to the requirements of users, and the video data shot by the shooting device can be transmitted back to the mobile terminal in real time for display, so that the real-time investigation of the unmanned investigation system is realized.
Further, the control method may further include the steps of:
and S240, based on the established first data link, the mobile terminal receives feedback data sent by the unmanned aerial vehicle and the cradle head through the shooting device.
Specifically, when the unmanned surveillance system 200 performs real-time surveillance, the shooting device 201 not only transmits video data shot in real time to the mobile terminal 100, but also the pan/tilt 202 can return the adjusted shooting range or the result of the pan/tilt 202 responding to the control instruction sent by the mobile terminal to the mobile terminal 100 for the user to check; the unmanned aerial vehicle 203 may also return the location where it is located, flight parameters, and the results of the unmanned aerial vehicle 203 in response to control instructions sent by the mobile terminal 100 to the mobile terminal 100.
Further, as shown in fig. 14, the step S220 further includes the following steps before:
and step S250, the mobile terminal generates a corresponding control instruction according to a control triggered by the user on the control interface.
Specifically, the mobile terminal further provides a corresponding control interface, so that a user can trigger a corresponding control function in the control interface, and control over the unmanned reconnaissance system is achieved. The specific control interface is shown in fig. 6-8, and fig. 6 is an initial interface entered when the mobile terminal starts the control software of the unmanned reconnaissance system; fig. 7 is a real-time photographing interface when the mobile terminal controls the unmanned reconnaissance system; fig. 8 is a flight path interface when the mobile terminal controls the unmanned reconnaissance system. In the initial interface, at least three display areas may be included, where a first display area is used to display a shooting main interface, that is, a picture being shot by the shooting device 201; the second display area is used for displaying a playback interface, namely, a picture which is stored on the mobile terminal and is shot by the shooting device 201 before; the third display area is used for displaying operation controls of the control software, such as a 'setting' function control, a 'help' control, a 'networking' control and the like. And corresponding operation can be carried out by triggering the function control. When the photographing function of the photographing device is triggered, the mobile terminal jumps to the real-time photographing interface shown in fig. 7. In the shooting interface, images shot in real time, shooting states, shooting controls, pan-tilt controls, and the like are displayed. The real-time shot image is video data sent back by the mobile terminal in real time by the shooting device, and the shooting state can include shooting time, shooting parameters of the shooting device 201, and the like; the shooting controls may include pause, stop, open, and the like; the holder control is used for controlling the movement of the holder. It will be appreciated that, in order to better display the captured image, the capture control and the pan/tilt control may be arranged as floating controls, i.e., superimposed on the displayed image, with corresponding transparency.
Furthermore, the control software also provides a ground station function, namely the mobile terminal can realize the switching between a real-time shooting interface and a flight path interface. As shown in fig. 8, on the flight path interface, a map of the flight will be displayed, and the flight position of the unmanned aerial vehicle will be updated on the map in real time. In addition, map controls, such as a joystick control, a route setting control, and the like, will also be displayed on the flight path interface. Wherein, the rocker control is superposed on the map and used for controlling the throttle, the pitch, the rotation, the course value and the like of the unmanned aerial vehicle.
Based on the control interface and the function control on the control interface, the present embodiment sets a communication protocol agreed with the unmanned reconnaissance system. The method specifically comprises the following steps: corresponding parameter codes are set in the communication protocol, and the set parameter codes are distributed to corresponding control objects, namely the shooting device, the holder and the unmanned aerial vehicle. It is understood that a control function of assigning the set parameter code to the control object may also be implemented in the communication protocol. Therefore, when the mobile terminal controls the unmanned reconnaissance system, the control can be realized only by sending the corresponding parameter codes, so that the control instruction is simplified, and the transmission is convenient.
Correspondingly, as shown in fig. 15, the present invention provides a control system of the unmanned reconnaissance system. The unmanned detection system 200 controlled by the control system of the unmanned detection system comprises a shooting device 201, a cradle head 202 and an unmanned aerial vehicle 203, wherein the cradle head 202 is hung on the unmanned aerial vehicle 203, and the shooting device 201 is installed on the cradle head 202. The control system includes a first control device 300 applied to the photographing device 201 and a second control device 400 applied to the mobile terminal 100. The shooting device 201 further includes an image collector, a sound collector, a wireless communication module, a memory, and the like, in addition to the first control device 300. Of course, the camera 201 may further include a data interface for data transmission with an external device. The mobile terminal 100 includes a processor, a memory, a display, an information input module, a data interface, a wireless communication module, and the like, in addition to the second control device 400.
Specifically, as shown in fig. 16, the first control device 300 may include:
a first link establishing module 310, configured to establish a first data link and a second data link between the camera and the mobile terminal;
the instruction receiving module 320 is configured to receive, by the shooting device, a control instruction sent by the mobile terminal based on the established first data link, where the control instruction includes a control object identifier and a control parameter, and the control object identifier is used to identify the shooting device, the unmanned aerial vehicle, and the cradle head;
the first control module 330 is configured to parse the control instruction, and send a control parameter in the control instruction to a control object, so as to control the unmanned investigation system to perform real-time investigation;
and a data sending module 340, configured to, when the unmanned reconnaissance system performs real-time reconnaissance, send video data shot in real time back to the mobile terminal through the established second data link by the shooting device.
The second control device 400 may include:
a second link establishing module 410, configured to establish a first data link and a second data link between the camera and the mobile terminal;
the second control module 420 is configured to, based on the established first data link, send a control instruction to the shooting device by the mobile terminal, so that the shooting device sends a control parameter in the control instruction to a control object to control the unmanned investigation system to perform real-time investigation; the control instruction comprises a control object identifier and control parameters, wherein the control object identifier is used for identifying the shooting device, the unmanned aerial vehicle and the holder;
and a second data receiving module 430, configured to receive, by the mobile terminal, video data obtained when the shooting device shoots in real time based on the established second data link.
According to the embodiment of the invention, when the unmanned investigation system is controlled to perform investigation, the mobile terminal is communicated with the shooting device in the unmanned investigation system, so that the mobile terminal can control the investigation path and the investigation range of the unmanned investigation system according to the requirements of users, and the video data shot by the shooting device can be transmitted back to the mobile terminal in real time for display, so that the real-time investigation of the unmanned investigation system is realized.
Further, the first control device 300 may further include: the first data receiving module 350 is configured to receive feedback data sent by the unmanned aerial vehicle and the pan-tilt;
the data sending module 340 is further configured to: and transmitting the feedback data sent by the unmanned aerial vehicle and the cradle head back to the mobile terminal 100 through the established first data link.
The second data receiving module 430 on the mobile terminal 100 is further configured to: and receiving feedback data sent by the unmanned aerial vehicle and the cradle head through the shooting device based on the established first data link.
Specifically, when the unmanned surveillance system 200 performs real-time surveillance, the shooting device 201 not only transmits video data shot in real time to the mobile terminal 100, but also the pan/tilt 202 can return the adjusted shooting range or the result of the pan/tilt 202 responding to the control instruction sent by the mobile terminal to the mobile terminal 100 for the user to check; the unmanned aerial vehicle 203 may also return the location where it is located, flight parameters, and the results of the unmanned aerial vehicle 203 in response to control instructions sent by the mobile terminal 100 to the mobile terminal 100.
Further, as shown in fig. 17, the first control device 300 may further include:
the encoding processing module 360 is configured to encode the shot data according to different encoding formats, respectively, to form two paths of video data; and one path of video data is stored in the shooting device, and the other path of video data is used for transmitting back to the mobile terminal.
Specifically, the encoding system includes a high-resolution encoding system and a low-resolution encoding system. The shooting device 201 collects image information through an image collector, collects sound information through a sound collector, and then performs processing such as encoding and synthesizing on the collected image information and sound information to generate corresponding video data. Because the encoding modes are different, the video data generated after processing are also different, namely one path of video data is high-resolution video data and the capacity of the video data is large; the other path of video data is low-resolution video data and has small capacity. The high-resolution video data is used for being stored in the shooting device 201, so that the unmanned reconnaissance system returns to a user to view a specific reconnaissance situation, and the high-resolution video data can reflect the reconnaissance situation more realistically due to the clear picture quality. The low-resolution video data is used for the shooting device 201 to transmit back to the mobile terminal 100, and the low-resolution video data can be used for the user to check the investigation situation in real time, and is transmitted quickly and saves traffic.
Further, as shown in fig. 18, the first link establishing module 310 may include:
a network construction unit 311 for constructing a wireless network;
a link establishing unit 312, configured to, when receiving a link establishing request sent by the mobile terminal, establish a first data link and a second data link between the camera and the mobile terminal according to the link establishing request.
In this embodiment, a wireless network is built by the shooting device. The method specifically comprises the following steps: taking a wireless network as a wifi network as an example, the camera 201 converts the GPRS or 3G signal received by itself into a wifi signal, so that the camera 201 forms a wifi hotspot for other devices to use. As shown in fig. 3, the mobile terminal 100 starts a wifi search function according to the control of the user on the control S1 to search for a wifi network, and displays the wifi network that is searched on the wifi connection interface for the user to select a corresponding network. Since the wireless network is built by the shooting device 201 and named as an unmanned reconnaissance system, the wifi network built by the shooting device is searched, and the name of the built network is displayed on the wifi connection interface. When the user selects the wifi network, the mobile terminal 100 establishes a connection with the selected wifi network according to the selection of the user, that is, establishes a first data link and a second data link.
It can be understood that if the shooting device builds a wireless network, after the mobile terminal is connected to the wireless network, other network access operations can be performed through the wireless network, for example, chat with friends is performed by using social software, a new map is downloaded to adjust a flight path of the unmanned aerial vehicle, and the like. In addition, since the photographing device builds a wireless network, it is necessary to provide a power supply with sufficient capacity for the photographing device to use.
Further, as shown in fig. 19, the first link establishing module 310 may include:
a network searching unit 313, configured to search for the mobile terminal that has already built a wireless network;
a link establishing unit 314, configured to send a link establishing request to the searched mobile terminal to establish a first data link and a second data link between the camera and the mobile terminal.
In this embodiment, the mobile terminal 100 establishes a wireless network. The method specifically comprises the following steps: taking a wireless network as a wifi network as an example, the mobile terminal 100 converts the GPRS or 3G signal received by itself into a wifi signal, so that the mobile terminal 100 forms a wifi hotspot for other devices to use. As shown in fig. 5, after the shooting device is turned on, the wifi search function is turned on according to the control of the user on the control S2 to search the wifi network in real time, and the searched wifi network is displayed on the wifi connection interface for the user to select a corresponding network. Since the mobile terminal 100 has built a wireless network and is named as "terminal 1" at this time, the wifi network built by the mobile terminal will be searched, and the name of the built network will be displayed on the wifi connection interface. When the user selects the wifi network, the shooting device 201 establishes a connection with the selected wifi network according to the selection of the user, that is, establishes a first data link and a second data link.
It can be understood that, if the mobile terminal establishes the wireless network, after the mobile terminal is connected with the shooting device to the wireless network, the mobile terminal itself may also perform other network access operations through the wireless network, for example, chat with friends by using social software, download a new map to adjust a flight path of the unmanned aerial vehicle, and the like. In addition, since the mobile terminal builds a wireless network, it is necessary to provide a power supply with sufficient capacity for the mobile terminal to use.
Further, the first link establishing module 310 is further configured to: and establishing a first data link and a second link between the shooting device and the mobile terminal through the repeater. In order to make the control distance between the mobile terminal and the unmanned reconnaissance system longer, in this embodiment, a relay is used to relay between the mobile terminal and the unmanned reconnaissance system. That is, the mobile terminal first sends the information to the relay, and then forwards the information to the photographing device 201 of the unmanned surveillance system through the relay.
Further, the second control module 420 of the mobile terminal 100 is further configured to: and generating a corresponding control instruction according to the control triggered by the user on the control interface.
Specifically, the mobile terminal further provides a corresponding control interface, so that a user can trigger a corresponding control function in the control interface, and control over the unmanned reconnaissance system is achieved. The specific control interface is shown in fig. 6-8, and fig. 6 is an initial interface entered when the mobile terminal starts the control software of the unmanned reconnaissance system; fig. 7 is a real-time photographing interface when the mobile terminal controls the unmanned reconnaissance system; fig. 8 is a flight path interface when the mobile terminal controls the unmanned reconnaissance system. In the initial interface, at least three display areas may be included, where a first display area is used to display a shooting main interface, that is, a picture being shot by the shooting device 201; the second display area is used for displaying a playback interface, namely, a picture which is stored on the mobile terminal and is shot by the shooting device 201 before; the third display area is used for displaying operation controls of the control software, such as a 'setting' function control, a 'help' control, a 'networking' control and the like. And corresponding operation can be carried out by triggering the function control. When the photographing function of the photographing device is triggered, the mobile terminal jumps to the real-time photographing interface shown in fig. 7. In the shooting interface, images shot in real time, shooting states, shooting controls, pan-tilt controls, and the like are displayed. The real-time shot image is video data sent back by the mobile terminal in real time by the shooting device, and the shooting state can include shooting time, shooting parameters of the shooting device 201, and the like; the shooting controls may include pause, stop, open, and the like; the holder control is used for controlling the movement of the holder. It will be appreciated that, in order to better display the captured image, the capture control and the pan/tilt control may be arranged as floating controls, i.e., superimposed on the displayed image, with corresponding transparency.
Furthermore, the control software also provides a ground station function, namely the mobile terminal can realize the switching between a real-time shooting interface and a flight path interface. As shown in fig. 8, on the flight path interface, a map of the flight will be displayed, and the flight position of the unmanned aerial vehicle will be updated on the map in real time. In addition, map controls, such as a joystick control, a route setting control, and the like, will also be displayed on the flight path interface. Wherein, the rocker control is superposed on the map and used for controlling the throttle, the pitch, the rotation, the course value and the like of the unmanned aerial vehicle.
Based on the control interface and the function control on the control interface, the present embodiment sets a communication protocol agreed with the unmanned reconnaissance system. The method specifically comprises the following steps: corresponding parameter codes are set in the communication protocol, and the set parameter codes are distributed to corresponding control objects, namely the shooting device, the holder and the unmanned aerial vehicle. It is understood that a control function of assigning the set parameter code to the control object may also be implemented in the communication protocol. Therefore, when the mobile terminal controls the unmanned reconnaissance system, the control can be realized only by sending the corresponding parameter codes, so that the control instruction is simplified, and the transmission is convenient.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structures or flow transformations made by the present specification and drawings, or applied directly or indirectly to other related arts, are included in the scope of the present invention.