CN108225277A - Image acquiring method, vision positioning method, device, the unmanned plane of unmanned plane - Google Patents
Image acquiring method, vision positioning method, device, the unmanned plane of unmanned plane Download PDFInfo
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- CN108225277A CN108225277A CN201810199743.4A CN201810199743A CN108225277A CN 108225277 A CN108225277 A CN 108225277A CN 201810199743 A CN201810199743 A CN 201810199743A CN 108225277 A CN108225277 A CN 108225277A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
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Abstract
The present invention provides a kind of image acquiring method of unmanned plane, vision positioning method, device, unmanned plane and UAV system；Wherein, the image acquiring method of unmanned plane is applied to unmanned plane, and this method includes：Obtain external environment information；The parameter of photographic device is adjusted according to external environment information；Image is shot using photographic device.The present invention can reduce shooting image and be adversely affected by external interference factor, and image is more clear, and information content is more abundant, is conducive to the smooth execution of unmanned plane during flying task.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of image acquiring method of unmanned plane, vision positioning
Method, apparatus and unmanned plane.
Background technology
When unmanned plane carries out vision positioning, image is usually acquired by photographic device, after which is identified, is realized
The positioning of target object；The accuracy of vision positioning is heavily dependent on the quality of image；However, night or other
In the case of illumination is insufficient, photographic device the image collected clarity is poor, it is difficult to accurately identify target object, cause vision
Positioning failure；In addition, the Hz noise of indoor illumination, the clarity of image can be also reduced, influences the vision positioning of unmanned plane
Effect.
Invention content
In view of this, the purpose of the present invention is to provide a kind of image acquiring method of unmanned plane, vision positioning method, dresses
It puts, unmanned plane and UAV system, is adversely affected with reducing shooting image by external interference factor, image is more clear, letter
Breath amount is more abundant, is conducive to the smooth execution of unmanned plane during flying task.
In a first aspect, an embodiment of the present invention provides a kind of image acquiring method of unmanned plane, method is applied to unmanned plane,
Method includes：Obtain external environment information；The parameter of photographic device is adjusted according to external environment information；It is shot using photographic device
Image.
Further, above-mentioned external environment information includes the illumination parameter of unmanned plane local environment；Believed according to external environment
The step of parameter of breath adjustment photographic device, including：Judge whether illumination parameter meets given threshold range, if so, opening
The infrared LED lamp of photographic device, to irradiate image f iotaeld-of-view.
Further, the above method further includes：Obtain the focal length of the visual sensor of photographic device；According to visual sensor
Focal length, the corresponding collector lens of infrared LED lamp is adjusted, so that the focal length of collector lens is opposite with the focal length of visual sensor
It should.
Further, the above method further includes：Obtain the flying height of unmanned plane；Infrared LED is adjusted according to flying height
The brightness of lamp.
Second aspect, an embodiment of the present invention provides a kind of vision positioning method of unmanned plane, method is applied to unmanned plane,
Method includes：Acquisition includes the picture signal of infrared spectrum；The infrared signature of goal-selling object is extracted from picture signal
Data；According to infrared signature data, vision positioning is carried out to target object.
Further, it is above-mentioned from picture signal extract goal-selling object infrared signature data the step of, including：From
The corresponding image data of infrared spectrum is extracted in picture signal；The infrared signature number of goal-selling object is extracted from image data
According to；Wherein, infrared signature data include one or more in geometric properties, position feature and posture feature.
Further, it is above-mentioned according to infrared signature data, the step of vision positioning is carried out to target object, including：According to
Using light stream vision positioning mode or visual odometry positioning method, vision positioning is carried out to target object for infrared signature data.
The third aspect, an embodiment of the present invention provides a kind of image acquiring device of unmanned plane, device is set to unmanned plane,
Method includes：Data obtaining module, for obtaining external environment information；Parameter adjustment module, for according to external environment information
Adjust the parameter of photographic device；Image collection module, for shooting image using photographic device.
Fourth aspect, an embodiment of the present invention provides a kind of vision positioning device of unmanned plane, device is set to unmanned plane,
Device includes：Signal acquisition module, for acquiring the picture signal for including infrared spectrum；Data extraction module, for from figure
Infrared signature data as extracting goal-selling object in signal；Vision positioning module, for according to infrared signature data, to mesh
It marks object and carries out vision positioning.
5th aspect, an embodiment of the present invention provides a kind of unmanned plane, unmanned plane includes controller, infrared LED lamp and takes the photograph
As device；The image acquiring device or vision positioning device of above-mentioned unmanned plane are set in controller.
6th aspect, an embodiment of the present invention provides a kind of UAV system, system includes unmanned plane and terminal device；Eventually
End equipment is used to receive the image of unmanned plane transmission.
The embodiment of the present invention brings following advantageous effect：
The image acquiring method of unmanned plane provided in an embodiment of the present invention a kind of, vision positioning method, device, unmanned plane and
After getting external environment information, the parameter of photographic device is adjusted according to the external environment information for UAV system, and recycling should
Photographic device shoots image；Which by external environment information adjust photographic device parameter, can reduce shooting image by
The adverse effect of external interference factor, image are more clear, and information content is more abundant, is conducive to the smooth of unmanned plane during flying task
It performs
The image acquiring method of unmanned plane provided in an embodiment of the present invention a kind of, vision positioning method, device, unmanned plane and
UAV system includes the picture signal of infrared spectrum by acquisition, can obtain the infrared signature data of target object, into
And vision positioning is carried out to the target object；Since infrared signature data are less subject to the adverse effect of external interference factor, because
And the success rate of vision positioning can be improved, be conducive to the smooth execution of unmanned plane during flying task.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow chart of the image acquiring method of unmanned plane provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the image acquiring method of another unmanned plane provided in an embodiment of the present invention；
Fig. 3 is a kind of flow chart of the vision positioning method of unmanned plane provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the vision positioning method of another unmanned plane provided in an embodiment of the present invention；
Fig. 5 is a kind of structure diagram of the image acquiring device of unmanned plane provided in an embodiment of the present invention；
Fig. 6 is a kind of structure diagram of the vision positioning device of unmanned plane provided in an embodiment of the present invention；
Fig. 7 is a kind of structure diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 8 is a kind of structure diagram of UAV system provided in an embodiment of the present invention.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiment be part of the embodiment of the present invention rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, shall fall within the protection scope of the present invention.
In view of existing unmanned plane image acquisition mode, the problem of image effect got is poor, the present invention is implemented
Example provides a kind of image acquiring method of unmanned plane, vision positioning method, device, unmanned plane and UAV system；The technology
It can be applied to during the Image Acquisition of unmanned plane, vision positioning；It is particularly applicable to night, interior or other illumination not
During Image Acquisition, vision positioning being carried out under the environment of foot；Relevant software or hardware realization may be used in the technology, under
Face is described by embodiment.
A kind of flow chart of the image acquiring method of unmanned plane shown in Figure 1；This method is applied to unmanned plane, the party
Method includes the following steps：
Step S102 obtains external environment information；
The external environment information is usually on the influential information of unmanned plane acquisition image, for example, luminance information, ambient light
Spectrum distribution information and brightness, spectrum distribution at any time or the change information of position etc.；These information can pass through light
The sensor acquisition of the types such as electric transistor, photo resistance or photodiode obtains.
Step S104 adjusts the parameter of photographic device according to external environment information；
The photographic device generally includes to be arranged on camera on unmanned plane, video camera and matched Exposing Lamp, light filling
Lamp etc.；The parameter of photographic device can be light exposure, the frequency range of light compensating lamp, brightness and the focal length of device when shooting etc.；Example
Such as, unmanned plane is in night flying, external environment information may the insufficient information of display environment brightness, need to increase at this time
Light exposure or the brightness for increasing light compensating lamp；During unmanned plane flight indoors, may by the Hz noise of headlamp, at this point,
The light compensating lamp of corresponding band can be opened, to obtain the image of the frequency range, avoids influence of the Hz noise to image.
For another example, the ambient lighting residing for unmanned plane may be uneven, at this point it is possible to according to the focal position of photographic device,
The focal length of the collector lens of light compensating lamp is adjusted, so that the position illumination of shooting image is sufficient.
Step S106 shoots image using photographic device.
The photo or video image that photographic device takes can be used for performing investigation tasks, can be used for unmanned plane
The vision positioning system of itself.It, can be by identifying the position of the target object in image for example, after photographic device gets image
It puts, is positioned with the height to unmanned plane itself and position, and then adjust flight path, to complete aerial mission.
A kind of image acquiring method of unmanned plane provided in an embodiment of the present invention, after getting external environment information, according to
The external environment information adjusts the parameter of photographic device, and the photographic device is recycled to shoot image；Which passes through external environment
Information adjusts the parameter of photographic device, can reduce shooting image and be adversely affected by external interference factor, and image is more clear,
Information content is more abundant, is conducive to the smooth execution of unmanned plane during flying task.
The flow chart of the image acquiring method of another unmanned plane shown in Figure 2；This method is applied to unmanned plane, should
In method, illustrated by taking the illumination parameter that extraneous environmental information includes unmanned plane local environment as an example；This method includes as follows
Step：
Step S202 obtains external environment information；The external environment information includes the illumination parameter of unmanned plane local environment；
The illumination parameter can be intensity of illumination brightness and Hz noise etc..The frequency of usual line voltage is 50Hz, it can be with
The forms of radiation of electromagnetic wave, interferes daily life, and this interference is Hz noise.
Step S204, judges whether illumination parameter meets given threshold range, if so, performing step S206；If not,
Perform step S202；
For example, when illumination parameter is illumination brightness, when luminance threshold of the illumination brightness less than setting, step is performed
S206；When illumination parameter is the intensity of Hz noise, when intensity threshold of the intensity higher than setting, step S206 is performed.
Step S206 opens infrared LED (Light Emitting Diode, optical diode) lamp of photographic device, to shine
Penetrate image f iotaeld-of-view.The infrared LED lamp may be mounted at the bottom of unmanned plane, can adjust direction of illumination by rotating device, lead to
Cross the telescopic device adjustment range of exposures of lampshade.
Step S208 obtains the focal length of the visual sensor of photographic device；
Unmanned plane may highly change, the distance between photographic device and target object at any time in flight course
It can change therewith；Visual sensor can be perceived under current focus, the readability of image, when clarity declines, needed
Focus control is adjusted, is focused on target object with focal length.
Step S210 according to the focal length of visual sensor, adjusts the corresponding collector lens of infrared LED lamp, so that optically focused is saturating
The focal length of mirror is corresponding with the focal length of visual sensor.
The collector lens may be mounted at the front of infrared LED lamp, for adjusting the focal length of infrared light；It is to be captured in order to make
Illumination at target object position is sufficient, can be by the focus adjustment of the collector lens identical with the focal length of visual sensor
Position to improve the capacity usage ratio of infrared LED lamp, makes the bright and clear of image f iotaeld-of-view.
Step S212 obtains the flying height of unmanned plane；The brightness of infrared LED lamp is adjusted according to the flying height.
When the flying height of unmanned plane is relatively low or distance objective object distance is nearer, image f iotaeld-of-view may be made
Light exposure is higher, and the picture clarity excessively exposed is poor；When the flying height of unmanned plane is higher or distance objective is to image distance
From farther out when, the light exposure that may make image f iotaeld-of-view is relatively low, and the picture clarity of very few exposure is also poor.Therefore, unmanned plane
In flight course, since flight line fluctuates, the light exposure that may result in image f iotaeld-of-view is fluctuated, leads to image clearly
Degree is very unstable.
Based on this, brightness regulating apparatus can be increased in the driving circuit of infrared LED lamp, make the brightness of infrared LED lamp
With the flying height linear change of unmanned plane, the light exposure that can make image f iotaeld-of-view is appropriate, and the clarity for making picture is more steady
It is fixed.
Step S214 shoots image using photographic device.
The image acquiring method of above-mentioned unmanned plane, after getting illumination parameter, according to the illumination parameter open infrared LED into
Row light filling, and the focal length of the infrared LED, brightness etc. are adjusted, shooting image can be reduced and adversely affected by external interference factor,
Image is more clear, and information content is more abundant, is conducive to the smooth execution of unmanned plane during flying task.
A kind of flow chart of the vision positioning method of unmanned plane shown in Figure 3；This method is applied to unmanned plane, the party
Method is realized on the basis of the image acquiring method of unmanned plane shown in fig. 1 or fig. 2；This method comprises the following steps：
Step S302, acquisition include the picture signal of infrared spectrum；In actual implementation, step S302 can pass through
The image acquiring method of above-mentioned unmanned plane shown in fig. 1 or fig. 2 is realized；
Step S304 extracts the infrared signature data of goal-selling object from picture signal；
In general, after opening infrared LED lamp, in target object meeting reflection absorption ftir spectroscopy to photographic device, therefore, photographic device
Include the characteristic under infrared spectrum frequency range in the image data of the target object got.For example, above-mentioned photographic device
In visual sensor, for visual pattern acquisition CMOS (Complementary Metal Oxide
Semiconductor, complementary metal oxide semiconductor) infrared or far-infrared spectrum the cmos sensor of reception may be used,
For example, the spectral band of 850nm or 950nm.
According to infrared signature data, vision positioning is carried out to target object by step S306.
In actual implementation, picture signal can be filtered, retain the image letter of infrared spectrum frequency range part
Number, and then feature extraction is carried out to the parts of images signal；It for example, can be to carry out color analysis, the texture of the picture signal
Analysis, Analysis of spatial relations etc., it is final to realize target pair so as to obtain the features such as the geometry of target object, position, posture
The vision positioning of elephant.
The vision positioning method of above-mentioned unmanned plane provided in an embodiment of the present invention includes the figure of infrared spectrum by acquisition
As signal, the infrared signature data of target object can be obtained, and then vision positioning is carried out to the target object；Due to infrared spy
Sign data are less subject to the adverse effect of external interference factor, thus can improve the success rate of vision positioning, are conducive to nobody
The smooth execution of machine aerial mission.
The flow chart of the vision positioning method of another unmanned plane shown in Figure 4；This method is applied to unmanned plane, should
It is realized on the basis of method method shown in Fig. 3；This method comprises the following steps：
Step S402, acquisition include the picture signal of infrared spectrum；
Step S404 extracts the corresponding image data of infrared spectrum from picture signal；
As set forth above, it is possible to the picture signal is filtered, it, should to obtain the corresponding image data of infrared spectrum
Infrared spectrum is specifically as follows the spectral band of 850nm or 950nm.
Step S406 extracts the infrared signature data of goal-selling object from image data；Wherein, the infrared signature number
According to including one or more in geometric properties, position feature and posture feature.It for example, can be by analyzing the face of image data
Color, texture, spatial relationship etc. extract the features described above of target object.
Step S408 is right using light stream vision positioning mode or visual odometry positioning method according to infrared signature data
Target object carries out vision positioning.
Then the light stream vision positioning mode is used mostly by way of the camera collection image data of uav bottom
Optical flow algorithm calculates the displacement of two field pictures, and then realizes the positioning to unmanned plane, this positioning method cooperation GPS (Global
Positioning System, global positioning system) unmanned plane can be precisely controlled in outdoor realization, and does not have indoors
When having GPS signal, the high-precision positioning to unmanned plane can also be realized, realize more smoothly control.
The visual odometry positioning method is a kind of side that robot displacement distance is estimated using continuous image sequence
Method usually specifically comprises the steps of：
1st, image acquisition：Monocular camera, binocular camera or omnidirectional's camera etc. can be used；
2nd, image rectification：Lens distortion is removed using relevant image processing techniques；
3rd, feature detects：It determines interested descriptor, matching characteristic and builds optical flow field between frames；Specifically
Ground includes the use of correlation to measure the consistency between two images, carries out feature extraction, matches, structure optical flow field and etc.；
4th, check that optical flow field vector with the presence or absence of potential tracking error, removes exterior point；
5th, by the movement of Optical flow estimation camera；The specific Kalman filtering that may be used carries out state estimation；Alternatively, it looks into
The geometry of feature and 3D attributes are looked for, to minimize the penalty function value based on the re-projection error between adjacent two frame, can be passed through
Minimum method or stochastical sampling method mathematically is completed；
6th, trace point is periodically relocated.
The vision positioning method of above-mentioned unmanned plane is included the picture signal of infrared spectrum by acquisition, can obtain mesh
The infrared signature data of object are marked, and then using light stream vision positioning mode or visual odometry positioning method to the target object
Carry out vision positioning；Since infrared signature data are less subject to the adverse effect of external interference factor, thus vision can be improved
The success rate of positioning is conducive to the smooth execution of unmanned plane during flying task.
Corresponding to above method embodiment, a kind of structural representation of the image acquiring device of unmanned plane shown in Figure 5
Figure；The device is set to unmanned plane, which includes：
Data obtaining module 50, for obtaining external environment information；
Parameter adjustment module 51, for adjusting the parameter of image acquiring device according to external environment information；
Image collection module 52, for shooting image using photographic device.
A kind of image acquiring device of unmanned plane provided in an embodiment of the present invention, after getting external environment information, according to
The external environment information adjusts the parameter of photographic device, and the photographic device is recycled to shoot image；Which passes through external environment
Information adjusts the parameter of photographic device, can reduce shooting image and be adversely affected by external interference factor, and image is more clear,
Information content is more abundant, is conducive to the smooth execution of unmanned plane during flying task.
A kind of structure diagram of the vision positioning device of unmanned plane shown in Figure 6；The device is set to unmanned plane,
The device includes：
Signal acquisition module 60, for acquiring the picture signal for including infrared spectrum；
Data extraction module 61, for extracting the infrared signature data of goal-selling object from picture signal；
Vision positioning module 62, for according to infrared signature data, vision positioning to be carried out to target object.
The vision positioning device of above-mentioned unmanned plane provided in an embodiment of the present invention includes the figure of infrared spectrum by acquisition
As signal, the infrared signature data of target object can be obtained, and then vision positioning is carried out to the target object；Due to infrared spy
Sign data are less subject to the adverse effect of external interference factor, thus can improve the success rate of vision positioning, are conducive to nobody
The smooth execution of machine aerial mission.
A kind of structure diagram of unmanned plane shown in Figure 7；The unmanned plane includes controller 70, infrared LED lamp 71
With photographic device 72；The image acquiring device of above-mentioned unmanned plane or the vision positioning device of unmanned plane are set in controller 70.
A kind of structure diagram of UAV system shown in Figure 8；The system includes unmanned plane 80 and terminal device
81；The terminal device 81 is used to receive the image of unmanned plane transmission.The terminal device can be mobile terminal, for example, mobile phone, puts down
Plate computer etc.；Corresponding application APP on mobile terminal is installed, receives the image that unmanned plane is sent, for perform search and rescue,
The tasks such as missing.
Unmanned plane provided in an embodiment of the present invention and UAV system, the image of the unmanned plane provided with above-described embodiment obtain
It takes method, the vision positioning method of unmanned plane and device that there is identical technical characteristic, is asked so can also solve identical technology
Topic, reaches identical technique effect.
Image acquiring method, vision positioning method, device, unmanned plane and the nothing for the unmanned plane that the embodiment of the present invention is provided
The computer program product of man-machine system, the computer readable storage medium including storing program code, said program code
Including instruction can be used for perform previous methods embodiment described in method, specific implementation can be found in embodiment of the method, herein
It repeats no more.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
And/or the specific work process of device, the corresponding process in preceding method embodiment can be referred to, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, server or network equipment etc.) perform all or part of the steps of the method according to each embodiment of the present invention.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
In the description of the present invention, it should be noted that term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is only used for description purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (11)
1. a kind of image acquiring method of unmanned plane, which is characterized in that the method is applied to unmanned plane, the method includes：
Obtain external environment information；
The parameter of photographic device is adjusted according to external environment information；
Image is shot using the photographic device.
2. according to the method described in claim 1, it is characterized in that, the external environment information includes ring residing for the unmanned plane
The illumination parameter in border；
It is described according to external environment information adjust photographic device parameter the step of, including：
Judge whether the illumination parameter meets given threshold range, if so, the infrared LED lamp of photographic device is opened, to shine
Penetrate image f iotaeld-of-view.
3. according to the method described in claim 2, it is characterized in that, the method further includes：
Obtain the focal length of the visual sensor of the photographic device；
According to the focal length of the visual sensor, the corresponding collector lens of the infrared LED lamp is adjusted, so that the collector lens
Focal length it is corresponding with the focal length of the visual sensor.
4. according to the method described in claim 2, it is characterized in that, the method further includes：
Obtain the flying height of the unmanned plane；
The brightness of the infrared LED lamp is adjusted according to the flying height.
5. a kind of vision positioning method of unmanned plane, which is characterized in that the method is applied to unmanned plane, the method includes：
Acquisition includes the picture signal of infrared spectrum；
The infrared signature data of goal-selling object are extracted from described image signal；
According to the infrared signature data, vision positioning is carried out to the target object.
6. according to the method described in claim 5, it is characterized in that, goal-selling object is extracted in the signal from described image
Infrared signature data the step of, including：
The corresponding image data of the infrared spectrum is extracted from described image signal；
From the infrared signature data of described image extracting data goal-selling object；Wherein, the infrared signature data include
It is one or more in geometric properties, position feature and posture feature.
7. according to the method described in claim 5, it is characterized in that, described according to the infrared signature data, to the target
Object carries out the step of vision positioning, including：
According to the infrared signature data, using light stream vision positioning mode or visual odometry positioning method, to the target
Object carries out vision positioning.
8. a kind of image acquiring device of unmanned plane, which is characterized in that described device is set to unmanned plane, the method includes：
Data obtaining module, for obtaining external environment information；
Parameter adjustment module, for adjusting the parameter of photographic device according to external environment information；
Image collection module, for shooting image using the photographic device.
9. a kind of vision positioning device of unmanned plane, which is characterized in that described device is set to unmanned plane, and described device includes：
Signal acquisition module, for acquiring the picture signal for including infrared spectrum；
Data extraction module, for extracting the infrared signature data of goal-selling object from described image signal；
Vision positioning module, for according to the infrared signature data, vision positioning to be carried out to the target object.
10. a kind of unmanned plane, which is characterized in that the unmanned plane includes controller, infrared LED lamp and photographic device；Right will
The device described in 8 or 9 is asked to be set in the controller.
11. a kind of UAV system, which is characterized in that the system comprises unmanned planes and terminal device；The terminal device is used
In the image for receiving the unmanned plane transmission.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112631311A (en) * | 2021-03-05 | 2021-04-09 | 上海擎朗智能科技有限公司 | Mobile robot positioning method and device, mobile robot and storage medium |
| CN113093105A (en) * | 2021-04-09 | 2021-07-09 | 中国人民解放军战略支援部队信息工程大学 | Visible light indoor positioning method, device and system and related products |
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