CN105338316A - Integration device for unmanned aerial vehicle remote controller and image transfer module - Google Patents
Integration device for unmanned aerial vehicle remote controller and image transfer module Download PDFInfo
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- H—ELECTRICITY
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- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention provides an integration device for an unmanned aerial vehicle remote controller and an image transfer module. The integration device comprises a ground station, an HDMI signal converter, an image transfer transmitting device, an image transfer receiving device, a remote controller and an unmanned aerial vehicle. The output end of the ground station is connected with the input end of the HDMI signal converter. The output end of the HDMI signal converter is connected with the input end of the image transfer transmitting device. The image transfer receiving device is additionally arranged and is installed on the remote controller so that the image screen of the ground station can be displayed on the remote controller. After the image transfer receiving device and the remote controller are integrated, an external manipulator can freely move and realize one-man operation without dependence on the ground station so that portability can be greatly enhanced and safe and reliable flight of the unmanned aerial vehicle is facilitated.
Description
Technical field
The present invention relates to a kind of integrating device, specifically the integrating device of a kind of unmanned controller and image transmission module.
Background technology
Current small-sized rotor wing unmanned aerial vehicle is in power circuit patrolling process, and need internal control hand and external control hand two people operation, internal control hand is responsible for observing ground station's data and unmanned plane during flying situation, and external control hand is responsible for manipulation unmanned plane and is taken pictures.In flight course, the Various types of data that unmanned plane is collected and photographic images are by being wirelessly transmitted to ground handling station, and ground station's display data and image result, these data and image provide analysis foundation for internal control hand external control hand.Under normal circumstances, manipulation hand observes data in ground station and image in UAV TT & C's car or near ground station, and manipulation unmanned plane task device is taken pictures.The remote controller of existing unmanned plane can not show image and the data of unmanned plane shooting well in real time.In pursuit movement object procedure, capture apparatus is also in accompany movement, and jitter phenomenon appears in the easy like this image causing the camera in motion to take, thus affects the definition of picture, cannot reach the object monitoring target.
Summary of the invention
The object of this invention is to provide the integrating device of a kind of unmanned controller and image transmission module, the remote controller that can solve existing unmanned plane can not show the image of unmanned plane shooting and the problem of data well in real time.
The present invention for achieving the above object, be achieved through the following technical solutions: the integrating device of unmanned controller and image transmission module, comprise ground station, HDMI signal converter, figure passes emitter, figure transmitting/receiving apparatus, remote controller and unmanned plane, the output of ground station connects the input of HDMI signal converter, the output connection layout of HDMI signal converter passes emitter input, figure passes the output wireless connections figure transmitting/receiving apparatus of emitter, remote controller controlled in wireless unmanned plane, unmanned plane is arranged camera arrangement and wireless transmitter module, the picture Wireless transceiver that camera arrangement is taken by the wireless transmitter module of unmanned plane is to ground station, figure transmitting/receiving apparatus comprises display screen and receiver, and receiver reception figure is passed emitter signal and shown by display screen, described unmanned plane camera arrangement is two cameras, and figure transmitting/receiving apparatus adopts following method to carry out stabilization process to picture: the two width images 1. obtaining synchronization two camera shootings, point acutance through type (A) of two width images is calculated:
(A) wherein, m, n are the length of image and wide, and df is grey scale change amplitude, and dx is the distance increment between pixel, 2. the some acutance of two width images is compared, the image that retention point acutance is larger, 3. electronic flutter-proof process is carried out to the image that 2. step retains, obtain picture rich in detail.
Described processor adopts following method to process to image, comprise the steps: 1. image-region R to be divided into background image region and object region, each image-region R obtains feature histogram respectively, and feature histogram is grey level histogram H(n), histograms of oriented gradients H(n) and Texture similarity H(n); 2. often kind of feature histogram step 1. obtained is normalized respectively, and obtain the class conditional probability density distribution of often kind of feature histogram, wherein the class conditional probability density of the feature histogram of background image region is distributed as p
o fn (), the class conditional probability density of the feature histogram of object region is distributed as p
b f(n); 3. 2. step is obtained p
o f(n) and p
b fn () calculates the likelihood L obtaining often kind of feature according to formula (6)
f(n);
(6), in formula, ε is arithmetic number.
Described grey level histogram H(n) calculate acquisition according to formula (B):
(B) in formula (B), i is pixel number, and R is target or background area, and f is gray scale value, and δ is Dirac function.
Described histograms of oriented gradients H(n) calculate acquisition according to formula (C):
(C) in formula (C), i is pixel number, and R is target or background area, and f is gradient direction value, and A is gradient amplitude value, and δ is Dirac function.
Described Texture similarity H(n) calculate acquisition according to formula (D):
(D) in formula (C), i is pixel number, and R is target or background area, and f is textural characteristics LBP
8,1value, δ is Dirac function; Wherein textural characteristics LBP
8,1calculate according to formula (E) and obtain:
(E) in formula (E), i is pixel number, counterclockwise value from left to right in 8 neighborhoods centered by pixel c, g
iwith g
cfor the gray scale value of pixel i and c, I is unit indicator function.
In order to realize object of the present invention further, can also by the following technical solutions: the side of described ground station connects HDMI signal converter, be connected by USB supply lines and HDMI holding wire between ground station with HDMI signal converter, the sidepiece of HDMI signal converter installs AV video signal cable, one end connection layout of AV video signal cable passes reflector, figure passes reflector by wire connection layout transmitting/receiving apparatus and battery respectively, the sidepiece of figure transmitting/receiving apparatus installs remote controller, FPV display bracket is installed between figure transmitting/receiving apparatus and remote controller, remote controller connects unmanned plane by wireless signal, unmanned plane connects ground station by wireless signal.Described FPV display bracket comprises swingle, holder, spring, nut, bolt, circular cone and tooth bar, the upper end connection layout transmitting/receiving apparatus of swingle, holder and tooth bar are installed on a remote control, middle part and the holder of swingle are hinged, the sidepiece of holder installs two springs, one end of spring connects swingle, the both sides of swingle coordinate with two springs respectively, the sidepiece mounting nuts of swingle, construction bolt on nut, circular cone is installed in the screw mandrel end of bolt, and circular cone can coordinate with tooth bar.The head of described bolt installs butterfly handle.The sidepiece installation diagram of described figure transmitting/receiving apparatus passes reception antenna.
The invention has the advantages that: the present invention increases figure transmitting/receiving apparatus, installed on a remote control, realize ground station's picture screen to show on a remote control, figure transmitting/receiving apparatus and remote controller integrated after, external control hand can not rely on ground station, can move freely, and realizes one man operation, portability strengthens greatly, is conducive to the safe and reliable flight of unmanned plane.HDMI signal converter of the present invention has automatic detection signal function, and the HDMI signal that ground station exports is converted to AV signal, and the AV signal of output enters transmitter.Outputting video signal: 1.0Vpp, exports screen standard: PAL, NTSC, outputting video signal impedance matching: 75 ohm, compatible HDCP agreement.Figure of the present invention passes the AV signal that transmitter receipt HDMI signal converter exports, by wireless transmission after Signal coding, figure passes the product performance of reflector: transmitting power: 1000mw, working frequency range 5740-5860/5705-5945, transmitting range: 2-4km, power consumption DC12700mA.Figure transmitting/receiving apparatus of the present invention receives the wireless signal from figure biography reflector and decodes, and is shown by AV signal, product performance: 5.8G figure passes receiver, 7 cun of high-definition display screens on screen.The inventive method feature extraction in the situations such as background illumination, target carriage change and local are blocked has good stability.The present invention also has advantage compact, cheap for manufacturing cost and easy to use simple for structure.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention; Fig. 2 is the structural representation of figure transmitting/receiving apparatus; Fig. 3 is that the A of Fig. 2 is to structural representation; Fig. 4 is the I partial enlargement structural representation of Fig. 3; Fig. 5 is that first camera obtains image, and Fig. 6 is the image that second camera obtains; Fig. 7 is the image after electronic flutter-proof process; Fig. 8 is embodiment reset condition figure; Fig. 9 is that embodiment background image region and object region are in conjunction with grey level histogram; Figure 10 is embodiment background image region and object region bonding position histogram of gradients line; Figure 11 is the Texture similarity that embodiment background image region and object region combine; Figure 12 is embodiment gray scale likelihood distribution map; Figure 13 is embodiment direction gradient likelihood distribution map; Figure 14 is embodiment texture likelihood distribution map.
Mark illustrates: 1 unmanned plane 2 ground station 3USB supply lines 4HDMI holding wire 5HDMI signal converter 6 remote controller 7AV video signal cable 8 figure transmitting/receiving apparatus 9 figure passes reflector 10 battery 11 figure and passes reception antenna 12FPV display bracket 13 swingle 14 butterfly handle 15 holder 16 spring 17 nut 18 bolt 19 circular cone 20 tooth bar.
Embodiment
The integrating device of unmanned controller and image transmission module, as Fig. 1, shown in Fig. 2 and Fig. 3, comprise ground station 2, HDMI signal converter 5, figure passes emitter 9, figure transmitting/receiving apparatus 8, remote controller 6 and unmanned plane 1, the output of ground station 2 connects the input of HDMI signal converter 5, the output connection layout of HDMI signal converter 5 passes emitter 9 input, figure passes the output wireless connections figure transmitting/receiving apparatus 8 of emitter 9, remote controller 6 controlled in wireless unmanned plane 1, unmanned plane 1 is arranged camera arrangement and wireless transmitter module, the picture Wireless transceiver that camera arrangement is taken by the wireless transmitter module of unmanned plane 1 is to ground station 2, figure transmitting/receiving apparatus 8 comprises display screen and receiver, and receiver reception figure is passed emitter 9 signal and shown by display screen, described unmanned plane 1 camera arrangement is two cameras, and figure transmitting/receiving apparatus adopts following method to carry out stabilization process to picture:
1. the two width images that synchronization two cameras 8 are taken are obtained; Point acutance through type (A) of two width images is calculated:
(A) wherein, m, n are the length of image and wide, and df is grey scale change amplitude, and dx is the distance increment between pixel; 2. the some acutance of two width images is compared, the image that retention point acutance is larger; 3. electronic flutter-proof process is carried out to the image that 2. step retains, obtain picture rich in detail.
For following embodiment, illustrate:
1. obtain the two width images that synchronization two cameras 8 are taken, as shown in Figure 5 and Figure 6, Fig. 5 is that first camera obtains image, and Fig. 6 is the image that second camera obtains; Point acutance through type (A) of two width images is calculated:
(A) wherein, m, n are the length of image and wide, and df is grey scale change amplitude, and dx is the distance increment between pixel; 2. compare the some acutance of two width images, the some acutance of Fig. 5 is the some acutance of 14.66, Fig. 6 is 8.99, the image that retention point acutance is larger, i.e. Fig. 5; 3. electronic flutter-proof process is carried out to the image graph 5 that 2. step retains, obtain picture rich in detail, as shown in Figure 7.
In order to follow the trail of the objective effectively automatically, the key of middle target will be chased after when object and background is effectively separated in image, processor 13 pairs of images adopt following method to process, be described in conjunction with the embodiments, effectively object and background can be separated, comprise the steps: a kind of local image characteristics describing method of target appearance, comprise the steps:
1. image-region R is divided into background image region and object region, as shown in Figure 8, Fig. 8 is original image, and figure center A is background area, and frame B is target area.Background area and target area obtain feature histogram respectively, and feature histogram is grey level histogram H(n), histograms of oriented gradients H(n) and Texture similarity H(n).
Grey level histogram H(n) calculate acquisition according to formula (B), background image region and object region are bonded in same histogram, as shown in Figure 9, wherein A is background image region intensity histogram figure line to result, and B is object region intensity histogram figure line:
(B) in formula (B), i is pixel number, and R is target or background area, and f is gray scale value, and δ is Dirac function.Histograms of oriented gradients H(n) calculate acquisition according to formula (C), background image region and object region are bonded in same histogram, as shown in Figure 10, wherein A is background image region histograms of oriented gradients line to result, and B is object region histograms of oriented gradients line:
(C) in formula (C), i is pixel number, and R is target or background area, and f is gradient direction value, and A is gradient amplitude value, and δ is Dirac function.
Texture similarity H(n) according to formula (D) calculate obtain, background image region and object region are bonded in same histogram, as shown in figure 11, wherein A is background image region Texture similarity line to result, and B is object region Texture similarity line:
(D) in formula (D), i is pixel number, and R is target or background area, and f is textural characteristics LBP
8,1value, δ is Dirac function; Wherein textural characteristics LBP
8,1calculate according to formula (E) and obtain:
(E) in formula (E), i is pixel number, counterclockwise value from left to right in 8 neighborhoods centered by pixel c, g
iwith g
cfor the gray scale value of pixel i and c, I is unit indicator function.2. often kind of feature histogram step 1. obtained is normalized respectively, obtain the class conditional probability density distribution of often kind of feature histogram, as shown in figure 12, as shown in figure 13, texture likelihood distribution as shown in figure 14 in direction gradient likelihood distribution in gray scale likelihood distribution.
Wherein the class conditional probability density of the feature histogram of background image region is distributed as p
o fn (), the class conditional probability density of the feature histogram of object region is distributed as p
b f(n); 3. 2. step is obtained p
o f(n) and p
b fn () calculates the likelihood L obtaining often kind of feature according to formula (F)
f(n);
(F), in formula, ε is arithmetic number, and ε appoints and gets very little arithmetic number, to avoid taking the logarithm to zero.By this process, be the feature likelihood L for classifying by object and background feature multimodal distribution shifts
fn (), larger may be more target on the occasion of expression, and less negative value represents it may is more background, uncertain close to zero expression.Show target following experimental result, the inventive method feature extraction in the situations such as background illumination, target carriage change and local are blocked has good stability.
Connected by FPV display bracket 12 between described figure transmitting/receiving apparatus 8 and remote controller 6.The present invention increases figure transmitting/receiving apparatus 8, be arranged on remote controller 6, realize ground station's picture screen to show on remote controller 6, after figure transmitting/receiving apparatus 8 is integrated with remote controller 6, external control hand can not rely on ground station, can move freely, and realizes one man operation, portability strengthens greatly, is conducive to the safe and reliable flight of unmanned plane 1.HDMI signal converter 5 of the present invention has automatic detection signal function, and the HDMI signal that ground station exports is converted to AV signal, and the AV signal of output enters transmitter.Outputting video signal: 1.0Vpp, exports screen standard: PAL, NTSC, outputting video signal impedance matching: 75 ohm, compatible HDCP agreement.Figure of the present invention passes the AV signal that reflector 9 receives HDMI signal converter 5 output, by wireless transmission after Signal coding, figure passes the product performance of reflector 9: transmitting power: 1000mw, working frequency range 5740-5860/5705-5945, transmitting range: 2-4km, power consumption DC12700mA.Figure transmitting/receiving apparatus 8 of the present invention receives the wireless signal from figure biography reflector 9 and decodes, and is shown by AV signal, product performance: 5.8G figure passes receiver, 7 cun of high-definition display screens on screen.
The side of described ground station 2 connects HDMI signal converter 5, be connected by USB supply lines 3 and HDMI holding wire 4 between ground station 2 with HDMI signal converter 5, the sidepiece of HDMI signal converter 5 installs AV video signal cable 7, one end connection layout of AV video signal cable 7 passes reflector 9, figure passes reflector 9 by wire connection layout transmitting/receiving apparatus 8 and battery 10 respectively, the sidepiece of figure transmitting/receiving apparatus 8 installs remote controller 6, FPV display bracket 12 is installed between figure transmitting/receiving apparatus 8 and remote controller 6, remote controller 6 connects unmanned plane 1 by wireless signal, unmanned plane 1 connects ground station 2 by wireless signal.
Described FPV display bracket 12 comprises swingle 13, holder 15, spring 16, nut 17, bolt 18, circular cone 19 and tooth bar 20, the upper end connection layout transmitting/receiving apparatus 8 of swingle 13, holder 15 and tooth bar 20 are arranged on remote controller 6, middle part and the holder 15 of swingle 13 are hinged, the sidepiece of holder 15 installs two springs 16, one end of spring 16 connects swingle 13, the both sides of swingle 13 coordinate with two springs 16 respectively, the sidepiece mounting nuts 17 of swingle 13, construction bolt 18 on nut 17, circular cone 19 is installed in the screw mandrel end of bolt 18, circular cone 19 can coordinate with tooth bar 20.Swingle 13 of the present invention can be with cardon transmitting/receiving apparatus 8 to rotate freely, and spring 16 of the present invention at figure transmitting/receiving apparatus 8 without keeping vertical state during External Force Acting, can facilitate the adjustment of figure transmitting/receiving apparatus 8.Circular cone 19 of the present invention can coordinate with tooth bar 20 when figure transmitting/receiving apparatus 8 rotates to proper angle, makes figure transmitting/receiving apparatus 8 be fixed on proper angle.
The head of described bolt 18 installs butterfly handle 14.Butterfly handle 14 of the present invention can make staff without the need to using instrument just can swivel bolt 18.
The sidepiece installation diagram of described figure transmitting/receiving apparatus 8 passes reception antenna 11.Figure of the present invention passes reception antenna 11 can facilitate figure transmitting/receiving apparatus 8 Received signal strength.
Technical scheme of the present invention is not restricted in the scope of embodiment of the present invention.The technology contents of the not detailed description of the present invention is known technology.
Claims (10)
1. the integrating device of unmanned controller and image transmission module, it is characterized in that: comprise ground station (2), HDMI signal converter (5), figure passes emitter (9), figure transmitting/receiving apparatus (8), remote controller (6) and unmanned plane (1), the output of ground station (2) connects the input of HDMI signal converter (5), the output connection layout of HDMI signal converter (5) passes emitter (9) input, figure passes output wireless connections figure transmitting/receiving apparatus (8) of emitter (9), remote controller (6) controlled in wireless unmanned plane (1), (1) arranges camera arrangement and wireless transmitter module to unmanned plane, the picture Wireless transceiver that camera arrangement is taken by the wireless transmitter module of unmanned plane (1) is to ground station (2), figure transmitting/receiving apparatus (8) comprises display screen and receiver, and receiver is received figure and passes emitter (9) signal and shown by display screen, described unmanned plane (1) camera arrangement is two cameras, and figure transmitting/receiving apparatus adopts following method to carry out stabilization process to picture: the two width images 1. obtaining synchronization two camera shootings, point acutance through type (A) of two width images is calculated:
(A) wherein, m, n are the length of image and wide, and df is grey scale change amplitude, and dx is the distance increment between pixel, 2. the some acutance of two width images is compared, the image that retention point acutance is larger, 3. electronic flutter-proof process is carried out to the image that 2. step retains, obtain picture rich in detail.
2. the integrating device of unmanned controller according to claim 1 and image transmission module, it is characterized in that: described image adopts following method to process, comprise the steps: 1. image-region R to be divided into background image region and object region, each image-region R obtains feature histogram respectively, and feature histogram is grey level histogram H(n), histograms of oriented gradients H(n) and Texture similarity H(n); 2. often kind of feature histogram step 1. obtained is normalized respectively, and obtain the class conditional probability density distribution of often kind of feature histogram, wherein the class conditional probability density of the feature histogram of background image region is distributed as p
o fn (), the class conditional probability density of the feature histogram of object region is distributed as p
b f(n); 3. 2. step is obtained p
o f(n) and p
b fn () calculates the likelihood L obtaining often kind of feature according to formula (F)
f(n);
(F), in formula, ε is arithmetic number.
3. the integrating device of unmanned controller according to claim 2 and image transmission module, is characterized in that: described grey level histogram H(n) calculate acquisition according to formula (B):
(B) in formula (B), i is pixel number, and R is target or background area, and f is gray scale value, and δ is Dirac function.
4. the integrating device of unmanned controller according to claim 2 and image transmission module, is characterized in that: described histograms of oriented gradients H(n) calculate acquisition according to formula (3):
(C) in formula (C), i is pixel number, and R is target or background area, and f is gradient direction value, and A is gradient amplitude value, and δ is Dirac function.
5. the integrating device of unmanned controller according to claim 2 and image transmission module, is characterized in that: described Texture similarity H(n) calculate acquisition according to formula (D):
(D) in formula (C), i is pixel number, and R is target or background area, and f is textural characteristics LBP
8,1value, δ is Dirac function; Wherein textural characteristics LBP
8,1calculate according to formula (5) and obtain:
(5) in formula (5), i is pixel number, counterclockwise value from left to right in 8 neighborhoods centered by pixel c, g
iwith g
cfor the gray scale value of pixel i and c, I is unit indicator function.
6. the integrating device of unmanned controller according to claim 1 and image transmission module, is characterized in that: connected by FPV display bracket (12) between described figure transmitting/receiving apparatus (8) and remote controller (6).
7. the integrating device of unmanned controller according to claim 1 and image transmission module, it is characterized in that: the side of described ground station (2) connects HDMI signal converter (5), be connected by USB supply lines (3) and HDMI holding wire (4) between ground station (2) with HDMI signal converter (5), the sidepiece of HDMI signal converter (5) installs AV video signal cable (7), one end connection layout of AV video signal cable (7) passes reflector (9), figure passes reflector (9) by wire connection layout transmitting/receiving apparatus (8) and battery (10) respectively, the sidepiece of figure transmitting/receiving apparatus (8) installs remote controller (6), FPV display bracket (12) is installed between figure transmitting/receiving apparatus (8) and remote controller (6), remote controller (6) connects unmanned plane (1) by wireless signal, unmanned plane (1) connects ground station (2) by wireless signal.
8. the integrating device of unmanned controller according to claim 2 and image transmission module, it is characterized in that: described FPV display bracket (12) comprises swingle (13), holder (15), spring (16), nut (17), bolt (18), circular cone (19) and tooth bar (20), upper end connection layout transmitting/receiving apparatus (8) of swingle (13), holder (15) and tooth bar (20) are arranged on remote controller (6), middle part and the holder (15) of swingle (13) are hinged, the sidepiece of holder (15) installs two springs (16), one end of spring (16) connects swingle (13), the both sides of swingle (13) coordinate with two springs (16) respectively, the sidepiece mounting nuts (17) of swingle (13), the upper construction bolt (18) of nut (17), circular cone (19) is installed in the screw mandrel end of bolt (18), circular cone (19) can coordinate with tooth bar (20).
9. the integrating device of unmanned controller according to claim 1 and image transmission module, is characterized in that: the head of described bolt (18) installs butterfly handle (14).
10. the integrating device of unmanned controller according to claim 1 and image transmission module, is characterized in that: the sidepiece installation diagram of described figure transmitting/receiving apparatus (8) passes reception antenna (11).
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| WO2018188191A1 (en) * | 2017-04-13 | 2018-10-18 | 深圳市大疆创新科技有限公司 | Remote controller for controlling mobile device |
| CN109827754A (en) * | 2019-02-14 | 2019-05-31 | 合肥赛为智能有限公司 | A kind of airport PAPI light check system based on tethered hovering unmanned plane |
| CN111596674A (en) * | 2020-03-31 | 2020-08-28 | 广州中科云图智能科技有限公司 | Landing positioning method and device for unmanned aerial vehicle and unmanned aerial vehicle nest |
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