CN108346260A - It is a kind of for the monitoring method of unmanned plane, device, unmanned plane and monitoring system - Google Patents
It is a kind of for the monitoring method of unmanned plane, device, unmanned plane and monitoring system Download PDFInfo
- Publication number
- CN108346260A CN108346260A CN201810068364.1A CN201810068364A CN108346260A CN 108346260 A CN108346260 A CN 108346260A CN 201810068364 A CN201810068364 A CN 201810068364A CN 108346260 A CN108346260 A CN 108346260A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- user
- location information
- electronic equipment
- monitoring
- 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
- 238000012544 monitoring process Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012806 monitoring device Methods 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000003860 storage Methods 0.000 description 13
- 238000012545 processing Methods 0.000 description 12
- 238000004891 communication Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000005728 strengthening Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 241001269238 Data Species 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- General Health & Medical Sciences (AREA)
- Gerontology & Geriatric Medicine (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a kind of for the monitoring method of unmanned plane, device, unmanned plane and monitoring system, which includes：Obtain the location information of user；Obtain the unmanned plane location information for the locating module acquisition being arranged on unmanned plane；Unmanned plane, which is controlled, according to the location information of user, unmanned plane location information and pre-set safe distance tracks user；Acquire the image of user；Judge whether user occurs accident according to image, if so, then sending out alarm to the electronic equipment of monitoring user.In this way, monitoring method through the invention, so that it may to track user and monitor whether user occurs accident, to carry out the task of home care, and realize that home care task can reach the target at no dead angle by unmanned plane.
Description
Technical field
The present invention relates to unmanned plane field, more particularly it relates to a kind of monitoring method for unmanned plane, dress
It sets, unmanned plane and monitoring system.
Background technology
Current countries many in the world all suffer from the arrival of aging society and twin-income family, cause many elderlys and youngster
Child will be often not to be looked after solitary life or long period in future.Observe that the manpower for looking after the elderly and children will be tight
Weight is insufficient, and many proposals look after the elderly or children with robot in recent years.
And the existing robot for home care, all it is the mode for belonging to action on ground, this robot is having
Certain difficulty can be suffered from by having on the overcoming of barrier, and to look after the situation that a certain dead angle occurs.
Invention content
It is an object of the present invention to provide a kind of new solutions that one of can at least solve the above problems.
According to the first aspect of the invention, a kind of monitoring method for unmanned plane is provided, including：
Obtain the location information of user；
Obtain the unmanned plane location information for the locating module acquisition being arranged on unmanned plane；
According to the control of the location information of the user, the unmanned plane location information and pre-set safe distance
Unmanned plane tracks the user；
Acquire the image of the user；
Judge whether the user occurs accident according to described image, if so, then：
Alarm is sent out to the electronic equipment for monitoring the user.
Optionally, the location information, the unmanned plane location information and pre-set peace according to the user
Full distance controls the unmanned plane tracking user：
It is determined between the unmanned plane and the user according to the customer position information and the unmanned plane location information
Horizontal distance and the unmanned plane moving direction；
Obtain the current flight height of unmanned plane；
According to the current flight height, the horizontal distance and the safe distance determine the movement of the unmanned plane away from
From；
The unmanned plane movement is controlled according to the moving direction and the displacement distance, to track the user.
Optionally, described to judge whether the user occurs accident and include according to described image：
The current pose of the user is identified according to described image；
The current color around the user is identified according to described image；
According to the current pose and the current color, judge whether the user occurs accident.
Optionally, described to send out alarm to the electronic equipment for monitoring the user and include：
Described image is sent to the electronic equipment；
Alternatively, alarm command is sent to the electronic equipment, so that the electronic equipment sounding or luminous.
According to the second aspect of the invention, a kind of monitoring device for unmanned plane is provided, including：
First position acquisition module, the location information for obtaining user；
Second position acquisition module, the unmanned plane position letter for obtaining the locating module being arranged on unmanned plane acquisition
Breath；
Tracing module, for the location information, the unmanned plane location information and pre-set peace according to the user
Full distance controls the unmanned plane and tracks the user；
Image capture module, the image for acquiring the user；
Judgment module, for judging whether the user occurs accident according to described image；And
Alarm modules, in the case of for being in the judging result of the judgment module, to the electricity for monitoring the user
Sub- equipment sends out alarm.
Optionally, the tracing module includes：
First determination unit, for according to the customer position information and the unmanned plane location information determine it is described nobody
The moving direction of horizontal distance and the unmanned plane between machine and the user；
Height acquiring unit, the current flight height for obtaining unmanned plane；
Second determination unit, for being determined according to the current flight height, the horizontal distance and the safe distance
The displacement distance of the unmanned plane；And
Mobile unit is moved for controlling the unmanned plane according to the moving direction and the displacement distance, with tracking
The user.
Optionally, the judgment module includes：
Gesture recognition unit, the current pose for identifying the user according to described image；
Color recognition unit, for identifying the current color around the user according to described image；
Judging unit, for according to the current pose and the current color, judging whether the user occurs accident.
Optionally, the alarm modules are additionally operable to：
Described image is sent to the electronic equipment；
Alternatively, alarm command is sent to the electronic equipment, so that the electronic equipment sounding or luminous.
According to the third aspect of the invention we, a kind of unmanned plane, including processor and memory are provided, the memory is used
In store instruction, described instruction is used to control the processor and is operated to execute the prison described according to a first aspect of the present invention
Prosecutor method.
According to the fourth aspect of the invention, a kind of monitoring system is provided, including unmanned plane, wearable device and electronics are set
Standby, the unmanned plane includes described according to a second aspect of the present invention monitoring device；The wearable device is arranged to acquire
The location information of user, and it is sent to the unmanned plane；The electronic equipment is arranged to receive the police that the unmanned plane is sent
It reports, and monitors another user of the user according to the alarm sounds.
The present invention an advantageous effect be, method through the embodiment of the present invention, so that it may to track user and monitor
Whether user occurs accident, to carry out the task of home care, and realizes that home care task can reach by unmanned plane
Target without dead angle.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Description of the drawings
It is combined in the description and the attached drawing of a part for constitution instruction shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is the flow chart according to a kind of a kind of embodiment of monitoring method for unmanned plane of the invention；
Fig. 2 is the flow chart according to a kind of another embodiment of monitoring method for unmanned plane of the invention；
Fig. 3 is the flow chart according to a kind of another embodiment of monitoring method for unmanned plane of the invention；
Fig. 4 is the frame principle figure according to a kind of a kind of implementation structure of monitoring device for unmanned plane of the invention；
Fig. 5 is another frame principle figure for implementing structure according to a kind of monitoring device for unmanned plane of the invention；
Fig. 6 is according to a kind of frame principle figure of unmanned plane of the present invention；
Fig. 7 is according to a kind of frame principle figure of monitoring system of the present invention.
Specific implementation mode
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition having
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the present invention
And its application or any restrictions that use.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
Fig. 1 is the flow chart according to a kind of a kind of embodiment of monitoring method for unmanned plane of the invention.
According to Fig. 1, which includes：
Step S110 obtains the location information of user.
For example, user can wear to be provided with the wearable devices such as locating module and the bracelet of communication module, either
It carries other and is provided with locating module and the electronic product of communication module, locating module can acquire the location information of user, lead to
The location information of user can be sent to unmanned plane by letter module, so that unmanned plane obtains the location information of user.Wherein, it positions
Module for example can be GPS positioning module, Beidou positioning module, Galileo positioning mould any one or arbitrary group in the block
It closes.
Unmanned plane receives the location information of user by the communication module being arranged on itself.Communication module on unmanned plane
Communication mode between communication module of the above-mentioned wearable device either on electronic product can be WI-FI, bluetooth,
CDMA2000, GSM, Infrared (IR), ISM, RFID, UMTS/3GPPw/HSDPA, UWB, WiMAXWi-Fi or ZigBee
Deng.
Step S120 obtains the unmanned plane location information for the locating module acquisition being arranged on unmanned plane.
Wherein, it can be GPS positioning module, Beidou positioning module, Jia Li that the locating module on unmanned plane, which is arranged, for example
Slightly positioning mould any one or arbitrary combination in the block.
Step S130 controls nobody according to customer position information, unmanned plane location information and pre-set safe distance
Machine tracks the user.
Wherein, safe distance can be set and be stored in unmanned plane previously according to experience.
Further, step S130 may include step S131~S134 as shown in Figure 2.
Step S131, according to the water between the location information of user and the positional information calculation unmanned plane and user of unmanned plane
The moving direction of flat distance and unmanned plane.
The location information of user includes the longitude information and latitude information of user, and the location information of unmanned plane also includes for nobody
The longitude information and latitude information of machine.The location information of user for example can be (x1, y1), and the location information of unmanned plane for example may be used
To be (x2, y2), wherein x1 is the latitude information of user, and y1 is the longitude information of user, and x2 is the latitude information of unmanned plane,
Y2 is the longitude information of unmanned plane.
Specifically, the horizontal distance between unmanned plane and user can beUnmanned plane
Moving direction be specially (x2, y2) be directed toward (x1, y1) rectilinear direction.
Step S132 obtains the current flight height of unmanned plane.
Current flight height for example can be by the range sensor that is arranged on unmanned plane, pressure sensor either
What locating module obtained.
Step S133, according to current flight height, the displacement distance of horizontal distance and Calculation of Safety Distance unmanned plane.
According to Pythagorean theorem, it can be calculated according to current flight height h and safe distance a and be kept in unmanned plane and user
Horizontal distance d2 in the case of safe distance between unmanned plane and user,
So, the computational methods of displacement distance d3 can be d3=d1-d2.
Step S134, according to moving direction and displacement distance control unmanned plane movement, to track the user.
Wherein, it if d3 is just, controls unmanned plane and moves along direction movement, if d3 is negative, control unmanned plane
It is moved along the direction opposite with moving direction, unmanned plane displacement distance d3 can be controlled in the case where height is constant.In this way,
It can be so that unmanned plane tracks the user.
The flight control system module being arranged on unmanned plane is that system is set in master control of the unmanned plane under normal flight pattern, the mould
Block passes through the above-mentioned displacement distance being calculated and moving direction, control horse through its internal unmanned plane during flying obstacle algorithm
Motor is controlled to drive propeller to operate up to propeller driving system module.Motor propeller driving system module is according to winged control
System module controls motor according to flight control system module, drives the rotating speed of propeller, to be accelerated, slows down or land.
During executing following steps S140~S160, while recycling and executing above-mentioned steps S110~S130.
Step S140 acquires the image of user.
The image of user is acquired by the camera being arranged on unmanned plane, which includes the user.
Step S150 judges whether user occurs accident, if so, thening follow the steps S160 according to the image；If not, after
It is continuous to execute step S110.
Further, step S151~S153 that step S150 may include as shown in Figure 3 is executed.
Step S151, according to the current pose of image recognition user.
Specifically, the user region in image can be identified, and binary conversion treatment is carried out for the area image,
Obtain the pixel of user profile.The pixel for being directed to user profile again carries out following edge strengthening processing, obtains edge strengthening processing
Image.For the image of edge strengthening processing, obtained by the external form of caregiver namely user through Snake fitting algorithms
Posture information is parsed for the posture information of user, confirms that the current pose of user is stance, sitting posture or prone position.
Step S152, according to the current color around image recognition user.
It can be specifically that color identification is carried out to user region in image, determine the current color around user.
Step S153 judges whether user occurs accident according to current pose and current color.
Such as can be, but not limited in the case where current pose is prone position and current color is red, judge the user
Accident occurs.
It for example can be that current color is compared with the color of user region in image before again, judge to use
Whether family bleeds, if so, then judging that accident occurs for the user.
Step S160 sends out alarm to the electronic equipment for monitoring the user.
Specifically, the mode for sending out alarm may include the image for the user that will be acquired on unmanned plane, through setting in nothing
Communication module on man-machine is sent on the electronic equipment for monitoring the user.The electronic equipment for monitoring the user can be the user
The electronic products such as the mobile phone of household either hospital monitoring device.
The mode for sending out alarm can also include sending out alarm command to the electronic equipment for monitoring the user, should so as to receive
The electronic equipment of alarm command, which makes a sound or shines, monitors the supervisor of the user with prompt.
In one particular embodiment of the present invention, it can recycle and execute aforementioned step S110~S160.
In this way, monitoring method through the invention, so that it may to track user and monitor whether user occurs accident, into
The task of row home care, and realize that home care task can reach the target at no dead angle by unmanned plane.
Corresponding with the above method, the present invention also provides a kind of monitoring devices for unmanned plane.Fig. 4 is according to this
Invent a kind of a kind of frame principle figure of implementation structure of the monitoring device for unmanned plane.
As shown in figure 4, the monitoring device includes first position acquisition module 410, second position acquisition module 420, tracking
Module 430, image capture module 440, judgment module 450 and alarm modules 460.The first position acquisition module 410 is for obtaining
Take the location information at family；The second position acquisition module 420 is used to obtain the locating module acquisition being arranged on unmanned plane
Unmanned plane location information；The tracing module 430 is used for according to the location information of user, unmanned plane location information and pre-set
Safe distance controls unmanned plane and tracks user；The image capture module 440 is used to acquire the image of user；The judgment module 450
For judging whether user occurs accident according to image；The alarm modules 460 are used in the judging result of judgment module 450 be yes
In the case of, send out alarm to the electronic equipment of monitoring user.
Fig. 5 is another frame principle figure for implementing structure according to a kind of monitoring device for unmanned plane of the invention.
According to Fig.5, which includes the first determination unit 431, the determination of height acquiring unit 432, second
Unit 433 and mobile unit 434.First determination unit 431 is used for true according to customer position information and unmanned plane location information
Determine the moving direction of the horizontal distance and unmanned plane between unmanned plane and user；The height acquiring unit 432 is for obtaining nobody
The current flight height of machine；Second determination unit 433 is used to be determined according to current flight height, horizontal distance and safe distance
The displacement distance of unmanned plane；The mobile unit 434 is used for according to moving direction and displacement distance control unmanned plane movement, with tracking
User.
Further, judgment module 450 includes gesture recognition unit 451, color recognition unit 452 and judging unit 453.
The gesture recognition unit 451 is used for the current pose according to image recognition user；The color recognition unit 452 is used for according to image
Identify the current color around user；The judging unit 453 is used to, according to current pose and current color, judge whether user sends out
Outside business.
On this basis, alarm modules 460 are additionally operable to image being sent to electronic equipment；Alternatively, being sent to electronic equipment
Alarm command, so that electronic equipment sounding or luminous.
The present invention also provides a kind of unmanned planes, and on the one hand, which includes the prison for being previously described for unmanned plane
Control device.
Fig. 6 is the frame principle figure according to the implementation structure of the unmanned plane of another aspect of the present invention.
According to Fig.6, which includes memory 601 and processor 602, which refers to for storing
It enables, which is operated for control processor 602 to execute the above-mentioned monitoring method for unmanned plane.
The processor 602 is such as can be central processor CPU, Micro-processor MCV.The memory 601 for example including
The nonvolatile memory etc. of ROM (read-only memory), RAM (random access memory), hard disk.
In addition to this, according to Fig.6, which further includes interface arrangement 603, input unit 604, display dress
Set 605, communication device 606, loud speaker 607, microphone 608 etc..Although multiple devices are shown in FIG. 6, this hair
Bright unmanned plane can only relate to partial devices therein, for example, processor 601, memory 602 and communication device 606 etc..
Above-mentioned communication device 606 can for example carry out wired or wireless communication.
Above-mentioned interface arrangement 603 is such as including earphone jack, USB interface.
Above-mentioned input unit 604 is such as may include touch screen, button.
Above-mentioned display device 605 is, for example, liquid crystal display, touch display screen etc..
The present invention also provides a kind of monitoring systems, as shown in fig. 7, the monitoring system includes unmanned plane 710, wearable sets
Standby 720 and electronic equipment 730.The unmanned plane 710 includes the monitoring device for being previously described for unmanned plane.720 quilt of wearable device
It is set as the location information of acquisition user, and is sent to unmanned plane 710.Wherein, which can be worn at described
With user, in order to acquire the location information of the user.Electronic equipment 730 is arranged to receive the police that unmanned plane 710 is sent
It reports, and monitors another user of the user according to the alarm sounds.Wherein, which made by another user
With.
The various embodiments described above primary focus describes difference from other examples, but those skilled in the art should be clear
Chu, the various embodiments described above can be used alone or be combined with each other as needed.
Each embodiment in this specification is described in a progressive manner, identical similar portion between each embodiment
Divide cross-reference, each embodiment focuses on the differences from other embodiments, but people in the art
Member is it should be understood that the various embodiments described above can be used alone or be combined with each other as needed.In addition, for device
For embodiment, since it is corresponding with embodiment of the method, so describing fairly simple, related place is implemented referring to method
The explanation of the corresponding part of example.System embodiment described above is only schematical, wherein being used as separating component
The module of explanation may or may not be physically separated.
The present invention can be device, method and/or computer program product.Computer program product may include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer readable storage medium can be can keep and store the instruction used by instruction execution equipment tangible
Equipment.Computer readable storage medium for example can be-- but be not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer readable storage medium
More specific example (non exhaustive list) includes：Portable computer diskette, random access memory (RAM), read-only is deposited hard disk
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above
Machine readable storage medium storing program for executing is not interpreted that instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations lead to
It crosses the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or is transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For execute the computer program instructions that operate of the present invention can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
Arbitrarily combine the source code or object code write, the programming language include the programming language-of object-oriented such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer
Readable program instructions can be executed fully, partly execute on the user computer, is only as one on the user computer
Vertical software package executes, part executes or on the remote computer completely in remote computer on the user computer for part
Or it is executed on server.In situations involving remote computers, remote computer can pass through network-packet of any kind
It includes LAN (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as profit
It is connected by internet with ISP).In some embodiments, by using computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or can
Programmed logic array (PLA) (PLA), the electronic circuit can execute computer-readable program instructions, to realize each side of the present invention
Face.
Referring herein to according to the method for the embodiment of the present invention, the flow chart of device (system) and computer program product and/
Or block diagram describes various aspects of the invention.It should be appreciated that flowchart and or block diagram each box and flow chart and/
Or in block diagram each box combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special purpose computer or other programmable datas
The processor of processing unit, to produce a kind of machine so that these instructions are passing through computer or other programmable datas
When the processor of processing unit executes, work(specified in one or more of implementation flow chart and/or block diagram box is produced
The device of energy/action.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
It enables so that computer, programmable data processing unit and/or other equipment work in a specific way, to be stored with instruction
Computer-readable medium includes then a manufacture comprising in one or more of implementation flow chart and/or block diagram box
The instruction of the various aspects of defined function action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment so that series of operation steps are executed on computer, other programmable data processing units or miscellaneous equipment, with production
Raw computer implemented process, so that executed on computer, other programmable data processing units or miscellaneous equipment
Instruct function action specified in one or more of implementation flow chart and/or block diagram box.
Flow chart and block diagram in attached drawing show the system, method and computer journey of multiple embodiments according to the present invention
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
One module of table, program segment or a part for instruction, the module, program segment or a part for instruction include one or more use
The executable instruction of the logic function as defined in realization.In some implementations as replacements, the function of being marked in box
It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can essentially be held substantially in parallel
Row, they can also be executed in the opposite order sometimes, this is depended on the functions involved.It is also noted that block diagram and/or
The combination of each box in flow chart and the box in block diagram and or flow chart can use function or dynamic as defined in executing
The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.It is right
It is well known that, realized by hardware mode for those skilled in the art, realized by software mode and by software and
It is all of equal value that the mode of combination of hardware, which is realized,.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or technological improvement to the technology in market for best explaining each embodiment, or this technology is made to lead
Other those of ordinary skill in domain can understand each embodiment disclosed herein.The scope of the present invention is limited by appended claims
It is fixed.
Claims (10)
1. a kind of monitoring method for unmanned plane, which is characterized in that including：
Obtain the location information of user；
Obtain the unmanned plane location information for the locating module acquisition being arranged on unmanned plane；
According to the location information of the user, the unmanned plane location information and pre-set safe distance control it is described nobody
Machine tracks the user；
Acquire the image of the user；
Judge whether the user occurs accident according to described image, if so, then：
Alarm is sent out to the electronic equipment for monitoring the user.
2. monitoring method according to claim 1, which is characterized in that the location information according to the user, described
Unmanned plane location information and pre-set safe distance control the unmanned plane tracking user：
The water between the unmanned plane and the user is determined according to the customer position information and the unmanned plane location information
The moving direction of flat distance and the unmanned plane；
Obtain the current flight height of unmanned plane；
The displacement distance of the unmanned plane is determined according to the current flight height, the horizontal distance and the safe distance；
The unmanned plane movement is controlled according to the moving direction and the displacement distance, to track the user.
3. monitoring method according to claim 1, which is characterized in that described whether to judge the user according to described image
Accident, which occurs, includes：
The current pose of the user is identified according to described image；
The current color around the user is identified according to described image；
According to the current pose and the current color, judge whether the user occurs accident.
4. monitoring method according to claim 1, which is characterized in that described to be sent out to the electronic equipment for monitoring the user
Alarm includes：
Described image is sent to the electronic equipment；
Alternatively, alarm command is sent to the electronic equipment, so that the electronic equipment sounding or luminous.
5. a kind of monitoring device for unmanned plane, which is characterized in that including：
First position acquisition module, the location information for obtaining user；
Second position acquisition module, the unmanned plane location information for obtaining the locating module being arranged on unmanned plane acquisition；
Tracing module, for according to the location information, the unmanned plane location information and pre-set safety of the user away from
The user is tracked from the unmanned plane is controlled；
Image capture module, the image for acquiring the user；
Judgment module, for judging whether the user occurs accident according to described image；And
Alarm modules, in the case where the judging result of the judgment module is to be, being set to the electronics for monitoring the user
Preparation goes out alarm.
6. monitoring device according to claim 5, which is characterized in that the tracing module includes：
First determination unit, for according to the customer position information and the unmanned plane location information determine the unmanned plane with
The moving direction of horizontal distance and the unmanned plane between the user；
Height acquiring unit, the current flight height for obtaining unmanned plane；
Second determination unit, described in being determined according to the current flight height, the horizontal distance and the safe distance
The displacement distance of unmanned plane；And
Mobile unit is moved for controlling the unmanned plane according to the moving direction and the displacement distance, described in tracking
User.
7. monitoring device according to claim 5, which is characterized in that the judgment module includes：
Gesture recognition unit, the current pose for identifying the user according to described image；
Color recognition unit, for identifying the current color around the user according to described image；
Judging unit, for according to the current pose and the current color, judging whether the user occurs accident.
8. monitoring device according to claim 5, which is characterized in that the alarm modules are additionally operable to：
Described image is sent to the electronic equipment；
Alternatively, alarm command is sent to the electronic equipment, so that the electronic equipment sounding or luminous.
9. a kind of unmanned plane, which is characterized in that including processor and memory, the memory for storing instruction, the finger
It enables and being operated for controlling the processor to execute the monitoring method according to any one of claim 1-4.
10. a kind of monitoring system, which is characterized in that including unmanned plane, wearable device and electronic equipment, the unmanned plane includes
According to the monitoring device described in any one of claim 5-8；The wearable device is arranged to acquire the position letter of user
Breath, and it is sent to the unmanned plane；The electronic equipment is arranged to receive the alarm that the unmanned plane is sent, and according to described
Alarm sounds monitor another user of the user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068364.1A CN108346260A (en) | 2018-01-24 | 2018-01-24 | It is a kind of for the monitoring method of unmanned plane, device, unmanned plane and monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068364.1A CN108346260A (en) | 2018-01-24 | 2018-01-24 | It is a kind of for the monitoring method of unmanned plane, device, unmanned plane and monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108346260A true CN108346260A (en) | 2018-07-31 |
Family
ID=62961228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810068364.1A Pending CN108346260A (en) | 2018-01-24 | 2018-01-24 | It is a kind of for the monitoring method of unmanned plane, device, unmanned plane and monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108346260A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110147114A (en) * | 2019-05-30 | 2019-08-20 | 国网福建省电力有限公司莆田供电公司 | A kind of scene based on unmanned plane auxiliary monitoring system and method violating the regulations |
| CN110633652A (en) * | 2019-08-27 | 2019-12-31 | 宇龙计算机通信科技(深圳)有限公司 | Unexpected situation determination method and device and electronic equipment |
| CN115171330A (en) * | 2022-06-06 | 2022-10-11 | 广州小鹏汽车科技有限公司 | Monitoring method, monitoring system, child monitoring system and vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576953A (en) * | 2009-06-10 | 2009-11-11 | 北京中星微电子有限公司 | Classification method and device of human body posture |
| CN102722715A (en) * | 2012-05-21 | 2012-10-10 | 华南理工大学 | Tumble detection method based on human body posture state judgment |
| CN105204349A (en) * | 2015-08-19 | 2015-12-30 | 杨珊珊 | Unmanned aerial vehicle for intelligent household control and control method thereof |
| CN105912980A (en) * | 2016-03-31 | 2016-08-31 | 深圳奥比中光科技有限公司 | Unmanned plane and unmanned plane system |
| CN105938372A (en) * | 2016-06-03 | 2016-09-14 | 南京奇蛙智能科技有限公司 | Combined type wearable unmanned aerial vehicle controller |
| CN106530618A (en) * | 2016-12-16 | 2017-03-22 | 深圳市神州云海智能科技有限公司 | Nursing method and device of robot |
| WO2017065347A1 (en) * | 2015-10-16 | 2017-04-20 | (주)삼성정보통신 | Guard drone and mobile guard system using same |
-
2018
- 2018-01-24 CN CN201810068364.1A patent/CN108346260A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576953A (en) * | 2009-06-10 | 2009-11-11 | 北京中星微电子有限公司 | Classification method and device of human body posture |
| CN102722715A (en) * | 2012-05-21 | 2012-10-10 | 华南理工大学 | Tumble detection method based on human body posture state judgment |
| CN105204349A (en) * | 2015-08-19 | 2015-12-30 | 杨珊珊 | Unmanned aerial vehicle for intelligent household control and control method thereof |
| WO2017065347A1 (en) * | 2015-10-16 | 2017-04-20 | (주)삼성정보통신 | Guard drone and mobile guard system using same |
| CN105912980A (en) * | 2016-03-31 | 2016-08-31 | 深圳奥比中光科技有限公司 | Unmanned plane and unmanned plane system |
| CN105938372A (en) * | 2016-06-03 | 2016-09-14 | 南京奇蛙智能科技有限公司 | Combined type wearable unmanned aerial vehicle controller |
| CN106530618A (en) * | 2016-12-16 | 2017-03-22 | 深圳市神州云海智能科技有限公司 | Nursing method and device of robot |
Non-Patent Citations (1)
| Title |
|---|
| 谢剑斌 等: "《视觉感知与智能视频监控》", 31 March 2012, 国防科技大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110147114A (en) * | 2019-05-30 | 2019-08-20 | 国网福建省电力有限公司莆田供电公司 | A kind of scene based on unmanned plane auxiliary monitoring system and method violating the regulations |
| CN110633652A (en) * | 2019-08-27 | 2019-12-31 | 宇龙计算机通信科技(深圳)有限公司 | Unexpected situation determination method and device and electronic equipment |
| CN115171330A (en) * | 2022-06-06 | 2022-10-11 | 广州小鹏汽车科技有限公司 | Monitoring method, monitoring system, child monitoring system and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10402984B2 (en) | Monitoring | |
| EP3037917A1 (en) | Monitoring | |
| EP3051810B1 (en) | Surveillance | |
| US10540543B2 (en) | Human-computer-interaction through scene space monitoring | |
| EP3115870B1 (en) | Monitoring | |
| CN108346260A (en) | It is a kind of for the monitoring method of unmanned plane, device, unmanned plane and monitoring system | |
| US10444852B2 (en) | Method and apparatus for monitoring in a monitoring space | |
| JP2019198077A (en) | Monitoring | |
| EP3037916B1 (en) | Monitoring | |
| AU2020270461B2 (en) | Situational Awareness Monitoring | |
| CN112099629B (en) | Method and system for providing working operation guide | |
| KR101862545B1 (en) | Method and system for providing rescue service using robot | |
| JP2018523231A5 (en) | ||
| US20210304420A1 (en) | Apparatus and method for protecting against environmental hazards | |
| US11803955B1 (en) | Multimodal safety systems and methods |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180731 |