A kind of flight instruments control system, control method and unmanned plane of taking photo by planeTechnical field
The invention belongs to automatic control technology fields, are related to the control technology of flight instruments, and in particular to a kind of flight dressControl system, control method and the unmanned plane of taking photo by plane comprising the control system set.
Background technique
The flight instruments such as unmanned plane, dirigible have gradually penetrated into daily life with the maturation of technology.Moreover, flight dressIt sets by its unique visual angle advantage, it is even more to be concerned and pursue that the market of taking photo by plane to be formed is combined with photography and vedio recording technology.
However, the complexity of three-dimensional flight instruments control is that the universal of the technology increases technical threshold.With the pure hand of traditionFor the aircraft of dynamic remote control mode control, the whole freedom degrees control for completing aircraft at least needs on remote control device hasLiter/decline, left-hand/right-hand is forward/backward, the multiple groups freedom degree control ability such as shifted left/right.For operator, root is neededThe control key (rocking bar) of multiple freedom degrees is accurately controlled according to the real-time attitude or situation of flying experience and flight instrumentsEven more control key linkage controls, operation difficulty are big.If increasing photography and vedio recording control function, need in addition to increase control key,Even needing to increase holder hand carries out cooperation control.
In order to simplify the control difficulty of conventional three-dimensional flight instruments, part manufacturer is proposed full-automatic flight control modeFlight instruments, such flight instruments usually pass through the coordinate positionings such as GPS or vision system for tracking to target object carry out withTrack shooting, flight control instruction have software to be calculated according to object movement state and position.
It is the deficiency of above two common controlling arrangement below:
(1) deficiency of purely manual operation
It is as shown in Figures 1 and 2 normal remote control structural schematic diagram, including main body 1 and antenna 2, smoothly operates nothingMan-machine completion is taken photo by plane, then need to operate simultaneously in control the four direction operation key of the one or four direction rocking bar 3 1. 2. 3. 4.,The four direction operation key of two or four direction rocking bar 4 5. 6. 7. 8. and operation key 5 and operation key 6 amount to ten buttons, includingOperate unmanned plane and holder camera two large divisions.Especially when shooting moving object (such as the movement such as cycling, skiing),It is substantially impossible mission for one man operation.
So now more common way is, when needing to shoot moving object, need to fly control hand and holder handTwo people's compounding practices.Flying control hand control heading and flight attitude, holder hand controls the shooting direction of holder and video camera,Two people operate the subject that can just follow in movement simultaneously, and guarantee always can normal photographing to subject.AndAccording to the existing regulation in China, professional winged control hand and holder hand require qualification certification, corresponding UAV Video shootingJust need the operation of professional person, it is expensive and be not easy by public use, narrow scope of application.
Same reason manually controls player and is also impossible to the self-timer for completing to clap when playing operation.
So the shortcomings that purely manual operation, is exactly: it is complicated for operation, two professional's operations are needed, and can not self-timer.
(2) deficiency automatically followed
It automatically following and the both hands of operator is freed completely, can be followed with simple realization, self-timer is also very easy to,It is the development trend of present unmanned plane of new generation.But the deficiency for having it is automatically followed also, such as:
Follow the mode is single.No matter manufacturer has preset how many kinds of follow the mode, but presets and always preset, and can not adapt to useVarious complex environments in the real use in family, many follow the mode are in complex environment and are not suitable for.Current techniques are not accomplished alsoTrue customization customization flight, the creation power and imagination of user may be never predetermined.
Follow intellectual inadequacy.Present unmanned plane during flying it is intelligent or not high enough, such as field environment automatically keep awayBarrier does not all solve also till now.The intelligence of unmanned plane can not adapt to various change environment.
Pattern switching is complicated.When factory pre-sets a variety of follow the mode, switching between various modes just atFor a problem, because various follow the mode there are some parameter presets, for example follows height, following distance, follows radiusDeng, to each mode set various parameters, be in fact more troublesome thing to user.Complicated operation has also been violated automaticallyFollow the original intention of design.
From narration above as can be seen that automatically following technology is to meet the self-timer demand of unmanned plane player.ButIt is still there are many deficiencies, main problem is exactly: automatically follows that can not to fully meet user various flexible in shootingAuthoring needs.
Summary of the invention
The flight instruments for having aerial photography function are especially the purpose of the present invention is to solve flight instruments in background techniqueTwo kinds of common control modes deficiency, propose a kind of flight instruments control system, the flight instruments control based on the systemMethod and comprising the control system and using the control method unmanned machine equipment.
The technical scheme of the present invention is realized as follows: a kind of flight instruments control system, including the first instruction processing are singleMember, for control instruction to be converted to the driving signal of control flight instruments power unit movement, which is characterized in that described instructionProcessing unit includes the first instruction input system and the second instruction input system；
First instruction input system includes that camera shooting subsystem and image procossing subsystem, the camera shooting subsystem are installed on flight instruments masterOn body, for obtaining image and/or image information；Image procossing subsystem is used for described image and/or image informationReason, to obtain the location information of one or more main bodys in image and/or image；Image procossing subsystem and instruction process unit phaseConnection, for being conveyed to the first instruction process unit for the location information as instruction；
Second instruction input system includes wireless communication module and directive generation module, and described instruction generation module is for generatingOne or more instructions in flight instruments control instruction, the directive generation module and command process module phase of wireless communication moduleConnection, the control instruction for issuing directive generation module are transmitted to command process module；
The system comprises cradle head control system, the cradle head control system includes the second instruction process unit and moving parts,Second instruction process unit controls the direction of moving parts adjustment holder camera for output order, and adjusts cloud immediatelyPlatform camera is with specified regional scope of the main body in intake picture that keep being taken.Holder camera can realize 360 ° in the horizontal directionRotation.
Preferred embodiment, the location information include identified azimuth information of the object relative to flight instruments, the sideAzimuth angle information includes identified object and pitch angle and/or level angle of the flight instruments line relative to certain level line.
Preferred embodiment, first instruction process unit and the second instruction process unit are same physical computing unit electricityRoad.
Preferred embodiment, the location information further include that identified object is in camera shooting subsystem acquisition image and/or imageTwo-dimensional coordinate information and/or dimension information in picture.
Preferred embodiment, the input instruction of second instruction input system is by before for controlling flight instruments in three-dimensional spaceInto/retreat instruction, shifted left/right instruction and three groups of instructions of rise/fall composition.
Preferred embodiment, second instruction input system include two-dimentional rocking bar control key, and the two dimension rocking bar control key is used forGenerate two groups of instructions in three groups of instructions.
The input instruction of preferred embodiment, first instruction input system is vertical by the holder for controlling installation camera shooting subsystemRotation and/or the instruction rotated horizontally composition.
Preferred embodiment, the input instruction of first instruction input system include when identified object's position actively changes withWith instruction, it is constant that relative position is able to maintain to ensure flight instruments when identified object's position changes.
A kind of control method of flight instruments, which is characterized in that
S1, flight instruments control instruction is inputted using the second instruction input system, for adjusting flight instruments and the master that is takenThe relative positional relationship of body and locking；
S2, the first instruction input system generate flight instruments control instruction according to subject change in location information, describedControl instruction is used to control flight instruments and keeps the relative position of step S1 locking constant.
Preferred embodiment, when the second instruction input system input control instructs flight instruments be taken main body and locked by step S1Relative position automatically terminate locking, then the new relative positional relationship of new record of laying equal stress on locks again.
Preferred embodiment executes the lock operation using the time as foundation, sets specific time threshold value t0, and distance second instructsInput system issues the when a length of t of last time operational order, when t is greater than or equal to t0, executes the lock operation.
One kind is taken photo by plane unmanned plane, including unmanned plane main body, which is characterized in that further include the flight instruments control system andUnmanned plane undercarriage, the undercarriage include power device, and the power device is used to expelling undercarriage into the camera shooting of holder cameraCovering space is inversely driven relative to movement is expelled.
Undercarriage is expelled holder camera camera shooting covering space and carried out relative to movement is expelled by preferred embodiment, power deviceWhen the action command inversely driven is created on after unmanned plane takes off respectively and prepares landing.
Preferred embodiment, the unmanned plane of taking photo by plane include the flight instruments control method.
Compared with prior art, beneficial effects of the present invention
Flight instruments control system, control method and unmanned plane of taking photo by plane of the invention, by by complicated flight instruments controlSystem instruction is reasonably allocated to the first instruction input system and the second instruction input system, and the second instruction input system is arranged for defeated manuallyEnter part flight instruments movement instruction, it includes three groups of control instructions that complicated manual control system, which is reduced to one-hand operation only,Enter key, and the first instruction input system is used to generate trace command in real time according to the variation for the object that is taken/is tracked.Two kinds of controlsMode processed combines, and simplifies the control technology of flight instruments, increases the stability of system photographs.It also avoids simultaneously existingThe dull playing method of full-automatic model- following control mode, increases more entertaining to take photo by plane, can also meet such as manipulator's self-timerEtc. specific functions.Introducing cradle head control system can be reduced by controlling holder automatically track target object to the first instruction processing systemThe demand of system meets the flexible authoring needs of operator while simplifying unmanned plane motion mode.For entire kinetic systemFor system, equilibrium has used each moving parts under the premise of meeting same movement target, and being conducive to raising system integrally makesUse the service life.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show belowThere is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only thisSome embodiments of invention without any creative labor, may be used also for those of ordinary skill in the artTo obtain other drawings based on these drawings.
Fig. 1, Fig. 2 show the different perspectives structural schematic diagram of the remote control device of existing flight instruments；
The flight instruments control system system pie graph that Fig. 3 show the preferred embodiment of the present invention is shown；
Fig. 4 show the first instruction input system system pie graph in the flight instruments control system of the preferred embodiment of the present inventionShow；
Fig. 5 show the second instruction input system system pie graph in the flight instruments control system of the preferred embodiment of the present inventionShow；
Fig. 6 show cradle head control system system pie graph in the flight instruments control system of the preferred embodiment of the present invention and shows；
Fig. 7 show the control method flow chart of the preferred embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
As shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of flight instruments control system of the invention, including instruction process unit,For control instruction to be converted to the driving signal of control flight instruments power unit movement, described instruction processing unit includes theOne instruction input system and the second instruction input system；The driving signal can be for directly drive steering engine, throttle control orThe power signal of engine movement is also possible to the signal without enhanced processing.
First instruction input system includes that camera shooting subsystem and image procossing subsystem, the camera shooting subsystem are installed on flight instruments masterOn body, for obtaining image and/or image information；Image procossing subsystem is used for described image and/or image informationReason, to obtain the location information of one or more main bodys in image and/or image；Image procossing subsystem and instruction process unit phaseConnection, for being conveyed to instruction process unit for the location information as instruction.According to image processing techniques, by camera shootingThe image information that machine obtains carries out object and shells the analysis of variance, can be readily attained characteristics of objects information, can according to characteristic informationTo realize the tracking of object, and the analysis by changing to characteristic information, the information such as motion mode and the state of object are obtained.
Second instruction input system includes wireless communication module and directive generation module, and described instruction generation module is for generatingOne or more instructions in flight instruments control instruction, the directive generation module and command process module phase of wireless communication moduleConnection, the control instruction for issuing directive generation module are transmitted to command process module.The instruction type that specifically generates andDetermination of amount can be determined according to the habit or public habit of operator, and it is good not that specific instruction type can be predetermined setIt can change, may be set to be self-defined pattern, freely be set by user according to use habit.The system also includes holder controlsSystem system, the cradle head control system include the second instruction process unit and moving parts, and second instruction process unit is for defeatedIt is instructed out to control the direction of moving parts adjustment holder camera, and adjustment holder camera is in immediately with the main body that keeps being takenAbsorb the specified regional scope of picture.Wherein, first instruction process unit and the second instruction process unit are same physicsComputing unit circuit.
Preferred embodiment scheme, the location information include identified azimuth information of the object relative to flight instruments,The azimuth information includes identified object and pitch angle and/or level of the flight instruments line relative to certain level lineAngle.The purpose for obtaining the information is to generate flight instruments control instruction and providing reference.It is described as a certain of benchmarkHorizontal line can provide signal by built-in gyroscope and generate, and can also use other modes.It is of course also possible to use the twoThe relative position of last moment is as reference.
Preferred embodiment scheme, the location information further include identified object be in camera shooting subsystem obtain image and/orTwo-dimensional coordinate information and/or dimension information in the picture of image.The purpose for acquiring this type of information includes to obtain higher qualityImage or image provide adjustment according to (for example regulating object is located at the coordinate of picture to obtain the image or shadow of higher qualityPicture), dimension information then can be used for controlling the relative distance of flight instruments and subject.
Preferred embodiment scheme, the input instruction of second instruction input system is by for controlling flight instruments in three-dimensional spaceInterior forward/backward instruction, shifted left/right instruction and three groups of instructions of rise/fall composition.Selecting this three groups of instructions isBecause this is necessary to realizing any customization of flight instruments relative position, that is, lacking a certain instruction just cannot achieve shootingAny customization of image or image effect.And relative to more instruction operations, three groups of instructions are more advantageous to one-handed performance, realThe problems such as existing self-timer, provides technical support.
Preferred embodiment scheme, second instruction input system include two-dimentional rocking bar control key, the two dimension rocking bar controlKey is used to generate two groups of instructions in three groups of instructions.Four instruction thumb Dan Zhicao may be implemented using rocking bar control keyMake.Rocking bar control key may also include while including key all around it is left front/left back/right before/it is right after four Macintosh, groupTwo key combination linkage controls can be realized by closing key.
Preferred embodiment scheme, the input instruction of first instruction input system is by the cloud for controlling installation camera shooting subsystemThe instruction composition that platform is rotated and/or rotated horizontally vertically.This instruction is for controlling holder operating, it can be ensured that subject positionIn picture middle or other specific positions.
Preferred embodiment scheme, the input instruction of first instruction input system include that identified object's position actively changesWhen follow instruction, it is constant to be able to maintain relative position to ensure flight instruments when identified object's position changes.
As shown in fig. 7, a kind of control method of flight instruments:
S1, flight instruments control instruction is inputted using the second instruction input system, for adjusting flight instruments and the master that is takenThe relative positional relationship of body and locking；The lock operation can store relative position information by memory, and by the positionInformation is used as the reference of the first instruction input system and realizes.Particularly, the memory can store multiple groups preset mode, for realNow to the quick selection of various modes, to obtain same advantageous effect in a manner of full-automatic model- following control.
S2, the first instruction input system generate flight instruments control instruction according to subject change in location information, describedControl instruction is used to control flight instruments and keeps the relative position of step S1 locking constant.
Preferred embodiment, when the second instruction input system input control instructs flight instruments be taken main body and locked by step S1Relative position automatically terminate locking, then the new relative positional relationship of new record of laying equal stress on locks again.That is, making to be manually operatedHave implementation operability and highest priority, to ensure to flight instruments autonomous control ability.
Preferred embodiment executes the lock operation using the time as foundation, sets specific time threshold value t0, and distance second instructsInput system issues the when a length of t of last time operational order, when t is greater than or equal to t0, executes the lock operation.
One kind is taken photo by plane unmanned plane, including unmanned plane main body and the flight instruments control system and unmanned plane undercarriage,The undercarriage includes power device, and the power device is used to expelling undercarriage into holder camera camera shooting covering space or oppositeIt is inversely driven in expelling movement.
Preferred embodiment scheme, power device by undercarriage expel holder camera camera shooting covering space and relative to expelling it is dynamicWhen the action command inversely driven is created on after unmanned plane takes off respectively and prepares landing.Undercarriage is flown in unmanned planeThe main purpose expelled under row state is also for cooperation cradle head control scheme.Because holder is certainly when traditional heads carry cameraThe motion range of body is limited, for example rotates horizontally and be unable to reach 360 ranges, and usual motion range is in the gap of unmanned plane undercarriageBetween move, therefore undercarriage can't impact shooting.But its drawback is, cannot arrive if necessary to shooting tripod headThe angle reached then needs the rotation by controlling unmanned plane itself to adapt to, and in comparison, the preferred embodiment of the present embodiment only needsUndercarriage is lifted or folding shrinking, so that it may unmanned plane rotation is substituted by holder rotation.This scheme simultaneously can be withIt realizes another preferred control mode: being rotated at any angle since holder can drive camera to do, unmanned planeRotation control that no setting is required, this point are particularly important for popular operator or new hand.Because unmanned aerial vehicle (UAV) control is all aroundMovement is " preceding " Fang Eryan relative to unmanned plane itself, and for new hand, the spinning generally for unmanned plane is (specialIt is rotor wing unmanned aerial vehicle common at present) it is difficult to set up sense of direction, therefore hold very much in subsequent motor performance all aroundEasily cause maloperation.Using this preferred embodiment, unmanned plane can then abandon itself rotation process completely, for flying control new handFor, then it can reduce because sense of direction does not set up caused maloperation, be also equivalent to the technical threshold reduced in operation, moreBe conducive to product to be acceptable to the market.Preferred embodiment scheme, the unmanned plane of taking photo by plane include the flight instruments control method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the inventionWithin mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.