CN105857582A - Method and device for adjusting shooting angle, and unmanned air vehicle - Google Patents
Method and device for adjusting shooting angle, and unmanned air vehicle Download PDFInfo
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- CN105857582A CN105857582A CN201610211289.0A CN201610211289A CN105857582A CN 105857582 A CN105857582 A CN 105857582A CN 201610211289 A CN201610211289 A CN 201610211289A CN 105857582 A CN105857582 A CN 105857582A
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- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Theoretical Computer Science (AREA)
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Abstract
The invention relates to a method and device for adjusting a shooting angle, and an unmanned air vehicle. The method for adjusting the shooting angle comprises the following steps of acquiring position information of a shot target and position information of the unmanned air vehicle; comparing the position information of the shot target with the position information of the unmanned air vehicle, and determining the relative position information of the shot target and the unmanned air vehicle; and according to the relative position information, adjusting the shooting angle. According to the relative position information of the shot target and the unmanned air vehicle, the shooting angle of shooting equipment of the unmanned air vehicle can be automatically adjusted, so that manual operation probability in the shooting process can be reduced, the shot targets can be effectively captured, and the shooting purpose can be achieved easily; the operation complexity is reduced, the operation is intelligent and the operation experience of users is improved.
Description
Technical field
The present invention relates to unmanned vehicle technical field, particularly relate to a kind of side adjusting shooting angle
Method, device and unmanned vehicle.
Background technology
Unmanned plane of taking photo by plane, using UAV as aerial platform, obtains information with airborne sensory equipment,
With computer, image information is processed, and be fabricated to image according to certain required precision.Wherein, machine
Carry remote sensing equipment and include high resolution CCD (Charge-coupled Device, charge coupled cell) number
Code-phase machine, light optical camera, infrared scanner, laser scanner, magnetic determining device etc..Take photo by plane unmanned plane
Simple in construction, use cost are low, it is adaptable to the scene that commonness photograph can not arrive or shoot.
But in shooting process, operator need by remote controller manually adjust in unmanned plane airborne distant
The shooting angle of sense equipment, operation complexity.
Summary of the invention
Technical problem
In view of this, the technical problem to be solved in the present invention is, the most automatically adjusts the shooting angle of unmanned plane
Degree.
Solution
In order to solve above-mentioned technical problem, the present invention provides a kind of method adjusting shooting angle, including:
Obtain photographic subjects and the positional information of unmanned vehicle；
The positional information of the positional information of described photographic subjects with described unmanned vehicle is compared
Relatively, described photographic subjects and the relative position information of described unmanned vehicle are determined；
According to described relative position information, adjust shooting angle.
For said method, in a kind of possible implementation, obtain photographic subjects and unmanned fly
The positional information of row device, including:
Obtain latitude and longitude information and the relative altitude information of photographic subjects, and by the longitude and latitude of described photographic subjects
Degree information is converted to rectangular coordinate data by spherical coordinates data；
Obtain latitude and longitude information and the relative altitude information of described unmanned vehicle, and by described unmanned
The latitude and longitude information driving aircraft is converted to rectangular coordinate data by spherical coordinates data.
For said method, in a kind of possible implementation, by the positional information of described photographic subjects
Compare with the positional information of described unmanned vehicle, determine described photographic subjects and described unmanned
Drive the relative position information of aircraft, including:
According to the latitude and longitude information meter after described photographic subjects and described unmanned vehicle Coordinate Conversion
Calculation obtains translation parameters and rotation parameter；
Relative altitude information according to described photographic subjects and described unmanned vehicle is calculated bows
Face upward angle parameter.
For said method, in a kind of possible implementation, according to described relative position information, adjust
Whole shooting angle, including:
The flight that described relative position information is sent to described unmanned vehicle controls platform；
Described flight controls platform and is calculated motor control signal according to described relative position information, and will
Described motor control signal is sent to The Cloud Terrace；
Described The Cloud Terrace drives motor to adjust the luffing angle of capture apparatus according to described motor control signal.
For said method, in a kind of possible implementation, at the positional information obtaining photographic subjects
Before, also include:
Judge whether to enter Intelligent aerial photography pattern；
In the case of judging to enter Intelligent aerial photography pattern, lock the manipulation of described unmanned vehicle
Bar.
The present invention also provides for a kind of device adjusting shooting angle, including:
Locating module, for obtaining the positional information of photographic subjects and unmanned vehicle；
Relatively position determination module, for unmanned flying the positional information of described photographic subjects with described
The positional information of row device compares, and determines that described photographic subjects is relative with described unmanned vehicle
Positional information；
Angle adjustment module, for according to described relative position information, adjusts shooting angle.
For said apparatus, in a kind of possible implementation, described locating module includes:
GPS unit, communicates with the GPS location equipment being arranged in photographic subjects, is used for obtaining described
The latitude and longitude information of photographic subjects；
The fixed high unit of light stream auxiliary, for obtaining the relative altitude information of described photographic subjects；
Coordinate transformation unit, is connected with described GPS unit, for being believed by the longitude and latitude of described photographic subjects
Breath is converted to rectangular coordinate data by spherical coordinates data.
For said apparatus, in a kind of possible implementation, described GPS unit is additionally operable to obtain institute
State the latitude and longitude information of unmanned vehicle；The fixed high unit of described light stream auxiliary is additionally operable to obtain described nothing
People drives the relative altitude information of aircraft；Described coordinate transformation unit is additionally operable to unmanned fly described
The latitude and longitude information of row device is converted to rectangular coordinate data by spherical coordinates data.
For said apparatus, in a kind of possible implementation, described relative position determination module is also used
In calculating according to the latitude and longitude information after described photographic subjects and described unmanned vehicle Coordinate Conversion
Obtain translation parameters and rotation parameter；Relative with described unmanned vehicle according to described photographic subjects
Elevation information is calculated luffing angle parameter.
For said apparatus, in a kind of possible implementation, described angle adjustment module be additionally operable to by
Described relative position information is sent to the flight of described unmanned vehicle and controls platform；
The device of described adjustment shooting angle also includes:
Described flight controls platform, is connected with described angle adjustment module, for according to described relative position
Information is calculated motor control signal, and described motor control signal is sent to The Cloud Terrace；
Described The Cloud Terrace, controls platform with described flight and is connected, for driving according to described motor control signal
Motor adjusts the luffing angle of capture apparatus.
The present invention also provides for a kind of unmanned vehicle, including capture apparatus, described nolo flight
Device also includes: the device of the adjustment shooting angle of any one structure in the embodiment of the present invention.
For above-mentioned unmanned vehicle, in a kind of possible implementation, described capture apparatus bag
Include in CCD digital camera, optical camera, infrared scanner, laser scanner and magnetic determining device any one.
Beneficial effect
The present invention is according to the relative position information of photographic subjects Yu unmanned vehicle, it is possible to automatically adjust
The shooting angle of the capture apparatus of unmanned vehicle, can reduce the several of manual operation in shooting process
Rate, effective seizure subject is also easily reached shooting purpose, reduces operation complexity, operation
Intelligence, improves user operation and experiences.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, the further feature of the present invention and side
Face will be clear from.
Accompanying drawing explanation
The accompanying drawing of the part comprising in the description and constituting description together illustrates with description
The exemplary embodiment of the present invention, feature and aspect, and for explaining the principle of the present invention.
Fig. 1 illustrates the flow chart of the method adjusting shooting angle according to an embodiment of the invention；
Fig. 2 illustrates another flow chart of the method adjusting shooting angle according to an embodiment of the invention；
Fig. 3 illustrates another flow chart of the method adjusting shooting angle according to an embodiment of the invention；
Fig. 4 illustrates showing of the application scenarios of the method adjusting shooting angle according to another embodiment of the present invention
It is intended to；
Fig. 5 illustrates the flow chart of the method adjusting shooting angle according to another embodiment of the present invention；
Fig. 6 illustrates the structured flowchart of the device adjusting shooting angle according to an embodiment of the invention；
Fig. 7 illustrates the structure of locating module in the device adjusting shooting angle according to an embodiment of the invention
Block diagram；
Fig. 8 illustrates the structured flowchart of unmanned vehicle according to an embodiment of the invention.
Detailed description of the invention
Various exemplary embodiments, feature and the aspect of the present invention is described in detail below with reference to accompanying drawing.Attached
Reference identical in figure represents the same or analogous element of function.Although enforcement shown in the drawings
The various aspects of example, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
The most special word " exemplary " means " as example, embodiment or illustrative ".Here as
Any embodiment illustrated by " exemplary " should not necessarily be construed as preferred or advantageous over other embodiments.
It addition, in order to better illustrate the present invention, detailed description of the invention below gives numerous
Detail.It will be appreciated by those skilled in the art that do not have some detail, the present invention is equally
Implement.In some instances, for method well known to those skilled in the art, means, element and circuit
It is not described in detail, in order to highlight the purport of the present invention.
Embodiment 1
Fig. 1 illustrates the flow chart of the method adjusting shooting angle according to an embodiment of the invention.Such as Fig. 1 institute
Showing, the method for this adjustment shooting angle mainly may include that
Step 101, acquisition photographic subjects and the positional information of unmanned vehicle；
Step 102, the positional information of described photographic subjects is entered with the positional information of unmanned vehicle
Row compares, and determines described photographic subjects and the relative position information of described unmanned vehicle；
Step 103, according to described relative position information, adjust shooting angle.
In a kind of possible implementation, as in figure 2 it is shown, step 101 may include that
Step 201, the latitude and longitude information obtaining photographic subjects and relative altitude information, and by described shooting
The latitude and longitude information of target is converted to rectangular coordinate data by spherical coordinates data；
Step 202, the latitude and longitude information obtaining described unmanned vehicle and relative altitude information, and
The latitude and longitude information of described unmanned vehicle is converted to rectangular coordinate data by spherical coordinates data.
Wherein the sequential of step 201 and step 202 can be exchanged, it is also possible to carrying out, the present invention is to this simultaneously
It is not defined.
Specifically, unmanned vehicle (also referred to as unmanned plane) can use aircraft inertia to navigate
System and GPS (Global Positioning System, global positioning system) navigation system, it is ensured that fly
Row is safe and reliable and normal operation under complex environment.Determining of photographic subjects can be obtained by GPS
Position coordinate data, and obtain the location parameter of unmanned vehicle self.
In a kind of possible implementation, step 102 may include that
Step 203, according to the longitude and latitude after described photographic subjects and described unmanned vehicle Coordinate Conversion
Degree information is calculated translation parameters and rotation parameter；
Step 204, relative altitude information meter according to described photographic subjects and described unmanned vehicle
Calculation obtains luffing angle parameter.
In a kind of possible implementation, step 103 may include that
Step 301, described relative position information is sent to described unmanned vehicle flight control
Platform；
Step 302, flight control platform and are calculated motor control signal according to described relative position information,
And described motor control signal is sent to The Cloud Terrace；
Step 303, The Cloud Terrace drive motor to adjust the angle of pitch of capture apparatus according to described motor control signal
Degree.
Specifically, in the The Cloud Terrace of unmanned vehicle, it is provided with driving motor, drives motor and shooting
The position adjusting mechanism of equipment connects, it is possible to adjust the luffing angle of capture apparatus.Capture apparatus can be
But it is not limited to the machines such as CCD digital camera, optical camera, infrared scanner, laser scanner, magnetic determining device
Carry remote sensing equipment.
In a kind of possible implementation, as it is shown on figure 3, may include that before step 101
Step 100, judge whether enter Intelligent aerial photography pattern, judge enter Intelligent aerial photography pattern feelings
Under condition, perform step 200, otherwise can enter manual mode.
Step 200, lever locked.
For example, as shown in Figure 4, the unmanned vehicle with aerial photography function includes: accurately fixed
Position follow the trail of GPS module 41, the fixed high module 42 of light stream auxiliary, the GPS module 43 of ground subject,
Flight controls platform 44, The Cloud Terrace 45 and camera 46.By the GPS module 41 within unmanned plane (in conjunction with setting
It is placed in the GPS module 43 of ground subject) and light stream auxiliary fixed high system acquisition subject
After the positional information of (i.e. photographic subjects), the CPU of unmanned vehicle can utilize location comparison to calculate
Method and coordinate transformation system calculate the relative position letter between unmanned vehicle with subject
Breath and the luffing angle data produced due to difference in height.Then CPU through data transmission system by relative position
Information and the luffing angle data due to difference in height generation are transferred to flight and control platform 44.By flight control
It is specific that the platform 44 luffing angle data by relative position information with due to difference in height generation are converted into sign
The control signal of mechanical movement, is sent to The Cloud Terrace 45.The Cloud Terrace 45 receive control signal rear drive camera 46 by
Rotate according to predetermined direction, be automatically directed at subject, thus complete shooting easily, easily and efficiently.
Accurate calculating according to embodiments of the present invention, accurately controls, it is possible to effective seizure subject is the lightest
Pine reaches to shoot purpose, operation intelligence, improves Consumer's Experience effect.
Embodiment 2
Fig. 5 illustrates the flow chart of the method adjusting shooting angle according to another embodiment of the present invention.This reality
Execute in example with the APP (application) on the smart machines such as such as mobile phone, panel computer, notebook computer
End illustrates as a example by realizing the method for this adjustment shooting angle.Specifically, by arranging at APP end
Locking remote controller stick enters Intelligent aerial photography pattern.Wherein, the feature of Intelligent aerial photography pattern can include
Below any one or multiple:
A. auto-flare system height and position during lever locked.
B. pan or inclination are made during unmanned plane during flying.
C. unmanned plane follow all the time hold tracing positioning device by clap object.
D. boundary line, safety zone be can freely set, unmanned plane collision Adjacent Buildings or shelter prevented.
E. " unmanned plane is gone home " pattern can be freely switched to.
As it is shown in figure 5, the method for this adjustment shooting angle specifically may include that
APP end judges whether to enter Intelligent aerial photography pattern (step 401) according to user operation, navigates in intelligence
After bat pattern, start lock operation bar program (step 402).APP end can be transmitted into unmanned plane
The control signal of Intelligent aerial photography pattern, the CPU of unmanned plane GPS module 41 from unmanned plane and ground quilt
GPS module 43 on reference object (i.e. photographic subjects) obtains the latitude and longitude information (step of subject
Rapid 403).CPU obtains the relative altitude information of subject from the fixed high module 42 of light stream auxiliary, wherein
Relative altitude information is assumed to be (X, Y, Z).Upload due to GPS is spherical coordinates data, needs through sitting
Mark conversion is such as transferred boolean's Sha's coordinate and is turned algorithm routine (step 404), and latitude and longitude information is changed by CPU
For local three dimensions rectangular coordinate information data.Such as, convert calculate include 3 translation parameterss (x, y,
Z), 3 rotation parameters (x1, y1, z1) and the scale parameter m of embodiment luffing angle.It follows that CPU
Can be by the positional information of subject and (obtaining from GPS module 41) unmanned plane self-position
Parameter compares calculating, draws the relative position information (step 405) between unmanned plane and photographic subjects.CPU
The flight that these relative position information data pass to unmanned plane by data wire (or being wirelessly transferred) is controlled flat
Platform 44 (or being referred to as flying to control module) such as electricity regulation and control making sheet.Flight controls platform 44 according to this relative position
Information calculates output motor control signal to The Cloud Terrace 45 (step 406).Driving motor in The Cloud Terrace 45 according to
Correct luffing angle catches photographic subjects, and passes through the auxiliary correction means real-time capture on APP and make phase
The capture apparatus such as machine are in optimal shooting angle, it is ensured that optimum shooting effect (step 407).
Additionally, after step 407, the method for this adjustment shooting angle can also include:
Step 408, APP end judge whether unmanned plane is switched to home mode, are if it is switched to back
Family's module, instruction unmanned plane returns to origin or the place of going home of setting, waits and start to take photo by plane next time；
Otherwise, step 409 is performed.Such as, user not enough at unmanned plane electricity selects to go home the situations such as module
Under, unmanned plane can be switched to home mode.
Step 409, APP end judge to take photo by plane whether complete, if it is terminate.Otherwise start setting
Delay procedure (step 410), returns after certain time-delay and performs step 403.
The present invention can adjust the shooting angle of capture apparatus automatically in Intelligent aerial photography pattern, can significantly drop
The probability of manual operation in low shooting process, it is possible to effective seizure subject is also easily reached shooting
Purpose, operation intelligence, significantly improve the operating experience of domestic consumer.Especially for outdoor enthusiast,
Such as climb rocks, ride, ski, the user such as slide plate provides easy and convenient auto heterodyne effect.
Embodiment 3
Fig. 6 illustrates the structured flowchart of the device adjusting shooting angle according to an embodiment of the invention.Such as Fig. 6
Shown in, the device of this adjustment shooting angle may include that
Locating module 51, for obtaining the positional information of photographic subjects and unmanned vehicle；
Position determination module 53 relatively, for by unmanned with described for the positional information of described photographic subjects
The positional information of aircraft compares, and determines described photographic subjects and the phase of described unmanned vehicle
To positional information；
Angle adjustment module 55, for according to described relative position information, adjusts shooting angle.
In a kind of possible implementation, as it is shown in fig. 7, described locating module 51 includes:
GPS unit 511, communicates with the GPS location equipment being arranged in photographic subjects, is used for obtaining institute
State the latitude and longitude information of photographic subjects；
The fixed high unit 513 of light stream auxiliary, for obtaining the relative altitude information of described photographic subjects；
Coordinate transformation unit 515, is connected with described GPS unit 511, for by the warp of described photographic subjects
Latitude information is converted to rectangular coordinate data by spherical coordinates data.
In a kind of possible implementation, described GPS unit 511 is additionally operable to obtain described unmanned fly
The latitude and longitude information of row device；The fixed high unit 513 of described light stream auxiliary is additionally operable to obtain described unmanned fly
The relative altitude information of row device；Described coordinate transformation unit 515 is additionally operable to described unmanned vehicle
Latitude and longitude information be converted to rectangular coordinate data by spherical coordinates data.
In a kind of possible implementation, described relative position determination module 53 is additionally operable to according to described bat
Take the photograph the latitude and longitude information after target and described unmanned vehicle Coordinate Conversion and be calculated translation parameters
And rotation parameter；Relative altitude information according to described photographic subjects and described unmanned vehicle calculates
Obtain luffing angle parameter.
In a kind of possible implementation, described angle adjustment module 55 is additionally operable to described relative position
Information is sent to the flight of described unmanned vehicle and controls platform；
In a kind of possible implementation, the device of described adjustment shooting angle also includes:
Described flight controls platform 57, is connected with described angle adjustment module, for according to described phase para-position
Confidence breath is calculated motor control signal, and described motor control signal is sent to The Cloud Terrace；
Described The Cloud Terrace 59, controls platform with described flight and is connected, for driving according to described motor control signal
Galvanic electricity machine adjusts the luffing angle of capture apparatus.
Embodiment 4
Fig. 8 illustrates the structured flowchart of unmanned vehicle according to an embodiment of the invention.Such as Fig. 8 institute
Showing, this unmanned vehicle may include that any one knot in capture apparatus 71 and above-described embodiment
The device 73 of the adjustment shooting angle of structure.Wherein, described capture apparatus includes but not limited to CCD number phase
In machine, optical camera, infrared scanner, laser scanner and magnetic determining device any one.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
In this, any those familiar with the art, can be easily in the technical scope that the invention discloses
Expect change or replace, all should contain within protection scope of the present invention.Therefore, the protection of the present invention
Scope should be as the criterion with described scope of the claims.
Claims (12)
1. the method adjusting shooting angle, it is characterised in that including:
Obtain photographic subjects and the positional information of unmanned vehicle；
The positional information of the positional information of described photographic subjects with described unmanned vehicle is compared
Relatively, described photographic subjects and the relative position information of described unmanned vehicle are determined；
According to described relative position information, adjust shooting angle.
Method the most according to claim 1, it is characterised in that obtain photographic subjects and unmanned
The positional information of aircraft, including:
Obtain latitude and longitude information and the relative altitude information of photographic subjects, and by the longitude and latitude of described photographic subjects
Degree information is converted to rectangular coordinate data by spherical coordinates data；
Obtain latitude and longitude information and the relative altitude information of described unmanned vehicle, and by described unmanned
The latitude and longitude information driving aircraft is converted to rectangular coordinate data by spherical coordinates data.
Method the most according to claim 2, it is characterised in that the position of described photographic subjects is believed
Cease the positional information with described unmanned vehicle to compare, determine described photographic subjects and described nothing
People drives the relative position information of aircraft, including:
According to the latitude and longitude information meter after described photographic subjects and described unmanned vehicle Coordinate Conversion
Calculation obtains translation parameters and rotation parameter；
Relative altitude information according to described photographic subjects and described unmanned vehicle is calculated bows
Face upward angle parameter.
The most according to the method in any one of claims 1 to 3, it is characterised in that according to described phase
To positional information, adjust shooting angle, including:
The flight that described relative position information is sent to described unmanned vehicle controls platform；
Described flight controls platform and is calculated motor control signal according to described relative position information, and will
Described motor control signal is sent to The Cloud Terrace；
Described The Cloud Terrace drives motor to adjust the luffing angle of capture apparatus according to described motor control signal.
The most according to the method in any one of claims 1 to 3, it is characterised in that obtaining shooting
Before the positional information of target, also include:
Judge whether to enter Intelligent aerial photography pattern；
In the case of judging to enter Intelligent aerial photography pattern, lock the manipulation of described unmanned vehicle
Bar.
6. the device adjusting shooting angle, it is characterised in that including:
Locating module, for obtaining the positional information of photographic subjects and unmanned vehicle；
Relatively position determination module, for unmanned flying the positional information of described photographic subjects with described
The positional information of row device compares, and determines that described photographic subjects is relative with described unmanned vehicle
Positional information；
Angle adjustment module, for according to described relative position information, adjusts shooting angle.
Device the most according to claim 6, it is characterised in that described locating module includes:
GPS unit, communicates with the GPS location equipment being arranged in photographic subjects, is used for obtaining described
The latitude and longitude information of photographic subjects；
The fixed high unit of light stream auxiliary, for obtaining the relative altitude information of described photographic subjects；
Coordinate transformation unit, is connected with described GPS unit, for being believed by the longitude and latitude of described photographic subjects
Breath is converted to rectangular coordinate data by spherical coordinates data.
Device the most according to claim 7, it is characterised in that
Described GPS unit is additionally operable to obtain the latitude and longitude information of described unmanned vehicle；
The fixed high unit of described light stream auxiliary is additionally operable to obtain the relative altitude letter of described unmanned vehicle
Breath；
Described coordinate transformation unit is additionally operable to be sat the latitude and longitude information of described unmanned vehicle by ball
Mark data are converted to rectangular coordinate data.
9. according to the device according to any one of claim 6 to 8, it is characterised in that
Described relative position determination module is additionally operable to according to described photographic subjects and described nolo flight
Latitude and longitude information after device Coordinate Conversion is calculated translation parameters and rotation parameter；According to described shooting mesh
The relative altitude information of mark and described unmanned vehicle is calculated luffing angle parameter.
10. according to the device according to any one of claim 6 to 8, it is characterised in that
Described angle adjustment module is additionally operable to be sent to described relative position information described unmanned fly
The flight of row device controls platform；
The device of described adjustment shooting angle also includes:
Described flight controls platform, is connected with described angle adjustment module, for according to described relative position
Information is calculated motor control signal, and described motor control signal is sent to The Cloud Terrace；
Described The Cloud Terrace, controls platform with described flight and is connected, for driving according to described motor control signal
Motor adjusts the luffing angle of capture apparatus.
11. 1 kinds of unmanned vehicles, including capture apparatus, it is characterised in that described unmanned
Aircraft also includes: the device of the adjustment shooting angle according to any one of claim 6 to 10.
12. unmanned vehicles according to claim 11, it is characterised in that described shooting sets
For including: CCD digital camera, optical camera, infrared scanner, laser scanner and magnetic determining device are appointed
Meaning one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610211289.0A CN105857582A (en) | 2016-04-06 | 2016-04-06 | Method and device for adjusting shooting angle, and unmanned air vehicle |
| PCT/CN2016/086314 WO2017173734A1 (en) | 2016-04-06 | 2016-06-17 | Method and device for adjusting photographic angle and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610211289.0A CN105857582A (en) | 2016-04-06 | 2016-04-06 | Method and device for adjusting shooting angle, and unmanned air vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN105857582A true CN105857582A (en) | 2016-08-17 |
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|---|---|---|---|
| CN201610211289.0A Pending CN105857582A (en) | 2016-04-06 | 2016-04-06 | Method and device for adjusting shooting angle, and unmanned air vehicle |
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| CN (1) | CN105857582A (en) |
| WO (1) | WO2017173734A1 (en) |
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| CN106303435A (en) * | 2016-08-23 | 2017-01-04 | 刘永锋 | Real-time video acquisition device based on Virtual Realization |
| CN106454278A (en) * | 2016-11-30 | 2017-02-22 | 广州日滨科技发展有限公司 | Fault detection method and device of downhole control system |
| CN106454069A (en) * | 2016-08-31 | 2017-02-22 | 歌尔股份有限公司 | Method and device for controlling shooting of unmanned aerial vehicle, and wearable device |
| CN106506956A (en) * | 2016-11-17 | 2017-03-15 | 歌尔股份有限公司 | Based on the track up method of unmanned plane, track up apparatus and system |
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