CN102156481B - Intelligent tracking control method and system for unmanned aircraft - Google Patents
Intelligent tracking control method and system for unmanned aircraft Download PDFInfo
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- CN102156481B CN102156481B CN 201110025672 CN201110025672A CN102156481B CN 102156481 B CN102156481 B CN 102156481B CN 201110025672 CN201110025672 CN 201110025672 CN 201110025672 A CN201110025672 A CN 201110025672A CN 102156481 B CN102156481 B CN 102156481B
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Abstract
The invention discloses an intelligent tracking control method for an unmanned aircraft, which comprises the following steps: hovering and acquiring the position of the unmanned aircraft and a video signal of a target; transmitting the position of the unmanned aircraft and the video signal of the target to a video analyzing module on the ground in a wireless communication manner; analyzing the video signal so as to acquire the position and size of the target; calculating the position adjusting data of the unmanned aircraft according to the position of the target; and adjusting the position of the unmanned aircraft according to the position adjusting data of the unmanned aircraft. The invention also discloses an intelligent tracking control system for the unmanned aircraft, comprising a camera, a GPS (global position system), a wireless communication module, a video analyzing module, a control module and an execution module. By using the intelligent tracking control method and system for the unmanned aircraft provided by the invention, the unmanned aircraft can automatically finish the task of tracking the target, the precision of tracking the target of the unmanned aircraft is increased and the high-precision tracking for the target is realized.
Description
Technical field
The present invention relates to a kind of Intelligent tracking control method and system, relate in particular to a kind of Intelligent tracking control method and system of following the trail of the high unmanned vehicle of precision, belong to artificial intelligence field.
Background technology
Since mid-term in 20th century, unmanned vehicle equipment has been widely used in war, and some countries once carried out the operations such as landform detection of battlefield investigation and dangerous area with unmanned vehicle.Nowadays, the Unmanned Systems need to be used in increasing field, thereby the flight of unmanned vehicle control research more and more is subject to people's attention.
Some present unmanned vehicles have entered the epoch of auto-flare system, adopt pre-set course line to fly, and have broken away from manual remote control, and its advantage is automatically to complete the high-altitude detection task of appointment, need not manual control.
In addition, also have on some unmanned vehicles video camera is housed, can carry out Real Time Monitoring and video recording at the air to surface face of height, and by modes such as microwave or WiFi, the vision signal that collects is sent to ground base station.Generally, these unmanned vehicles adopt according to pre-set airline operation, thereby complete the high-altitude monitoring of inner region on a large scale and cruise.
Yet, requirement intelligent to security protection along with people and the unattended duty monitoring is more and more higher, how to improve the artificial intelligence characteristic of unmanned vehicle supervisory system, make unmanned vehicle can break away from predefined course line and artificial Long-distance Control, automatically complete detecting, cruise or tracking task, make unmanned vehicle have more, more powerful function, unmanned vehicle is higher to the precision of target following, becomes the vital task of Artificial Intelligence Science research.
Summary of the invention
The purpose of one aspect of the present invention is to provide a kind of Intelligent tracking control method of unmanned vehicle, makes unmanned vehicle can automatically complete following the trail of the objective of task, improves the precision of unmanned vehicle tracking target.
The purpose of another aspect of the present invention is to provide a kind of intelligent Tracing Control system of unmanned vehicle, makes unmanned vehicle can automatically complete following the trail of the objective of task, to realize that unmanned vehicle is to the accurate tracking of target.
For realizing the purpose of one aspect of the invention, the Intelligent tracking control method of unmanned vehicle of the present invention comprises the following steps:
Hover and obtain the position of unmanned vehicle and the vision signal of target, the position of unmanned vehicle comprises height, longitude and the latitude of residing locus when unmanned vehicle hovers;
By wireless telecommunications with the video signal transmission of the position of unmanned vehicle and the target analysis module to ground;
Vision signal analysis is obtained position and the size of target;
According to the height of unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculate the video camera visual angle in developed width and the true altitude on ground, the video camera visual angle is in the true altitude on ground
Wherein H is the height of unmanned vehicle, θ
1Be vertical visible angle of Airborne camera, θ
2Setting angle for Airborne camera; The developed width at video camera visual angle
θ wherein
3Horizontal visible angle for video camera;
Change in location value according to target in image and the pixel value of image calculate the position of unmanned vehicle and adjust data, the transverse shifting distance of unmanned vehicle
Wherein Δ x is the horizontal change value of target location in image, P
xWidth for image; Unmanned vehicle vertically move distance
Wherein Δ y is the vertical changing value of target location in image, P
yHeight for image; According to the transverse shifting of unmanned vehicle apart from S
xWith vertically move apart from S
y, the position of adjustment unmanned vehicle.
For realizing the purpose of another aspect of the present invention, the intelligent Tracing Control system of unmanned vehicle of the present invention comprises: video camera, GPS, wireless communication module, analysis module, control module and execution module;
Video camera is arranged on unmanned vehicle, is used for obtaining the vision signal of target when unmanned vehicle hovers;
GPS is arranged on unmanned vehicle, and for the position that obtains unmanned vehicle when unmanned vehicle hovers, the position of unmanned vehicle comprises height, longitude and the latitude of residing locus when unmanned vehicle hovers;
Wireless communication module is used for the video signal transmission of the position of unmanned vehicle and the target analysis module to ground, and data transmission is adjusted to described execution module in the position of the unmanned vehicle that described control module is calculated;
Analysis module is arranged on ground base station, is used for the vision signal analysis of target is obtained position and the size of target;
Control module, be arranged on ground base station, be used for according to the height of unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculate the video camera visual angle in developed width and the true altitude on ground, the video camera visual angle is in the true altitude on ground
Wherein H is the height of unmanned vehicle, θ
1Be vertical visible angle of Airborne camera, θ
2Setting angle for Airborne camera; The developed width at video camera visual angle
θ wherein
3Horizontal visible angle for video camera; And according to target the change in location value in image and the pixel value of image, calculate the position of unmanned vehicle and adjust data, the transverse shifting distance of unmanned vehicle
Wherein Δ x is the horizontal change value of target location in image, P
xWidth for image; Unmanned vehicle vertically move distance
Wherein Δ y is the vertical changing value of target location in image, P
yHeight for image;
Execution module is arranged on unmanned vehicle, is used for transverse shifting according to unmanned vehicle apart from S
xWith vertically move apart from S
y, the position of adjustment unmanned vehicle.
In Intelligent tracking control method and the system of unmanned vehicle of the present invention, when unmanned vehicle hovers, be arranged on the vision signal that video camera on unmanned vehicle obtains target; Simultaneously, be arranged on the position that the GPS on unmanned vehicle measures unmanned vehicle this moment.The vision signal of the target of obtaining and the position of unmanned vehicle are transferred to the analysis module on ground by wireless communication module.Analysis module is analyzed the vision signal that receives, and identifies target and obtains the size of target and the information such as position, and size and the position of target sent to the control module that is arranged on ground base station.Control module is used for the position according to target, data are adjusted in the position that calculates unmanned vehicle, and data are adjusted in the position send to the execution module that is arranged on unmanned vehicle by wireless communication module, execution module is adjusted data according to the position, regulate the course of unmanned vehicle and/or the flying distance of unmanned vehicle, thereby realized that unmanned vehicle is to automatic, the accurate tracking of target.
More preferably, the Intelligent tracking control method of unmanned vehicle of the present invention, the position and the size that vision signal analysis are obtained target specifically comprise the following steps:
Static pixel region in vision signal is distinguished as a setting, and the pixel region of motion is as front scenic spot;
Indicate front scenic spot with rectangle frame;
The most similar rectangle frame in the consecutive frame image is judged to be same target;
Be the position of target with the location confirmation of the most similar rectangle frame range image central point, the size of similar rectangle frame is the size of target.
More preferably, the Intelligent tracking control method of unmanned vehicle of the present invention, to vision signal analysis obtain the position of target and big or small step with according to the height of unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculating video camera visual angle is between the developed width and true altitude step on ground, and is also further comprising the steps:
According to the size of the target that obtains, judge whether the size of target exceeds the scope of setting;
If, adjust aircraft to the ideal height place, return to position that carrying out hovers obtains unmanned vehicle and the vision signal step of target;
If not, continue to carry out according to the height of unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculate the video camera visual angle in developed width and the true altitude step on ground.
More preferably, the Intelligent tracking control method of unmanned vehicle of the present invention, also further comprising the steps:
Record the position of unmanned vehicle, the position is converted into the flight path signal;
The vision signal of record object;
With the corresponding link of the vision signal of position, flight path signal and the target of unmanned vehicle.
More preferably, the intelligent Tracing Control system of unmanned vehicle of the present invention, control module comprises an ALU, ALU is the combination of logical circuit of arithmetic, software or logical circuit of arithmetic and software.
More preferably, the intelligent Tracing Control system of unmanned vehicle of the present invention also comprises storer and display.
Description of drawings
Fig. 1 is the process flow diagram of Intelligent tracking control method first embodiment of unmanned vehicle of the present invention;
Fig. 2 is the video signal analysis process flow diagram of Intelligent tracking control method second embodiment of unmanned vehicle of the present invention;
Fig. 3 is that Intelligent tracking control method the 3rd embodiment video camera visual angle of unmanned vehicle of the present invention is at the true altitude on ground and the schematic diagram of width;
Fig. 4 is the process flow diagram that Intelligent tracking control method the 4th embodiment of unmanned vehicle of the present invention calculates the position adjustment data of unmanned vehicle;
Fig. 5 is the process flow diagram of Intelligent tracking control method the 5th embodiment of unmanned vehicle of the present invention;
Fig. 6 is the structural representation of intelligent Tracing Control first embodiment of system of unmanned vehicle of the present invention;
Fig. 7 is the structural representation of ground base station of unmanned vehicle of intelligent Tracing Control second embodiment of system of unmanned vehicle of the present invention.
Embodiment
For purpose, technical scheme and the advantage of the Intelligent tracking control method that makes unmanned vehicle of the present invention and system clearer, below in conjunction with concrete drawings and the specific embodiments, Intelligent tracking control method and the system of unmanned vehicle of the present invention is further elaborated.
The specific embodiment of the Intelligent tracking control method of unmanned vehicle
Fig. 1 is the process flow diagram of Intelligent tracking control method first embodiment of unmanned vehicle of the present invention, and as shown in Figure 1, the Intelligent tracking control method of unmanned vehicle of the present invention comprises the following steps:
Step 101: hover and obtain the position of unmanned vehicle and the vision signal of target.
Unmanned vehicle is manually let fly away specified altitude assignment, begins to hover, to keep relative static state with ground after stable.At this moment, be arranged on the picture on the video camera real-time recording ground on unmanned vehicle, the vision signal that obtains terrain object is image; The GPS that is arranged on unmanned vehicle measures the position that obtains unmanned vehicle this moment.
Step 102: by wireless telecommunications with the position of unmanned vehicle and the video signal transmission analysis module to ground.
Unmanned vehicle sends to the receiving trap of the wireless communication module on ground with the vision signal of the target of acquisition and the position of unmanned vehicle by the emitter of wireless communication module, and further the vision signal of target and the position of unmanned vehicle is sent to analysis module.
Step 103: the position and the size that vision signal analysis are obtained target.
Analysis module is analyzed consecutive frame or continuous a few two field picture of target, obtains the position of target in image, and the coordinate (x, y) of the pixel at the available targets center, position of target represents; And the size that shows in image of target, the number of horizontal and vertical pixel of the big or small available targets of target represents.
Step 104: according to the position of target, data are adjusted in the position that calculates unmanned vehicle.
Control module obtains the change in location value of target according to the position of the target in consecutive frame or continuous a few two field picture, thereby data are adjusted in the position that further calculates unmanned vehicle.
Step 105: adjust data according to the position, adjust the position of unmanned vehicle.
Execution module is adjusted data according to the position of the unmanned vehicle of control module output, further adjusts unmanned vehicle in course and the flying distance at certain altitude place, or further adjusts unmanned vehicle in the horizontal and vertical flying distance of certain altitude.
So far, unmanned vehicle is realized an intelligent tracking cycle of target is completed, and begins circulation and carries out the next intelligent tracking cycle.
More preferably, in order accurately and timely to obtain the position of unmanned vehicle when hovering, can adopt the Airborne GPS GPS to obtain the position of unmanned vehicle, specifically comprise height, longitude and the latitude of residing locus when unmanned vehicle hovers.
Fig. 2 is the video signal analysis process flow diagram of Intelligent tracking control method second embodiment of unmanned vehicle of the present invention, and as shown in Figure 2, the present embodiment is analyzed vision signal, specifically comprises the following steps with position and the size that obtains target:
Step 201: the static pixel region in vision signal is distinguished as a setting, and the pixel region of motion is as front scenic spot.Usually adopt consecutive frame image or continuous a few two field picture to do background area and the front scenic spot that difference can obtain image.
Step 202: indicate front scenic spot with rectangle frame.In the process that indicates rectangle frame, the micro rectangle frame that does not satisfy condition is filtered out with template and other filtrators.
Step 203: the most similar rectangle frame in consecutive frame or continuous a few two field picture is judged to be same target.According to variation and the difference in size of the distance of rectangle frame, judge whether the rectangle frame in consecutive frame or continuous a few two field picture is similar, if similar, be judged to be same target.
Step 204: the location confirmation of rectangle frame range image central point that will be the most similar is the position of target, and the size of similar rectangle frame is confirmed as the size of target.The position of target can represent with the coordinate of the central pixel point of rectangle frame, and the size of target can represent with the number of horizontal and vertical pixel of rectangle frame.
Further, in the Intelligent tracking control method of unmanned vehicle of the present invention, according to the position of target, the position adjustment data that calculate unmanned vehicle specifically comprise the following steps:
Steps A 1: according to the height of unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculate the video camera visual angle in developed width and the true altitude on ground;
Steps A 2: the change in location value according to target in image and the pixel value of image, calculate the position of unmanned vehicle and adjust data.
Fig. 3 is the schematic diagram of Intelligent tracking control method the 3rd embodiment video camera visual angle actual size on the ground of unmanned vehicle of the present invention.
As shown in Figure 3, suppose that the height that unmanned vehicle hovers is H, vertical visible angle of Airborne camera is θ
1, the setting angle of Airborne camera is θ
2, the horizontal visible angle of video camera is θ
3, can calculate video camera visual angle true altitude L on the ground
yWith developed width L
xBe respectively:
Fig. 4 is the process flow diagram that Intelligent tracking control method the 4th embodiment of unmanned vehicle of the present invention calculates the position adjustment data of unmanned vehicle.
As shown in Figure 4, the height H when being hovered by known unmanned vehicle, vertical visible angle of Airborne camera is θ
1, the setting angle of Airborne camera is θ
2, the horizontal visible angle of video camera is θ
3, can calculate video camera visual angle true altitude L on the ground
yWith developed width L
xThe horizontal change value Δ x in image according to the target location again, picture traverse pixel value P
x, can calculate the transverse shifting of target apart from S
x, i.e. the lateral attitude of unmanned vehicle adjustment data are:
In like manner, the vertical changing value Δ y according to the target location in image, picture altitude pixel value P
y, can calculate vertically moving apart from S of target
y, namely the lengthwise position of unmanned vehicle adjustment data are:
Fig. 5 is the process flow diagram of Intelligent tracking control method the 5th embodiment of unmanned vehicle of the present invention.
As shown in Figure 5, in order to ensure photographing desirable target video information, improve the precision that image is processed and analyzed, thereby realize the accurate and real-time tracking to target, the Intelligent tracking control method of unmanned vehicle of the present invention comprises the following steps:
Step 501: hover and obtain the position of unmanned vehicle and the vision signal of target.
Unmanned vehicle is manually let fly away specified altitude assignment, begins to hover, to keep relative static state with ground after stable.At this moment, be arranged on the picture on the video camera real-time recording ground on unmanned vehicle, the vision signal that obtains ground is image; The GPS that is arranged on unmanned vehicle measures the position that obtains unmanned vehicle this moment.
Step 502: by wireless telecommunications with the position of unmanned vehicle and the video signal transmission analysis module to ground.
Unmanned vehicle sends to the receiving trap of the wireless communication module on ground with the vision signal of the target of acquisition and the position of unmanned vehicle by the emitter of wireless communication module, and further the vision signal of target and the position of unmanned vehicle is sent to analysis module.
Step 503: the position and the size that vision signal analysis are obtained target.
Analysis module is analyzed consecutive frame or continuous a few two field picture of target, obtain the numerical value of the position of target in image, the coordinate of the pixel at the center of the rectangle frame of the position serviceable indicia target of target represents, the number of horizontal and vertical pixel of the rectangle frame of the big or small serviceable indicia target of target represents.
Step 504: according to the size of the target that obtains, judge whether the size of target exceeds the scope of setting.
The parameters such as the height of the set basis unmanned vehicle of scope, the size of image and the sharpness of image or performance are determined.If exceed the scope of setting, adjust aircraft to the preset height place, then return to position that carrying out hovers obtains unmanned vehicle and the vision signal step of target; If do not exceed the scope of setting, continue to carry out the position according to target, data step is adjusted in the position that calculates unmanned vehicle.Wherein preset height is obtained according to certain mapping relations mapping by the scope of the size of the target of setting.
Step 505: according to the position of target, data are adjusted in the position that calculates unmanned vehicle.
Control module obtains the change in location value of target according to the position of the target in consecutive frame or continuous a few two field picture, thereby data are adjusted in the position that further calculates unmanned vehicle.
Step 506: adjust data according to the position, adjust the position of unmanned vehicle.
Execution module is adjusted data according to the position of the unmanned vehicle of control module output, further adjusts unmanned vehicle in course and the flying distance at certain altitude place, or further adjusts unmanned vehicle in the horizontal and vertical flying distance of certain altitude.
So far, unmanned vehicle is realized an intelligent tracking cycle of target is completed, and begins circulation and carries out the next intelligent tracking cycle.
More preferably, the Intelligent tracking control method of unmanned vehicle of the present invention, further the video of target are carried out visual analyzing, realize target query video, the inquiry of unmanned vehicle flight path and three kinds of inquiry modes of unmanned vehicle position enquiring specifically comprise the following steps:
Step B1: record the position of unmanned vehicle, the position is converted into the flight path signal;
Step B2: the vision signal of record object;
Step B3: with the corresponding link of the vision signal of position, flight path signal and the target of unmanned vehicle.
From unmanned vehicle enters state of flight, Airborne GPS with unmanned vehicle the position send to ground base station, control module is recorded the real-time position information of the unmanned vehicle that receives, and is converted into the flight path signal, is kept in storer.The real-time position information of unmanned vehicle records unmanned vehicle at residing longitude, latitude and the height of some flight time points.Set up an electric map module in control module, the positional information of unmanned vehicle is converted to a point on map, and is being used as a tracing point under drawing on map.
With the corresponding link of the vision signal of position, flight path signal and the target of unmanned vehicle, thereby the video of flight enquiry module of system can provide three kinds of inquiry modes afterwards: target video inquiry, the inquiry of unmanned vehicle flight path and unmanned vehicle position enquiring.
Wherein, target query can carry out to the target video that obtains in the unmanned vehicle flight course playback inquiry.Unmanned vehicle route inquiry can be carried out the flight path inquiry by the unmanned vehicle position of storing in the electronic chart set up and unmanned vehicle flight course.
The inquiry of unmanned vehicle flight path can be synchronizeed the vision signal of target with the flight path of unmanned vehicle.During the video of one section target of playback, will show the particular location of unmanned vehicle this moment on electronic chart.
The Intelligent tracking control method of unmanned vehicle of the present invention provides by route and shows and show two kinds of display modes by time point.
Press the route display mode namely selects in the unmanned vehicle flight path one section or whole section route on electronic chart after, display routine will carry out audio video synchronization according to selected flight path section to be play, and the physical location of the unmanned vehicle that the corresponding time point in display video is corresponding in real time.
Press the i.e. time point of a needs inquiry of input in the video playback control panel of time point display mode, display routine will show the vision signal of target this moment in display, and will show the physical location of the unmanned vehicle of corresponding time point on electronic chart.The input external command can carry out continuous videos and play the location, also will demonstrate continuously the physical location of corresponding time point and unmanned vehicle on electronic chart simultaneously.
The specific embodiment of the intelligent Tracing Control system of unmanned vehicle
Fig. 6 is the structural representation of intelligent Tracing Control first embodiment of system of unmanned vehicle of the present invention, as shown in Figure 6, the structure of intelligent Tracing Control first embodiment of system of unmanned vehicle of the present invention comprises: video camera, GPS, wireless communication module, analysis module, control module and execution module.
Video camera is arranged on unmanned vehicle, is used for obtaining the vision signal of target when unmanned vehicle hovers.
GPS is arranged on unmanned vehicle, is used for the position that obtains unmanned vehicle when unmanned vehicle hovers.
Wireless communication module, be installed on unmanned vehicle and ground base station, be used for the data transmission between unmanned vehicle and ground base station, with the video signal transmission of the position of unmanned vehicle and the target analysis module to ground, the execution module that data transmission arranges to the unmanned vehicle is adjusted in the position of the unmanned vehicle that control module is calculated.
Analysis module is arranged on ground base station, is used for vision signal analysis is obtained position and the size of target.
Control module, be arranged on ground base station, be used for the position according to target, data are adjusted in the position that calculates unmanned vehicle, be specially: according to the height of unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculate the video camera visual angle in developed width and the true altitude on ground; Change in location value according to target in image and the pixel value of image calculate the position of unmanned vehicle and adjust data.
Execution module is arranged on unmanned vehicle, is used for adjusting data according to the position, adjusts the position of unmanned vehicle.
The intelligent Tracing Control system of this unmanned vehicle when unmanned vehicle hovers, is arranged on the vision signal that video camera on unmanned vehicle obtains target; Simultaneously, be arranged on the position that the GPS on unmanned vehicle measures unmanned vehicle this moment.The vision signal of the target of obtaining and the position of unmanned vehicle are transferred to the analysis module on ground by wireless communication module.Analysis module is analyzed the vision signal that receives, and identifies target and obtains the size of target and the information such as position, and size and the positional information of target sent to the control module that is arranged on ground base station.Control module is used for the position according to target, data are adjusted in the position that calculates unmanned vehicle, and data are adjusted in the position send to the execution module that is arranged on unmanned vehicle by wireless communication module, execution module is adjusted data according to the position, regulate the course of unmanned vehicle and/or the flying distance of unmanned vehicle, thereby realized that unmanned vehicle is to automatic, the accurate tracking of target.
In order to realize the accurate and real-time tracking to target, the control module of the intelligent Tracing Control system of unmanned vehicle of the present invention comprises an ALU, described ALU is the combination of logical circuit of arithmetic, software or logical circuit of arithmetic and software, to realize that the judgement whether size of the calculating of data and target exceeds the scope of setting is adjusted in the position of unmanned vehicle.
Fig. 7 is the structural representation of ground base station of unmanned vehicle of intelligent Tracing Control second embodiment of system of unmanned vehicle of the present invention, as shown in Figure 7, demonstration and analysis for the flight path of the positional information that realizes vision signal, unmanned vehicle to target and unmanned vehicle, the intelligent Tracing Control system of unmanned vehicle of the present invention, the ground base station of unmanned vehicle also comprises storer and display, and storer receives and store the data of exporting from wireless communication module, analysis module and control module respectively; Display is connected with storer, is used for transferring and showing the data that are stored in storer.Storer is used for the position of the unmanned vehicle that the position of target of positional information, analysis module output of vision signal, the unmanned vehicle of storage target and target sizes and/or control module calculate and adjusts signal, when display receives outside idsplay order, transfer corresponding signal from storer and show.
The above is only preferred example of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improve, all should be included in protection scope of the present invention.
Claims (7)
1. the Intelligent tracking control method of a unmanned vehicle, is characterized in that, the method comprises the following steps:
Hover and obtain the position of unmanned vehicle and the vision signal of target, the position of unmanned vehicle comprises height, longitude and the latitude of residing locus when unmanned vehicle hovers;
By wireless telecommunications with the video signal transmission of the position of unmanned vehicle and the target analysis module to ground;
Vision signal analysis is obtained position and the size of target;
According to the height of unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculate the video camera visual angle in developed width and the true altitude on ground, the video camera visual angle is in the true altitude on ground
Wherein H is the height of unmanned vehicle, θ
1Be vertical visible angle of Airborne camera, θ
2Setting angle for Airborne camera; The developed width at video camera visual angle
θ wherein
3Horizontal visible angle for video camera;
Change in location value according to target in image and the pixel value of image calculate the position of unmanned vehicle and adjust data, the transverse shifting distance of unmanned vehicle
Wherein Δ x is the horizontal change value of target location in image, P
xWidth for image; Unmanned vehicle vertically move distance
Wherein Δ y is the vertical changing value of target location in image, P
yHeight for image;
According to the transverse shifting of unmanned vehicle apart from S
xWith vertically move apart from S
y, the position of adjustment unmanned vehicle.
2. the Intelligent tracking control method of unmanned vehicle according to claim 1, is characterized in that, described position and the size that vision signal analysis is obtained target specifically comprises the following steps:
Static pixel region in vision signal is distinguished as a setting, and the pixel region of motion is as front scenic spot;
Indicate front scenic spot with rectangle frame;
The most similar rectangle frame in consecutive frame or continuous a few two field picture is judged to be same target;
Be the position of target with the location confirmation of the most similar rectangle frame range image central point, the size of similar rectangle frame is the size of target.
3. the Intelligent tracking control method of unmanned vehicle according to claim 1, it is characterized in that, described position and big or small step and described height according to unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera that vision signal analysis is obtained target, calculate the video camera visual angle between the step of the developed width on ground and true altitude, also further comprising the steps:
The size of the target that obtains according to analysis judges whether the size of described target exceeds the scope of setting;
If, adjust aircraft to the preset height place, return to the step of the vision signal of carrying out described the hover position that obtains unmanned vehicle and target;
If not, continue to carry out described height according to unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculate the video camera visual angle in the developed width on ground and the step of true altitude.
4. the Intelligent tracking control method of unmanned vehicle according to claim 1, is characterized in that, and is also further comprising the steps:
Record the position of unmanned vehicle, the position is converted into the flight path signal;
The vision signal of record object;
With the corresponding link of the vision signal of position, flight path signal and the target of unmanned vehicle.
5. the intelligent Tracing Control system of a unmanned vehicle, is characterized in that, comprising: video camera, GPS, wireless communication module, analysis module, control module and execution module;
Described video camera is arranged on unmanned vehicle, is used for obtaining the vision signal of target when unmanned vehicle hovers;
Described GPS is arranged on unmanned vehicle, is used for obtaining the position of unmanned vehicle when unmanned vehicle hovers, and the position of described unmanned vehicle comprises height, longitude and the latitude of residing locus when unmanned vehicle hovers;
Described wireless communication module is used for the video signal transmission of the position of unmanned vehicle and the target described analysis module to ground, and data transmission is adjusted to described execution module in the position of the unmanned vehicle that described control module is calculated;
Described analysis module is arranged on ground base station, is used for the vision signal analysis of target is obtained position and the size of target;
Described control module, be arranged on ground base station, be used for according to the height of unmanned vehicle, the visible angle of Airborne camera and the setting angle of Airborne camera, calculate the video camera visual angle in developed width and the true altitude on ground, the video camera visual angle is in the true altitude on ground
Wherein H is the height of unmanned vehicle, θ
1Be vertical visible angle of Airborne camera, θ
2Setting angle for Airborne camera; The developed width at video camera visual angle
θ wherein
3Horizontal visible angle for video camera; And according to target the change in location value in image and the pixel value of image, calculate the position of unmanned vehicle and adjust data, the transverse shifting distance of unmanned vehicle
Wherein Δ x is the horizontal change value of target location in image, P
xWidth for image; Unmanned vehicle vertically move distance
Wherein Δ y is the vertical changing value of target location in image, P
yHeight for image;
Described execution module is arranged on unmanned vehicle, is used for transverse shifting according to unmanned vehicle apart from S
xWith vertically move apart from S
y, the position of adjustment unmanned vehicle.
6. the intelligent Tracing Control system of unmanned vehicle according to claim 5, it is characterized in that, described control module comprises an ALU, described ALU is the combination of logical circuit of arithmetic, software or logical circuit of arithmetic and software, in order to realize that the judgement whether size of the calculating of data and target exceeds the scope of setting is adjusted in the position of unmanned vehicle.
7. the intelligent Tracing Control system of according to claim 5 or 6 described unmanned vehicles, it is characterized in that, also comprise storer and display, storer receives and stores the data of exporting from described wireless communication module, described analysis module and described control module respectively; Display is connected with storer, is used for transferring and showing the data that are stored in described storer.
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| CN 201110025672 CN102156481B (en) | 2011-01-24 | 2011-01-24 | Intelligent tracking control method and system for unmanned aircraft |
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| CN 201110025672 CN102156481B (en) | 2011-01-24 | 2011-01-24 | Intelligent tracking control method and system for unmanned aircraft |
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| CN102156481B true CN102156481B (en) | 2013-06-05 |
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