CN205353774U - Accompany unmanned aerial vehicle system of taking photo by plane of shooing aircraft - Google Patents

Abstract

The utility model discloses an aerial photographing system of an unmanned aerial vehicle accompanied by an aerial photographing aircraft, an aerial vehicle and an unmanned aerial vehicle, and belongs to the application field of unmanned aerial vehicles. The system includes the main flying aircraft and the accompanying drone mounted with aerial photography equipment, and also includes a positioning identification device and a synchronization device; the positioning identification device obtains the position information of the main flying aircraft and the accompanying flying drone, and calculates the distance between the two. The relative positional relationship; the synchronization device plans the flight track of the accompanying UAV in real time according to the relative positional relationship, generates flight instructions for controlling the accompanying UAV, controls the flight of the accompanying UAV, and ensures that the relative positional relationship is within the preset Within the range; the aerial photography equipment automatically tracks and photographs the main aircraft. The utility model uses the accompanying drone equipped with aerial photography equipment to photograph the main flying aircraft in the flight process, introduces a position recognition and synchronization mechanism, and effectively completes the photographing process.

Description

A UAV aerial photographing system accompanied by photographing aircraft

technical field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to an aerial photographing system of an unmanned aerial vehicle accompanied by an aerial vehicle, the aerial vehicle and the unmanned aerial vehicle.

Background technique

With the development of drone technology, aerial photography has begun to be used more and more widely. Especially as small and micro unmanned aerial vehicles, such as quadcopters, have begun to widely enter the consumer market, ordinary users have begun to come into contact with the aerial photography market more and more, and understand aerial photography technology.

The application of small and micro drones, especially multi-rotor unmanned aerial vehicles, shines in the field of aerial photography. Professionals use them to shoot videos, live broadcast events, etc., and ordinary users are also very interested in using them to take photos, record ceremonies, etc. . A typical feature of this application is: while the user controls the drone to fly in the air, the user also controls the shooting equipment carried on the drone to take a bird's-eye view from the air to the ground. The angles of the shooting content obtained by drones are difficult to achieve by the existing ordinary ground shooting methods, and the overall situation is better, and there are less restrictions on the shooting conditions. welcome.

For example: the Chinese invention patent application with the application number 201510081882.3 and the invention name "A Shooting Device for Aerial Photography Platform" discloses a shooting device for aerial photography platform, including a housing, a camera, a camera mounting case, Rotary drive mechanism, the camera installation shell is arranged under the casing, the camera is fixedly installed in the inner cavity of the camera installation shell obliquely, the visual axis direction of the camera is downward and forms an angle with the vertical direction, so The camera mounting case is provided with a viewing port corresponding to the lens of the camera, and the rotation driving mechanism is arranged on the housing, and the rotation driving mechanism is connected with the camera mounting case and drives the camera mounting case to be opposite to each other. The housing rotates in a horizontal plane.

For another example, the Chinese invention patent application with the application number 201280030283.3 and the title of the invention "Method and Device for Removing Artifacts from Aerial Images" discloses a computer system for generating artifact-free aerial images of regions of interest. A computer system receives one or more input aerial images obtained at different times. A false color image is produced by applying two or more input aerial images to different color channel inputs of the false color image. Pixels in the two or more input aerial images are classified as representing clear regions, cloud regions, or shadow regions based on the pixel colors in the pseudo-color images. An output image is generated by combining pixels from two or more input aerial images classified as representing sharp regions. Or, the Chinese invention patent application with the application number 201410858106.5 and the title of the invention "Aligning Ground-Based Image and Aerial Image" provides a method for aligning a ground-based image of a geographical area obtained from a perspective angle at or near ground level with an image obtained from, for example, Systems and methods for aligning a set of aerial images acquired at oblique perspective angles.

However, in the existing UAV aerial photography technology, currently only UAVs are used to photograph specific targets on the ground. clarity etc.

With the deepening of users' use of drones and the extension of their needs, users are not satisfied with just using drones to shoot specific objects on the ground. Users found that the shooting of the flight process of the drone itself is also very interesting. How to shoot the flight process and activity process of drones from a third-party perspective has become a new problem.

In the prior art, shooting is carried out on the ground in a long-distance and wide-angle manner. Due to the large shooting range, the entire flight process of the drone can basically be photographed. However, this shooting method causes the drone to be only a small point in the entire viewing range, and even in poor light conditions, it is difficult to identify the drone from the entire frame.

If you want to shoot a drone in flight, you need to solve the problem that the lens can capture the drone relatively close in real time. However, since UAV itself is a high-speed object in the air, especially multi-rotor aircraft, it is different from ordinary fixed-wing aircraft in that its flight process is more flexible and its steering behavior in the air is more unpredictable. Therefore, it is very difficult to use third-party aerial photography equipment to shoot the flight process of the drone. The photographer can only adjust the shooting range of the lens according to his own judgment and reaction, and it is easy to lose the subject, resulting in poor shooting effect. Discontinuity, or even missing key actions.

Utility model content

The purpose of the invention of this utility model is to provide a kind of unmanned aerial vehicle aerial photographing system and its aerial vehicle and unmanned aerial vehicle accompanying photographing aircraft, use the accompanying flying unmanned aerial vehicle equipped with aerial photographing equipment to photograph the main flying aircraft in the flight process, effectively Complete the process of filming an aircraft in flight.

In order to solve the problems of the technologies described above, the technical scheme adopted by the utility model is as follows:

An unmanned aerial vehicle aerial photography system accompanied by a photographing aircraft, comprising a main flying aircraft and an accompanying unmanned aerial vehicle, the accompanying unmanned aerial vehicle is mounted with an aerial photography device that automatically tracks and photographs the main flying aircraft, and the main flying The aircraft and the accompanying drone respectively have a first flight controller that controls the flight of the main flying aircraft and a second flight controller that controls the flight of the accompanying aircraft, and also includes acquiring the main flying aircraft and the accompanying flying aircraft. The positioning recognition device of the position information of the UAV and the synchronization device that ensures that the relative position relationship between the accompanying UAV and the main flying aircraft is within a preset range, and the synchronization device is respectively connected with the positioning recognition device and the main flying aircraft. The second flight controller is connected, the location recognition device inputs the position information to the synchronization device, and the synchronization device inputs flight instructions to the second flight controller.

Further, the positioning recognition device includes a visual sensor, the visual sensor is set on the accompanying drone, its shooting angle and position are relatively fixed, based on dynamic image recognition, the accompanying drone can identify the main Position recognition of flying vehicles.

Further, the visual sensor includes an infrared camera and/or a laser camera.

Further, the location identification device includes a first GPS unit and a second GPS unit, wherein,

The first GPS unit is arranged on the main flying aircraft, which is suitable for obtaining the position information of the main flying aircraft;

The second GPS unit is arranged on the accompanying UAV, and is suitable for obtaining the position information of the accompanying UAV.

Further, the positioning identification device includes a beacon positioning module, and the beacon positioning module includes a bluetooth unit and a reader, wherein the bluetooth unit is set on the main aircraft, and the reader is set on on the accompanying drone.

Further, the location recognition device includes a first inertial sensor and a second inertial sensor, the first inertial sensor is set on the main aircraft, and the second inertial sensor is set on the accompanying drone.

Further, the location recognition device also includes a switch, which is suitable for autonomously switching to any one of the visual sensor, GPS unit, beacon positioning module and/or inertial sensor, or any combination thereof, or One of the positioning recognition methods is used as the main method, and another positioning recognition method is selected for auxiliary correction.

Further, the location identification device also includes a relative position calculation unit, which is adapted to calculate the actual relative position offset between the main aircraft and the accompanying drone according to the position information of the two, so The synchronization device generates the target position of the accompanying drone according to the actual relative position offset and the preset relative position offset.

According to another aspect of the present utility model, an aircraft is provided, including a first flight controller for controlling the flight of the aircraft, a first location identification module and a first communication module for acquiring the position information of the aircraft, the first The positioning identification module is connected to the first communication module,

The first communication module sends the position information of the aircraft to the accompanying drone, wherein the accompanying drone automatically tracks and photographs the aircraft, and the accompanying drone automatically The position information and its own position information are calculated to obtain the relative position relationship between the two, and the flight track of the accompanying drone is planned in real time according to the relative position relationship, so as to ensure that the relative position relationship is within a preset range .

According to still another aspect of the present utility model, there is provided an unmanned aerial vehicle, which is mounted with an aerial photography device that automatically tracks and photographs the main flying aircraft, and also includes a second communication device for receiving the position information of the main flying aircraft. module, a second flight controller that controls the flight of the UAV, a second location recognition module that acquires the location information of the UAV, and obtains the distance between the main aircraft and the UAV according to the location information. The relative position calculation unit of the relative position relationship between them and the synchronization module that generates and controls the flight instructions of the unmanned aerial vehicle according to the relative position relationship, the relative position calculation unit and the second communication module and the second positioning module respectively The identification module is connected, the synchronization module is respectively connected with the relative position calculation unit and the second flight controller, and the synchronization module inputs the flight instruction to the second flight controller.

The utility model discloses an aerial photographing system of an unmanned aerial vehicle accompanied by an aerial photographing aircraft and its aircraft and an unmanned aerial vehicle. The accompanying unmanned aerial vehicle equipped with aerial photographing equipment is used to photograph the main flying aircraft in the flight process, and position recognition and synchronization are introduced. Mechanism and even lens automatic tracking technology to ensure that the aircraft to be photographed can be captured in advance, and the process of photographing the main aircraft in flight by the accompanying drone can be effectively completed. This kind of shooting can not only be used to produce display content with appreciation value, but also can be applied to other derived fields such as the monitoring of flying targets.

The above description is only an overview of the technical solution of the utility model, in order to make the technical means of the utility model clearer, to the extent that those skilled in the art can implement it according to the contents of the specification, and in order to make the above and Other purposes, features and advantages can be more obvious and understandable, and the specific implementation manners of the present utility model are used as examples below for illustration.

Description of drawings

Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings in the description are only for the purpose of illustrating preferred embodiments, and are not considered to limit the utility model. Apparently, the drawings described below are only some embodiments of the present utility model, and those skilled in the art can obtain other drawings according to these drawings without creative work. Also throughout the drawings, the same reference numerals are used to denote the same parts. In the attached picture:

Fig. 1 shows a schematic structural diagram of a UAV aerial photographing system accompanied by photographing an aircraft according to Embodiment 1 of the present invention;

Fig. 2 shows a schematic structural diagram of a UAV aerial photography system accompanied by a photographing aircraft according to Embodiment 2 of the present invention;

Fig. 3 shows the flow chart of the UAV aerial photographing method accompanied by photographing the aircraft according to Embodiment 3 of the present invention;

Fig. 4 shows a flow chart of a method for aerial photography of a UAV accompanied by an aircraft according to Embodiment 4 of the present invention.

detailed description

Specific embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. Although specific embodiments of the invention have been shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in nouns as a way of distinguishing components, but use differences in functions of components as a criterion for distinguishing. "Includes" or "comprises" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". The following descriptions in the specification are preferred implementation modes for implementing the present utility model, but the descriptions are for the purpose of the general principles of the specification, and are not intended to limit the scope of the present utility model. The scope of protection of the present utility model should be defined by the appended claims.

In order to facilitate the understanding of the embodiments of the present utility model, the following will further explain and illustrate by taking several specific embodiments as examples in conjunction with the accompanying drawings, and each drawing does not constitute a limitation to the embodiments of the present utility model.

Unmanned aerial vehicle is referred to as "unmanned aerial vehicle", and the English abbreviation is "UAV (unmannedaerialvehicle)", which is an unmanned aircraft controlled by radio remote control equipment and its own program control device. From a technical point of view, it can be divided into: unmanned helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airship, unmanned parawing aircraft, etc. In recent years, with the improvement of sensor technology, the advancement of microprocessor technology, the improvement of power devices and the increase of battery life, its use in military and civilian applications has continued to expand at a high speed, and the UAV market has broad prospects.

The preferred unmanned aerial vehicle in the embodiment of the utility model is a multi-rotor unmanned aerial vehicle (or called a multi-rotor aircraft), which can be a four-rotor, six-rotor or unmanned aerial vehicle with a number of rotors greater than six. Preferably, the fuselage is made of carbon fiber material, which can greatly reduce the weight of the fuselage under the premise of satisfying the high use strength and rigidity, thereby reducing the power demand of the multi-rotor unmanned aerial vehicle and improving the maneuverability of the multi-rotor unmanned aerial vehicle sex. Of course, in other embodiments of the present invention, the fuselage can also be made of plastic or any other material used. The fuselage is provided with a plurality of paddle arms symmetrically distributed with respect to the plane of symmetry in the fuselage, and each paddle arm is provided with a blade assembly at one end away from the fuselage, and the blade assembly includes a The motor on the paddle arm and the paddle connected to the output shaft of the motor, the rotation axes of each paddle are located on the same cylindrical surface.

The unmanned aerial vehicle adopted by the technical solution of the utility model mainly refers to a small, miniature multi-rotor unmanned aerial vehicle, which has small volume, low cost, good flight stability, and low flight cost. The aircraft used in the utility model is typically represented by a four-axis multi-rotor aircraft.

Embodiment 1. A UAV aerial photography system accompanying photographing aircraft.

Fig. 1 is a schematic structural diagram of a UAV aerial photographing system accompanied by photographing an aircraft in Embodiment 1 of the present utility model. The embodiment of the present utility model will be described in detail in conjunction with Fig. 1 .

As shown in Figure 1, the embodiment of the utility model provides a UAV aerial photography system accompanied by a photographing aircraft, including a main flying aircraft 101 and an accompanying UAV 102, and the accompanying UAV 102 is mounted with Automatically track and photograph the aerial photographing equipment 105 of the main flying aircraft 101, the main flying aircraft 101 and the accompanying drone 102 respectively have a first flight controller 1011 that controls the flight of the main flying aircraft 101 and controls the accompanying drone 101. The second flight controller 1021 for flying the flying aircraft 102 also includes a location identification device 103 for obtaining the position information of the main flying aircraft 101 and the accompanying flying drone 102 and ensuring that the accompanying flying drone 102 and the accompanying flying drone 102 The relative positional relationship of the main flying aircraft 101 is within a preset range of the synchronizing device 104, the synchronizing device 104 is respectively connected with the positioning recognition device 103 and the second flight controller 1021, and the positioning recognition device 103 will The position information is input to the synchronization device 104 , and the synchronization device 104 inputs flight instructions to the second flight controller 1021 .

In the embodiment of the present utility model, an aerial photographing device 105 is mounted on the accompanying flying drone 102, and the main flying aircraft 101 and the accompanying flying drone 102 have a first flight controller 1011 and a second flight controller respectively. 1021, further comprising a location recognition device 103 and a synchronization device 104, the synchronization device 104 being connected to the location recognition device 103 and the second flight controller 1021 respectively, wherein,

The first flight controller 1011 is suitable for controlling the flight of the primary aircraft;

The location recognition device 103 is adapted to obtain the position information of the main flying aircraft 101 and the accompanying flying drone 102, and calculate the relative positional relationship between the two;

The synchronization device 104 is adapted to plan the flight track of the accompanying UAV 102 in real time according to the relative positional relationship, and generate flight instructions for controlling the accompanying UAV 102;

The second flight controller 1021 is adapted to receive the flight instruction generated by the synchronization device 104, control the flight of the accompanying drone 102, and ensure that the relative positional relationship is within a preset range;

The aerial photographing device 105 on the accompanying drone 102 is suitable for automatically tracking and photographing the main flying aircraft when the relative positional relationship between the accompanying flying drone 102 and the main flying aircraft 101 is within a preset range. Aircraft 101.

Preferably in the embodiment of the present utility model, the main flying aircraft 101 can be any aircraft, such as a fixed-wing aircraft, a rotary wing aircraft, a manned aircraft or an unmanned aerial vehicle that is also used for aerial photography, and the main flying aircraft 101 itself It is also possible to carry its aerial photography equipment, but at this time, the object of the aerial photography drone is other shooting targets besides the drone, such as the forest on the ground or people participating in certain activities.

Preferably in the embodiment of the present utility model, the positioning identification device 103 includes a visual sensor, and the visual sensor is arranged on the accompanying flying UAV 102, and its shooting angle and position are relatively fixed, and the described positioning recognition device 103 is realized based on dynamic image recognition. The accompanying UAV 102 recognizes the position of the host aircraft 101 .

In an embodiment of the present utility model, preferably, the visual sensor includes an infrared camera and/or a laser camera.

Preferably in the embodiment of the present utility model, based on dynamic image recognition, using sensors for visual recognition, the accompanying drone 102 can identify and track the position of the main flying aircraft 101 . Wherein, the vision sensor is the direct source of information of the entire machine vision system, and mainly consists of one or two image sensors. Preferably, the vision sensor can also be equipped with a light projector and other auxiliary equipment. The main function of the vision sensor is to acquire enough raw images for the machine vision system to process. Preferably, the image sensor may use a laser scanner, a line array and an area array CCD camera or a TV camera, or may be a latest digital camera or the like. For example, a sensor for visual recognition is provided on the accompanying flying drone 102, and based on the recognition and action analysis of the main flying drone 101 by the visual recognition sensor, the result is then transferred to the The flight instruction and trajectory planning of the accompanying UAV 102 finally completes the accompanying flight.

Preferably in the embodiment of the present utility model, the location recognition device 103 includes a first GPS unit and a second GPS unit, wherein,

The first GPS unit is arranged on the main aircraft 101, which is suitable for obtaining the position information of the main aircraft 101;

The second GPS unit is arranged on the accompanying UAV 102 and is suitable for obtaining the location information of the accompanying UAV 102 .

Preferably in the embodiment of the present utility model, based on position coordinate identification, the position information of the accompanying flying drone 102 and the main flying aircraft 101 are obtained respectively by using the GPS unit, and the position information includes at least the longitude and latitude geographical position, so as to realize The position recognition and flight tracking of the host aircraft 101 by the accompanying drone 102 . Preferably, the location recognition device may also include a first altimeter and a second altimeter, the first altimeter is located on the main flying aircraft 101, and is used to obtain the real-time flight altitude of the main flying aircraft 101; The second altimeter 102 is located on the accompanying drone, and is used to obtain the real-time flight altitude of the accompanying drone 102 .

Preferably in the embodiment of the present utility model, the location recognition device 103 includes a beacon location module, and the beacon location module includes a bluetooth unit and a reader, wherein the bluetooth unit is arranged on the main flying aircraft 101 , the reader is set on the accompanying drone 102 .

Preferably in the embodiment of the present utility model, the Bluetooth unit on the main aircraft 101 broadcasts a Bluetooth data packet by radio at regular intervals, and this data packet contains beacon ID information, at least including the geographic coordinates of the current position ( Such as longitude and latitude), it can also be any other information (such as main aircraft equipment information, etc.). The accompanying drone 102 supporting the Bluetooth 4.0 function receives the Bluetooth data packet, and uses the information to complete positioning. The positioning accuracy is closely related to the transmission power of the Bluetooth beacon.

Preferably in the embodiment of the present utility model, the location recognition device 103 includes a first inertial sensor and a second inertial sensor, the first inertial sensor is arranged on the main aircraft 101, and the second inertial sensor is arranged on the The accompanying drone 102 is on board.

Preferably in the embodiment of the present utility model, the realization of the accompanying flight can also be realized by an inertial sensor. A first inertial sensor and a second inertial sensor are respectively installed on the main flying aircraft 101 and the accompanying drone 102, according to the sensing results of the second inertial sensor on the accompanying flying drone 102 and the The sensing result of the first inertial sensor on the main flying aircraft 101 is processed into the flight command of the accompanying drone 102, so that the accompanying flight can be realized.

Preferably in the embodiment of the present utility model, the inertial sensor includes an acceleration sensor, a gyroscope sensor and/or a magnetic sensor.

Preferably in the embodiment of the present utility model, the accompanying flying drone 102 and/or the aerial photography equipment 105 and/or the main flying aircraft 101 may also include a sensor assembly, which includes one or more sensors for Various aspects of state assessment are provided for the accompanying UAV 102 and/or the aerial photography device 105 and/or the main flying aircraft 101 . For example, sensor components can detect the relative positioning of components, and can also detect changes in the position of the companion drone or a component of the companion drone, the orientation or acceleration/deceleration of the companion drone, and the temperature of the companion drone Variety. The sensor assembly may include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

Preferably in the embodiment of the present utility model, the location recognition device 103 can also be able to determine the coordinate positions of the accompanying drone 102 and the main flying aircraft 101, and determine the distance between the two according to the coordinate positions. Arbitrary positioning technology of relative positional relationship does not limit the utility model purpose of the utility model here.

Preferably in the embodiment of the present utility model, the positioning recognition device 103 also includes a switch, and the switch is suitable for autonomously switching to any one of the visual sensor, GPS unit, beacon positioning module and/or inertial sensor according to specific conditions. One of them, or any combination, or one of the positioning recognition methods is the main one, and another positioning recognition method is selected for auxiliary correction.

Preferably in the embodiment of the present utility model, the above-mentioned various accompanying flight implementations can also be combined with one another, and then correct the flight process in other ways; or according to the specific environmental conditions, switch the selection independently One of the ways.

Preferably in the embodiment of the present utility model, considering that the inertial sensor tends to generate a larger total error value over time, it is preferably obtained from the image recognition of the GPS unit or the visual sensor within a certain period of time. As a result, do a position calibration, and then continue to use the inertial sensor for accompanying flight guidance.

To sum up, the positioning and identification technology in the embodiment of the utility model mainly refers to satellite positioning and identification technologies such as GPS or Beidou. If satellite positioning and identification technology is not used, it is necessary to carry wireless beacons on the aircraft and arrange more than three base station-like devices at the flight site to locate wireless devices. However, in outdoor flight sites, this accuracy It is more difficult to do well. Therefore, satellite positioning is generally used outdoors and base station positioning technology is used indoors. In the embodiment of the present invention, sensors can also be mounted on the UAV and the aircraft, and then a beacon is set on the flight field as a reference, and the UAV and the aircraft calculate their own positions according to the beacon set on the field. However, since the accuracy of inertial conduction positioning technology is getting worse and worse over time, it is generally used as a supplement and verification.

Preferably in the embodiment of the present utility model, the location recognition device 103 also includes a relative position calculation unit, which is suitable for calculating the distance between the main aircraft 101 and the accompanying drone 102 according to the position information of the main aircraft 101 and the accompanying drone 102. The actual relative position offset, the synchronization device 104 generates the target position of the accompanying UAV according to the actual relative position offset and the preset relative position offset.

Preferably in the embodiment of the present utility model, the relative position calculation unit and the synchronization device 104 may be located on the accompanying drone 102, or may be located in a console on the ground. When the relative position calculation unit and the synchronization device 104 are located in the console on the ground, a communication component is also included among the accompanying UAV 102 , the host aircraft 101 and the console.

Preferably in the embodiment of the present utility model, the communication component includes a first communication module located on the main flying aircraft 101, a second communication module located on the accompanying drone 102, and a communication module located on the console. The third communication module is configured to facilitate wired or wireless communication among the main flying aircraft 101 , accompanying drone 102 , consoles and other devices. The system can access wireless networks based on communication standards, such as WiFi, 2G or 3G, or a combination of them.

Preferably in the embodiment of the present utility model, the system further includes a reset device. The resetting device is used for retrieving the accompanying drone after it loses the tracking and shooting target, that is, the main flying aircraft.

Ideally, the accompanying drone can perfectly complete the accompanying flight and shooting work for the main flying aircraft. However, in extreme cases, due to some accidents, the accompanying drone will lose the position of the main flying aircraft, resulting in the relative position relationship being unable to continue to be maintained.

At this time, the user can start a reset mode through the reset device, then according to the various methods of positioning and synchronization described above, the main flying aircraft and the accompanying drone can complete mutual position locking and synchronization. , re-enter the work preparation mode where you can continue to carry out accompanying flight shooting.

Preferably in the embodiment of the present utility model, the system further includes an initialization module. The initialization module in the accompanying flying UAV can pre-store the standard identification object of the target object that needs to be positioned and tracked; the system obtains the target object, that is, the standard identification information of the main flying aircraft, wherein the standard identification information is The identification information of the target object can be identification information such as the model, color, body size, and flight speed of the target object; the position of the target object is located according to the standard identification information of the target object.

Specifically, it includes: sending information through the console on the ground, the accompanying drone records and stores the basic target identification information of the target object that needs to be positioned and tracked; combines the obtained standard identification information of the target object with the obtained The stored basic identification information of the target object that needs to be positioned and tracked is matched; if the two match, the position of the target object is located according to the obtained standard identification information of the target object.

Preferably in the embodiment of the present utility model, the system also includes a lens adjustment module, which is suitable for keeping the lens of the aerial photography equipment aligned with the preset shooting angle during the flight of the accompanying drone 102 Describe the main aircraft 101.

Preferably in the embodiment of the utility model, the lens adjustment module includes a pan-tilt, a positioning identifier and a pan-tilt controller, the aerial photography device 105 is arranged on the pan-tilt, and the pan-tilt controller is connected to the pan-tilt controller respectively. The PTZ is connected with the positioning recognizer, wherein,

The position identifier is suitable for the accompanying drone 102 to acquire the relative position relationship change information of the main flying aircraft 101;

The pan-tilt controller is adapted to generate pan-tilt control instructions according to the relative positional relationship change information;

The pan-tilt is suitable for controlling the lens adjustment of the aerial photography device according to the pan-tilt control instruction, so that the main aircraft is located at a relatively fixed position in the shooting range.

Preferably in the embodiment of the present utility model, the location recognizer may use the collected data and/or processing results of the location recognition device 103, or may choose any one of the above-mentioned locating methods.

In an embodiment of the present utility model, preferably, the system further includes a storage component, which can be set on the accompanying drone and/or the console, and is used for storing aerial photography data.

Preferably in the embodiment of the present utility model, the system further includes a display module connected to the storage component, which is suitable for extracting and storing the aerial photography data of the UAV for real-time display.

Preferably in the embodiment of the present utility model, the aerial photography equipment used for the accompanying flying drone and/or the main flying aircraft may include fixed-focus motion cameras such as hero3, mirrorless cameras, SLRs, etc., and the aerial photography equipment itself may support wireless Control to achieve remote control of aerial photography equipment, the camera used can also support WIFI control or infrared control to achieve remote control of the camera, based on which the camera can take pictures or record videos. A camera remote controller can include various functions such as shutter function, camera zoom, mode, etc.

Preferably in the embodiment of the present utility model, the camera remote controller includes a control command execution circuit, wherein the control command execution circuit includes a single-chip microcomputer and a peripheral circuit, and its corresponding output terminal is connected to the corresponding trigger pin wire of the camera control panel , the single-chip microcomputer and peripheral circuits monitor the input signal of the drone, and when the camera control command is detected, the level signal on the trigger pin of the corresponding function of the camera control panel that has been drawn out is changed to trigger the corresponding camera function, such as remote Focus, close focus, focus, photo, video, operation stop, etc. Correspondingly, on the remote control corresponding to the drone, you can customize the command switch to send camera control commands, such as: far focus, close focus, focus, photo, video, operation stop, etc.

Preferably in the embodiment of the present utility model, the aerial photographing equipment includes a camera and a video camera, the camera is used to take images, and the camera is used to record video, which is installed on a cloud platform, and after the drone hovers, passes The motor controls the direction of the gimbal, so as to realize the full-angle image collection of the area.

Preferably in the embodiment of the utility model, the aerial photographing equipment also includes a pan-tilt controller, and the pan-tilt controller is connected with the embedded control module of the unmanned aerial vehicle through the RS232 serial port, and the communication command data of the pan-tilt controller is It is integrated into the data link between the embedded control module of the drone and the control and management device on the ground, so that the control and management device on the ground can remotely control the pan-tilt controller. The camera interface of the pan/tilt controller is connected with the shutter interface of the camera. The camera is connected to the camera interface of the pan/tilt controller through the LANC interface. The main control chip that described cloud platform controller adopts is AVR chip, after receiving the shooting instruction of the control management device on the ground, carry out instruction analysis, carry out the relevant operation of instruction, by controlling the method of camera interface (being I/O interface) output Wave frequency, duty cycle, and then control the frequency of the camera to take pictures and the half-stroke time of the shutter. The pan-tilt controller converts zooming, start and end shooting, whether to auto-zoom, camera status check commands into LANC commands recognizable by the camera through the camera protocol conversion chip, and then controls the camera to work.

In the embodiment of the present invention, the storage component is configured to store various types of data to support the operation of the system. These data include instructions for any application or method to operate on this system, registered user data, contact data, messages, pictures, videos, etc. The memory components can be implemented by any type of volatile or non-volatile memory devices or their combination, such as Static Random Access Memory (SRAM), Electrically Erasable Read-Only Memory (EEPROM), Erasable Programmable Read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The embodiment of the utility model discloses an unmanned aerial vehicle aerial photography system accompanied by an aerial photography device, which uses the accompanying aerial photography equipment equipped with an aerial photography equipment to photograph the main flying aircraft during the flight, and introduces a position recognition and synchronization mechanism to ensure It can capture the aircraft to be photographed in advance, and effectively complete the relatively close range and automatic shooting of the aircraft in flight at a suitable shooting angle. It does not require human participation in the tracking and shooting of high-speed flying and flexible steering aircraft. Ensure that The key actions of tracking the target and tracking the target will not be lost. This kind of shooting can not only be used to produce display content with appreciation value, but also can be applied to other derived fields such as the monitoring of flying targets.

Embodiment 2, a UAV aerial photographing system accompanied by photographing aircraft.

Fig. 2 is a schematic structural diagram of a UAV aerial photographing system accompanied by photographing an aircraft according to Embodiment 2 of the present invention. The embodiment of the present invention will be described in detail in conjunction with Fig. 2 .

As shown in Figure 2, the embodiment of the utility model provides a UAV aerial photography system accompanied by a photographing aircraft, which is specifically described by taking the main flying aircraft as an unmanned aerial vehicle to be photographed as an example,

Preferably in the embodiment of the present utility model, the system includes a main flying UAV 201 and an accompanying UAV 202 .

Preferably in the embodiment of the present utility model, the main flying UAV 201 further includes a first GPS unit 2011, a first sending unit 2012, a first flight power unit 2013 and a first flight control unit 2014, and the first flight control unit 2014 The control unit 2014 controls the first flight power unit 2013, thereby controlling the flight of the main flying UAV 201. The flight control instructions of the main flying UAV can be received from the remote control instructions sent by the console on the ground, At this time, the main flying UAV 201 also includes other communication modules (not shown) for remote control and telemetry data transmission with the console on the ground, and the main flying UAV can also be its autonomous flight control system. instruction. The first GPS unit 2011 is connected to the first sending unit 2012, wherein the first GPS unit 2011 is used to acquire the location information of the main flying UAV in real time, including longitude and latitude, and through the second A sending unit 2012 sends to the accompanying drone 202 .

Preferably in the embodiment of the present utility model, the accompanying flying drone 202 further includes a second receiving unit 2021, a relative position calculation unit 2022, a second GPS unit 2024, a central controller 2024 and a second camera device 2025, the The relative position calculation unit 2022 is connected to the second receiving unit 2021 and the second GPS unit 2023 , and the central controller 2024 , and the central controller 2024 is connected to the second camera device 2025 . The second receiving unit 2021 receives the position information of the main flying drone sent by the first sending unit 2012, and inputs it to the relative position calculation unit 2022; the second GPS unit 2023 obtains in real time The position information of the accompanying drone, including longitude and latitude, is also input into the relative position calculation unit 2022 . The relative position calculation unit 2022 calculates the actual relative position deviation value between the two in real time according to the position information of the main flying UAV and the position information of the accompanying UAV, and calculates the actual relative position deviation value between the two in real time. The position deviation value is input to the central controller 2024, and the central controller 2024 compares the actual relative position deviation value with the preset relative position deviation value, and plans the flight route of the accompanying flying drone in real time. track, and synchronously control the second camera device 2025 to track and shoot the flight process of the main flying drone.

Preferably in the embodiment of the present utility model, the accompanying drone 202 further includes a second flight power unit and a second flight control unit (not shown in the figure).

Preferably in the embodiment of the present utility model, the accompanying flying drone 202 may also include a first camera device (not shown in the figure), and the first camera device is used to assist the main flying drone and the The positioning tracking between accompanying drones is described.

Preferably in the embodiment of the present utility model, the main flying UAV 201 may also include a third camera device (not shown in the figure), and the third camera device is used for the main flying UAV to take aerial photos of other targets Objects, buildings or people on the ground inside.

Preferably in the embodiment of the utility model, the main flying UAV 201 also includes a first altimeter (not shown in the figure), and the accompanying flying UAV 202 also includes a second altimeter (not shown in the figure) , which are respectively used to determine the real-time flight height information of the main flying UAV and the accompanying UAV, and assist the first GPS unit 2011 and the second GPS unit 2023 to determine the main flying UAV Changes in the relative positional relationship between the drone and the accompanying drone.

In the prior art, regarding the flight process management of multiple UAVs, there is a design scheme for formation flight. The realization of this formation flight is generally based on two ideas: one is based on the design of the obstacle avoidance mechanism for multiple UAVs. On the one hand, implement route planning for all UAVs, so as to realize flight formation; the other is to use one or several UAVs as a standard, and set other UAVs as references for this UAV according to a certain The control method of flying with an offset.

However, no matter which of the above-mentioned methods is used, the formation flight management of UAVs is realized in the prior art, and the purpose itself is to focus on the display effect of UAV formation flight, that is, the prior art only considers the formation flight of UAVs. The interaction between drones does not take into account that if other auxiliary equipment is installed on multiple flying drones, other requirements can be realized through the interaction between these auxiliary equipment.

The embodiment of the utility model is based on the extension of the field of aerial photography, and there is also a demand for aerial photography of unmanned aerial vehicles.

Preferably in the embodiment of the present utility model, according to the built-in GPS unit and altimeter of the accompanying drone and the main flying drone, both drones can obtain the position coordinates of the drone in real time. The local coordinates of the main flying drone (that is, the photographed drone) change as the user controls the flight trajectory of the drone, and the local coordinates of the accompanying drone can also be Obtained in real time, the accompanying drone can calculate the actual relative position deviation between the two drones according to the current coordinates of the main flying drone and the current coordinates of the accompanying drone, according to The current flight destination of the accompanying drone is calculated in real time by the actual relative position deviation value and the preset relative position deviation value.

Preferably in the embodiment of the present utility model, the relative position can be only the relative distance between the accompanying flying UAV and the main flying UAV, and the shooting angle can be adjusted through the lens to keep the main flying unmanned It is also acceptable if the drone is always in the middle of the viewing range or the shooting angle changes. For example, the main flying drone can fly in a pattern, but the accompanying drone does not need to, just keep the distance within the preset range, so basically The purpose of accompanying the shooting of the unmanned aerial vehicle in flight of the present invention can be realized, and it can be mainly applied to informal occasions where entertainment shooting videos or images are obtained; the relative position can also include relative distance and relative angle, that is, not only requiring the The distance between the accompanying drone and the main flying drone is within a preset distance range, and the main flying drone should also be within the preset angle range of the main flying drone aerial photography equipment, In this way, through the management of the relative distance and relative angle, it is possible to realize the third-view shooting of the optional distance and optional angle selected by the user or preset by the system, especially in the monitoring application, in order to obtain specific information, the shooting Where the angle is strictly limited. As long as the scanning frequency of the real-time coordinates of the two drones is fast enough, the flying strategy of the accompanying drone is equivalent to maintaining a relatively constant relative position with the main flying drone in real time, Including relatively constant relative distance and relative angle, it realizes accompanying flight planning.

Preferably in the embodiment of the present utility model, the accompanying UAV also includes a lens adjustment module, which is suitable for keeping the lens of the aerial photography device at a preset shooting angle during the flight of the accompanying UAV Align the main drone.

Preferably in the embodiment of the present utility model, the lens adjustment module includes a pan-tilt, a positioning recognition device and a pan-tilt controller, the aerial photography equipment is arranged on the pan-tilt, and the pan-tilt controller is connected with the cloud platform respectively. The station is connected to the location recognizer, where,

The location recognizer is suitable for the accompanying UAV to obtain the change information of the relative position relationship of the main UAV;

The pan-tilt controller is adapted to generate pan-tilt control instructions according to the relative positional relationship change information;

The pan-tilt is suitable for controlling the lens adjustment of the aerial photography device according to the pan-tilt control instruction, so that the main flying drone is located at a relatively fixed position in the shooting range.

In the embodiment of the utility model, the problem about the camera capture angle is explained. The so-called shot capture means that since the purpose of accompanying the flying drone is to shoot the main flying drone, it is necessary to always place the main flying drone within its shooting range. In the case that the relative position relationship is basically consistent through the accompanying flight, the accompanying drone also needs to have automatic lens adjustment capabilities to ensure better shooting effects.

Lens adjustment capabilities are needed for at least three reasons:

First, with the prolongation of the accompanying flight time, the relative position between the two UAVs will deviate to a certain extent due to environmental impact, error accumulation and other reasons, although the relative position between the two UAVs can be recalibration at a certain frequency to avoid sending a large degree of deviation, resulting in the loss of the shooting target, but a short-term position deviation is normal, in this case, a small degree of position deviation needs to be corrected by adjusting the shooting angle of the lens compensate;

Second, the positional relationship between the accompanying drone and the main flying drone may also be adjusted according to the needs of the user. After flying directly above the drone for a period of time, the user may need the accompanying drone to adjust the shooting angle and distance so that the positional relationship between the accompanying drone and the main flying drone changes. It is necessary to adjust the shooting angle of the lens synchronously, so as to always capture the shooting target and place it at the most suitable position within the viewing range;

Third, although the flight process of the UAV is basically stable, due to the flight principle of the multi-rotor UAV, when the UAV is displaced in space, its flight attitude will change. In extreme cases, it may cause the viewing range of the lens to point in the direction that the user does not want. By adjusting the lens of the accompanying drone, no matter how the accompanying drone flies, the lens can maintain the same angle as the preset shooting angle. An automatic angle calibration.

As for how to move the lens of the accompanying drone, the movable gimbal can well adjust the angle of the lens. The key lies in how to let the lens know how to move, through image recognition or beacon positioning or inertial navigation Or GPS positioning and other methods can realize this function.

In the embodiment of the utility model, the image recognition is taken as an example for illustration:

Preferably in the embodiment of the present utility model, the position recognizer includes a visual sensor and an image analysis unit, and the visual sensor is installed on the accompanying flying UAV, which is used to capture the flight process in real time during the accompanying flight The dynamic image of the main flying UAV in the system, and use the image analysis unit to analyze the image data.

Preferably in the embodiment of the present utility model, the image analysis unit adopts the method of extracting the moving target in the image data sequence to realize that the moving target is an object to be tracked all the time, and keep it in the middle of the screen. The specific method of tracking the moving target There are many, for example, the moving target can be tracked by extracting the image feature value of the moving target, the Kalman filter tracking and/or the particle filter algorithm based on the foreground detection can also be used, or the improved particle filter algorithm can be used according to the moving target image and color The template is used for feature matching, the particle filter tracking is improved by combining the foreground target detection, the cross occlusion judgment is introduced, the state transition equation is established, and the moving target tracking is completed, which ensures the reliability and diversity of the particles and describes the moving state of the target well. While reducing the amount of calculation, it also improves the real-time performance of the algorithm, and stops resampling when crossing, so that the particles around the target will not be disturbed.

The above method is just an example. In fact, there are many options for the similar image recognition technology based on the change of the object position, which does not limit the present invention.

Preferably in the embodiment of the present utility model, the object position determination between the accompanying flying drone and the main flying drone can also be provided based on a preset beacon, and the setting on the main flying drone It is also feasible that there are beacons for tracking, and then the accompanying UAV performs positioning and lens adjustment according to the beacons.

According to the above method, if the accompanying UAV can know the position of the main flying UAV and the change in relative positional relationship, then adjust the lens accordingly so that the main flying UAV is always located in the shooting range. Fixed position, it can be done.

Preferably in the embodiment of the present invention, GPS positioning and/or beacon positioning can be used to realize the relative position synchronization between the main flying drone and the accompanying flying drone, and at the same time, the accompanying flying drone The man-machine adopts the image recognition method to perform automatic adjustment of the lens, and comprehensively realizes the simultaneous accompanying shooting of the main flying UAV by the accompanying UAV.

Preferably in the embodiment of the present utility model, the image recognition technology can also be used at the same time to realize the relative position synchronization between the main flying UAV and the accompanying flying UAV and the lens intelligence of the accompanying flying UAV. Adjustment.

Preferably in the embodiment of the present utility model, the above work can be completed respectively by setting two independent camera devices. Wherein, the first camera device is specially used to track the position of the main flying UAV, the shooting angle and position of the first camera device are relatively fixed, and the first camera device is mainly used for position tracking, Therefore, instead of paying attention to the adaptability of the shooting display effect and the human eye, it is possible to consider adopting infrared, laser and other types of cameras to enhance the environmental adaptability of tracking; and the second camera is specially used for shooting, and the second camera Through intelligent angle adjustment, it is ensured that the main flying UAV is located in a relatively fixed position in the middle of the viewing range of the accompanying UAV aerial photography equipment, and the best shooting effect can be obtained.

Preferably in the embodiment of the present utility model, the aerial photographing device may be a video camera, a web camera, a still camera, a camera or an infrared static camera network. Networks can be deployed as any type of network, including wired and wireless networks as well as local area networks implemented in various ways in various environments.

Preferably in the embodiment of the present utility model, the flight control unit can be controlled by a central processing unit (CPU) and/or a coprocessor, a field programmable gate array (FPGA), a digital signal processor (DSP), a specific-purpose basic circuit (ASIC) and embedded microprocessor (ARM), controller, microcontroller, microprocessor or other electronic components. Preferably, the flight control unit may be a server, including a processing component, which further includes one or more processors, and a memory resource represented by a memory for storing instructions executable by the processing component, such as an application program. An application program stored in memory may include one or more modules each corresponding to a set of instructions.

Preferably in the embodiment of the present utility model, the accompanying drone and the main flying drone further include a power supply unit and a flight power unit. Preferably, the power supply unit is a power lithium battery.

Preferably in the embodiment of the present utility model, the communication unit (including the first sending unit and the second receiving unit) includes a 3G/4G communication device.

In the preferred embodiment of the utility model, the accompanying UAV and the main UAV further include an automatic obstacle avoidance module. Preferably, the automatic obstacle avoidance module is a laser range finder or an ultrasonic detection sensor.

The embodiment of the utility model discloses an aerial photographing system of an unmanned aerial vehicle accompanying a photographing aircraft. On the one hand, it can maintain the relative position of the photographing drone and the photographed drone through position recognition and synchronization during the following photographing process. The positional relationship remains unchanged, so that the accompanying flight function is basically realized; on the other hand, when the relative positional relationship between the shooting UAV and the UAV being photographed is adjusted, the automatic tracking of the lens can ensure that the shooting UAV The drone's lens can automatically track and capture the drone being photographed.

For other content in the embodiment of the utility model, refer to the content in the above embodiment of the utility model, and details are not repeated here.

Embodiment 3. A method for aerial photography of an unmanned aerial vehicle accompanied by photographing an aircraft.

FIG. 3 is a flow chart of a method for aerial photography of a UAV accompanied by an aircraft in Embodiment 3 of the present invention. The embodiment of the present invention will be described in detail in conjunction with FIG. 3 .

As shown in Figure 3, the embodiment of the utility model provides a method for aerial photography of an unmanned aerial vehicle accompanied by photographing an aircraft, the method comprising the following steps:

Step S301: Start the main flight and accompanying flight modes;

Step S302: Obtain the relative positional relationship between the main aircraft and the accompanying drone;

Step S303: According to the relative positional relationship, plan the flight track of the accompanying drone in real time;

Step S304: Controlling the flight of the accompanying drone to ensure that the relative positional relationship is within a preset range;

Step S305: The accompanying drone automatically tracks and photographs the main flying aircraft.

Preferably, in the embodiment of the present utility model, a reset step is also included. When the relative positional relationship between the main flying aircraft and the accompanying flying drone is not within the preset range, the reset mode is started to restore the two The initial relative positional relationship between them.

The embodiment of the utility model discloses a UAV aerial photographing method accompanied by photographing an aircraft. The accompanying UAV equipped with aerial photographing equipment is used to photograph the main flying aircraft during the flight, and a position recognition and synchronization mechanism is introduced, and even the lens is automatically Tracking technology to ensure that the aircraft to be photographed can be captured in advance and the shooting process can be completed effectively. This kind of shooting can not only be used to produce display content with appreciation value, but also can be applied to other derived fields such as the monitoring of flying targets.

For other content in the embodiment of the utility model, refer to the content in the above embodiment of the utility model, and details are not repeated here.

Embodiment 4. A method for aerial photography of an unmanned aerial vehicle accompanied by photographing an aircraft.

FIG. 4 is a flow chart of a method for aerial photography of an unmanned aerial vehicle accompanied by an aircraft in Embodiment 4 of the present invention. The embodiment of the present invention will be described in detail in conjunction with FIG. 4 .

As shown in Figure 4, the embodiment of the present utility model provides a UAV aerial photography method for accompanying shooting aircraft, completes accompanying flight based on position coordinate recognition, and implements accompanying flying shooting, including the following steps:

Step S401: Start the main flight and accompanying flight modes;

Step S402: Obtain the position of the main flying drone;

Step S403: Obtain the relative position offset;

Step S404: Generate the target position of the accompanying drone;

Step S405: Generate flight control instructions to control the flight of the accompanying drone;

Step S406: Determine whether the relative position is within the preset range; if so, jump back to step S402 and repeat the above steps until the task is completed; otherwise, jump to the next step;

Step S407: Start the reset mode, restore the relative position, and then jump back to step S401.

As long as at the very beginning, the relative position of the main flying UAV and the accompanying UAV is appropriate, the accompanying UAV flying based on the position coordinate identification can also always keep in touch with the main flying UAV. The relative positional relationship between machines.

For other content in the embodiment of the utility model, refer to the content in the above embodiment of the utility model, and details are not repeated here.

Embodiment five, an aircraft.

The embodiment of the utility model provides an aircraft, including a first flight controller for controlling the flight of the aircraft, a first positioning identification module and a first communication module for obtaining the position information of the aircraft, and the first positioning identification module is connected to The first communication module, the first communication module sends the position information of the aircraft to the accompanying drone, wherein the accompanying drone automatically tracks and photographs the aircraft, and the accompanying drone The man-machine calculates the relative position relationship between the two according to the position information of the aircraft and its own position information, and plans the flight track of the accompanying drone in real time according to the relative position relationship to ensure that the relative The positional relationship is within a preset range.

In an embodiment of the present utility model, preferably, the aircraft includes a first flight controller, a first positioning identification module and a first communication module, and the first positioning identification module is connected to the first communication module, wherein,

said first flight controller is adapted to control flight of said aircraft;

The first location identification module is adapted to obtain the location information of the aircraft;

The first communication module is adapted to send the position information of the aircraft to the accompanying UAV, wherein the accompanying UAV automatically tracks and photographs the aircraft, and the accompanying UAV according to the The position information of the aircraft and its own position information are calculated to obtain the relative positional relationship between the two, and the flight track of the accompanying drone is planned in real time according to the relative positional relationship, so as to ensure that the relative positional relationship is within the preset within range.

In an embodiment of the present utility model, preferably, the first positioning identification module includes a first GPS unit. Preferably, a first altimeter is also included.

In an embodiment of the present utility model, preferably, the first location recognition module includes a first inertial sensor.

Preferably in the embodiment of the present utility model, the first positioning identification module includes a Bluetooth module, which is used to generate a Bluetooth beacon for positioning. For other content in the embodiment of the utility model, refer to the content in the above embodiment of the utility model, and details are not repeated here.

Embodiment six, an unmanned aerial vehicle.

The embodiment of the utility model provides an unmanned aerial vehicle, the unmanned aerial vehicle is mounted with an aerial photography device that automatically tracks and photographs the main flying aircraft, and also includes a second communication module for receiving the position information of the main flying aircraft, a control station The second flight controller for flying the UAV, the second positioning identification module for obtaining the position information of the UAV, and obtaining the relative positional relationship between the main aircraft and the UAV according to the position information The relative position calculation unit and the synchronization module that generates flight instructions for controlling the drone according to the relative position relationship, the relative position calculation unit is respectively connected with the second communication module and the second positioning identification module, The synchronization module is respectively connected with the relative position calculation unit and the second flight controller, and the synchronization module inputs the flight command to the second flight controller.

Preferably in the embodiment of the present invention, the aerial photography equipment is mounted on the drone, and also includes a second communication module, a second flight controller, a second positioning identification module, a relative position calculation unit and a synchronization module, and the relative position The calculation unit is respectively connected to the second communication module and the second positioning identification module, and the synchronization module is respectively connected to the relative position calculation unit and the second flight controller, wherein,

The second communication module is adapted to receive the position information of the main flying aircraft sent by the main flying aircraft;

The second location identification module is adapted to obtain the location information of the drone;

The relative position calculation unit is adapted to calculate the relative position relationship between the main aircraft and the UAV according to the position information;

The synchronization module is adapted to plan the flight track of the UAV in real time according to the relative positional relationship, and generate flight instructions for controlling the UAV;

The second flight controller is adapted to receive the flight instruction generated by the synchronization module, control the flight of the UAV, and ensure that the relative positional relationship is within a preset range;

The aerial photographing equipment on the UAV is suitable for automatically tracking and photographing the main flying aircraft when the relative positional relationship between the UAV and the main flying aircraft is within a preset range.

Preferably in the embodiment of the present utility model, the second positioning identification module includes a second GPS unit. Preferably, a second altimeter is also included.

Preferably in the embodiment of the present utility model, the second positioning identification module includes a reader, which is suitable for reading the beacon positioning data packet sent by the Bluetooth module of the main aircraft.

Preferably in the embodiment of the present utility model, the second positioning recognition module includes a visual sensor, whose shooting angle and position are relatively fixed, and realizes the position recognition of the main aircraft by the UAV based on dynamic image recognition. Preferably, the visual sensor includes an infrared camera and/or a laser camera.

In an embodiment of the present utility model, preferably, the second positioning recognition module includes a second inertial sensor.

For other content in the embodiment of the utility model, refer to the content in the above embodiment of the utility model, and details are not repeated here.

The utility model can bring these beneficial technical effects: the UAV aerial photography system and the aircraft and the UAV disclosed in the embodiment of the utility model are accompanied by the aerial photography equipment. The main flying aircraft in the process, and the introduction of position recognition and synchronization mechanism and even automatic lens tracking technology, to ensure that the aircraft to be photographed can be caught in advance and the shooting process can be completed effectively. This kind of shooting can not only be used to produce display content with appreciation value, but also can be applied to other derived fields such as the monitoring of flying targets.

The various component embodiments of the present invention may be realized by hardware, or by software modules running on one or more processors, or by a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the device according to the embodiment of the present invention. The present invention can also be implemented as a device or device program (for example, computer program and computer program product) for performing a part or all of the methods described herein.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, etc. does not indicate any order and these words can be interpreted as nouns.

Obviously, those skilled in the art can make various changes and modifications to the utility model without departing from the spirit and scope of the utility model. In this way, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and equivalent technologies thereof, the utility model is also intended to include these modifications and variations.

Claims (10)

1. A kind of unmanned aerial vehicle aerial photographing system accompanying photographing aircraft, it is characterized in that: Including the main flying aircraft and accompanying UAV, The aerial photography equipment for automatically tracking and photographing the main flying aircraft is mounted on the accompanying flying drone, The main flying aircraft and the accompanying unmanned aerial vehicle respectively have a first flight controller that controls the flight of the main flying aircraft and a second flight controller that controls the flight of the accompanying unmanned aerial vehicle, It also includes a positioning identification device for obtaining the position information of the main flying aircraft and the accompanying drone and a synchronization device for ensuring that the relative positional relationship between the accompanying drone and the main flying aircraft is within a preset range , The synchronization device is respectively connected with the location identification device and the second flight controller, the location recognition device inputs the location information to the synchronization device, The synchronization device inputs flight instructions to the second flight controller. 2. The unmanned aerial photography system accompanying shooting aircraft according to claim 1, characterized in that: the positioning recognition device includes a visual sensor, and the visual sensor is arranged on the accompanying flying unmanned aerial vehicle, and its shooting angle and The position is relatively fixed, and the position recognition of the main flying aircraft by the accompanying drone is realized based on dynamic image recognition. 3. The aerial photography system for unmanned aerial vehicle accompanying photographing aircraft according to claim 2, characterized in that: said visual sensor comprises an infrared camera and/or a laser camera. 4. The unmanned aerial vehicle aerial photographing system accompanying photographing aircraft according to claim 1, characterized in that: said positioning recognition device comprises a first GPS unit and a second GPS unit, wherein, The first GPS unit is arranged on the main flying aircraft, which is suitable for obtaining the position information of the main flying aircraft; The second GPS unit is arranged on the accompanying UAV, and is suitable for obtaining the position information of the accompanying UAV. 5. The unmanned aerial vehicle aerial photography system accompanying shooting aircraft according to claim 1, characterized in that: said positioning recognition device comprises a beacon positioning module, and said beacon positioning module comprises a bluetooth unit and a reader-writer, wherein, The bluetooth unit is set on the main aircraft, and the reader is set on the accompanying drone. 6. The aerial photographing system of unmanned aerial vehicle accompanying photographing aircraft according to claim 1, characterized in that: said positioning recognition device comprises a first inertial sensor and a second inertial sensor, and said first inertial sensor is arranged on said main On the flying aircraft, the second inertial sensor is arranged on the accompanying drone. 7. The UAV aerial photography system accompanying shooting aircraft according to claim 1, characterized in that: the positioning recognition device also includes a switch, and the switch is suitable for autonomously switching to the visual sensor, GPS unit according to specific conditions Any one of, beacon positioning module and/or inertial sensor, or any combination, or one of the positioning recognition methods is used as the main method, and another positioning recognition method is selected for auxiliary correction. 8. According to any one of claims 4 to 6, the UAV aerial photography system accompanied by photographing aircraft is characterized in that: the location recognition device also includes a relative position calculation unit, which is adapted to be used according to the main flying aircraft and the The position information of the accompanying drone is calculated to obtain the actual relative position offset between the two, and the synchronization device generates the accompanying drone according to the actual relative position offset and the preset relative position offset. Human-machine target position. 9. An aircraft, characterized in that: it includes a first flight controller for controlling the flight of the aircraft, a first location identification module and a first communication module for obtaining the position information of the aircraft, and the first location identification module is connected to all The first communication module, the first communication module sends the location information of the aircraft to the accompanying drone, wherein the accompanying drone automatically tracks and photographs the aircraft, and the accompanying drone The aircraft calculates the relative positional relationship between the two according to the positional information of the aircraft and its own positional information, plans the flight track of the accompanying drone in real time according to the relative positional relationship, and ensures that the relative position The relationship is within the preset range. 10. An unmanned aerial vehicle, characterized in that: the unmanned aerial vehicle is mounted with an aerial photography device that automatically tracks and photographs the main flying aircraft, and also includes a second communication module that receives the position information of the main flying aircraft, controls the The second flight controller for flying the UAV, the second positioning identification module for obtaining the position information of the UAV, and the method for obtaining the relative positional relationship between the main aircraft and the UAV according to the position information The relative position calculation unit and the synchronization module that generates flight instructions for controlling the UAV according to the relative position relationship, the relative position calculation unit is respectively connected with the second communication module and the second positioning identification module, so The synchronization module is respectively connected with the relative position calculation unit and the second flight controller, and the synchronization module inputs the flight command to the second flight controller.