CN107102647A - Unmanned plane target tracking and controlling method based on image - Google Patents
Unmanned plane target tracking and controlling method based on image Download PDFInfo
- Publication number
- CN107102647A CN107102647A CN201710204195.5A CN201710204195A CN107102647A CN 107102647 A CN107102647 A CN 107102647A CN 201710204195 A CN201710204195 A CN 201710204195A CN 107102647 A CN107102647 A CN 107102647A
- Authority
- CN
- China
- Prior art keywords
- mrow
- image
- target
- msub
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of unmanned plane target tracking and controlling method based on image, comprise the following steps：（1）, in the image of the downward photographic subjects of predetermined altitude and position, calculate characteristic point and surround area and center, target fiducials are set up with this；（2）Virtual image plane is set up, the image information of camera acquisition target in flight obtains gathering image, by collection image projection to virtual image plane；（3）, calculate the relative distance and the offset with target in the horizontal direction of projected image in the vertical direction and target；（4）, calculate offset between projected image and reference picture；（5）, calculate positioner output order；（6）, generation attitude command and pulling force instruction.The control method of the present invention, corrects the flight position of unmanned plane, it is possible to achieve to target following, and amount of calculation is small, it is not necessary to the sensor such as magnetic compass, the influence that magnetic disturbance can be avoided to bring by way of being tracked to image characteristic point.
Description
Technical field
It is to be related to a kind of unmanned plane mesh based on image specifically the present invention relates to a kind of target following technical field
Mark tracking and controlling method.
Background technology
Current unmanned plane target tracking control needs to calculate target relative to the three of unmanned plane by machine vision
Position is tieed up, this kind of control method has the disadvantages that：1st, algorithm is complicated and computationally intensive；2nd, course and the appearance of unmanned plane are also needed to
State information, usual course information is obtained by Magnetic Sensor, but magnetic heading is highly prone to interference, when tracking hostile target or close
During the magnetic fields such as high-tension bus-bar, the easy failure of Magnetic Sensor can cause unmanned plane out of control, lead to not be tracked target.
The content of the invention
The present invention is computationally intensive in order to solve existing unmanned plane target tracking control, and course information passes through Magnetic Sensor
The technical problem being easily interfered is obtained, it is proposed that a kind of unmanned plane target tracking and controlling method based on image, by building
Vertical virtual image plane, gathers target image, and carries out coordinate transform to target image characteristics point using virtual image plane,
The flight attitude of unmanned plane is corrected by way of being tracked to image characteristic point, the mesh to target following can be equally realized
, and this tracking amount of calculation is small, and course information, the shadow that magnetic disturbance can be avoided to bring are obtained independent of by Magnetic Sensor
Ring.
In order to solve the above-mentioned technical problem, the present invention is achieved using following technical scheme：
Video camera is fixed with a kind of unmanned plane target tracking and controlling method based on image, the unmanned plane, it is described to take the photograph
The lens plane of camera is parallel with the base plane of the unmanned plane and downward, the unmanned plane target tracking and controlling method
Comprise the following steps：
(1), video camera is in target predetermined distance thereabove d*The image of target is gathered vertically downward, obtains reference picture, and
One group of characteristic point is extracted from target, the characteristic point surrounded area a in a reference image is calculated*And the center of reference picture
Position, target fiducials are set up with this；
(2) virtual image plane, the virtual image plane and plane-parallel, are set up using the method for mathematics, in nothing
The video camera cycle gathers the image of target during man-machine flight, obtains gathering image, by collection image projection to the virtual image
Plane, obtains projected image, calculates the characteristic point and area a ' is surrounded in projected image；
(3) area a ', is surrounded in projected image according to characteristic point to be surrounded in a reference image with the characteristic point
Area a*, calculate the relative distance of projected image in the vertical direction and target：
Calculate the offset of projected image in the horizontal direction with target：
Wherein,For the abscissa value of the central point of projected image,For the ordinate value of the central point of projected image；
(4) offset delta between projected image and reference picture, is calculated；
(5) positioner output order U, is calculated:
Wherein, kp、kd、kiFor unmanned aerial vehicle (UAV) control parameter, it is set by the user；
(6) attitude command r, is generated by the positioner output order UdF is instructed with pulling forced, for controlling unmanned plane
Adjust flying height and flight drift angle.
Further, the computational methods that characteristic point surrounds area a ' in projected image in step (2) are：
Wherein, N is characterized quantity a little, is positive integer, and the plane where projected image does projection rectangular coordinate system, u 'k
For it is described projection rectangular coordinate system in, the abscissa value of k-th of characteristic point, v ' in projected imagekFor at the projection right angle
In coordinate system, the ordinate value of k-th of characteristic point in projected image.
Further, characteristic point surrounded area a in a reference image in step (1)*Computational methods be：
Wherein, the plane where reference picture does machine rectangular coordinate system, ukIn the machine rectangular coordinate system, to join
Examine the abscissa value of k-th of characteristic point in image, vkFor in the machine rectangular coordinate system, k-th of feature in reference picture
The ordinate value of point.
Further, in step (3), the abscissa value of the central point of projected imageComputational methods be：
The ordinate value of the central point of projected imageComputational methods be：
Further, the computational methods of offset delta are in step (4)：
δ=[δx δy δz]T
Wherein,
Further, attitude command r in step (6)dComputational methods be：
Pulling force instructs fdComputational methods be：
fd=m | | U | |, wherein, m is the quality of unmanned plane.
Compared with prior art, advantages and positive effects of the present invention are：The unmanned plane target based on image of the present invention
Tracking and controlling method, by setting up virtual image plane, gathers target image, selected characteristic point and use virtual image plane
Coordinate transform is carried out to target image characteristics point, the flight position of unmanned plane is corrected by way of being tracked to image characteristic point
Put, can equally realize the purpose to target following, and this tracking amount of calculation is small, it is not necessary to the sensor such as magnetic compass, can
With the influence for avoiding magnetic disturbance from bringing.
It is read in conjunction with the figure after the detailed description of embodiment of the present invention, the other features and advantages of the invention will become more
Plus it is clear.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is that a kind of embodiment principle of the unmanned plane target tracking and controlling method proposed by the invention based on image is shown
It is intended to；
Fig. 2 is a kind of embodiment flow of the unmanned plane target tracking and controlling method proposed by the invention based on image
Figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment one, the present embodiment proposes a kind of unmanned plane target tracking and controlling method based on image, such as Fig. 1 institutes
Show, be fixed with video camera 11 on unmanned plane 10, the lens plane of video camera 11 is parallel with the base plane of unmanned plane 10 and direction
Lower section, ideally, unmanned plane keep horizontal direction flight, but during practical flight, flight attitude is not fixed, can
Can there can be certain angle with horizontal plane, but angle does not influence video camera 11 to the IMAQ of target, as long as target is still
In the image capturing range of camera, camera can obtain the collection image information to target, and this method is i.e. by adopting
The image information of collection target is analyzed, and then corrects the flight position of unmanned plane so that figure of the target in shot by camera
Be always positioned at suitable position as in and keep suitable size in the picture since to the picture position captured by target and
Size is stabilized, and is embodied in real space, namely the relative position between unmanned plane and target is stable, and then is realized
Tracking of the unmanned plane to target, this method will be illustrated with a specific embodiment, unmanned plane target tracking control in the present embodiment
Method processed comprises the following steps：
S1, video camera are in target predetermined distance thereabove d*The image of target is gathered vertically downward, obtains reference picture, and from
One group of characteristic point is extracted in target, the characteristic point surrounded area a in a reference image is calculated*And the centre bit of reference picture
Put, target fiducials are set up with this；Reference picture belongs to the image that a kind of ideally unmanned plane can be obtained to target,
That is, the surface for video camera being placed on into target is highly d*Position at, vertically downward gather target image, referred to
Image, flying height namely target are to the virtual image plane apart from d*To expect tracking altitude, this kind is ideally
Acquired target virtual image plane projection as reference picture, clapped when unmanned plane is not at ideally
The image taken the photograph has corresponding reference data, passes through the difference for comparing two images and then the pose adjustment letter for getting unmanned plane
Breath.
S2, virtual image plane, virtual image plane and plane-parallel are set up using the method for mathematics, flown in unmanned plane
The video camera cycle gathers the image of target during row, obtains gathering image, by collection image projection to virtual image plane, is thrown
Shadow image, calculates characteristic point and area a ' is surrounded in projected image；From the foregoing it will be appreciated that collection image be video camera to target
Image acquired in actual photographed, due to video camera as unmanned plane is moved, therefore shooting angle and height moment change.
By way of selected characteristic point, without carrying out calculating tracking to point all in target image, meter is effectively reduced
Calculation amount.
S3, surround in projected image according to characteristic point area a ' and the characteristic point surrounded face in a reference image
Product a*, calculate the relative distance of projected image in the vertical direction and target：
Collection image is projected in virtual image, area of the target in projected image, namely characteristic point is in projected image
Area, into positive correlation, is opened square root side and obtains proportionality coefficient by middle surrounded area a ' with height, that is, when characteristic point is in projection
Area a ' and characteristic point surrounded area a in a reference image are surrounded in image*When equal, illustrate current projected picture perpendicular
Nogata is upwards d with the relative distance of target*, that is, plane and reference picture work as feature in same plane where collection image
Point surrounds area a ' in projected image and is more than characteristic point surrounded area a in a reference image*When, qzMore than d, explanation is adopted
Plane where collecting image is higher than reference picture plane, namely unmanned plane during flying height than Desired Height d*Height, conversely, unmanned plane flies
Row height is than Desired Height d*It is low.
Calculate the offset of projected image in the horizontal direction with target：
Wherein,For the abscissa value of the central point of projected image,For the ordinate value of the central point of projected image；
Offset delta between S4, calculating projected image and reference picture；It is inclined when having between projected image and reference picture
During shifting, illustrate that now unmanned plane is not at the surface of target.
S5, calculating positioner output order U:
Wherein, kp、kd、kiFor unmanned aerial vehicle (UAV) control parameter, it is set by the user；
S6, attitude command r generated by the positioner output order UdF is instructed with pulling forced, for controlling unmanned plane
Adjust flying height and flight drift angle.Attitude command r is obtained if calculatingdF is instructed with pulling forced, you can directly unmanned plane is carried out
Control.
Such as four rotor wing unmanned aerial vehicles only need to less motor speed and changed that enough pitching and rolling moment just can be produced,
And producing course torque then needs motor speed to make larger change, and regulating time is long.Due to the image characteristic point face of unmanned plane
Product and the relative position error and attitude command rdF is instructed with pulling forcedIt is relevant, and it is unrelated with course, thus boat can not be changed
To, and realize error tracing control simply by posture is changed.Thus part of attitude control solves sloping portion and course part
Coupling.
The computational methods that characteristic point surrounds area a ' in projected image in step S2 are：
Wherein, N is characterized quantity a little, is positive integer, and the plane where projected image does projection rectangular coordinate system, u 'k
For it is described projection rectangular coordinate system in, the abscissa value of k-th of characteristic point, v ' in projected imagekFor at the projection right angle
In coordinate system, the ordinate value of k-th of characteristic point in projected image；
Characteristic point in step S1 surrounded area a in a reference image*Computational methods be：
Wherein, the plane where reference picture does machine rectangular coordinate system, ukIn the machine rectangular coordinate system, to join
Examine the abscissa value of k-th of characteristic point in image, vkFor in the machine rectangular coordinate system, k-th of feature in reference picture
The ordinate value of point.
In step S3, the abscissa value of the central point of projected imageComputational methods be：
The ordinate value of the central point of projected imageComputational methods be：
The computational methods of offset delta are in step S4：
δ=[δx δy δz]T
Wherein,
From foregoing description, reference picture belongs to the image that a kind of ideally unmanned plane can be obtained to target,
That is, unmanned plane is located in horizontal direction, and in the vertical direction is located at the surface of target, flying height namely target to institute
State virtual image plane apart from d* to expect tracking altitude, this kind ideally acquired target in virtual image plane
Projection as reference picture, therefore, the offset delta between projected image and reference picture has reacted collection image in level side
To the offset between target, namely
Attitude command r in step S6dComputational methods be：
Pulling force instructs fdComputational methods be：
fd=m | | U | |, wherein, m is the quality of unmanned plane.
Above-mentioned formula is the conventional control mode of unmanned plane, and it can be calculated accordingly by positioner output order U
Attitude command and pulling force instruction.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the those of ordinary skill in domain is made in the essential scope of the present invention, should also belong to this hair
Bright protection domain.
Claims (6)
1. a kind of unmanned plane target tracking and controlling method based on image, it is characterised in that shooting is fixed with the unmanned plane
Machine, the lens plane of the video camera is parallel with the base plane of the unmanned plane and downward, the unmanned plane target with
Track control method comprises the following steps：
(1), video camera is in target predetermined distance thereabove d*The image of target is gathered vertically downward, obtains reference picture, and from target
One group of characteristic point of middle extraction, calculates the characteristic point surrounded area a in a reference image*And the center of reference picture,
Target fiducials are set up with this；
(2) virtual image plane, the virtual image plane and plane-parallel, are set up using the method for mathematics, in unmanned plane
The video camera cycle gathers the image of target during flight, obtains gathering image, by collection image projection to the virtual image plane,
Projected image is obtained, the characteristic point is calculated and area a ' is surrounded in projected image；
(3) area a ' and the characteristic point surrounded area in a reference image, are surrounded in projected image according to characteristic point
a*, calculate the relative distance of projected image in the vertical direction and target：
Calculate the offset of projected image in the horizontal direction with target：
<mrow>
<msub>
<mi>q</mi>
<mi>x</mi>
</msub>
<mo>=</mo>
<msub>
<mi>q</mi>
<mi>z</mi>
</msub>
<mover>
<mi>u</mi>
<mo>&OverBar;</mo>
</mover>
<mo>;</mo>
</mrow>
<mrow>
<msub>
<mi>q</mi>
<mi>y</mi>
</msub>
<mo>=</mo>
<msub>
<mi>q</mi>
<mi>z</mi>
</msub>
<mover>
<mi>v</mi>
<mo>&OverBar;</mo>
</mover>
<mo>;</mo>
</mrow>
Wherein,For the abscissa value of the central point of projected image,For the ordinate value of the central point of projected image；
(4) offset delta between projected image and reference picture, is calculated；
(5) positioner output order U, is calculated:
<mrow>
<mi>U</mi>
<mo>=</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<mi>&delta;</mi>
<mo>+</mo>
<msub>
<mi>k</mi>
<mi>d</mi>
</msub>
<mover>
<mi>&delta;</mi>
<mo>&CenterDot;</mo>
</mover>
<mo>+</mo>
<msub>
<mi>k</mi>
<mi>i</mi>
</msub>
<mo>&Integral;</mo>
<mi>&delta;</mi>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, kp、kd、kiFor unmanned aerial vehicle (UAV) control parameter, it is set by the user；
(6) attitude command r, is generated by the positioner output order UdF is instructed with pulling forced, for controlling unmanned plane to adjust
Flying height and flight drift angle.
2. the unmanned plane target tracking and controlling method according to claim 1 based on image, it is characterised in that step (2)
The computational methods that middle characteristic point surrounds area a ' in projected image are：
<mrow>
<msup>
<mi>a</mi>
<mo>&prime;</mo>
</msup>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<msubsup>
<mi>u</mi>
<mi>k</mi>
<mo>&prime;</mo>
</msubsup>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<msubsup>
<mi>v</mi>
<mi>k</mi>
<mo>&prime;</mo>
</msubsup>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
Wherein, N is characterized quantity a little, is positive integer, and the plane where projected image does projection rectangular coordinate system, u 'kFor institute
State in projection rectangular coordinate system, the abscissa value of k-th of characteristic point, v ' in projected imagekFor in the projection rectangular coordinate system
In, the ordinate value of k-th of characteristic point in projected image.
3. the unmanned plane target tracking and controlling method according to claim 1 based on image, it is characterised in that
Characteristic point surrounded area a in a reference image in step (1)*Computational methods be：
<mrow>
<msup>
<mi>a</mi>
<mo>*</mo>
</msup>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>u</mi>
<mi>k</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>v</mi>
<mi>k</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
Wherein, the plane where reference picture does machine rectangular coordinate system, ukFor in the machine rectangular coordinate system, with reference to figure
The abscissa value of k-th of characteristic point, v as inkFor in the machine rectangular coordinate system, k-th characteristic point in reference picture
Ordinate value.
4. the unmanned plane target tracking and controlling method according to claim 2 based on image, it is characterised in that step (3)
In, the abscissa value of the central point of projected imageComputational methods be：
<mrow>
<mover>
<mi>u</mi>
<mo>&OverBar;</mo>
</mover>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msubsup>
<mi>u</mi>
<mi>k</mi>
<mo>&prime;</mo>
</msubsup>
</mrow>
<mi>N</mi>
</mfrac>
</mrow>
The ordinate value of the central point of projected imageComputational methods be：
<mrow>
<mover>
<mi>v</mi>
<mo>&OverBar;</mo>
</mover>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msubsup>
<mi>v</mi>
<mi>k</mi>
<mo>&prime;</mo>
</msubsup>
</mrow>
<mi>N</mi>
</mfrac>
<mo>.</mo>
</mrow>
5. the unmanned plane target tracking and controlling method according to claim 4 based on image, it is characterised in that step (4)
The computational methods of middle offset delta are：
δ=[δx δy δz]T
Wherein,
6. the unmanned plane target tracking and controlling method according to claim 5 based on image, it is characterised in that step (6)
Middle attitude command rdComputational methods be：
<mrow>
<msub>
<mi>r</mi>
<mi>d</mi>
</msub>
<mo>=</mo>
<mfrac>
<mi>U</mi>
<mrow>
<mo>|</mo>
<mo>|</mo>
<mi>U</mi>
<mo>|</mo>
<mo>|</mo>
</mrow>
</mfrac>
</mrow>
Pulling force instructs fdComputational methods be：
fd=m | | U | |, wherein, m is the quality of unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204195.5A CN107102647A (en) | 2017-03-30 | 2017-03-30 | Unmanned plane target tracking and controlling method based on image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204195.5A CN107102647A (en) | 2017-03-30 | 2017-03-30 | Unmanned plane target tracking and controlling method based on image |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107102647A true CN107102647A (en) | 2017-08-29 |
Family
ID=59675150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710204195.5A Pending CN107102647A (en) | 2017-03-30 | 2017-03-30 | Unmanned plane target tracking and controlling method based on image |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107102647A (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107993253A (en) * | 2017-11-29 | 2018-05-04 | 天津聚飞创新科技有限公司 | Method for tracking target and device |
| CN107993252A (en) * | 2017-11-29 | 2018-05-04 | 天津聚飞创新科技有限公司 | Subscriber tracing system, method and device |
| CN108255187A (en) * | 2018-01-04 | 2018-07-06 | 北京科技大学 | A kind of micro flapping wing air vehicle vision feedback control method |
| CN108297079A (en) * | 2018-03-30 | 2018-07-20 | 中山市博奥控制技术有限公司 | A kind of acquisition methods of Snakelike mechanical arm and its attitudes vibration |
| CN108340371A (en) * | 2018-01-29 | 2018-07-31 | 珠海市俊凯机械科技有限公司 | Target follows localization method and system a little |
| CN108693892A (en) * | 2018-04-20 | 2018-10-23 | 深圳臻迪信息技术有限公司 | A kind of tracking, electronic device |
| CN108759834A (en) * | 2018-04-28 | 2018-11-06 | 温州大学激光与光电智能制造研究院 | A kind of localization method based on overall Vision |
| CN109344970A (en) * | 2018-11-27 | 2019-02-15 | 中国电子科技集团公司第二十研究所 | View-based access control model target trend inference method on a kind of unmanned plane |
| WO2019061063A1 (en) * | 2017-09-27 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Image collection method for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN109739254A (en) * | 2018-11-20 | 2019-05-10 | 国网浙江省电力有限公司信息通信分公司 | Using the unmanned plane and its localization method of visual pattern positioning in a kind of electric inspection process |
| WO2019129170A1 (en) * | 2017-12-28 | 2019-07-04 | 何佳林 | Control method, device and system for sun-shading unmanned aerial vehicle |
| WO2019183789A1 (en) * | 2018-03-27 | 2019-10-03 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling unmanned aerial vehicle, and unmanned aerial vehicle |
| CN110475226A (en) * | 2018-05-11 | 2019-11-19 | 深圳Tcl新技术有限公司 | A kind of base station signal covering method, system and unmanned plane based on unmanned plane |
| CN111176305A (en) * | 2020-04-14 | 2020-05-19 | 常州市盈能电气有限公司 | Visual navigation method |
| CN111316185A (en) * | 2019-02-26 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Inspection control method of movable platform and movable platform |
| US10860040B2 (en) | 2015-10-30 | 2020-12-08 | SZ DJI Technology Co., Ltd. | Systems and methods for UAV path planning and control |
| CN112304315A (en) * | 2020-10-20 | 2021-02-02 | 西安工程大学 | Positioning method for aerial striking unmanned aerial vehicle |
| US10928838B2 (en) * | 2015-09-15 | 2021-02-23 | SZ DJI Technology Co., Ltd. | Method and device of determining position of target, tracking device and tracking system |
| CN112519670A (en) * | 2019-09-17 | 2021-03-19 | 宝马股份公司 | Reversing indication method and reversing indication system for motor vehicle and motor vehicle |
| CN112904895A (en) * | 2021-01-20 | 2021-06-04 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Image-based airplane guide method and device |
| CN113287295A (en) * | 2018-12-26 | 2021-08-20 | 富士胶片株式会社 | Image pickup element, image pickup device, method for operating image pickup element, and program |
| CN114119651A (en) * | 2021-11-30 | 2022-03-01 | 重庆紫光华山智安科技有限公司 | Target tracking method, system, device and storage medium |
| CN114877862A (en) * | 2022-05-31 | 2022-08-09 | 歌尔科技有限公司 | Unmanned aerial vehicle equipment and height detection method, device and equipment thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573341A (en) * | 2016-01-22 | 2016-05-11 | 深圳泰山体育科技股份有限公司 | Aerial vehicle optical control method and aerial vehicle optical control system |
| CN105959625A (en) * | 2016-05-04 | 2016-09-21 | 北京博瑞爱飞科技发展有限公司 | Method and device of controlling unmanned plane tracking shooting |
-
2017
- 2017-03-30 CN CN201710204195.5A patent/CN107102647A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573341A (en) * | 2016-01-22 | 2016-05-11 | 深圳泰山体育科技股份有限公司 | Aerial vehicle optical control method and aerial vehicle optical control system |
| CN105959625A (en) * | 2016-05-04 | 2016-09-21 | 北京博瑞爱飞科技发展有限公司 | Method and device of controlling unmanned plane tracking shooting |
Non-Patent Citations (3)
| Title |
|---|
| ABDELKADER ABDESSAMEUD等: "Image-based tracking control of VTOL unmanned aerial vehicles", 《AUTOMATICA》 * |
| DAEWON LEE等: "Autonomous Landing of a VTOL UAV on a Moving Platform Using Image-based Visual Servoing", 《2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION》 * |
| HAMED JABBARI ASL等: "AN ADAPTIVE SCHEME FOR IMAGE-BASED VISUAL SERVOING OF AN UNDERACTUATED UAV", 《INTERNATIONAL JOURNAL OF ROBOTICS AND AUTOMATION》 * |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11635775B2 (en) | 2015-09-15 | 2023-04-25 | SZ DJI Technology Co., Ltd. | Systems and methods for UAV interactive instructions and control |
| US10976753B2 (en) | 2015-09-15 | 2021-04-13 | SZ DJI Technology Co., Ltd. | System and method for supporting smooth target following |
| US10928838B2 (en) * | 2015-09-15 | 2021-02-23 | SZ DJI Technology Co., Ltd. | Method and device of determining position of target, tracking device and tracking system |
| US10860040B2 (en) | 2015-10-30 | 2020-12-08 | SZ DJI Technology Co., Ltd. | Systems and methods for UAV path planning and control |
| WO2019061063A1 (en) * | 2017-09-27 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Image collection method for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN107993253A (en) * | 2017-11-29 | 2018-05-04 | 天津聚飞创新科技有限公司 | Method for tracking target and device |
| CN107993252A (en) * | 2017-11-29 | 2018-05-04 | 天津聚飞创新科技有限公司 | Subscriber tracing system, method and device |
| WO2019129170A1 (en) * | 2017-12-28 | 2019-07-04 | 何佳林 | Control method, device and system for sun-shading unmanned aerial vehicle |
| CN108255187A (en) * | 2018-01-04 | 2018-07-06 | 北京科技大学 | A kind of micro flapping wing air vehicle vision feedback control method |
| CN108340371A (en) * | 2018-01-29 | 2018-07-31 | 珠海市俊凯机械科技有限公司 | Target follows localization method and system a little |
| CN108340371B (en) * | 2018-01-29 | 2020-04-21 | 珠海市万瑙特健康科技有限公司 | Target following point positioning method and system |
| WO2019183789A1 (en) * | 2018-03-27 | 2019-10-03 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling unmanned aerial vehicle, and unmanned aerial vehicle |
| CN108297079B (en) * | 2018-03-30 | 2023-10-13 | 中山市中科智能制造研究院有限公司 | Snake-shaped mechanical arm and method for acquiring attitude change of snake-shaped mechanical arm |
| CN108297079A (en) * | 2018-03-30 | 2018-07-20 | 中山市博奥控制技术有限公司 | A kind of acquisition methods of Snakelike mechanical arm and its attitudes vibration |
| CN108693892A (en) * | 2018-04-20 | 2018-10-23 | 深圳臻迪信息技术有限公司 | A kind of tracking, electronic device |
| CN108759834B (en) * | 2018-04-28 | 2023-03-21 | 温州大学激光与光电智能制造研究院 | Positioning method based on global vision |
| CN108759834A (en) * | 2018-04-28 | 2018-11-06 | 温州大学激光与光电智能制造研究院 | A kind of localization method based on overall Vision |
| CN110475226A (en) * | 2018-05-11 | 2019-11-19 | 深圳Tcl新技术有限公司 | A kind of base station signal covering method, system and unmanned plane based on unmanned plane |
| CN109739254A (en) * | 2018-11-20 | 2019-05-10 | 国网浙江省电力有限公司信息通信分公司 | Using the unmanned plane and its localization method of visual pattern positioning in a kind of electric inspection process |
| CN109344970A (en) * | 2018-11-27 | 2019-02-15 | 中国电子科技集团公司第二十研究所 | View-based access control model target trend inference method on a kind of unmanned plane |
| CN109344970B (en) * | 2018-11-27 | 2022-03-15 | 中国电子科技集团公司第二十研究所 | Vision target-based dynamic reasoning method on unmanned aerial vehicle |
| CN113287295A (en) * | 2018-12-26 | 2021-08-20 | 富士胶片株式会社 | Image pickup element, image pickup device, method for operating image pickup element, and program |
| CN113287295B (en) * | 2018-12-26 | 2023-07-25 | 富士胶片株式会社 | Image pickup element, image pickup device, method of operating image pickup element, and storage medium |
| CN111316185A (en) * | 2019-02-26 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Inspection control method of movable platform and movable platform |
| CN112519670A (en) * | 2019-09-17 | 2021-03-19 | 宝马股份公司 | Reversing indication method and reversing indication system for motor vehicle and motor vehicle |
| CN112519670B (en) * | 2019-09-17 | 2024-03-05 | 宝马股份公司 | Reversing indication method and reversing indication system for motor vehicle and motor vehicle |
| CN111176305A (en) * | 2020-04-14 | 2020-05-19 | 常州市盈能电气有限公司 | Visual navigation method |
| CN112304315A (en) * | 2020-10-20 | 2021-02-02 | 西安工程大学 | Positioning method for aerial striking unmanned aerial vehicle |
| CN112904895A (en) * | 2021-01-20 | 2021-06-04 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Image-based airplane guide method and device |
| CN114119651B (en) * | 2021-11-30 | 2022-10-25 | 重庆紫光华山智安科技有限公司 | Target tracking method, system, device and storage medium |
| CN114119651A (en) * | 2021-11-30 | 2022-03-01 | 重庆紫光华山智安科技有限公司 | Target tracking method, system, device and storage medium |
| CN114877862A (en) * | 2022-05-31 | 2022-08-09 | 歌尔科技有限公司 | Unmanned aerial vehicle equipment and height detection method, device and equipment thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107102647A (en) | Unmanned plane target tracking and controlling method based on image | |
| US9007461B2 (en) | Aerial photograph image pickup method and aerial photograph image pickup apparatus | |
| CN104897159B (en) | The whole air navigation aid of aircraft based on sequence image matching | |
| CN109753076A (en) | A kind of unmanned plane vision tracing implementing method | |
| CN109191504A (en) | A kind of unmanned plane target tracking | |
| CN105187723B (en) | A kind of image pickup processing method of unmanned vehicle | |
| CN108306217A (en) | A kind of overhead high-voltage wire intelligent independent is along conducting wire flight cruising inspection system and method | |
| CN109465832A (en) | High-precision vision and the tight fusion and positioning method of IMU and system | |
| CN106054924B (en) | A kind of unmanned plane accompanying flying method, accompanying flying device and accompanying flying system | |
| CN107192375B (en) | A kind of unmanned plane multiple image adaptive location bearing calibration based on posture of taking photo by plane | |
| CN107831776A (en) | Unmanned plane based on nine axle inertial sensors independently makes a return voyage method | |
| CN107144264A (en) | A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane | |
| CN107422743A (en) | The unmanned plane alignment system of view-based access control model | |
| CN107734289A (en) | Method, related computer program and the electronic system for capturing video of capture images | |
| CN109254587A (en) | Can under the conditions of wireless charging steadily hovering small drone and its control method | |
| TWI444593B (en) | Ground target geolocation system and method | |
| CN112947526B (en) | Unmanned aerial vehicle autonomous landing method and system | |
| CN107065926A (en) | Omnidirectional's obstacle avoidance apparatus, head, the control method of head and avoidance obstacle method | |
| CN108731681A (en) | Rotor wing unmanned aerial vehicle method of navigation, related computer program, electronic equipment and unmanned plane | |
| CN105173102B (en) | A kind of quadrotor stability augmentation system based on many images and method | |
| CN111578904B (en) | Unmanned aerial vehicle aerial surveying method and system based on equidistant spirals | |
| CN110337668A (en) | Image stability augmentation method and apparatus | |
| CN110223233B (en) | Unmanned aerial vehicle aerial photography image building method based on image splicing | |
| CN107635096B (en) | A kind of panorama aerial camera inclination imaging method increasing photograph Duplication | |
| CN113271409B (en) | Combined camera, image acquisition method and aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170829 |