CN105159321A - Unmanned aerial vehicle-based photographing method and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle-based photographing method and unmanned aerial vehicle Download PDFInfo
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- CN105159321A CN105159321A CN201510509374.0A CN201510509374A CN105159321A CN 105159321 A CN105159321 A CN 105159321A CN 201510509374 A CN201510509374 A CN 201510509374A CN 105159321 A CN105159321 A CN 105159321A
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Abstract
The embodiment of the invention provides an unmanned aerial vehicle-based photographing method and an unmanned aerial vehicle. The method includes the following steps that: when cast operation for the unmanned aerial vehicle is detected, the position of the unmanned aerial vehicle when the cast operation is detected is adopted as a starting point position; decelerating flight is carried out from the starting point position and in the direction of the cast operation; whether the unmanned aerial vehicle performs decelerating flight to hover is judged; and if the unmanned aerial vehicle performs decelerating flight to hover, the starting point position is photographed at least at a position where the unmanned aerial vehicle hovers. With the unmanned aerial vehicle-based photographing method of by the embodiment of the invention adopted, additional connection is not needed to be carried out, and therefore, the simplicity of operation can be greatly improved; and the cast operation of a user can control the flight distance of the unmanned aerial vehicle, and a distance between the user and the unmanned aerial vehicle can be greatly increased, and limitation on the number of photographed people can be eliminated.
Description
Technical field
The present invention relates to the technical field of unmanned vehicle, particularly relate to a kind of photographic method based on unmanned vehicle and a kind of unmanned vehicle.
Background technology
Along with the fast development of science and technology, various electronic equipment is extensively popularized, also more and more higher in the utilization rate of each side such as work, study, daily interchange of people, can say, electronic equipment is that people live an indispensable part.
Wherein, the camera function that the such as electronic equipment such as mobile phone, panel computer provides is one of function of the most often using of people.
When being used alone the electronic equipment such as mobile phone, panel computer, taking the image of oneself, being referred to as to autodyne.
At present, people all employ self-shooting bar under many circumstances and autodyne.
Self-shooting bar forms primarily of self-shooting bar, fixed support, Bluetooth remote control automatic timer or bottom button, fixed support can pick up mobile phone, panel computer etc., freely regulated expansion link brings wider shooting angle, by the Bluetooth key bottom pole and controllable operation.
But self-shooting bar is roughly flexible between 20 centimetres to 120 centimetre lengths, and limited length, makes the close together of the electronic product such as mobile phone, panel computer and user, and the quantity of the object photographed also is restricted.
Further, self-shooting bar needs to carry out the electronic equipments such as connection mobile phone, panel computer in advance, operates more loaded down with trivial details.
Summary of the invention
In view of the above problems, the present invention is proposed to provide a kind of overcoming the problems referred to above or a kind of photographic method based on unmanned vehicle solved the problem at least in part and corresponding a kind of unmanned vehicle.
According to one aspect of the present invention, provide a kind of photographic method based on unmanned vehicle, comprising:
When the throwing operation for unmanned vehicle being detected, determine to detect that position when throwing operates is start position;
The direction operated according to described throwing, carry out decelerating flight from described start position;
Judge whether that decelerating flight is to hovering; If so, then at least described start position is taken pictures in the position of hovering.
Alternatively, described when the throwing operation for unmanned vehicle being detected, the position determining to detect when throwing operates is that the step of start position comprises:
Detect the acceleration of unmanned vehicle;
When described acceleration is greater than default acceleration rate threshold, judge to detect that throwing operates;
Determine that position when described acceleration being detected is start position.
Alternatively, described plane belonging to the direction that described throwing operates, the step of carrying out decelerating flight from described start position comprise:
On the direction of the acceleration of unmanned vehicle, detect the initial velocity of unmanned vehicle at start position;
Based on described initial velocity initial velocity components in the horizontal direction, carry out the decelerating flight of horizontal direction with the first acceleration preset.
Alternatively, judge whether described in that decelerating flight comprises to the step of hovering:
Detect unmanned vehicle First Speed component in the horizontal direction, second speed component at vertical direction;
Judge whether described First Speed component is less than default First Speed threshold value, whether described second speed component is less than default second speed threshold value; If so, hovering is then judged;
Wherein, described second speed component is less than the time of default second speed threshold value, prior to, described First Speed component is less than the time of default First Speed threshold value.
Alternatively, described plane belonging to the direction that described throwing operates, the step of carrying out decelerating flight from described start position also comprise:
When described initial velocity the initial velocity components of vertical direction decay to be less than default second speed threshold value time, unmanned vehicle flies, with in the vertical direction stress balance;
Or,
Based on the initial velocity components of described initial velocity at vertical direction, carry out the decelerating flight of vertical direction with the second acceleration preset.
Alternatively, the described position in hovering at least comprises the step that described start position is taken pictures:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, described start position is taken pictures.
Alternatively, the described position in hovering at least comprises the step that described start position is taken pictures:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, take pictures around described start position.
Alternatively, the described position in hovering at least also comprises the step that described start position is taken pictures:
The multiple image data obtained carrying out around described start position taking pictures are carried out synthesis and are processed.
Alternatively, also comprise:
When having taken pictures, fly to described start position from the position of hovering.
Alternatively, the flight of the described position from hovering comprises to the step of described start position:
First carry out acceleration flight in the horizontal direction, carry out decelerating flight again, be less than default third speed threshold value with the third speed component flown to horizontal direction during described start position;
First carry out acceleration flight at vertical direction, carry out decelerating flight again, be less than the 4th default threshold speed with the 4th speed component flown to vertical direction during described start position.
According to a further aspect in the invention, provide a kind of unmanned vehicle, comprising:
Throwing detection module, is suitable for, when the throwing operation for unmanned vehicle being detected, determining to detect that position when throwing operates is start position;
Flight module, is suitable for the direction operated according to described throwing, carries out decelerating flight from described start position;
Hovering judge module, is suitable for judging whether that decelerating flight is to hovering; If so, then photo module is called;
Photo module, is suitable at least taking pictures to described start position in the position of hovering.
Alternatively, described throwing detection module is also suitable for:
Detect the acceleration of unmanned vehicle;
When described acceleration is greater than default acceleration rate threshold, judge to detect that throwing operates;
Determine that position when described acceleration being detected is start position.
Alternatively, described flight module is also suitable for:
On the direction of the acceleration of unmanned vehicle, detect the initial velocity of unmanned vehicle at start position;
Based on described initial velocity initial velocity components in the horizontal direction, carry out the decelerating flight of horizontal direction with the first acceleration preset.
Alternatively, described hovering judge module is also suitable for:
Detect unmanned vehicle First Speed component in the horizontal direction, second speed component at vertical direction;
Judge whether described First Speed component is less than default First Speed threshold value, whether described second speed component is less than default second speed threshold value; If so, hovering is then judged;
Wherein, described second speed component is less than the time of default second speed threshold value, prior to, described First Speed component is less than the time of default First Speed threshold value.
Alternatively, described flight module is also suitable for:
When described initial velocity the initial velocity components of vertical direction decay to be less than default second speed threshold value time, unmanned vehicle flies, with in the vertical direction stress balance;
Or,
Based on the initial velocity components of described initial velocity at vertical direction, carry out the decelerating flight of vertical direction with the second acceleration preset.
Alternatively, described photo module is also suitable for:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, described start position is taken pictures.
Alternatively, described photo module is also suitable for:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, take pictures around described start position.
Alternatively, described photo module is also suitable for:
The multiple image data obtained carrying out around described start position taking pictures are carried out synthesis and are processed.
Alternatively, described flight module is also suitable for:
When having taken pictures, fly to described start position from the position of hovering.
Alternatively, described flight module is also suitable for:
First carry out acceleration flight in the horizontal direction, carry out decelerating flight again, be less than default third speed threshold value with the third speed component flown to horizontal direction during described start position;
First carry out acceleration flight at vertical direction, carry out decelerating flight again, be less than the 4th default threshold speed with the 4th speed component flown to vertical direction during described start position.
In the embodiment of the present invention, user is by throwing unmanned vehicle, take pictures to start position at the surface of position of hovering, without the need to carrying out extra connection, substantially increase the simplicity of operation, the throwing operation of user can control the flying distance of unmanned vehicle, considerably increases the distance between user, breaches the restricted number of the object to shooting.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of instructions, and can become apparent, below especially exemplified by the specific embodiment of the present invention to allow above and other objects of the present invention, feature and advantage.
Accompanying drawing explanation
By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Accompanying drawing only for illustrating the object of preferred implementation, and does not think limitation of the present invention.And in whole accompanying drawing, represent identical parts by identical reference symbol.In the accompanying drawings:
Fig. 1 shows a kind of according to an embodiment of the invention flow chart of steps of the photographic method embodiment based on unmanned vehicle;
Fig. 2 shows a kind of according to an embodiment of the invention structural representation of unmanned vehicle;
Fig. 3 A to Fig. 3 F shows a kind of according to an embodiment of the invention flight theory figure of unmanned vehicle;
Fig. 4 shows a kind of according to an embodiment of the invention vertical view of throwing example of unmanned vehicle;
Fig. 5 shows a kind of according to an embodiment of the invention decomposition exemplary plot of initial velocity;
Fig. 6 shows a kind of according to an embodiment of the invention flight path schematic diagram of unmanned vehicle; And
Fig. 7 shows a kind of according to an embodiment of the invention structured flowchart of unmanned vehicle embodiment.
Embodiment
Below with reference to accompanying drawings exemplary embodiment of the present disclosure is described in more detail.Although show exemplary embodiment of the present disclosure in accompanying drawing, however should be appreciated that can realize the disclosure in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the disclosure can be understood, and complete for the scope of the present disclosure can be conveyed to those skilled in the art.
With reference to Fig. 1, show a kind of according to an embodiment of the invention flow chart of steps of the photographic method embodiment based on unmanned vehicle, specifically can comprise the steps:
Step 101, when the throwing operation for unmanned vehicle being detected, determines to detect that position when throwing operates is start position;
It should be noted that, the embodiment of the present invention can be applied to unmanned vehicle (UnmannedAerialVehicle, UAV) in, namely utilize wireless remote control or programmed control to perform the aircraft of specific aviation mission, it does not carry operating personnel, adopt aerodynamic force to provide required lift for aircraft, can automatically fly or remote boot.
For quadrotor, as shown in Figure 2, quadrotor adopts four rotors as the direct driving force source of flight, rotor is symmetrically distributed in the front, rear, left and right four direction of body, four rotors are in sustained height plane, and the structure of four rotors and radius are all identical, rotor 201 and rotor 203 are rotated counterclockwise, rotor 202 and rotor 204 turn clockwise, the bracket end being arranged on unmanned vehicle of four motor symmetries, support intermediate space lays flight-control computer 200 and other external units (as camera).
Quadrotor is by regulating four motor speeds to change gyroplane rotate speed, realizing the change of lift, thus controls attitude and the position of aircraft.
Quadrotor is a kind of vertical conveyor of six degree of freedom, but only has four Input Forces, but has six State-outputs, so it is again a kind of under-actuated systems simultaneously.。
Regulation is moved along x-axis positive dirction and is called and travels forward, and arrow represents that above the plane of movement of rotor this motor speed improves, and represent that in below this motor speed declines, six degree of freedom is as follows:
1, vertical movement;
As shown in Figure 3A, the output power of four motors of increase rotor 201, rotor 202, rotor 203, rotor 204 simultaneously, rotor 201, rotor 202, rotor 203, the increase of rotor 204 rotating speed make total pulling force increase, when total pulling force is enough to the weight overcoming complete machine, quadrotor is liftoff vertical rising just; Otherwise the output power of four motors of reduction rotor 201, rotor 202, rotor 203, rotor 204 simultaneously, quadrotor then vertically declines, until balance is landed, achieves the vertical movement along z-axis.
When external disturbance amount is zero, when the lift that rotor 201, rotor 202, rotor 203, rotor 204 produce equals gravity suffered by quadrotor, quadrotor just keeps floating state.
2, luffing;
As shown in Figure 3 B, the rotating speed of the motor of rotor 201 rises, and the rotating speed of the motor of rotor 203 declines (knots modification equal and opposite in direction), the rotating speed of the motor of rotor 202, the motor of rotor 204 remains unchanged.
Because the lift of rotor 201 rises, the lift of rotor 203 declines, and the unbalanced moments of generation makes fuselage rotate around y-axis.
In like manner, when the rotating speed of the motor of rotor 201 declines, the rotating speed of the motor of rotor 203 rises, and fuselage just rotates to another direction around y-axis, realizes the luffing of quadrotor.
3, rolling movement;
As shown in Figure 3 C, change the rotating speed of the motor of rotor 202 and rotor 204, keep the rotating speed of the motor of rotor 201 and rotor 203 constant, then fuselage can be made to rotate (forward is with reverse) around x-axis, realize the rolling movement of quadrotor.
4, yawing rotation;
Because air resistance effect can form the reactive torque contrary with rotation direction in rotor rotational process, in order to overcome reactive torque impact, two rotating forwards in four rotors can be made, two reversions, and each rotor rotational direction on diagonal line is identical.The size of reactive torque is relevant with gyroplane rotate speed, and when four motor speeds are identical, the reactive torque of four rotor generations balances mutually, and quadrotor does not rotate; When four motor speeds are incomplete same, unbalanced reactive torque can cause quadrotor to rotate.
As shown in Figure 3 D, when the rotating speed of the motor of rotor 201 and rotor 203 rises, when the rotating speed of the motor of rotor 202 and rotor 204 declines, the reactive torque of rotor 201 and rotor 203 pairs of fuselages is greater than the reactive torque of rotor 202 and rotor 204 pairs of fuselages, fuselage just rotates around z-axis under the effect of reactive torque more than needed, realize the yawing rotation of aircraft, turn to contrary with turning to of the motor of rotor 201 and rotor 203.
5, seesaw;
Want the motion realizing aircraft all around in surface level, in surface level, certain power must be applied to aircraft.
As shown in FIGURE 3 E, increase the rotating speed of the motor of rotor 203, pulling force is increased, and the rotating speed of the motor of corresponding reduction rotor 201, makes pulling force reduce, and keeps other two motor speeds constant simultaneously, and reactive torque still will keep balance.
By the theory of Fig. 3 B, first there is inclination to a certain degree in quadrotor, thus make rotor thrust produce horizontal component, flies motion before therefore can realizing quadrotor.Flight is just in time contrary with flight forward backward.
In Fig. 3 B and Fig. 3 C, quadrotor also can produce the tangential movement along x, y-axis while producing pitching, tumbling motion.
6, tendency motion;
Due to structural symmetry, so be inclined to the principle of work of flight and seesaw just the same.
As illustrated in Figure 3 F,
Increase the rotating speed of the motor of rotor 204, pulling force is increased, and the rotating speed of the motor of corresponding reduction rotor 202, makes pulling force reduce, and keeps other two motor speeds constant simultaneously, and reactive torque still will keep balance.
First there is inclination to a certain degree in quadrotor, thus makes rotor thrust produce the vertically amount of dividing equally, therefore can realize the tendency motion of quadrotor.Left flight with fly to the right just in time contrary.
Certainly, just exemplarily, when implementing the embodiment of the present invention, can arrange other unmanned vehicles according to actual conditions, such as, six rotorcraft, single rotor craft etc., the embodiment of the present invention is not limited this above-mentioned quadrotor.
In actual applications, user can be taken pictures by throwing unmanned vehicle.
In a kind of embodiment of the present invention, step 101 can comprise following sub-step:
Sub-step S11, detects the acceleration of unmanned vehicle;
Sub-step S12, when described acceleration is greater than default acceleration rate threshold, judges to detect that throwing operates;
Sub-step S13, determines that position when described acceleration being detected is start position.
In embodiments of the present invention, unmanned vehicle can configure 3-axis acceleration sensor, to detect suffered acceleration.
In order to avoid causing maloperation, can pre-set acceleration rate threshold, when user's throwing unmanned vehicle, the stressed generation acceleration of unmanned vehicle, this acceleration generally can exceed acceleration rate threshold.
Step 102, the direction operated, carries out decelerating flight from described start position according to described throwing;
It should be noted that, reality scene is three dimensions, and throwing operation has direction attribute, and unmanned vehicle can carry out decelerating flight in the two dimensional surface belonging to the direction of throwing operation.
As shown in Figure 4, in the angle of overlooking, user, when throwing unmanned vehicle, departs from left from direction α, then unmanned vehicle can depart from left carry out decelerating flight on direction α.
It should be noted that, in decelerating flight process, at the especially throwing initial stage, if standard of fuselage occurs tilting, then unmanned vehicle can carry out automatic attitude correction, ensures the balance of flight.
In a kind of embodiment of the present invention, step 102 can comprise following sub-step:
Sub-step S21, on the direction of the acceleration of unmanned vehicle, detects the initial velocity of unmanned vehicle at start position;
In actual applications, the direction that the direction that throwing operates is acceleration characterizes, then as shown in Figure 4, the direction of acceleration is departed from left from direction α.
When unmanned vehicle leaves the hand of user, the acceleration that throwing produces disappears, and now produces the initial velocity of a flight.
Sub-step S22, based on described initial velocity initial velocity components in the horizontal direction, carries out the decelerating flight of horizontal direction with the first acceleration preset;
As shown in Figure 5, the embodiment of the present invention can to initial velocity V
0decompose, obtain the initial velocity components V of horizontal direction
x, the initial velocity components V of vertical direction
y.
Suppose that the first acceleration is a
1, then after time t, if do not consider the factors such as air resistance, unmanned vehicle flying speed is in the horizontal direction:
V
xt＝V
x-a
1t；
If consider the factors such as air resistance, then can revise flying speed by other modes, the embodiment of the present invention is not limited this.
In addition, in the vertical direction, unmanned vehicle can carry out two kinds of flying methods:
One, when described initial velocity the initial velocity components of vertical direction decay to be less than default second speed threshold value time, unmanned vehicle flies, with in the vertical direction stress balance;
In this kind of flying method, the initial stage that unmanned vehicle operates in throwing does not fly, and namely vertical direction and horizontal direction does not carry out decelerating flight.
By acceleration of gravity effect, decay gradually at the initial velocity components of vertical direction, when being less than second speed threshold value, can think that speed is very little, be even 0, then can start rotor, when the lift that in the vertical direction rotor produces equals gravity suffered by unmanned vehicle, in the vertical direction keeps stress balance, and generally, the flying speed of vertical direction is constant.
Two, based on the initial velocity components of described initial velocity at vertical direction, the decelerating flight of vertical direction is carried out with the second acceleration preset.
In this kind of flying method, the initial stage that unmanned vehicle operates in throwing flies, and namely vertical direction and horizontal direction all carries out decelerating flight.
Suppose that the second acceleration is a
2, then after time t, if do not consider the factors such as air resistance, unmanned vehicle in the flying speed of vertical direction is:
V
yt＝V
y-(a
2+g)t；
Wherein, g is acceleration of gravity.
If the second acceleration is a
2be 0, then unmanned vehicle in the flying speed of vertical direction is:
V
yt＝V
y-gt。
Certainly, if consider the factors such as air resistance, other modes can also be adopted to calculate flying speed, and the embodiment of the present invention is not limited this.
Step 103, judges whether that decelerating flight is to hovering; If so, then step 104 is performed;
In the ideal case, hover as flying speed is 0, and at vertical direction stress balance, in the horizontal direction not by External Force Acting, maintenance speed is 0.
But, in practice, due to the existence of the factors such as air flowing, make unmanned vehicle cannot maintain the state that speed is 0 always, therefore, when flying speed is less than certain value, hovering can be thought.
In a kind of embodiment of the present invention, step 102 can comprise following sub-step:
Sub-step S31, detects unmanned vehicle First Speed component in the horizontal direction, second speed component at vertical direction;
Sub-step S32, judges whether described First Speed component is less than default First Speed threshold value, whether described second speed component is less than default second speed threshold value; If so, then sub-step S33 is performed;
Sub-step S33, judges hovering.
It should be noted that, First Speed threshold value, second speed threshold value are the very little any constant of expression speed.
If First Speed component is less than First Speed threshold value, second speed component is less than second speed threshold value, then can represent that the speed of unmanned vehicle is very little, hovering can be thought.
It should be noted that, second speed component is less than the time of default second speed threshold value, prior to, First Speed component is less than the time of default First Speed threshold value.
Therefore, as shown in Figure 6, within the time that second speed component is decelerated to default second speed threshold value, the flight path of unmanned vehicle is arc, afterwards, within the time that First Speed component is decelerated to default First Speed threshold value, the flight path of unmanned vehicle is straight line.
Step 104, at least takes pictures to described start position in the position of hovering.
When floating state, unmanned vehicle can start camera, takes pictures to the start position at user place, realizes autodyning.
In a kind of embodiment of the present invention, step 104 can comprise following sub-step:
Sub-step S41, focuses with the distance between described start position and the position of described hovering;
Sub-step S42, when focusing completes, takes pictures to described start position.
As shown in Figure 6, after supposing the t time, unmanned vehicle hovers, and its flight path is curve, near parabolic, and the position of its hovering is chosen as parabolical peak.
Suppose, unmanned vehicle flying distance is in the horizontal direction S
x, the flying distance of in the vertical direction is S
y, then can according to the distance S between following formulae discovery start position and the position of hovering:
If fly with above-mentioned first kind of way, then suppose that decaying at the initial velocity components of vertical direction the time being less than default second speed threshold value is t
1, afterwards, it is t that initial velocity components in the horizontal direction decays to the time being less than default First Speed threshold value
2, then:
If fly with above-mentioned first kind of way, then suppose that decaying at the initial velocity components of vertical direction the time being less than default second speed threshold value is t
3, it is t that initial velocity components in the horizontal direction decays to the T.T. being less than default First Speed threshold value
4, then:
After calculating the distance between start position and the position of hovering, can focus to camera, namely adjust the focal length of camera, make to take pictures obtained apparent to start position.
Owing to calculating unmanned vehicle flying distance S in the horizontal direction
x, the flying distance S of in the vertical direction
y, then the position can hovered according to following formulae discovery is relative to the angle beta of start position:
tanβ＝S
y/S
x。
Camera is adjusted to angle beta, then can take pictures to the start position at user place.
In another kind of embodiment of the present invention, step 104 can comprise following sub-step:
Sub-step S51, focuses with the distance between described start position and the position of described hovering;
Sub-step S52, when focusing completes, takes pictures around described start position.
As shown in Figure 4, the embodiment of the present invention after calculating the distance between start position and the position of hovering, can be focused to camera.
After the position calculating hovering is relative to the angle of start position, by adjusting this angle (as increased angle, reduce angle, traversing etc.), take pictures around start position, obtain the multiple pictures (i.e. multiple image data) in certain limit (the dotted line scope as Fig. 4).
After taking pictures and acquiring multiple image data, the multiple image data obtained of carrying out around start position taking pictures can also be carried out synthesis process by the embodiment of the present invention, namely synthesize a frame image data, acquisition distant view photograph.
In the embodiment of the present invention, user is by throwing unmanned vehicle, take pictures to start position at the surface of position of hovering, without the need to carrying out extra connection, substantially increase the simplicity of operation, the throwing operation of user can control the flying distance of unmanned vehicle, considerably increases the distance between user, breaches the restricted number of the object to shooting.
In a kind of embodiment of the present invention, the method can also comprise the steps:
Step 105, when having taken pictures, has flown to described start position from the position of hovering.
If taken pictures, unmanned vehicle then can return the start position at user place from the position flight of hovering, carry out the recovery of unmanned vehicle.
In a kind of embodiment of the present invention, step 105 can comprise following sub-step:
Sub-step S61, first carries out acceleration flight in the horizontal direction, carries out decelerating flight again, is less than default third speed threshold value with the third speed component flown to horizontal direction during described start position;
Sub-step S62, first carries out acceleration flight at vertical direction, carries out decelerating flight again, is less than the 4th default threshold speed with the 4th speed component flown to vertical direction during described start position.
Owing to calculating unmanned vehicle flying distance S in the horizontal direction
x, the flying distance S of in the vertical direction
y, then can with S
xand S
yfly as flying distance.
Because during hovering, the speed of unmanned vehicle is very little, therefore need first to carry out acceleration flight, carry out recovery unmanned vehicle for the ease of user, when getting back to start position, the speed of unmanned vehicle should be very little, is even 0, therefore needs to carry out decelerating flight again.
As for when being converted to decelerating flight by acceleration flight, those skilled in the art can set in advance, can change when 1/2 flying distance, and also can change when 2/3 flying distance, the embodiment of the present invention is not limited this.
It should be noted that, third speed threshold value, the 4th threshold speed are the very little any constant of expression speed.
If third speed component is less than third speed threshold value, the 4th speed component is less than the 4th threshold speed, then can represent that the speed of unmanned vehicle is very little.
In addition, First Speed threshold value and third speed threshold value can identical, also can be different, and second speed threshold value and the 4th threshold speed can identical, also can be different, and the embodiment of the present invention is not limited this.
For embodiment of the method, in order to simple description, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the embodiment of the present invention is not by the restriction of described sequence of movement, because according to the embodiment of the present invention, some step can adopt other orders or carry out simultaneously.Secondly, those skilled in the art also should know, the embodiment described in instructions all belongs to preferred embodiment, and involved action might not be that the embodiment of the present invention is necessary.
With reference to Fig. 7, show a kind of according to an embodiment of the invention structured flowchart of unmanned vehicle embodiment, specifically can comprise as lower module:
Throwing detection module 701, is suitable for, when the throwing operation for unmanned vehicle being detected, determining to detect that position when throwing operates is start position;
Flight module 702, is suitable for the direction operated according to described throwing, carries out decelerating flight from described start position;
Hovering judge module 703, is suitable for judging whether that decelerating flight is to hovering; If so, then photo module is called;
Photo module 704, is suitable at least taking pictures to described start position in the position of hovering.
In a kind of embodiment of the present invention, described throwing detection module 701 can also be suitable for:
Detect the acceleration of unmanned vehicle;
When described acceleration is greater than default acceleration rate threshold, judge to detect that throwing operates;
Determine that position when described acceleration being detected is start position.
In a kind of embodiment of the present invention, described flight module 702 can also be suitable for:
On the direction of the acceleration of unmanned vehicle, detect the initial velocity of unmanned vehicle at start position;
Based on described initial velocity initial velocity components in the horizontal direction, carry out the decelerating flight of horizontal direction with the first acceleration preset.
In a kind of embodiment of the present invention, described hovering judge module 703 can also be suitable for:
Detect unmanned vehicle First Speed component in the horizontal direction, second speed component at vertical direction;
Judge whether described First Speed component is less than default First Speed threshold value, whether described second speed component is less than default second speed threshold value; If so, hovering is then judged;
Wherein, described second speed component is less than the time of default second speed threshold value, prior to, described First Speed component is less than the time of default First Speed threshold value.
In a kind of embodiment of the present invention, described flight module 702 can also be suitable for:
When described initial velocity the initial velocity components of vertical direction decay to be less than default second speed threshold value time, unmanned vehicle flies, with in the vertical direction stress balance;
Or,
Based on the initial velocity components of described initial velocity at vertical direction, carry out the decelerating flight of vertical direction with the second acceleration preset.
In a kind of embodiment of the present invention, described photo module 704 can also be suitable for:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, described start position is taken pictures.
In another kind of embodiment of the present invention, described photo module 704 can also be suitable for:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, take pictures around described start position.
In a kind of embodiment of the present invention, described photo module 704 can also be suitable for:
The multiple image data obtained carrying out around described start position taking pictures are carried out synthesis and are processed.
In a kind of embodiment of the present invention, described flight module 702 can also be suitable for:
When having taken pictures, fly to described start position from the position of hovering.
In a kind of embodiment of the present invention, described flight module 702 can also be suitable for:
First carry out acceleration flight in the horizontal direction, carry out decelerating flight again, be less than default third speed threshold value with the third speed component flown to horizontal direction during described start position;
First carry out acceleration flight at vertical direction, carry out decelerating flight again, be less than the 4th default threshold speed with the 4th speed component flown to vertical direction during described start position.
For unmanned vehicle embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.
Intrinsic not relevant to any certain computer, virtual system or miscellaneous equipment with display at this algorithm provided.Various general-purpose system also can with use based on together with this teaching.According to description above, the structure constructed required by this type systematic is apparent.In addition, the present invention is not also for any certain programmed language.It should be understood that and various programming language can be utilized to realize content of the present invention described here, and the description done language-specific is above to disclose preferred forms of the present invention.
In instructions provided herein, describe a large amount of detail.But can understand, embodiments of the invention can be put into practice when not having these details.In some instances, be not shown specifically known method, structure and technology, so that not fuzzy understanding of this description.
Similarly, be to be understood that, in order to simplify the disclosure and to help to understand in each inventive aspect one or more, in the description above to exemplary embodiment of the present invention, each feature of the present invention is grouped together in single embodiment, figure or the description to it sometimes.But, the method for the disclosure should be construed to the following intention of reflection: namely the present invention for required protection requires feature more more than the feature clearly recorded in each claim.Or rather, as claims below reflect, all features of disclosed single embodiment before inventive aspect is to be less than.Therefore, the claims following embodiment are incorporated to this embodiment thus clearly, and wherein each claim itself is as independent embodiment of the present invention.
Those skilled in the art are appreciated that and adaptively can change the module in the equipment in embodiment and they are arranged in one or more equipment different from this embodiment.Module in embodiment or unit or assembly can be combined into a module or unit or assembly, and multiple submodule or subelement or sub-component can be put them in addition.Except at least some in such feature and/or process or unit be mutually repel except, any combination can be adopted to combine all processes of all features disclosed in this instructions (comprising adjoint claim, summary and accompanying drawing) and so disclosed any method or equipment or unit.Unless expressly stated otherwise, each feature disclosed in this instructions (comprising adjoint claim, summary and accompanying drawing) can by providing identical, alternative features that is equivalent or similar object replaces.
In addition, those skilled in the art can understand, although embodiments more described herein to comprise in other embodiment some included feature instead of further feature, the combination of the feature of different embodiment means and to be within scope of the present invention and to form different embodiments.Such as, in the following claims, the one of any of embodiment required for protection can use with arbitrary array mode.
All parts embodiment of the present invention with hardware implementing, or can realize with the software module run on one or more processor, or realizes with their combination.It will be understood by those of skill in the art that the some or all functions based on the some or all parts in the photographing device of unmanned vehicle that microprocessor or digital signal processor (DSP) can be used in practice to realize according to the embodiment of the present invention.The present invention can also be embodied as part or all equipment for performing method as described herein or device program (such as, computer program and computer program).Realizing program of the present invention and can store on a computer-readable medium like this, or the form of one or more signal can be had.Such signal can be downloaded from internet website and obtain, or provides on carrier signal, or provides with any other form.
The present invention will be described instead of limit the invention to it should be noted above-described embodiment, and those skilled in the art can design alternative embodiment when not departing from the scope of claims.In the claims, any reference symbol between bracket should be configured to limitations on claims.Word " comprises " not to be got rid of existence and does not arrange element in the claims or step.Word "a" or "an" before being positioned at element is not got rid of and be there is multiple such element.The present invention can by means of including the hardware of some different elements and realizing by means of the computing machine of suitably programming.In the unit claim listing some devices, several in these devices can be carry out imbody by same hardware branch.Word first, second and third-class use do not represent any order.Can be title by these word explanations.
The embodiment of the invention discloses A1, a kind of photographic method based on unmanned vehicle, comprising:
When the throwing operation for unmanned vehicle being detected, determine to detect that position when throwing operates is start position;
The direction operated according to described throwing, carry out decelerating flight from described start position;
Judge whether that decelerating flight is to hovering; If so, then at least described start position is taken pictures in the position of hovering.
A2, method as described in A1, described when the throwing operation for unmanned vehicle being detected, the position determining to detect when throwing operates is that the step of start position comprises:
Detect the acceleration of unmanned vehicle;
When described acceleration is greater than default acceleration rate threshold, judge to detect that throwing operates;
Determine that position when described acceleration being detected is start position.
A3, method as described in A1 or A2, described plane belonging to the direction that described throwing operates, the step of carrying out decelerating flight from described start position comprise:
On the direction of the acceleration of unmanned vehicle, detect the initial velocity of unmanned vehicle at start position;
Based on described initial velocity initial velocity components in the horizontal direction, carry out the decelerating flight of horizontal direction with the first acceleration preset.
A4, method as described in A3, described in judge whether that decelerating flight comprises to the step of hovering:
Detect unmanned vehicle First Speed component in the horizontal direction, second speed component at vertical direction;
Judge whether described First Speed component is less than default First Speed threshold value, whether described second speed component is less than default second speed threshold value; If so, hovering is then judged;
Wherein, described second speed component is less than the time of default second speed threshold value, prior to, described First Speed component is less than the time of default First Speed threshold value.
A5, method as described in A3 or A4, described plane belonging to the direction that described throwing operates, the step of carrying out decelerating flight from described start position also comprise:
When described initial velocity the initial velocity components of vertical direction decay to be less than default second speed threshold value time, unmanned vehicle flies, with in the vertical direction stress balance;
Or,
Based on the initial velocity components of described initial velocity at vertical direction, carry out the decelerating flight of vertical direction with the second acceleration preset.
A6, method as described in A1 or A2 or A4, the described position in hovering at least comprises the step that described start position is taken pictures:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, described start position is taken pictures.
A7, method as described in A1 or A2 or A4, the described position in hovering at least comprises the step that described start position is taken pictures:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, take pictures around described start position.
A8, method as described in A7, the described position in hovering at least also comprises the step that described start position is taken pictures:
The multiple image data obtained carrying out around described start position taking pictures are carried out synthesis and are processed.
A9, method as described in A1 or A2 or A4 or A8, also comprise:
When having taken pictures, fly to described start position from the position of hovering.
A10, method as described in A9, the flight of the described position from hovering comprises to the step of described start position:
First carry out acceleration flight in the horizontal direction, carry out decelerating flight again, be less than default third speed threshold value with the third speed component flown to horizontal direction during described start position;
First carry out acceleration flight at vertical direction, carry out decelerating flight again, be less than the 4th default threshold speed with the 4th speed component flown to vertical direction during described start position.
The invention process also discloses B11, a kind of unmanned vehicle, comprising:
Throwing detection module, is suitable for, when the throwing operation for unmanned vehicle being detected, determining to detect that position when throwing operates is start position;
Flight module, is suitable for the direction operated according to described throwing, carries out decelerating flight from described start position;
Hovering judge module, is suitable for judging whether that decelerating flight is to hovering; If so, then photo module is called;
Photo module, is suitable at least taking pictures to described start position in the position of hovering.
B12, unmanned vehicle as described in B11, described throwing detection module is also suitable for:
Detect the acceleration of unmanned vehicle;
When described acceleration is greater than default acceleration rate threshold, judge to detect that throwing operates;
Determine that position when described acceleration being detected is start position.
B13, unmanned vehicle as described in B11 or B12, described flight module is also suitable for:
On the direction of the acceleration of unmanned vehicle, detect the initial velocity of unmanned vehicle at start position;
Based on described initial velocity initial velocity components in the horizontal direction, carry out the decelerating flight of horizontal direction with the first acceleration preset.
B14, unmanned vehicle as described in B13, described hovering judge module is also suitable for:
Detect unmanned vehicle First Speed component in the horizontal direction, second speed component at vertical direction;
Judge whether described First Speed component is less than default First Speed threshold value, whether described second speed component is less than default second speed threshold value; If so, hovering is then judged;
Wherein, described second speed component is less than the time of default second speed threshold value, prior to, described First Speed component is less than the time of default First Speed threshold value.
B15, unmanned vehicle as described in B13 or B14, described flight module is also suitable for:
When described initial velocity the initial velocity components of vertical direction decay to be less than default second speed threshold value time, unmanned vehicle flies, with in the vertical direction stress balance;
Or,
Based on the initial velocity components of described initial velocity at vertical direction, carry out the decelerating flight of vertical direction with the second acceleration preset.
B16, unmanned vehicle as described in B11 or B12 or B14, described photo module is also suitable for:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, described start position is taken pictures.
B17, unmanned vehicle as described in B11 or B12 or B14, described photo module is also suitable for:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, take pictures around described start position.
B18, unmanned vehicle as described in B17, described photo module is also suitable for:
The multiple image data obtained carrying out around described start position taking pictures are carried out synthesis and are processed.
B19, unmanned vehicle as described in B11 or B12 or B14 or B18, described flight module is also suitable for:
When having taken pictures, fly to described start position from the position of hovering.
B20, unmanned vehicle as described in B19, described flight module is also suitable for:
First carry out acceleration flight in the horizontal direction, carry out decelerating flight again, be less than default third speed threshold value with the third speed component flown to horizontal direction during described start position;
First carry out acceleration flight at vertical direction, carry out decelerating flight again, be less than the 4th default threshold speed with the 4th speed component flown to vertical direction during described start position.
Claims (10)
1., based on a photographic method for unmanned vehicle, comprising:
When the throwing operation for unmanned vehicle being detected, determine to detect that position when throwing operates is start position;
The direction operated according to described throwing, carry out decelerating flight from described start position;
Judge whether that decelerating flight is to hovering; If so, then at least described start position is taken pictures in the position of hovering.
2. the method for claim 1, is characterized in that, described when the throwing operation for unmanned vehicle being detected, and the position determining to detect when throwing operates is that the step of start position comprises:
Detect the acceleration of unmanned vehicle;
When described acceleration is greater than default acceleration rate threshold, judge to detect that throwing operates;
Determine that position when described acceleration being detected is start position.
3. method as claimed in claim 1 or 2, is characterized in that, described plane belonging to the direction that described throwing operates, the step of carrying out decelerating flight from described start position comprise:
On the direction of the acceleration of unmanned vehicle, detect the initial velocity of unmanned vehicle at start position;
Based on described initial velocity initial velocity components in the horizontal direction, carry out the decelerating flight of horizontal direction with the first acceleration preset.
4. method as claimed in claim 3, is characterized in that, described in judge whether that decelerating flight comprises to the step of hovering:
Detect unmanned vehicle First Speed component in the horizontal direction, second speed component at vertical direction;
Judge whether described First Speed component is less than default First Speed threshold value, whether described second speed component is less than default second speed threshold value; If so, hovering is then judged;
Wherein, described second speed component is less than the time of default second speed threshold value, prior to, described First Speed component is less than the time of default First Speed threshold value.
5. the method as described in claim 3 or 4, is characterized in that, described plane belonging to the direction that described throwing operates, the step of carrying out decelerating flight from described start position also comprise:
When described initial velocity the initial velocity components of vertical direction decay to be less than default second speed threshold value time, unmanned vehicle flies, with in the vertical direction stress balance;
Or,
Based on the initial velocity components of described initial velocity at vertical direction, carry out the decelerating flight of vertical direction with the second acceleration preset.
6. the method as described in claim 1 or 2 or 4, is characterized in that, the described position in hovering at least comprises the step that described start position is taken pictures:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, described start position is taken pictures.
7. the method as described in claim 1 or 2 or 4, is characterized in that, the described position in hovering at least comprises the step that described start position is taken pictures:
Focus with the distance between described start position and the position of described hovering;
When focusing completes, take pictures around described start position.
8. method as claimed in claim 7, is characterized in that, the described position in hovering at least also comprises the step that described start position is taken pictures:
The multiple image data obtained carrying out around described start position taking pictures are carried out synthesis and are processed.
9. the method as described in claim 1 or 2 or 4 or 8, is characterized in that, also comprise:
When having taken pictures, fly to described start position from the position of hovering.
10. a unmanned vehicle, comprising:
Throwing detection module, is suitable for, when the throwing operation for unmanned vehicle being detected, determining to detect that position when throwing operates is start position;
Flight module, is suitable for the direction operated according to described throwing, carries out decelerating flight from described start position;
Hovering judge module, is suitable for judging whether that decelerating flight is to hovering; If so, then photo module is called;
Photo module, is suitable at least taking pictures to described start position in the position of hovering.
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