CN105100728A - Unmanned aerial vehicle video tracking shooting system and method - Google Patents
Unmanned aerial vehicle video tracking shooting system and method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle video tracking shooting system and method. The system comprises an unmanned aerial vehicle which comprises a vehicle body, a pan-tilt connected with the vehicle body and a camera device arranged on the pan-tilt; a flight controller which is arranged on the unmanned aerial vehicle and controls the motion of the pan-tilt and the flight of the unmanned aerial vehicle; and an image data processing module which is arranged on the unmanned aerial vehicle, is connected with the camera device and the flight controller, receives image videos shot by the camera device and carries out image data processing, and transmits the processing result to the flight controller, which then, controls the pan-tilt and the unmanned aerial vehicle to carry out tracking shooting according to the processing result. The scheme can carry out identification and tracking shooting on a target accurately and efficiently; and the structure and steps are simple.
Description
Technical field
The present invention relates to unmanned plane during flying technique for taking field, particularly relate to a kind of UAV Video track up system and method.
Background technology
Along with the development of science and technology, unmanned plane class flight equipment starts the visual field entering people, gos deep into the life of people gradually, improves the life of people.The range of application of unmanned plane during flying device is more and more wider, such as taking photo by plane, Disaster control and measure the professional domains such as monitoring and all have a wide range of applications.
Meanwhile, higher requirement be it is also proposed to the Intelligent flight shoot function of unmanned plane, such as, require that unmanned plane can carry out target recognition and tracking shooting to ground or aerial intended target.
In general, the monitoring of aircraft to target is realized by vision sensor, the common mode to target following such as has the locating information by obtaining target to realize, realized by ground control mode, realized by video recognition system, but along with the develop rapidly of video processing technique, first two mode all shows certain defect in reaction speed and accuracy, and existing video recognition system forms complicated, response speed is slow, and efficiency is low.
In view of the foregoing, the design people borrows its technical experience of association area and abundant professional knowledge for many years, constantly researches and develops improvement, and through practical proof, proposes the technical scheme of UAV Video track up system and method for the present invention.
Summary of the invention
The object of the present invention is to provide a kind of UAV Video track up system, identifying and track up target of energy precise and high efficiency, structure is simple.
Another object of the present invention is to provide a kind of UAV Video track up method, based on UAV Video track up system of the present invention, the realize target identification of energy precise and high efficiency and track up.
To achieve these goals, the invention provides a kind of UAV Video track up system, comprising: for the unmanned plane of Aerial Images, comprise body, the The Cloud Terrace connecting body and the camera head be located on The Cloud Terrace; Flight controller, is located on described unmanned plane, controls the motion of The Cloud Terrace and the flight of unmanned plane; Image data processing module, be located on described unmanned plane, connect described camera head and flight controller, receive the image/video of described camera head shooting and carry out image real time transfer, result is sent to described flight controller, and flight controller controls The Cloud Terrace according to this result and unmanned plane carries out track up.
Preferably, above-mentioned UAV Video track up system, wherein, described image data processing module comprises: target recognin module, for determining target; Data processing submodule, connects described target recognin module, for carrying out data processing to image, drawing target coordinate figure in the picture, sending to flight controller.
Preferably, above-mentioned UAV Video track up system, wherein, described target recognin module comprises a memory module further, for default storage clarification of objective value.
Preferably, above-mentioned UAV Video track up system, wherein, also comprise ground based terminal, connect described to image data processing module, obtain captured image from described image data processing module, operate intended target on the image, then target data is fed back to described image data processing module.
To achieve these goals, present invention also offers a kind of UAV Video track up method, based on above-mentioned UAV Video track up system of the present invention, the method comprises: step S1, unmanned plane during flying photographic images video; Step S2, image data processing module receives picture signal, and carries out target identification and image real time transfer, output processing result; Step S3, flight controller receives described image data processing result, carries out track up according to this output control unmanned plane to target.
Preferably, above-mentioned UAV Video track up system, wherein, target identification step in described step S2 is undertaken by target recognin module, first preset in a storage module and store object feature value, then target recognin module receives the image that unmanned plane is taken photo by plane, and carries out Data Matching process and identify and confirm target with the object feature value preset.
Preferably, above-mentioned UAV Video track up system, wherein, target identification step in described step S2 is undertaken by target recognin module and ground based terminal, described ground based terminal obtains Aerial Images from image data processing module, and operating personnel operate intended target on described Aerial Images, then by target data feedback transmission to image data processing module, target recognin module receiving target data, complete identification and determine target.
Preferably, above-mentioned UAV Video track up system, wherein, the image data processing steps in described step S2 is undertaken by data processing submodule, and the data processed result obtained is the position coordinate data of target.
Preferably, above-mentioned UAV Video track up system, wherein, the data processed result that described data processing submodule carries out is the coordinate data of target relative image center, in step S3, flight controller controls cloud platform rotation according to the coordinate data of this target relative image center, drives camera head motion, make target retro to image center location, realize track up.
Preferably, above-mentioned UAV Video track up system, wherein, in step S3, when cloud platform rotation cannot realize replying target to image center location, flight controller controls unmanned plane during flying to adjust camera site, enable target return back to image center location, realize track up.
Preferably, above-mentioned UAV Video track up system, wherein, in step S2, when unmanned plane detect image data transmission smooth or cannot transmit image data time, terminal sends early warning information earthward, and ground based terminal receives this early warning information, and operating personnel take counter-measure according to this early warning information.
UAV Video track up system and method for the present invention at least has the following advantages and feature:
1, UAV Video track up system and method for the present invention arranges image data processing module on unmanned plane, the image of unmanned plane shooting is processed, identify target and obtain the information such as position coordinates of target, control unmanned plane by flight controller according to result again and carry out track up, whole system structure is simple, fast response time, accuracy is high, improves operating efficiency.
2, UAV Video track up system and method for the present invention due to composition and workflow simple, it is made to run fast and reliable, modules is short and sweet, makes the operation stability of whole system high, and then can improve the reliability of UAV Video track up.
3, UAV Video track up system and method for the present invention also can comprise ground based terminal, target is chosen by ground based terminal, and then can object feature value be stored, carry out target identification, ground based terminal can be the mobile terminal such as mobile phone, PAD, flight technique for taking and mobile terminal are combined, current mobile terminal is as quite universal in mobile phone, PAD etc., data-handling capacity is very strong and user interface is friendly, and the present invention operates and better Consumer's Experience more easily by being combined with mobile terminal to obtain.
4, structure and step simply, reduce cost, are conducive to the popularization of product UAV Video track up system and method for the present invention compared to existing technology.
Accompanying drawing explanation
Fig. 1 is UAV Video track up system module structural representation of the present invention;
Fig. 2 is the principle process schematic diagram of UAV Video track up method one embodiment of the present invention.
Main element label declaration:
10 unmanned planes
11 bodies
12 The Cloud Terraces
13 camera heads
20 flight controllers
30 image data processing module
301 target recognin modules
302 data processing submodules
303 memory modules
40 ground based terminals
Embodiment
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with accompanying drawing, specific embodiment is described in detail.
Please refer to Fig. 1, for UAV Video track up system module structural representation of the present invention, as shown in the figure, UAV Video track up system of the present invention comprises: unmanned plane 10, for the photographic images that flies, unmanned plane 10 includes body 11, The Cloud Terrace 12 and camera head 13; Flight controller 20, is located on unmanned plane, controls the flight of unmanned plane and the motion of The Cloud Terrace; Image data processing module 30, be located on unmanned plane, connect camera head 13 and flight controller 20, receive the image/video of camera head 13 shooting and carry out image real time transfer, result is sent to flight controller 20, and flight controller 20 controls unmanned plane according to result and The Cloud Terrace carries out track up.
In unmanned plane 10, The Cloud Terrace 12 is connected to body 11, camera head 13 is installed on The Cloud Terrace 12, in general flight controller 20 is arranged on body, it controls the flight of unmanned plane and the motion of The Cloud Terrace, structure composition and working principle about body, The Cloud Terrace, camera head and flight controller has been routine techniques, no longer describes in detail.
Image data processing module 30 is located on unmanned plane, preferably, is arranged on the body of unmanned plane.Data processing module connects camera head 13, and the image/video that camera head 13 is taken is transferred to image data processing module 30.Image data processing module 30 includes target recognin module 301 and data processing submodule 302, wherein target recognin module 301 is for determining target, namely complete the work of target identification, target recognin module 301 can include a memory module 303 further, for default storage clarification of objective value, described characteristic value can be any characteristic of target, such as face characteristic data, physical characteristic data, motion characteristic data etc., if target is not people but object, so preset and store the shape that clarification of objective value can be this object, size, color etc., before unmanned plane takes off, namely object feature value is stored in memory module 303, treat in unmanned plane during flying process, camera head 13 photographs image/video, namely target recognin module 301 carries out matching treatment according to presetting the object feature value stored in taken image/video, identify target, data processing submodule 302, for carrying out data processing to image, draws target coordinate figure in the picture, and target identification and image real time transfer detailed process are this area routine techniques, no longer describe in detail.
Image data processing module can be digital signal processing device (DSP) and corresponding circuit board, and those skilled in the art can design as required, repeat no more.
In another embodiment, also can not the characteristic value of goal-selling, but photograph after image/video until unmanned plane during flying, on ground based terminal 40, intended target is operated by user, specifically, video tracking camera system in the present embodiment also comprises ground based terminal 40, it is connected to image data processing module 30, captured image is obtained from image data processing module 30, after operating intended target on the image, again target data is fed back to image data processing module 30, target recognin module 301 receives and stores target signature data, data processing submodule 302 processes the information such as the coordinate figure obtaining target.Ground based terminal 40 such as can be common smart mobile phone, PAD etc., and the operation of intended target can be directly selects target at Aerial Images upper ledge.
Flight controller 20 connects image data processing module 30, image data processing result (the coordinates of targets information that such as above-mentioned data processing submodule process draws) is sent to flight controller, and flight controller controls The Cloud Terrace according to this image data processing result and unmanned plane carries out track up.
More than be the module composition of UAV Video track up system of the present invention, on the other hand, the present invention also proposes a kind of UAV Video track up method, based on above-mentioned UAV Video track up system of the present invention, carries out track up to target.
Incorporated by reference to reference to figure 2, be the principle process schematic diagram of UAV Video track up method one embodiment of the present invention, as shown in the figure, method of the present invention comprises: step S1, unmanned plane during flying photographic images video output image signal; Step S2, image data processing module receives picture signal, and carries out target identification and image real time transfer, output processing result; Step S3, flight controller receives described image data processing result, carries out track up according to this output control unmanned plane to target.
In step S1, unmanned plane 10 is by The Cloud Terrace 12 and camera head 13 photographic images, and by taken image data transmission to image data processing module 30, transmission means does not limit, and has been the more conventional technology in this area, therefore no longer describes in detail about the shooting of image and transfer of data.
Step S2 comprises target identification step and data processing step further, wherein target identification step is completed by target recognin module 301, first preset in memory module 303 and store object feature value, the particular content of object feature value is on the books in the above-described embodiments, then image data processing module 30 (target recognin module) receives the image that unmanned plane is taken photo by plane, and carries out Data Matching process and identify and confirm target with the object feature value preset, in another preferred embodiment, target identification and confirmation step have also been come by ground based terminal, specifically, video tracking camera system in the present embodiment also comprises ground based terminal 40, it is connected to image data processing module 30, unmanned plane Aerial Images is obtained from image data processing module 30, at ground based terminal display image, operating personnel operate intended target on the image, afterwards, again by target data feedback transmission to image data processing module 30, target recognin module 301 receiving target data, target signature data can be stored simultaneously, follow-uply processed the information such as coordinate figure obtaining target by data processing submodule 302.Ground based terminal 40 such as can be common smart mobile phone, PAD etc., and the operation of intended target can be directly selects target at Aerial Images upper ledge.
Data processing step is undertaken by data processing submodule 302, in the present embodiment, be position coordinates process to the data processing of target and image, such as, the coordinate data of target relative image center is drawn by data processing, after drawing result, result is sent to flight controller 20.Those skilled in the art can setting data processing mode according to actual needs, thus obtains required result, and above-mentioned coordinate data is also not limited to the coordinate at relative image center.
In step S3, flight controller receives described image data processing result, according to this output control unmanned plane, track up is carried out to target, specifically, in the present embodiment, the result that image data processing module 30 transmits to flight controller 20 is coordinate data, more precisely, it is the coordinate data of relative image center, flight controller 20 controls The Cloud Terrace according to this coordinate data and unmanned plane moves, and makes target remain in the center of image, thus realizes track up.In a preferred embodiment, when target departs from image center location, first flight controller 20 controls cloud platform rotation, drives camera head motion, makes target retro to image center location, realize track up function; When cloud platform rotation cannot realize replying target to image center location, flight controller 20 controls unmanned plane during flying to adjust camera site, enables target return back to image center location, thus final realization is taken the video tracking of target.
What deserves to be explained is, comprise in the embodiment of ground based terminal in above-mentioned record, if the image data transmission of unmanned plane and ground based terminal is smooth or cannot transmit image data time, a communicating step for subsequent use can be triggered, specifically, when unmanned plane detect image data transmission smooth or cannot transmit image data time, terminal 40 can send an early warning information earthward, the transmission path of described early warning information can be different from the transmission path of view data, as adopted other communication modes or being transmitted by the communication module device separately established, concrete mode or device those skilled in the art can optionally select, after ground based terminal 40 receives this early warning information, operating personnel can learn image data transmission situation now, and corresponding counter-measure can be taked according to this early warning information, such as can determine whether continue track up, or, this early warning information can be replied on ground based terminal 40, the coordinate data (operating personnel learn) of manual input target, by the path that this early warning information interface and early warning information are transmitted, Target Coordinate Data is sent to unmanned plane, finally transfer to flight controller 20, flight controller 20 controls unmanned plane and The Cloud Terrace according to this Target Coordinate Data obtained, realize track up.
Can easily realize taking the video tracking of target by UAV Video track up system and method for the present invention, structure is simple, and fast response time, accuracy is high, and operating efficiency is high.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention essence and principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a UAV Video track up system, is characterized in that, comprising:
For the unmanned plane of Aerial Images, comprise body, the The Cloud Terrace connecting body and the camera head be located on The Cloud Terrace;
Flight controller, is located on described unmanned plane, controls The Cloud Terrace and unmanned plane;
Image data processing module, be located on described unmanned plane, connect described camera head and flight controller, receive the image/video of described camera head shooting and carry out image real time transfer, result is sent to described flight controller, and flight controller controls The Cloud Terrace according to this result and unmanned plane carries out track up.
2. UAV Video track up system according to claim 1, it is characterized in that, described image data processing module comprises:
Target recognin module, for determining target;
Data processing submodule, connects described target recognin module, for carrying out data processing to image, drawing target coordinate figure in the picture, sending to flight controller.
3. UAV Video track up system according to claim 2, is characterized in that, described target recognin module comprises a memory module further, for default storage clarification of objective value.
4. the UAV Video track up system according to Claims 2 or 3, it is characterized in that, also comprise ground based terminal, connect described to image data processing module, captured image is obtained from described image data processing module, operate intended target on the image, then target data is fed back to described image data processing module.
5. a UAV Video track up method, is characterized in that, described method is based on the UAV Video track up system described in Claims 1-4, and the method comprises:
Step S1, unmanned plane during flying photographic images video;
Step S2, image data processing module receives picture signal, and carries out target identification and image real time transfer, output processing result;
Step S3, flight controller receives described image data processing result, carries out track up according to this output control unmanned plane to target.
6. UAV Video track up system according to claim 5, it is characterized in that, target identification step in described step S2 is undertaken by target recognin module, first preset in a storage module and store object feature value, then target recognin module receives the image that unmanned plane is taken photo by plane, and carries out Data Matching process and identify and confirm target with the object feature value preset.
7. UAV Video track up system according to claim 5, it is characterized in that, target identification step in described step S2 is undertaken by target recognin module and ground based terminal, described ground based terminal obtains Aerial Images from image data processing module, operating personnel operate intended target on described Aerial Images, again by target data feedback transmission to image data processing module, target recognin module receiving target data, complete identification and determine target.
8. the UAV Video track up system according to claim 5,6 or 7, it is characterized in that, the image data processing steps in described step S2 is undertaken by data processing submodule, and the data processed result obtained is the position coordinate data of target.
9. UAV Video track up system according to claim 8, it is characterized in that, the data processed result that described data processing submodule carries out is the coordinate data of target relative image center, in step S3, flight controller controls cloud platform rotation according to the coordinate data of this target relative image center, drive camera head moves, and makes target retro to image center location, realizes track up; When cloud platform rotation cannot realize replying target to image center location, flight controller controls unmanned plane during flying to adjust camera site, enables target return back to image center location, realizes track up.
10. UAV Video track up system according to claim 7, it is characterized in that, in step S2, when unmanned plane detect image data transmission smooth or cannot transmit image data time, terminal sends early warning information earthward, ground based terminal receives this early warning information, and operating personnel take counter-measure according to this early warning information.
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