WO2020172800A1 - Patrol control method for movable platform, and movable platform - Google Patents

Abstract

A patrol control method for a movable platform, and a movable platform. The method comprises: when the movable platform is at a patrol position, obtaining a reference patrol parameter and a patrol reference image corresponding to the reference patrol parameter (S201); according to the reference patrol parameter, adjusting the current patrol parameters of the movable platform (S202), wherein the patrol parameters comprise a position and the photographing pose of a photographing device; obtaining a photographing image of the photographing device (S203); and according to the photographing image and the patrol reference image, adjusting the current photographing pose of the photographing device (S204). By adjusting the current photographing pose of the photographing device according to the photographing device and the patrol reference image, the present invention can reduce a deviation caused by adjusting the current patrol parameters according to the reference patrol parameter, thereby improving the degree of coincidence between the image photographed by the photographing device and the patrol reference image, and improving the accuracy of detecting the working state of a patrol target so as to facilitate failure diagnosis.

Description

Inspection control method for movable platform and movable platform Technical field

The embodiment of the present invention relates to the technical field of movable platforms, and in particular to a method for inspection control of a movable platform and a movable platform.

Background technique

Due to the continuous development and progress of control technology, mobile platforms (such as drones, unmanned vehicles, etc.) can be used in outdoor inspection operations, such as power facilities, oil pipelines, gas pipelines and other inspection operations. In the inspection process, it is necessary to use a movable platform to shoot specific inspection targets, and then perform fault diagnosis based on the images obtained by shooting.

The inspection operation is a repetitive work. It is hoped that the movable platform will be moved to the preset inspection position, the camera of the movable platform will be adjusted to the preset shooting posture, and the camera will be controlled to shoot for inspection The patrol reference image of the target's working status.

However, due to the control deviation when adjusting the position of the movable platform and/or the shooting posture of the shooting device, these deviations will cause the image actually collected by the movable platform and the reference image to be unsatisfactory, thereby affecting the staff’s The fault diagnosis accuracy of the inspection target.

Summary of the invention

The embodiment of the present invention provides a patrol inspection control method of a movable platform and a movable platform, which are used to improve the overlap between the image taken by the camera and the patrol reference image, and improve the accuracy of detecting the working state of the patrol target, so as to Perform fault diagnosis.

In a first aspect, an embodiment of the present invention provides a patrol control method for a movable platform, wherein the movable platform includes a camera, and the method includes:

Acquiring the reference inspection parameters of the movable platform at the inspection location point and the inspection reference image corresponding to the reference inspection parameters;

Adjusting the current inspection parameters of the movable platform according to the reference inspection parameters, where the inspection parameters include the position and the shooting attitude of the camera;

Acquiring a photographed image of the photographing device;

According to the photographed image and the patrol reference image, the current photographing posture of the photographing device is adjusted.

In a second aspect, an embodiment of the present invention provides a movable platform, the movable platform including a processor and a camera;

The photographing device is used to photograph images;

The processor is used for:

Acquiring the reference inspection parameters of the movable platform at the inspection location point and the inspection reference image corresponding to the reference inspection parameters;

Adjusting the current inspection parameters of the movable platform according to the reference inspection parameters, where the inspection parameters include the position and the shooting attitude of the camera;

Acquiring a photographed image of the photographing device;

According to the photographed image and the patrol reference image, the current photographing posture of the photographing device is adjusted.

In a third aspect, an embodiment of the present invention provides a readable storage medium on which a computer program is stored; when the computer program is executed, it realizes the readable storage medium as described in the embodiment of the present invention in the first aspect. Inspection control method of mobile platform.

In a fourth aspect, an embodiment of the present invention provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of a removable platform can download from the readable storage medium The computer program is read, and the at least one processor executes the computer program to make the movable platform implement the patrol control method of the movable platform according to the embodiment of the present invention in the first aspect.

The patrol control method of the movable platform and the movable platform provided by the embodiment of the present invention obtain the reference patrol parameters when the movable platform is at the patrol position and the patrol reference image corresponding to the reference patrol parameters, According to the reference patrol parameters, adjust the current patrol parameters of the movable platform, where the patrol parameters include the position and the shooting posture of the shooting device; acquiring the shooting image of the shooting device; according to the shooting image And the patrol reference image to adjust the current shooting posture of the shooting device. Since the current shooting attitude of the shooting device is adjusted according to the captured image and the patrol reference image, the deviation in adjusting the current patrol parameters of the movable platform according to the reference patrol parameters can be reduced, thereby improving The degree of coincidence between the image taken by the camera and the inspection reference image is improved, and the accuracy of detecting the working status of the inspection target is improved for fault diagnosis.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present invention;

2 is a flowchart of a method for patrol inspection of a movable platform provided by an embodiment of the present invention;

FIG. 3 is an intention of comparison between a captured image and a patrol reference image provided by an embodiment of the invention;

4 is a schematic diagram of multiple different reference shooting focal lengths provided by an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiment of the present invention provides a patrol control method of a movable platform and a movable platform. The movable platform can be unmanned aerial vehicles, unmanned ships, unmanned vehicles, robots, etc. The unmanned aerial vehicle may be a rotorcraft, for example, a multi-rotor aircraft propelled by a plurality of propulsion devices through the air. The embodiments of the present invention are not limited thereto. It should be noted that this embodiment takes drones as an example for description, but the embodiments of the present invention are not limited to being applied to drones, and can be applied to other movable platforms, such as unmanned vehicles, unmanned ships, Robots etc.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present invention. In this embodiment, a rotary wing drone is taken as an example for description.

The unmanned flying system 100 may include a drone 110, a display device 130, and a control terminal 140. Among them, the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the control terminal 140 and the display device 130.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected with the fuselage, and is used for supporting the UAV 110 when landing.

The power system 150 may include one or more electronic speed regulators (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS). The flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more control instructions from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt is used to carry the camera 123. The flight controller 161 can control the movement of the pan-tilt 120 through the motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan-tilt may be located on the top of the drone or on the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller. The imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed to the drone 110, so the pan/tilt 120 can be omitted.

The display device 130 is located at the ground end of the unmanned aerial system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image taken by the photographing device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.

The control terminal 140 is located on the ground end of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes and should not be understood as a limitation to the embodiments of the present invention.

In the field of inspection, inspection is a repetitive work. It is hoped that the movable platform can be moved to the preset inspection position, the camera of the movable platform is adjusted to the preset shooting attitude, and the camera is controlled to shoot. Obtain the inspection reference image used to detect the status of the inspection target. In the actual inspection process, first, the drone moves to the inspection operation point, and then adjusts the shooting posture of the camera. After the adjustment is completed, the camera is controlled to shoot to obtain the current image. If the overlap between the current image and the inspection reference image is very high, it is convenient for the staff to perform fault diagnosis on the inspection target. Because there will be control deviations when adjusting the position of the drone and/or the shooting attitude of the camera, these deviations will cause the image actually collected by the movable platform to have an unsatisfactory overlap with the reference image, which will affect the staff's inspection The target's fault diagnosis accuracy.

In order to solve the above-mentioned problems, FIG. 2 is a flowchart of a mobile platform inspection control method provided by an embodiment of the present invention. As shown in FIG. 2, the method of this embodiment can be applied to a movable platform, and the movable platform includes Camera device. The movable platform may be, for example, a drone, but this embodiment is not limited to this. The method of this embodiment may include:

S201: Obtain a reference patrol parameter of the movable platform when patrolling a position point and a patrol reference image corresponding to the reference patrol parameter.

In this embodiment, the movable platform can acquire the reference inspection parameters at the inspection location point and the inspection reference image corresponding to the reference inspection parameters.

In a possible implementation, the aforementioned reference inspection parameters and the inspection reference image corresponding to the reference inspection parameters may be collected by other movable platforms, and then the movable platform in this embodiment acquires other The reference patrol parameters and the patrol reference images corresponding to the reference patrol parameters collected by the movable platform of the patrol position.

In another possible implementation manner, the movable platform of this embodiment collects the reference patrol parameters of the movable platform at the patrol position and the patrol reference image corresponding to the reference patrol parameters. For example: when the movable platform of this embodiment controls the movable platform to move to the inspection location point, the inspection parameters of the movable platform are recorded as reference inspection parameters, and the camera device of the movable platform is controlled to shoot And record the image obtained by shooting as the patrol reference image. Optionally, the movable platform of this embodiment may be the inspection parameter sent by the terminal device (if the movable platform is the above-mentioned drone 110, the terminal device may be the control terminal 140) sent by the terminal device communicating with it. The above-mentioned recording operation is performed only when the instruction is recorded. For example: the mobile platform can acquire the image collected by the shooting device and send the collected image to the terminal device. The terminal device displays the collected image through the display device (such as the display screen). When the user determines through the display device, the collected image can be used as When patrolling the reference image, the user performs the patrol parameter recording operation on the interactive device (such as the touch screen) of the terminal device. Accordingly, when the terminal device detects the patrol parameter recording operation through the interactive device, it sends the patrol inspection to the movable platform Parameter record instruction. Optionally, the inspection parameter recording instruction may be, for example, a shooting instruction, which is not limited in this embodiment.

In another possible implementation manner, the movable platform may obtain the reference inspection parameters at the inspection location point and the inspection reference image corresponding to the reference inspection parameters from the external device. The external device may, for example, It is a terminal device or server connected to the mobile platform in communication. Optionally, the external device may obtain the reference patrol parameters and the patrol reference image corresponding to the reference patrol parameters collected by the other movable platform at the patrol location point from the other movable platform.

Wherein, the inspection parameters may include the position and the shooting attitude of the shooting device; the shooting attitude includes at least one of the following: attitude in the roll direction, attitude in the yaw direction, and attitude in the pitch direction. Correspondingly, the reference patrol parameter may include a reference position and a reference shooting attitude of the photographing device, where the reference position may be the position of the patrol position point, and the position may be obtained through GPS or RTK equipment, for example.

Optionally, if the movable platform includes a pan-tilt and the camera is mounted on the pan-tilt, the shooting posture of the camera can be determined by the posture of the pan-tilt. If the movable platform does not include a pan/tilt, the shooting attitude of the shooting device can be determined by the attitude of the movable platform. Therefore, the shooting posture of the camera in this embodiment may be determined by the posture of the pan/tilt and/or the movable platform that carries the camera.

S202: Adjust the current inspection parameters of the movable platform according to the reference inspection parameters.

In this embodiment, the movable platform adjusts the current patrol parameters of the movable platform according to the aforementioned reference patrol parameters. Among them, the current patrol parameter corresponds to the reference patrol parameter, that is, the current patrol parameter may include: the current position of the movable platform and the current shooting attitude of the camera. Optionally, the current inspection parameters of the movable platform may be adjusted to the current inspection parameters.

Optionally, the inspection parameters may also include the imaging parameters of the shooting device. Correspondingly, the reference inspection parameters may also include the reference imaging parameters of the shooting device, and the current inspection parameters may also include the current imaging parameters of the shooting device. The imaging parameters may include exposure time, exposure gain, and so on.

Optionally, the adjusting the shooting posture of the shooting device may be: adjusting the posture of the pan-tilt and/or the movable platform that carries the shooting device to adjust the shooting posture of the shooting device. If the movable platform includes a pan/tilt carrying the camera, the attitude of the pan/tilt and/or the attitude of the movable platform are adjusted to adjust the shooting attitude of the camera. If the movable platform does not include a pan/tilt carrying the camera, adjust the posture of the movable platform to adjust the shooting posture of the camera.

S203. Acquire a photographed image of the photographing device.

In this embodiment, the movable platform adjusts the current patrol parameters of the movable platform according to the reference patrol parameters, and then acquires the photographed images of the photographing device in the movable platform.

S204: Adjust the current shooting posture of the shooting device according to the shooting image and the patrol reference image.

In this embodiment, there may be deviations when adjusting the current inspection parameters of the movable platform. Therefore, after the movable platform executes S203, according to the photographed image and the inspection reference image obtained in S203, adjust the The current shooting attitude of the camera. After the movable platform adjusts the current shooting posture of the shooting device according to the captured image and the inspection reference image, the movable platform acquires the image shot by the shooting device again. The image obtained this time can be used to detect the working status of the inspection target so as to Perform fault diagnosis.

Further, after adjusting the current shooting posture of the shooting device, the shooting device is controlled to shoot and obtain the shooting image of the shooting device, and the shooting image is used to detect the working state of the inspection target.

Optionally, the patrol reference image may include the image of the patrol target, which can ensure that the image taken by the photographing device after adjusting the current shooting posture of the photographing device also includes the image of the patrol target to ensure that the image can be Used to detect the working status of the inspection target.

Optionally, after S204 is executed, the degree of coincidence between the image captured by the camera and the reference image for inspection is greater than or equal to a preset degree of coincidence. In this embodiment, the overlap between the image taken by the camera after S204 and the patrol reference image is as high as possible. This is because the patrol reference image is an image that is conducive to detecting the working state of the patrol target. Therefore, the camera after S204 is executed When the degree of coincidence between the captured image and the inspection reference image is as high as possible, in actual inspection, the working state of the inspection target can be guaranteed to be more accurate.

The patrol inspection control method of the movable platform provided in this embodiment obtains the reference patrol parameters when the movable platform is at the patrol position and the patrol reference image corresponding to the reference patrol parameters, according to the reference patrol Inspection parameters, adjusting the current inspection parameters of the movable platform, where the inspection parameters include the position and the shooting attitude of the shooting device; acquiring the shooting image of the shooting device; according to the shooting image and the inspection Adjust the current shooting posture of the shooting device with reference to the image. Since the current shooting attitude of the shooting device is adjusted according to the captured image and the patrol reference image, the deviation in adjusting the current patrol parameters of the movable platform according to the reference patrol parameters can be reduced, thereby improving The degree of coincidence between the image taken by the camera and the inspection reference image is improved, and the accuracy of detecting the working status of the inspection target is improved for fault diagnosis.

In some embodiments, a possible implementation of S204 may include S2041 and S2042:

S2041, according to the photographed image and the patrol reference image, determine the photographing attitude deviation of the photographing device.

In this embodiment, according to the difference between the patrol reference image and the photographed image of the photographing device, the movable platform determines the photographing attitude deviation that needs to be adjusted when the photographing device needs to photograph the same image as the patrol reference image. The attitude deviation may include at least one of the following: attitude deviation in the pitch direction, attitude deviation in the roll direction, and attitude deviation in the yaw direction.

Wherein, a possible implementation of S2041 above is: obtaining the first position of the target object in the patrol reference image; and obtaining the second position of the target object in the captured image; and then according to the The deviation between the first position and the second position determines the deviation of the shooting attitude of the camera. In this embodiment, the movable platform determines the target object in the patrol reference image, and obtains the position of the target object in the patrol reference image, which is called the first position, and the movable platform determines the same in the captured image The target object, and the position of the same target object in the captured image is obtained, which is called the second position. Wherein, the target object may be a specific target. Optionally, the target object may be an inspection target, for example. It is understandable that the target object may also be other objects with specific characteristics, for example, the target The object can be a feature point (such as a corner point, etc.) in the image. Then the movable platform determines the deviation between the first position and the second position according to the acquired first position and the second position. As shown in Figure 3, the position of the target object in the inspection reference image is at the same target object The positions of the captured images are different, and the deviation between the two positions is dx and dy. The movable platform then determines the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position. Eliminating the shooting attitude deviation can make the target object in the inspection reference image position and the position in the shooting image the same.

Optionally, a possible implementation manner of determining the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position is: according to the difference between the first position and the second position The deviation and the angle of view of the camera determine the deviation of the shooting attitude of the camera.

Among them, a possible implementation of S2041 above is: extracting the first feature point in the patrol reference image, and finding the second feature point corresponding to the first feature point in the captured image, and according to the first feature point The position in the patrol reference image and the position of the second feature point in the captured image can determine the shooting attitude deviation of the camera.

S2042, according to the deviation of the shooting posture, adjust the current shooting posture of the shooting device.

In this embodiment, after determining the shooting attitude deviation of the shooting device, the current shooting attitude of the shooting device is adjusted according to the shooting attitude deviation. For example: according to the deviation of the shooting attitude, the attitude of the pan-tilt and/or the movable platform of the camera can be adjusted, so as to adjust the current shooting attitude of the shooting device to eliminate the shooting image and inspection reference of the shooting device. The deviation between the images.

In some embodiments, the inspection parameter further includes the shooting focal length of the camera, the reference inspection parameter includes the reference shooting focal length of the camera, and the current inspection parameter includes the current shooting focal length of the camera. The patrol reference image is a reference image acquired by a photographing device (the photographing device may be the photographing device of the movable platform of this embodiment or other movable platform) under the reference photographing focal length.

Correspondingly, a possible implementation of S202 may further include: adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length. That is, the movable platform of this embodiment not only adjusts the current position of the movable platform to the reference position of the inspection position point, and adjusts the shooting posture of the camera to the reference shooting posture, but also adjusts the current shooting focus of the camera The reference shooting focal length. It should be noted that the movable platform of this embodiment is not limited to adjusting these parameters, for example, exposure parameters can also be adjusted. A possible implementation manner of the foregoing S203 is: acquiring a photographed image of the photographing device at the reference photographing focal length. The movable platform of this embodiment acquires the photographed image of the photographing device in the movable platform at the reference photographing focal length. The inspection reference image and the photographed image in this embodiment are obtained at the same photographing focal length, so the adjusted photographing posture of the photographing device is more accurate.

In some embodiments, the reference photographing focal length of the photographing device is one. That is, the reference inspection parameters include a reference position, a reference shooting attitude of the shooting device, and a reference shooting focal length. The movable platform of this embodiment obtains the reference patrol parameters and the patrol reference image corresponding to the reference patrol parameters when the movable platform is at the patrol position, and controls the movable platform to move according to the reference patrol parameters To the reference position, the current shooting posture of the shooting device is adjusted to the reference shooting posture, and the current shooting focal length of the shooting device is adjusted to the reference shooting focal length. It should be noted that if the shooting focal length of the shooting device before adjustment is equal to the reference shooting focal length, there is no need to adjust the current shooting focal length of the shooting device. For example, this kind of scene is the non-zoom shooting of the shooting device. The shooting focal length of each inspection position point in the inspection process is the same shooting focal length. Then the movable platform obtains the photographed image of the photographing device at the reference photographing focal length, and then adjusts the current photographing posture of the photographing device according to the photographed image and the patrol reference image obtained at the same focal length. After adjusting the current shooting posture of the shooting device, the shooting device is controlled to shoot and obtain the shooting image of the shooting device, and the shooting image is used to detect the working state of the inspection target.

Optionally, the reference patrol parameters and patrol reference images may be collected by the movable platform of this embodiment, that is, when the movable platform of this embodiment controls the movable platform to move to the patrol position, it records The current position of the movable platform is the reference position, the current shooting posture of the recording device is the reference shooting posture, the current shooting focal length of the recording device is the reference shooting focal length, and the shooting device is controlled to shoot, and the reference shooting focal length obtained by shooting The image below is recorded as the patrol reference image. It should be noted that the reference patrol parameters and patrol reference images here can also be executed by other movable platforms.

In other embodiments, the reference shooting focal length includes a plurality of different reference shooting focal lengths, and the patrol reference image includes multiple frames of patrol reference images, wherein the multiple frames of patrol reference images are in the Reference images acquired at multiple different reference shooting focal lengths.

Correspondingly, according to the reference shooting focal length, a possible implementation manner of adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length is as follows: The current shooting focal length of the shooting device of the movable platform is adjusted to the multiple different reference shooting focal lengths. A possible implementation manner of acquiring the photographed images of the photographing device at the reference photographing focal length is to separately acquire photographed images of the photographing device at the multiple different reference photographing focal lengths. According to the photographed image and the patrol reference image, a possible implementation manner of adjusting the current photographing posture of the photographing device is: according to the photographed images at the multiple different reference photographing focal lengths and the corresponding The patrol reference image corresponding to the reference shooting focal length adjusts the current shooting posture of the shooting device respectively. After adjusting the current shooting posture of the shooting device, the shooting device is controlled to shoot and obtain the shooting image of the shooting device, and the shooting image is used to detect the working state of the inspection target.

The reference inspection parameters of this embodiment include the reference position, the reference shooting attitude of the shooting device, and multiple different reference shooting focal lengths. Taking n as an example, n is an integer greater than or equal to 2, and the multiple different reference shooting focal lengths range from small to The larger order is f1, f2, ..., fn, and optionally, the focal length difference between two adjacent focal lengths is the same value Δf, as shown in FIG. 4. The patrol reference image includes multiple frames of patrol reference images, that is, the patrol reference image 1 and the patrol reference image obtained under f2, the patrol reference image 2,..., the patrol reference image obtained under fn with the reference shooting focal length of f1 n. The movable platform of this embodiment obtains the reference patrol parameters and the patrol reference image corresponding to the reference patrol parameters when the movable platform is at the patrol position, and controls the movable platform to move according to the reference patrol parameters To the reference position, the current shooting posture of the shooting device is adjusted to the reference shooting posture. The current shooting focal length of the shooting device is adjusted to the reference shooting focal length f1, the shooting image 1 shot by the shooting device at the reference shooting focal length f1 is acquired, and the current shooting posture of the shooting device is adjusted according to the shooting image 1 and the inspection reference image 1. After adjusting the current shooting posture of the shooting device according to the shooting image 1 and the patrol reference image 1, the current shooting focal length of the shooting device is adjusted from f1 to the reference shooting focal length f2, and the images taken by the shooting device at the reference shooting focal length f2 are obtained. According to the captured image 2 and the patrol reference image 2, the current shooting posture of the camera is adjusted again. And so on. After adjusting the current shooting attitude of the shooting device according to the shooting image n-1 and the patrol reference image n-1, the current shooting focal length of the shooting device is adjusted from f(n-1) to the reference shooting focal length fn to obtain The photographed image n taken by the photographing device at the reference photographing focal length fn, and the current photographing posture of the photographing device is adjusted again according to the photographed image n and the patrol reference image n. After the movable platform readjusts the current shooting attitude of the shooting device according to the shooting image n and the inspection reference image n, the movable platform then obtains the shooting image taken by the shooting device at the reference shooting focal length fn, and uses the shooting image In order to detect the working status of the inspection target, and the movable platform can again acquire the photographed image taken by the camera at the reference photographing focal length fn and the inspection reference image n obtained at the reference photographing focal length fn. The coincidence degree is greater than or equal to the preset coincidence degree . This kind of scene can be zoomed shooting of a camera, for example, the shooting focal length of each patrol position of the movable platform may be different during the patrol process, and the shooting focal length of the camera needs to be checked every time a patrol position is reached. Zoom processing. Therefore, by performing the zoom processing on the imaging device multiple times at each inspection position point by the above solution, the current shooting posture of the imaging device is adjusted multiple times, which can avoid the phenomenon that the imaging device cannot capture the inspection target. It can be understood that the focal length difference between two adjacent focal lengths may also be different.

Optionally, the reference patrol parameters and patrol reference images may be collected by the movable platform of this embodiment, that is, when the movable platform of this embodiment controls the movable platform to move to the patrol position, it records The current position of the movable platform is a reference position, and the current shooting posture of the recording camera is the reference shooting posture. Record the current shooting focal length fn of the shooting device as the reference shooting focal length fn, and control the shooting device to shoot, and record the image under the reference shooting focal length fn obtained by shooting as the inspection reference image n, where the reference shooting focal length fn is available The shooting focal length used by the mobile platform to detect the working status of the inspection target when the inspection position is point. Then, the movable platform adjusts the current shooting focal length of the shooting device from fn to f(n-1), recording the current shooting focal length f(n-1) of the shooting device as the reference shooting focal length f(n-1), and controlling the shooting The device shoots, and records the image obtained by shooting at the reference shooting focal length f(n-1) as the inspection reference image n-1. And so on. The movable platform adjusts the current shooting focal length of the shooting device from f2 to f1, recording the current shooting focal length f1 of the shooting device as the reference shooting focal length f1, and controlling the shooting device to shoot, and the reference shooting focal length f(n-1) obtained by shooting The image below is recorded as the patrol reference image 1. Therefore, the movable platform of this embodiment can obtain different patrol reference images n to patrol reference images 1 obtained by the camera at multiple fn to f1 different shooting focal lengths, so as to be used for the current shooting attitude of the subsequent camera. Adjustment. It should be noted that the solutions of how to record the reference shooting focal lengths f1 to fn and the inspection reference image n to the inspection reference image 1 can also be implemented by other movable platforms.

The embodiment of the present invention also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include the inspection control method of the movable platform as shown in FIG. 2 and its corresponding embodiment. Part or all of the steps.

FIG. 5 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention. As shown in FIG. 5, the movable platform 500 of this embodiment may include a processor 501 and a camera 502; the processor 501 and the camera 502 pass through Bus connection.

The photographing device 502 is used to photograph images.

The processor 501 is configured to:

Acquiring the reference inspection parameters of the movable platform 500 at the inspection location point and the inspection reference image corresponding to the reference inspection parameters;

Adjusting the current patrol parameters of the movable platform 500 according to the reference patrol parameters, where the patrol parameters include the position and the shooting attitude of the camera;

Acquiring a photographed image of the photographing device 502;

According to the photographed image and the patrol reference image, the current photographing posture of the photographing device 502 is adjusted.

In some embodiments, the degree of coincidence between the image captured by the shooting device 502 after adjusting the current shooting attitude and the inspection reference image is greater than or equal to a preset degree of coincidence.

In some embodiments, the processor 501 is specifically configured to:

Determine the deviation of the shooting attitude of the shooting device 502 according to the shooting image and the patrol reference image;

According to the deviation of the shooting posture, the current shooting posture of the shooting device 502 is adjusted.

In some embodiments, the processor 501 is specifically configured to:

Acquiring the first position of the target object in the inspection reference image;

Acquiring a second position of the target object in the captured image;

The deviation of the shooting posture of the camera 502 is determined according to the deviation between the first position and the second position.

In some embodiments, the processor 501 is specifically configured to:

The deviation of the shooting attitude of the camera 502 is determined according to the deviation between the first position and the second position and the field of view of the camera 502.

In some embodiments, the inspection parameter further includes the shooting focal length of the shooting device, the reference inspection parameter includes the reference shooting focal length of the shooting device, and the inspection reference image is a reference obtained by the shooting device at the reference shooting focal length. Image, where

The processor 501 is further configured to: adjust the current shooting focal length of the shooting device 502 of the movable platform 500 to the reference shooting focal length;

When the processor 501 acquires the photographed image of the photographing device 502, it is specifically configured to: acquire the photographed image of the photographing device 502 at the reference photographing focal length.

In some embodiments, the reference photographing focal length of the photographing device 502 is one.

In some embodiments, the reference shooting focal length includes a plurality of different reference shooting focal lengths, and the patrol reference image includes multiple frames of patrol reference images, wherein the multiple frames of patrol reference images are Reference images acquired at different reference focal lengths,

When the processor 501 adjusts the current shooting focal length of the shooting device 502 of the movable platform 500 to the reference shooting focal length according to the reference shooting focal length, it is specifically configured to: Adjusting the current shooting focal length of the shooting device 502 of the movable platform 500 to the multiple different reference shooting focal lengths;

When the processor 501 acquires the photographed images of the photographing device 502 at the reference photographing focal length, it is specifically configured to: respectively acquire photographed images of the photographing device 502 at the multiple different reference photographing focal lengths;

When the processor 501 adjusts the current shooting attitude of the shooting device 502 according to the captured image and the patrol reference image, it is specifically configured to: according to the captured images and the captured images at the multiple different reference shooting focal lengths The patrol reference image corresponding to the reference shooting focal length adjusts the current shooting posture of the shooting device 502 respectively.

In some embodiments, the inspection reference image includes an image of the inspection target.

In some embodiments, when the processor 501 adjusts the shooting posture of the camera 502, it is specifically configured to adjust the posture of the movable platform 500 to adjust the shooting posture of the camera 502.

In some embodiments, the movable platform may further include a pan/tilt (not shown in the figure), the pan/tilt is used to carry the camera 502, and the pan/tilt and the processor 501 may be communicatively connected via a bus. The processor 501 is specifically configured to: when adjusting the shooting posture of the shooting device 502:

The posture of the pan/tilt carrying the camera 502 and/or the posture of the movable platform 500 is adjusted to adjust the posture of the camera 502.

In some embodiments, the processor 501 is further configured to obtain the reference patrol parameters and patrol reference images of the movable platform 500 at the patrol location point, and control the movable platform 500 to move to the patrol At the time of the position point, the patrol parameter of the movable platform 500 is recorded as a reference patrol parameter, and the photographing device 502 is controlled to shoot, and the image obtained by shooting is recorded as the patrol reference image.

Optionally, the movable platform 500 of this embodiment may further include: a memory (not shown in the figure), the memory is used to store program code, and when the program code is executed, the movable platform 500 can implement the aforementioned technology Program.

The movable platform of this embodiment can be used to implement the technical solutions of the movable platform in the foregoing method embodiments of the present invention, and its implementation principles and technical effects are similar, and will not be repeated here.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims (23)

1. A patrol inspection control method for a movable platform, wherein the movable platform includes a photographing device, characterized in that it includes:

   Acquiring the reference inspection parameters of the movable platform at the inspection location point and the inspection reference image corresponding to the reference inspection parameters;

   Adjusting the current inspection parameters of the movable platform according to the reference inspection parameters, where the inspection parameters include the position and the shooting attitude of the camera;

   Acquiring a photographed image of the photographing device;

   According to the photographed image and the patrol reference image, the current photographing posture of the photographing device is adjusted.
2. The method according to claim 1, wherein the coincidence degree of the image captured by the photographing device after adjusting the current shooting posture and the patrol reference image is greater than or equal to a preset degree of coincidence.
3. The method according to claim 1 or 2, wherein the adjusting the current shooting posture of the shooting device according to the shooting image and the patrol reference image comprises:

   Determine the deviation of the shooting attitude of the shooting device according to the shooting image and the patrol reference image;

   According to the deviation of the shooting posture, the current shooting posture of the shooting device is adjusted.
4. The method according to claim 3, wherein the determining the shooting attitude deviation of the shooting device according to the shooting image and the patrol reference image comprises:

   Acquiring the first position of the target object in the inspection reference image;

   Acquiring a second position of the target object in the captured image;

   The deviation of the shooting attitude of the camera is determined according to the deviation between the first position and the second position.
5. The method according to claim 4, wherein the determining the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position comprises:

   The deviation of the shooting attitude of the shooting device is determined according to the deviation between the first position and the second position and the angle of view of the shooting device.
6. The method according to any one of claims 1 to 5, wherein the inspection parameter further includes the shooting focal length of the camera, the reference inspection parameter includes the reference shooting focal length of the camera, and the inspection reference image is The reference image acquired by the photographing device at the reference photographing focal length, wherein:

   The adjusting the current inspection parameters of the movable platform according to the reference inspection parameters further includes:

   Adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length;

   The acquiring the photographed image of the photographing device includes:

   Acquiring a photographed image of the photographing device at the reference photographing focal length.
7. The method according to claim 6, wherein the reference photographing focal length of the photographing device is one.
8. The method according to claim 6, wherein the reference photographing focal length includes a plurality of different reference photographing focal lengths, and the inspection reference image includes a multi-frame inspection reference image, wherein the multi-frame inspection reference image The images are respectively reference images acquired at the multiple different reference shooting focal lengths,

   The adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length according to the reference shooting focal length includes:

   Respectively adjusting the current shooting focal length of the shooting device of the movable platform to the multiple different reference shooting focal lengths in the order of the focal length from small to large;

   The acquiring the photographed image of the photographing device at the reference photographing focal length includes:

   Respectively acquiring photographed images of the photographing device at the multiple different reference photographing focal lengths;

   The adjusting the current shooting posture of the shooting device according to the shooting image and the patrol reference image includes:

   The current shooting posture of the shooting device is adjusted respectively according to the shooting images at the multiple different reference shooting focal lengths and the inspection reference image corresponding to the reference shooting focal length.
9. The method according to any one of claims 1-8, wherein the inspection reference image includes an image of a inspection target.
10. The method according to any one of claims 1-9, wherein the adjusting the shooting posture of the shooting device comprises:

    Adjusting the posture of the pan/tilt carrying the camera and/or the posture of the movable platform to adjust the posture of the camera.
11. The method according to any one of claims 1-10, wherein before acquiring the reference inspection parameters and the inspection reference image of the movable platform at the inspection location point, the method further comprises:

    When controlling the movable platform to move to the patrol location point, record the patrol parameters of the movable platform as reference patrol parameters, and control the shooting device to shoot, and record the images obtained by shooting as the patrol Check the reference image.
12. A movable platform, wherein the movable platform includes a processor and a camera;

    The photographing device is used to photograph images;

    The processor is used for:

    Acquiring the reference inspection parameters of the movable platform at the inspection location point and the inspection reference image corresponding to the reference inspection parameters;

    Adjusting the current inspection parameters of the movable platform according to the reference inspection parameters, where the inspection parameters include the position and the shooting attitude of the camera;

    Acquiring a photographed image of the photographing device;

    According to the photographed image and the patrol reference image, the current photographing posture of the photographing device is adjusted.
13. The movable platform according to claim 12, wherein the coincidence degree of the image captured by the photographing device after adjusting the current shooting posture and the patrol reference image is greater than or equal to a preset degree of coincidence.
14. The movable platform according to claim 12 or 13, wherein the processor is specifically configured to:

    Determine the deviation of the shooting attitude of the shooting device according to the shooting image and the patrol reference image;

    According to the deviation of the shooting posture, the current shooting posture of the shooting device is adjusted.
15. The mobile platform according to claim 14, wherein the processor is specifically configured to:

    Acquiring the first position of the target object in the inspection reference image;

    Acquiring a second position of the target object in the captured image;

    The deviation of the shooting attitude of the camera is determined according to the deviation between the first position and the second position.
16. The mobile platform according to claim 15, wherein the processor is specifically configured to:

    The deviation of the shooting attitude of the shooting device is determined according to the deviation between the first position and the second position and the angle of view of the shooting device.
17. The movable platform according to any one of claims 12-16, wherein the inspection parameters further include the shooting focal length of the shooting device, and the reference inspection parameters include the reference shooting focal length of the shooting device, and the inspection reference The image is a reference image acquired by the photographing device at the reference photographing focal length, wherein,

    The processor is further configured to: adjust the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length;

    When the processor acquires the photographed image of the photographing device, it is specifically configured to: acquire the photographed image of the photographing device at the reference photographing focal length.
18. The movable platform according to claim 17, wherein the reference shooting focal length of the shooting device is one.
19. The movable platform according to claim 17, wherein the reference shooting focal length includes a plurality of different reference shooting focal lengths, and the inspection reference image includes a multi-frame inspection reference image, wherein the multi-frame inspection reference image The inspection reference images are reference images acquired at the multiple different reference shooting focal lengths,

    When the processor adjusts the current photographing focal length of the photographing device of the movable platform to the reference photographing focal length according to the reference photographing focal length, it is specifically configured to: respectively adjust the available focal lengths in the order of ascending focal length. The current shooting focal length of the shooting device of the mobile platform is adjusted to the multiple different reference shooting focal lengths;

    When the processor acquires the photographed images of the photographing device at the reference photographing focal length, it is specifically configured to: separately acquire photographed images of the photographing device at the multiple different reference photographing focal lengths;

    When the processor adjusts the current shooting attitude of the shooting device according to the shooting image and the patrol reference image, it is specifically configured to: The patrol reference image corresponding to the reference shooting focal length adjusts the current shooting posture of the shooting device respectively.
20. The movable platform according to any one of claims 12-19, wherein the inspection reference image includes an image of a inspection target.
21. The movable platform according to any one of claims 12-20, wherein the processor is specifically configured to: when adjusting the shooting posture of the shooting device:

    Adjusting the posture of the pan/tilt carrying the camera and/or the posture of the movable platform to adjust the posture of the camera.
22. The mobile platform according to any one of claims 12-21, wherein the processor is further configured to obtain the reference inspection parameters of the mobile platform at the inspection location point and before the inspection reference image , When controlling the movable platform to move to the patrol position, record the patrol parameters of the movable platform as the reference patrol parameters, and control the shooting device to shoot, and record the image obtained by shooting as the Inspect the reference image.
23. A readable storage medium, characterized in that a computer program is stored on the readable storage medium; when the computer program is executed, it realizes the patrol of the movable platform according to any one of claims 1-11. Inspection control method.

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