CN105487555B - A kind of station keeping method and device of unmanned plane - Google Patents
A kind of station keeping method and device of unmanned plane Download PDFInfo
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- CN105487555B CN105487555B CN201610023340.5A CN201610023340A CN105487555B CN 105487555 B CN105487555 B CN 105487555B CN 201610023340 A CN201610023340 A CN 201610023340A CN 105487555 B CN105487555 B CN 105487555B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
The invention discloses a kind of station keeping method and devices of unmanned plane, to the image of the specific region of the machine shooting of taking photo by plane carried by unmanned plane, and the multiple feature objects found in the image position the hovering of the unmanned plane, to simplify the station keeping method of unmanned plane, reduce cost.Therefore, the present invention is the image of the same specific region of the machine shooting of taking photo by plane carried by unmanned plane, and the multiple feature objects determined from the image, judge whether the coordinate of this feature object changes, to determine whether the hovering of unmanned plane is located in a position.The station keeping method of unmanned plane provided by the invention need not increase additional video camera or GPS module, also do not need complicated optical flow algorithm, so not only simplifying the station keeping method of unmanned plane, and reduce cost, and strong applicability.
Description
Technical field
The present invention relates to the station keeping method and devices of field of communication technology more particularly to a kind of unmanned plane.
Background technology
Usually, the most conventional mode of the hovering of unmanned plane is to be based on gyroscope (acceleration transducer), judges unmanned plane
Posture, ensure that unmanned plane does not generate horizontal displacement, to realize the steadily hovering of unmanned plane, however gyroscope itself is existing
Measurement accuracy deviation is larger, and with the accumulation of time, unmanned plane will produce a certain range of offset.
To solve the above-mentioned problems, the station keeping method of existing improved unmanned plane has 3 kinds：
Method 1 increases global positioning system (Global Positioning System, GPS) module in unmanned plane,
The horizontal position handled by GPS positioning determines whether the unmanned plane generates the displacement of horizontal direction, but the minimum of GPS measures
Unit is that 10 meter levels are other, so can only at most prevent from hovering at 10 meters with bias internal if even if increasing GPS module unmanned plane
Fly to lose, and aircraft cannot be allowed to carry out steadily hovering.
Method 2 is in unmanned plane underhung Special Graphs target characteristic body and camera, such as number of patent application
201410526631.7 a patent disclosed in the station keeping method of unmanned plane be：It is special to be placed in default hovering place
Icon is identified special icon by unmanned plane hanging cam, and ensures that Special Graphs are marked in captured image and occupy admittedly
Positioning is set, to ensure that the relative horizontal position of camera and icon remains unchanged.It is special in order to ensure not occur spin shift
Icon needs to carry certain direction instruction, such as Fig. 1.
Method 3 determines the hovering of unmanned plane using optical flow method.Specifically, light stream refers to that the object in spatial movement is being seen
The spot speed of the pixel motion on imaging plane is examined, optic flow technique is exactly to utilize change of the pixel in time-domain in image sequence
Change and consecutive frame between correlation find existing correspondence between previous frame and present frame, to calculate consecutive frame
Between object movable information a kind of method, the purpose is to obtain the sports ground of object, effect is similar to acceleration sensing
Device obtains acceleration to calculate movement speed and displacement, movement speed and position can be also got by calculating sports ground
It moves.And common light stream detection technique is realized with special light stream sensor, the technology be chiefly used in indoor positioning with
Navigation.
However, method 1 has the drawback that because the error of GPS is larger, the mistake for causing the station keeping of unmanned plane to judge
Accidentally, judging result is influenced；Method 2 has the drawback that realization is complex, and hovering place is not only needed to be pre-placed Special Graphs
Piece causes unmanned plane that cannot at will hover, and if Special Graphs indicate breakage, cause unmanned plane not hover accurately；Method 3
It has the drawback that and adds optical flow algorithm dependent on light stream sensor, complexity is high, of high cost, is not suitable for the work(that individually hovers
Energy.
In conclusion the station keeping method of unmanned plane in the prior art, not only implement complex, and needs
Increase additional cost, applicability is weaker.
Invention content
The present invention provides a kind of station keeping method and device of unmanned plane, and the machine of taking photo by plane to be carried by unmanned plane is clapped
The multiple feature objects found in the image for the specific region taken the photograph and the image position the hovering of the unmanned plane, from
And the station keeping method of unmanned plane is simplified, reduce cost, and strong applicability.
A kind of station keeping method of unmanned plane provided by the invention, including：
After unmanned plane is in floating state, camera lens shoots the image of specific region for the first time downward, determines the given zone
Multiple feature objects in the image in domain, and by established in the image of the specific region coordinate system determine it is the multiple
The initial coordinate of feature object；
The image of same specific region is continuously shot according to predetermined period, in the image for determining the same specific region
With identical multiple feature objects in the image of the first shooting specific region, and by the same specific region
The seat that the multiple feature object is determined with identical coordinate system in the image of the first shooting specific region is established in image
Mark；
When the change of the coordinate and initial coordinate of the multiple feature object in the image for determining the same specific region
When changing except the first preset range, the direction of the unmanned plane is adjusted, the same spy for making the unmanned plane shoot next time
The changing value of the coordinate and initial coordinate of determining the multiple feature object in the image in region is located at first preset range
Within.
A kind of station keeping method of the unmanned plane provided through the invention, first after unmanned plane is in floating state,
Camera lens shoots the image of specific region for the first time downward, and determines multiple feature objects, Yi Jitong according to the image of the specific region
It crosses and establishes the initial coordinate that coordinate system determines multiple feature object in the image of the specific region, so that it is determined that each special
Levy the initial position of object；Then it is continuously shot the image of same specific region according to the period, determines the same specific region
Image in the image with the first shooting specific region in identical multiple feature objects, and by described same
It is established in the image of specific region and determines the multiple spy with identical coordinate system in the image of the first shooting specific region
When levying the coordinate of object except the variation of the coordinate and initial coordinate that determine multiple feature objects is located at the first preset range, adjust
The direction of whole unmanned plane so that the multiple characteristic body of the unmanned plane in the image of the same specific region shot next time
The coordinate of body and the changing value of initial coordinate are located within the first preset range, and ensure that unmanned plane hovers over initial bit
It sets.Therefore, the present invention is the image of the same specific region of the machine shooting of taking photo by plane carried by unmanned plane, and from the image
Determining multiple feature objects, judge whether the coordinate of this feature object changes, to determine that the hovering of unmanned plane is negative
Position is a position.The station keeping method of unmanned plane provided by the invention need not increase additional video camera or GPS moulds
Block does not need complicated optical flow algorithm yet, so not only simplifying the station keeping method of unmanned plane, and reduces cost,
And strong applicability.
Preferably, determining the initial of the multiple feature object by establishing coordinate system in the image of the specific region
Coordinate, including：
It includes horizontal and vertical and orthogonal coordinate system to be established in the image of the specific region, and described in determination
Initial coordinate of multiple feature objects in the coordinate system.
Preferably, determine initial coordinate of the multiple feature object in the coordinate system, including：
Using the marginal position of the multiple feature object or center as the reference point of the multiple feature object,
Determine the initial coordinate of the multiple feature object.
Preferably, the change of the coordinate and initial coordinate of the multiple feature object in the image of the same specific region
Change value is located at except the first preset range, including：
The lateral coordinates of at least one of the image of the same specific region feature object and this feature object
The changing values of initial lateral coordinates be located at except the first preset range；And/or；
The longitudinal coordinate of at least one of the image of the same specific region feature object and this feature object
The changing value of initial longitudinal coordinate be located at except the first preset range.
Preferably, the direction of the adjustment unmanned plane, including：
It is somebody's turn to do when the lateral coordinates of at least one of the image for determining the same specific region feature object are more than
The initial lateral coordinates of feature object then adjust the unmanned plane according to the negative direction of lateral coordinates；When determining the same spy
The lateral coordinates for determining at least one of the image in region feature object are less than the initial lateral coordinates of this feature object, then
The unmanned plane is adjusted according to the positive direction of lateral coordinates；
And/or
It is somebody's turn to do when the longitudinal coordinate of at least one of the image for determining the same specific region feature object is more than
The initial longitudinal coordinate of feature object then adjusts the unmanned plane according to the negative direction of longitudinal coordinate；When determining the same spy
The longitudinal coordinate for determining at least one of the image in region feature object is less than the initial longitudinal coordinate of this feature object, then
The unmanned plane is adjusted according to the positive direction of longitudinal coordinate.
Preferably, when determining the initial coordinate of the multiple feature object, this method further includes：
Determine the initial distance between the multiple feature object.
Preferably, the coordinate of the multiple feature object in the image for determining the same specific region is sat with initial
After target changing value is located at except the first preset range, and before the direction of the adjustment unmanned plane, this method further includes：
Judge the variation of the initial distance between the distance between the multiple feature object and the multiple feature object
Whether value is located within the second preset range, if so, adjusting the direction of the unmanned plane；
Otherwise, the image of specific region is re-shoot, and determines multiple spies in the image of the specific region re-shoot
Object is levied, and determines the initial seat of the multiple feature object by establishing coordinate system in the image of the specific region
Mark, wherein the multiple feature objects redefined do not include coordinate generation variation and changing value is located at second preset range
Except feature object.
Preferably, the multiple feature object is stationary object.
A kind of station keeping device of unmanned plane provided by the invention, including：
Initial coordinate unit is determined, for after unmanned plane is in floating state, camera lens to shoot specific region for the first time downward
Image, determine multiple feature objects in the image of the specific region, and by the image of the specific region
Establish the initial coordinate that coordinate system determines the multiple feature object；
Determine that multiple feature object units, the image for being continuously shot same specific region according to predetermined period determine
Identical multiple feature objects in the image with the first shooting specific region in the image of the same specific region, with
And by being established in the image of the same specific region and identical coordinate in the image of the first shooting specific region
System determines the coordinate of the multiple feature object；
Unmanned plane unit is adjusted, for when the multiple feature object in the image for determining the same specific region
When the variation of coordinate and initial coordinate is located at except the first preset range, the direction of the unmanned plane is adjusted, the unmanned plane is made
The changing value position of the coordinate and initial coordinate of the multiple feature object in the image of the same specific region shot next time
Within the first preset range.
A kind of station keeping device of the unmanned plane provided through the invention, first after unmanned plane is in floating state,
Camera lens shoots the image of specific region for the first time downward, and determines multiple feature objects, Yi Jitong according to the image of the specific region
It crosses and establishes the initial coordinate that coordinate system determines multiple feature object in the image of the specific region, so that it is determined that each special
Levy the initial position of object；Then the image for continuing to shoot same specific region according to the period, determines the same specific region
Image in the image with the first shooting specific region in identical multiple feature objects, and by described same
It is established in the image of specific region and determines the multiple spy with identical coordinate system in the image of the first shooting specific region
When levying the coordinate of object except the variation of the coordinate and initial coordinate that determine multiple feature objects is located at the first preset range, adjust
The direction of whole unmanned plane so that the multiple characteristic body of the unmanned plane in the image of the same specific region shot next time
The coordinate of body and the changing value of initial coordinate are located within the first preset range, and ensure that unmanned plane hovers over initial bit
It sets.Therefore, the present invention is the image of the same specific region of the machine shooting of taking photo by plane carried by unmanned plane, and from the image
Determining multiple feature objects, judge whether the coordinate of this feature object changes, to determine that the hovering of unmanned plane is negative
Position is a position.The station keeping device of unmanned plane provided by the invention need not increase additional video camera or GPS moulds
Block does not need complicated optical flow algorithm yet, so not only simplifying the station keeping device of unmanned plane, and reduces cost,
And strong applicability.
Preferably, the determining initial coordinate unit determines institute by establishing coordinate system in the image of the specific region
The initial coordinate for stating multiple feature objects, is specifically used for：
It includes horizontal and vertical and orthogonal coordinate system to be established in the image of the specific region, and described in determination
Initial coordinate of multiple feature objects in the coordinate system.
Preferably, the determining initial coordinate unit determines initial seat of the multiple feature object in the coordinate system
Mark, is specifically used for：
Using the marginal position of the multiple feature object or center as the reference point of the multiple feature object,
Determine the initial coordinate of the multiple feature object.
Preferably, the multiple feature object in the image of same specific region described in the adjustment unmanned plane unit
Coordinate and the changing value of initial coordinate are located at except the first preset range, specifically include：
The lateral coordinates of at least one of the image of the same specific region feature object and this feature object
The changing values of initial lateral coordinates be located at except the first preset range；And/or；
The longitudinal coordinate of at least one of the image of the same specific region feature object and this feature object
The changing value of initial longitudinal coordinate be located at except the first preset range.
Preferably, the adjustment unmanned plane unit, is specifically used for：
It is somebody's turn to do when the lateral coordinates of at least one of the image for determining the same specific region feature object are more than
The initial lateral coordinates of feature object then adjust the unmanned plane according to the negative direction of lateral coordinates；When determining the same spy
The lateral coordinates for determining at least one of the image in region feature object are less than the initial lateral coordinates of this feature object, then
The unmanned plane is adjusted according to the positive direction of lateral coordinates；
And/or
It is somebody's turn to do when the longitudinal coordinate of at least one of the image for determining the same specific region feature object is more than
The initial longitudinal coordinate of feature object then adjusts the unmanned plane according to the negative direction of longitudinal coordinate；When determining the same spy
The longitudinal coordinate for determining at least one of the image in region feature object is less than the initial longitudinal coordinate of this feature object, then
The unmanned plane is adjusted according to the positive direction of longitudinal coordinate.
Preferably, the determining initial coordinate unit is additionally operable to：
Determine the initial distance between the multiple feature object.
Preferably, the multiple feature of the adjustment unmanned plane unit in the image for determining the same specific region
After the coordinate of object and the changing value of initial coordinate are located at except the first preset range, and adjust the unmanned plane direction it
Before, it is additionally operable to：
Judge the variation of the initial distance between the distance between the multiple feature object and the multiple feature object
Whether value is located within the second preset range, if so, adjusting the direction of the unmanned plane；
Otherwise, the image of specific region is re-shoot, and determines multiple spies in the image of the specific region re-shoot
Object is levied, and determines the initial seat of the multiple feature object by establishing coordinate system in the image of the specific region
Mark, wherein the multiple feature objects redefined do not include coordinate generation variation and changing value is located at second preset range
Except feature object.
Preferably, the multiple feature object is stationary object.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the station keeping method for unmanned plane that the prior art provides；
Fig. 2 is a kind of flow diagram of the station keeping method of unmanned plane provided in an embodiment of the present invention；
Fig. 3 is a kind of floor map of multiple feature objects provided in an embodiment of the present invention；
Fig. 4 is a kind of one of floor map of variation of multiple feature objects provided in an embodiment of the present invention；
Fig. 5 is a kind of stereoscopic schematic diagram of the variation of multiple feature objects provided in an embodiment of the present invention；
Fig. 6 is the two of a kind of floor map of the variation of multiple feature objects provided in an embodiment of the present invention；
Fig. 7 is the flow diagram of the station keeping method of another unmanned plane provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of the station keeping device of unmanned plane provided in an embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides a kind of station keeping method and devices of unmanned plane, to what is carried by unmanned plane
The multiple feature objects found in the image and the image of the specific region of machine of taking photo by plane shooting are to the unmanned plane in level side
To hovering positioned, to simplify the station keeping method of unmanned plane, reduce cost, and strong applicability.
Referring to Fig. 2, a kind of station keeping method of unmanned plane provided in an embodiment of the present invention, including：
S201, after unmanned plane is in floating state, camera lens downward for the first time shoot specific region image, determine the spy
Determine multiple feature objects in the image in region, and by being established in the image of the specific region described in coordinate system determination
The initial coordinate of multiple feature objects；
Wherein, after unmanned plane is in floating state, and hovering position is stablized, using unmanned plane carry take photo by plane machine or
Person's camera shoots the image of the unmanned plane specific region, wherein preferably specific region is the underface of unmanned plane, certainly special
Determine the underface that region is not limited only to unmanned plane.Then multiple feature objects are found in the image of the specific region, it is multiple
Feature object as judging whether aircraft fixes object of reference in the horizontal direction, therefore multiple feature object be generally it is static not
Dynamic object.Certainly can be considered when shooting opposing stationary the object of movement in unmanned plane, so by initial
Multiple feature objects that the image of the specific region of shooting determines may include the object of movement.The present embodiment does not do specific limit
It is fixed.
Wherein, determine that edge detecting technology, so-called edge may be used in multiple feature objects according to the image of specific region
Refer to that gray scale sends region jumpy in image, edge detection is exactly to rely on to judge the region of variation to find feature mesh
Target edge then identifies the location and shape of characteristic target.There is the edge detection algorithm much increased income on the market at present,
Such as：Roberts, Prewitt, Sobel, LOG, Canny etc..Its application is also more mature, and the present embodiment is not specifically limited.
Multiple feature objects include 2 and 2 or more feature objects, and the initial coordinate of multiple feature objects does not weigh
It is folded.When determining feature object number is more, the positioning accuracy of the station keeping method of unmanned plane is higher, and error is smaller.
It should be noted that the feature object in the present embodiment is at least 2, main cause is：If only with a spy
Object of reference of the object as judgement unmanned plane station keeping is levied, if this feature object and unmanned plane are transported each along same direction
It is dynamic so that this feature object generates opposing stationary effect with unmanned plane, and the coordinate of this feature object not will produce variation, then
It loses using feature object as the meaning of object of reference；According to two feature objects as judgement unmanned plane station keeping
Object of reference, if one of feature object and unmanned plane are moved each along same direction so that a feature object and nobody
Machine generates opposing stationary effect, but another feature object will not be moved or rotated with unmanned plane so that should
The coordinate of another feature object generates variation, to need to further determine that unmanned plane whether steadily hovering.Certainly, 2 spies
Sign object and the probability that unmanned plane is moved or rotated along same direction simultaneously are smaller.It is thus necessary to determine that 2 or 2
Above feature object.
Wherein, feature object can be people, Huo Zheshan or building etc..The present embodiment is not specifically limited.
S202, the image that same specific region is continuously shot according to predetermined period, determine the figure of the same specific region
Identical multiple feature objects in the image with the first shooting specific region as in, and by same specific region
Image in establish the coordinate that multiple feature objects are determined with identical coordinate system in the image of first shooting specific region；
Wherein, the predetermined period for being continuously shot the image of same specific region can voluntarily be set according to practical application
It is fixed, for example, it can be set to for 5S, 1min etc..It is not specifically limited herein.Same specific region refers to that unmanned plane is carrying out continuously
The angle of camera lens is identical as the angle of the image of the specific region shot for the first time when shooting so that the image that unmanned plane is shot again
Region it is identical as the regional extent of the image shot for the first time.Preferably, same specific region is and the horizontal plane that shoots for the first time
Image regional extent it is identical.
It should be noted that when determining the feature object being continuously shot according to predetermined period in the image of same specific region
It is different from the feature object shot for the first time, then it re-shoots the image of same specific region or reselects specific region progress
It shoots and redefines multiple feature objects.Wherein, judge whether that belonging to identical feature object may be used above-mentioned edge
Detection technique.It is not described in detail herein.
S203, when multiple feature objects in the image for determining same specific region coordinate and initial coordinate variation position
When except the first preset range, the direction of unmanned plane is adjusted, makes the image for the same specific region that unmanned plane shoots next time
In the coordinate of multiple feature objects and the changing value of initial coordinate be located within the first preset range.
Wherein, the first preset range refer to the feature object in the image of the same specific region shot again coordinate with
The value of the range of the difference of initial coordinate, first preset range is bigger, then the error that drift is generated when unmanned plane hovers is bigger, should
The value of first preset range is smaller, then unmanned plane hovering is more stable.For example, the value of the first preset range can be (- 0.1m~
0.1m), or (- 0.5m~0.5m) etc..The value of the first preset range of the present embodiment pair is not specifically limited.
A kind of station keeping method of the unmanned plane provided through the invention, first after unmanned plane is in floating state,
Camera lens shoots the image of specific region for the first time downward, and determines multiple feature objects, Yi Jitong according to the image of the specific region
It crosses and establishes the initial coordinate that coordinate system determines multiple feature object in the image of the specific region, so that it is determined that each special
Levy the initial position of object；Then it is continuously shot the image of same specific region according to the period, determines the figure of same specific region
Identical multiple feature objects in the image with first shooting specific region as in, and pass through the figure in same specific region
The coordinate that multiple feature objects are determined with identical coordinate system in the image of first shooting specific region is established as in, when determination is more
When the coordinate of a feature object and the variation of initial coordinate are located at except the first preset range, the direction of unmanned plane is adjusted so that
The coordinate and initial coordinate of the multiple feature object of the unmanned plane in the image of the same specific region shot next time
Changing value be located within the first preset range, ensure that unmanned plane hovers over initial position.Therefore, the present invention is logical
The image of the same specific region of the included machine shooting of taking photo by plane of unmanned plane is crossed, and the multiple characteristic bodies determined from the image
Body, judges whether the coordinate of this feature object changes, to determine whether the hovering of unmanned plane is located in a position.This hair
The station keeping method of the unmanned plane of bright offer need not increase additional video camera or GPS module, also not need complexity
Optical flow algorithm so not only simplifying the station keeping method of unmanned plane, and reduces cost, and strong applicability.
Wherein, the initial seat of multiple feature objects is determined in S201 by establishing coordinate system in the image of specific region
Mark, including：
Foundation includes horizontal and vertical and orthogonal coordinate system in the image of specific region, and determines multiple spies
Levy the initial coordinate of object in a coordinate system.
Wherein it is determined that the initial coordinate of multiple feature objects in a coordinate system, including：
Using the marginal position of multiple feature objects or center as the reference point of multiple feature objects, determine described in
The initial coordinate of multiple feature objects.
It should be noted that in the coordinate system for the image for establishing specific region, can be established in any position of image
Coordinate system, and the horizontal and vertical coordinate of coordinate system can be mutually perpendicular to or out of plumb, the present embodiment are not specifically limited.It is special
Levy object can be mountain either building or other, so the coordinate of feature object in a coordinate system has multiple, the present embodiment
In can be that reference point establish coordinate by the marginal position of feature object or center.For example, feature object can be existed
Farthest either nearest point is that reference point represents the initial coordinate of the object or by feature object in lateral side on y direction
Farthest either nearest point be that reference point represents the initial coordinate of the object or by the center of feature object to join upwards
Examination point represents the initial coordinate of the object, the ginseng of the initial coordinate of multiple feature objects in the image of the same specific region
Examination point can be identical or different.The present embodiment is not specifically limited.
In a particular embodiment, can be preferably that horizontal plane is illustrated by specific region.Such as：What is shot for the first time
It includes horizontal and vertical orthogonal coordinate system to be established in the image of horizontal plane, such as establishes the coordinate system of X-Y axis.Preferably
Ground can establish coordinate system when establishing coordinate system in the image of horizontal plane according to the position of feature object, can also be in level
Coordinate system is established in any position in the image in face.For example, see Fig. 3, the coordinate system of X-Y axis is established in the lower left corner of image,
The horizontal direction of the image 11 of middle horizontal plane is X-axis, and the direction vertical with X-axis is Y-axis.It is determined according to the coordinate system of foundation multiple
The coordinate of feature object, such as Fig. 3 include 2 feature objects, feature object 31 and feature object 32, wherein by feature object
Center represent the initial coordinate of this feature object.For example, in Fig. 3, the initial coordinate of feature object 31 is (3,3), special
The initial coordinate for levying object 32 is (0,4).
Wherein, the changing value of the coordinate and initial coordinate of multiple feature objects in S203 in the image of same specific region
Except the first preset range, including：
The initial horizontal of the lateral coordinates and this feature object of at least one of image of same specific region feature object
It is located at except the first preset range to the changing value of coordinate；And/or；
The longitudinal coordinate of at least one of image of same specific region feature object is initial vertical with this feature object
It is located at except the first preset range to the changing value of coordinate.
In a particular embodiment, it is equally illustrated as specific region using the horizontal plane immediately below unmanned plane.Weekly
Phase all shoots the image of the horizontal plane below the unmanned plane, and determines the seat of multiple feature objects in the image of the horizontal plane
Mark, and determine that the principle of the coordinate of this feature object is identical as the principle of initial coordinate is determined.Such as, however, it is determined that when initial coordinate
Coordinate according to the central point of this feature object is initial coordinate, then this feature is determined in the image of the horizontal plane shot every time
Using the coordinate of the central point of this feature object as the coordinate of this feature object when the coordinate of object.Specifically, according to margin location
Either center or any point are set as the coordinate of this feature object, this implementation is not specifically limited, but the same spy
It levies object and determines that the principle of coordinate is identical in shooting process, i.e., the same feature object can only be using a reference point as the spy
Levy the coordinate or initial coordinate of object.
In a particular embodiment, it after having shot the feature object in the image of the horizontal plane every time, needs to judge the spy
Levy the size of the difference and the first preset range of the coordinate of object and the initial coordinate of this feature object.If any feature object
Coordinate in lateral coordinates (either longitudinal coordinate) and this feature object initial lateral coordinates (or longitudinal coordinate) difference
When not within the first preset range, the direction for adjusting unmanned plane is needed.
For example, with reference to Fig. 4, if the first preset range is (- 1m~1m), and feature object 31 in the image 11 of horizontal plane
Initial coordinate is (3,3), and the initial coordinate of feature object 32 is (0,4), the feature object 31 that second or third time are shot
Coordinate be (5,3), the coordinate of feature object 32 is (2,4), then the difference of the lateral coordinates of feature object 31 is 2 (5-3=
2), and the lateral coordinates difference of feature object 32 is 2 so that the coordinate of feature object 31 and feature object 32 is more than the first default model
(- 1m~1m) is enclosed, needs the direction for adjusting unmanned plane at this time.
Referring to Fig. 5, if the first preset range is (- 1m~1m), the stereoscopic schematic diagram of unmanned plane shooting.Unmanned plane 10 is first
The initial coordinate of feature object 31 in the image 11 of the horizontal plane of shooting is (3,3), the initial coordinate of feature object 32 be (0,
4) coordinate of the feature object 31 in the image 11 of the horizontal plane, shot again is (2.5,4), the coordinate of feature object 32 be (-
0.5,3.5), then the difference of the lateral coordinates of feature object 31 is 0.5, and the difference of longitudinal coordinate is 0.5, the cross of feature object 32
It is -0.5 to the difference of coordinate, the difference of longitudinal coordinate is -0.5, and is not above the first values, then smaller
In error range, it is believed that the state of unmanned plane is that hovering is stablized.If the first values are (- 0.5m~0.5m),
Need the direction of adjustment unmanned plane.
Wherein, the direction of unmanned plane is adjusted in S203, including：
When the lateral coordinates of at least one of image for determining same specific region feature object are more than this feature object
Initial lateral coordinates, then adjust the unmanned plane according to the negative direction of lateral coordinates；When in the image for determining same specific region
At least one feature object lateral coordinates be less than this feature object initial lateral coordinates, then according to the pros of lateral coordinates
To the adjustment unmanned plane；
And/or
When the longitudinal coordinate of at least one of image for determining same specific region feature object is more than this feature object
Initial longitudinal coordinate, then adjust the unmanned plane according to the negative direction of longitudinal coordinate；When in the image for determining same specific region
At least one feature object longitudinal coordinate be less than this feature object initial longitudinal coordinate, then according to the pros of longitudinal coordinate
To the adjustment unmanned plane.
In a particular embodiment, it is equally illustrated as specific region using the horizontal plane immediately below unmanned plane.When true
Surely the coordinate and initial coordinate of at least one of image of horizontal plane being continuously taken feature object or whole feature objects
It compares, changes, and changing value is located within the first preset range, then according to the changed coordinate difference of coordinate, adjust
The direction of unmanned plane.For example, with reference to Fig. 4, the initial coordinate of feature object 31 is (3,3), the feature object 31 shot again
Coordinate is (5,3), and the initial coordinate of feature object 32 is (0,4), and the coordinate of the feature object 32 shot again is (2,4).For
The coordinate of feature object is overlapped with initial coordinate, needs the direction for adjusting unmanned plane, i.e., along the negative direction of X axis X-axis
Adjustment, until next time the coordinate of the feature object taken is Chong Die with initial coordinate.
Wherein, when determining the initial coordinate of multiple feature objects, this method further includes：
Determine the initial distance between multiple feature objects.
In a particular embodiment, feature object may relative motion, in order to using the object of stationary state as this implementation
Example in feature object, it is thus necessary to determine that the initial distance between multiple feature objects, prevent in multiple feature objects there are one or
Person's multiple generations movement, and cause to be determined as be unmanned plane movement.In addition, when multiple feature objects move, and it is multiple
Feature object keeps the possibility of opposing stationary state smaller, can ignore such case in practical applications.Accordingly, it is determined that
Whether the initial distance between multiple feature objects, any or multiple feature object to judge in multiple feature objects produce
Raw movement is also a kind of preferred embodiment.
Wherein, the changing value of the coordinate and initial coordinate of multiple feature objects in the image for determining same specific region
After except the first preset range, and before the direction of adjustment unmanned plane, this method further includes：
Judge the initial distance between the distance between multiple feature objects and multiple feature objects changing value whether position
Within the second preset range, if so, the direction of adjustment unmanned plane；
Otherwise, the image of specific region is re-shoot, and determines multiple spies in the image of the specific region re-shoot
Object is levied, and determines the initial coordinate of multiple feature objects by establishing coordinate system in the image of specific region, wherein heavy
The multiple feature objects newly determined do not include coordinate generation variation and changing value is located at the characteristic body except the second preset range
Body.
It can be with the given zone that shoots for the first time it should be noted that re-shooting specific region in the image of specific region
Domain range is identical, can also be different from the specific region range shot for the first time and reselect region.The embodiment of the present invention is not done
It is specific to limit.
In a particular embodiment, the second preset range refers to that can receive the generation of feature object in practical applications
The range of small distance movement, if for example, the changing value of the relative distance between multiple feature objects belongs to just between -1m-1m
It often occurs as being not belonging to the relative motion of feature object, then it is (- 1m, 1m) that the second preset range, which can be arranged,.The present embodiment is not done
It is specific to limit.
In a particular embodiment, it according to the value of the second preset range, determines between multiple feature objects with the presence or absence of opposite
Movement, when determining that the distance between multiple feature objects and the changing value of initial distance are located within the second preset range, then really
Fixed multiple feature objects remain static, and come according only to the changing value between the coordinate and initial coordinate of multiple feature objects true
The fixed direction for whether adjusting unmanned plane；When determining that the changing value of the distance between multiple feature objects and initial distance is located at second
Except preset range, it is determined that produce relative motion between multiple feature objects, then need to redefine feature object, and again
Do not include newly generating motion characteristics object in determining feature object.For example, it is assumed that the second preset range is (- 0.5,0.5),
Referring to Fig. 6, the initial coordinate of feature object 31 is (3,3), and the initial coordinate of feature object 32 is (0,3), i.e. feature object 31
Initial distance between feature object 32 is 3.The coordinate of the feature object 31 taken again is (3,3), feature object 32
Coordinate be (1,3), then relative distance between the feature object 31 taken again and feature object 32 is 2, therefore, feature
The changing value of the distance between object 31 and feature object 32 and initial distance is 1, and positioned at the second preset range (- 0.5,
0.5) it except, and determines the image for needing to re-shoot horizontal plane, and redefines feature object, and because feature object 32
Coordinate produces variation, therefore had better not include feature object 32 in the feature object redefined.Prevent feature object 32
The object moved for one.
In conclusion in the present invention multiple feature objects are determined by using the image of the specific region of unmanned plane shooting,
And the initial coordinate of each feature object is determined by establishing coordinate system in the image of specific region, and determine multiple features
Initial distance between object；Then multiple feature object in the image for the same specific region being continuously shot by the period
Determining coordinate, compared with corresponding initial coordinate, if in multiple feature objects the coordinate of at least one feature object with just
The difference of beginning coordinate is located at except the first preset range, then it is assumed that this feature object or unmanned plane generate horizontal displacement；Further
Ground, determining multiple feature objects according to the difference of relative distance and initial distance between multiple feature objects, whether generation is horizontal
The relative motion in direction if so, needing to re-shoot the image of specific region, and redefines multiple feature objects, and again
Do not include newly the object for generating horizontal movement in determining feature object, if it is not, then according to the coordinate of multiple feature objects and just
The difference of beginning coordinate adjusts the direction of unmanned plane to determine, until multiple spies in the image of the same specific region shot again
The coordinate of sign object is Chong Die with initial coordinate or difference is located within the first preset range.Therefore, it is provided by the invention nobody
The station keeping method of machine, it is only necessary to which unmanned plane included take photo by plane machine or video camera, and simple coordinate calculate energy in fact
The positioning of existing unmanned plane hovering, not only simplifies the station keeping method of unmanned plane, and reduce cost, and strong applicability.
In order to further clearly understand unmanned plane provided by the invention station keeping method whole flow process, under
Face is discussed in detail by specific embodiment.
Referring to Fig. 7, a kind of station keeping method of unmanned plane provided in an embodiment of the present invention, including step：
S601, after unmanned plane is in floating state, the first image for shooting the horizontal plane below unmanned plane；
The image in wherein shooting level face is that constant posture is kept fixed between the machine of taking photo by plane or camera and unmanned plane.
S602, feature object is found in the image of the horizontal plane shot for the first time, and whether judge the feature object found
At least 2, if being only able to find 1, return to step S601 is no to then follow the steps S603；
S603, coordinate system is established in any position in the image of the horizontal plane, and determines the initial of each feature object
Coordinate；
The image of S604, the horizontal plane being continuously shot according to the period below unmanned plane, and determine multiple feature object
Coordinate；
Between S605, the coordinate for judging multiple feature object and the initial coordinate of multiple feature object difference whether position
It is no to then follow the steps S606 if so then execute step S604 between the first preset range；
S606, judge the relative distance between multiple feature object and the initial distance between multiple feature object
Whether difference is located within the second preset range, no to then follow the steps S601 if so then execute step S607；
S607, according to the difference between the coordinate and the initial coordinate of multiple feature object of multiple feature objects, to nothing
The man-machine adjustment into line direction then proceedes to execute step S604.
It is the coordinate according to multiple feature objects and multiple feature object to the adjustment of unmanned plane in the embodiment of the present invention
Initial coordinate between difference be adjusted, unmanned plane adjustment after state it is whether identical as the original state of unmanned plane, also
The coordinate by the feature object in the image that ceaselessly shoots unmanned plane specific region is needed to be judged.
Therefore the station keeping method of the unmanned plane provided in the present embodiment is after unmanned plane is hovered, periodically
The station keeping state for shooting the image real-time oversight of the specific region unmanned plane, improves the precision of positioning.Wherein, it chooses
At least two feature object is that feature object is kept in motion in order to prevent, and unmanned plane results from the identical fortune of feature object
It is dynamic, for example move horizontally or spin；It is used as with reference to object by choosing more feature objects, improves unmanned plane station keeping
Precision；It is relatively simple come the algorithm for adjusting unmanned plane by the changes in coordinates value of feature object, it is easy to implement, and applicability
It is relatively strong；The relative distance between multiple feature objects is detected, and is controlled within the second preset range, unmanned plane is avoided and follows
The possibility of feature object of which movement；The station keeping method of unmanned plane is directly realized using the included equipment of unmanned plane, is not increased
The cost of adding method.
Referring to Fig. 8, a kind of station keeping device of unmanned plane provided by the invention, including：
Initial coordinate unit 71 is determined, for after unmanned plane is in floating state, camera lens to shoot given zone for the first time downward
The image in domain determines multiple feature objects in the image of the specific region, and passes through the image in the specific region
The middle initial coordinate established coordinate system and determine the multiple feature object；
Determine multiple feature object units 72, the image for being continuously shot same specific region according to predetermined period, really
Identical multiple feature objects in the image with the first shooting specific region in the image of the fixed same specific region,
And by being established in the image of the same specific region and identical seat in the image of the first shooting specific region
Mark system determines the coordinate of the multiple feature object；
Unmanned plane unit 73 is adjusted, for when the multiple feature object in the image for determining the same specific region
Coordinate and the variation of initial coordinate when being located at except the first preset range, adjust the direction of the unmanned plane, make it is described nobody
The changing value of the coordinate and initial coordinate of the multiple feature object in the image for the same specific region that machine is shot next time
Within the first preset range.
Preferably, determining initial coordinate unit 71 by being established in the image of the specific region described in coordinate system determination
The initial coordinate of multiple feature objects, is specifically used for：
Horizontal and vertical and orthogonal coordinate system is established in the image of the specific region, and determination is the multiple
Initial coordinate of the feature object in the coordinate system.
Preferably, determining that initial coordinate unit 71 determines initial seat of the multiple feature object in the coordinate system
Mark, is specifically used for：
Using the marginal position of the multiple feature object or center as the reference point of the multiple feature object,
Determine the initial coordinate of the multiple feature object.
Preferably, the coordinate of the multiple feature object in adjustment unmanned plane unit 73 in the image of same specific region
It is located at except the first preset range with the changing value of initial coordinate, specifically includes：
The lateral coordinates of at least one of the image of the same specific region feature object and this feature object
The changing values of initial lateral coordinates be located at except the first preset range；And/or；
The longitudinal coordinate of at least one of the image of the same specific region feature object and this feature object
The changing value of initial longitudinal coordinate be located at except the first preset range.
Preferably, adjustment unmanned plane unit 73, is specifically used for：
It is somebody's turn to do when the lateral coordinates of at least one of the image for determining the same specific region feature object are more than
The initial lateral coordinates of feature object then adjust the unmanned plane according to the negative direction of lateral coordinates；When determining the same spy
The lateral coordinates for determining at least one of the image in region feature object are less than the initial lateral coordinates of this feature object, then
The unmanned plane is adjusted according to the positive direction of lateral coordinates；
And/or
It is somebody's turn to do when the longitudinal coordinate of at least one of the image for determining the same specific region feature object is more than
The initial longitudinal coordinate of feature object then adjusts the unmanned plane according to the negative direction of longitudinal coordinate；When determining the same spy
The longitudinal coordinate for determining at least one of the image in region feature object is less than the initial longitudinal coordinate of this feature object, then
The unmanned plane is adjusted according to the positive direction of longitudinal coordinate.
Preferably, determining that initial coordinate unit 71 is additionally operable to：
Determine the initial distance between the multiple feature object.
Preferably, the multiple characteristic body of the adjustment unmanned plane unit 73 in the image for determining the same specific region
After the coordinate of body and the changing value of initial coordinate are located at except the first preset range, and adjust the unmanned plane direction it
Before, it is additionally operable to：
Judge the variation of the initial distance between the distance between the multiple feature object and the multiple feature object
Whether value is located within the second preset range, if so, adjusting the direction of the unmanned plane；
Otherwise, the image of specific region is re-shoot, and determines multiple spies in the image of the specific region re-shoot
Object is levied, and determines the initial seat of the multiple feature object by establishing coordinate system in the image of the specific region
Mark, wherein the multiple feature objects redefined do not include coordinate generation variation and changing value is located at second preset range
Except feature object.
Preferably, the multiple feature object is stationary object.
In conclusion in the present invention multiple feature objects are determined by using the image of the specific region of unmanned plane shooting,
And the initial coordinate of each feature object is determined by establishing coordinate system in the image of specific region, and determine multiple features
Initial distance between object；Then multiple feature object in the image for the same specific region being continuously shot by the period
Determining coordinate, compared with corresponding initial coordinate, if in multiple feature objects the coordinate of at least one feature object with just
The difference of beginning coordinate is located at except the first preset range, then it is assumed that this feature object or unmanned plane generate horizontal displacement；Further
Ground, determining multiple feature objects according to the difference of relative distance and initial distance between multiple feature objects, whether generation is horizontal
The relative motion in direction if so, needing to re-shoot the image of specific region, and redefines multiple feature objects, and again
Do not include newly the object for generating horizontal movement in determining feature object, if it is not, then according to the coordinate of multiple feature objects and just
The difference of beginning coordinate adjusts the direction of unmanned plane to determine, until multiple spies in the image of the same specific region shot again
The coordinate of sign object is Chong Die with initial coordinate or difference is located within the first preset range.Therefore the nothing provided in the present embodiment
Man-machine station keeping method is after unmanned plane is hovered, the image real-time oversight in periodic shooting level face this nobody
The station keeping state of machine, improves the precision of positioning.Wherein, at least two feature object is chosen, is characteristic body in order to prevent
Body is kept in motion, and unmanned plane results from the identical movement of feature object, for example moves horizontally or spin；Pass through selection
More feature objects is used as with reference to object, improves the precision of unmanned plane station keeping；Pass through the changes in coordinates of feature object
Value is relatively simple come the algorithm for adjusting unmanned plane, is easy to implement, and with strong applicability；It detects opposite between multiple feature objects
Distance, and control within the second preset range, avoid the possibility that unmanned plane follows feature object of which movement；Directly use nobody
Machine included equipment realizes the station keeping method of unmanned plane, does not increase the cost of method.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (12)
1. a kind of station keeping method of unmanned plane, which is characterized in that this method includes：
After unmanned plane is in floating state, camera lens shoots the image of specific region for the first time downward, determines the specific region
Multiple feature objects in image, and determine the multiple feature by establishing coordinate system in the image of the specific region
Initial distance between the initial coordinate of object and the multiple feature object；
The image of same specific region is continuously shot according to predetermined period, determine in the image of the same specific region with institute
Identical multiple feature objects in the image of first shooting specific region are stated, and pass through the image in the same specific region
Middle foundation determines the coordinate of the multiple feature object with identical coordinate system in the image of the first shooting specific region；
When the variation position of the coordinate and initial coordinate of the multiple feature object in the image for determining the same specific region
When except the first preset range, the direction of the unmanned plane is adjusted, the same given zone for making the unmanned plane shoot next time
The coordinate of the multiple feature object in the image in domain and the changing value of initial coordinate are located within first preset range；
Wherein, the change of the coordinate and initial coordinate of the multiple feature object in the image for determining the same specific region
After change value is located at except the first preset range, and before the direction of the adjustment unmanned plane, this method further includes：
Judging the changing value of the initial distance between the distance between the multiple feature object and the multiple feature object is
It is no to be located within the second preset range, if so, adjusting the direction of the unmanned plane；
Otherwise, the image of specific region is re-shoot, and determines multiple characteristic bodies in the image of the specific region re-shoot
Body, and determine by establishing coordinate system in the image of the specific region initial coordinate of the multiple feature object,
In multiple feature objects for redefining do not include that coordinate generates variation and changing value is located at except second preset range
Feature object.
2. according to the method described in claim 1, it is characterized in that, by establishing coordinate system in the image of the specific region
Determine the initial coordinate of the multiple feature object, including：
It includes horizontal and vertical and orthogonal coordinate system to be established in the image of the specific region, and determination is the multiple
Initial coordinate of the feature object in the coordinate system.
3. according to the method described in claim 2, it is characterized in that, determining the multiple feature object in the coordinate system
Initial coordinate, including：
Using the marginal position of the multiple feature object or center as the reference point of the multiple feature object, determine
The initial coordinate of the multiple feature object.
4. according to the method described in claim 3, it is characterized in that, the multiple spy in the image of the same specific region
The changing value of the coordinate and initial coordinate of levying object is located at except the first preset range, including：
The lateral coordinates of at least one of the image of the same specific region feature object are first with this feature object
The changing value of beginning lateral coordinates is located at except the first preset range；And/or；
The longitudinal coordinate of at least one of the image of the same specific region feature object is first with this feature object
The changing value of beginning longitudinal coordinate is located at except the first preset range.
5. according to the method described in claim 4, it is characterized in that, the direction of the adjustment unmanned plane, including：
When the lateral coordinates of at least one of the image for determining the same specific region feature object are more than this feature
The initial lateral coordinates of object then adjust the unmanned plane according to the negative direction of lateral coordinates；When determining the same given zone
The lateral coordinates of at least one of the image in domain feature object be less than this feature object initial lateral coordinates, then according to
The positive direction of lateral coordinates adjusts the unmanned plane；
And/or
When the longitudinal coordinate of at least one of the image for determining the same specific region feature object is more than this feature
The initial longitudinal coordinate of object then adjusts the unmanned plane according to the negative direction of longitudinal coordinate；When determining the same given zone
The longitudinal coordinate of at least one of the image in domain feature object be less than this feature object initial longitudinal coordinate, then according to
The positive direction of longitudinal coordinate adjusts the unmanned plane.
6. according to the method described in any claims of claim 1-5, which is characterized in that the multiple feature object is stationary
Object.
7. a kind of station keeping device of unmanned plane, which is characterized in that the device includes：
Initial coordinate unit is determined, for after unmanned plane is in floating state, camera lens to shoot the figure of specific region for the first time downward
Picture determines multiple feature objects in the image of the specific region, and by being established in the image of the specific region
Coordinate system determines the initial distance between the initial coordinate of the multiple feature object and the multiple feature object；
Determine multiple feature object units, the image for being continuously shot same specific region according to predetermined period, determine described in
Identical multiple feature objects in the image with the first shooting specific region in the image of same specific region, Yi Jitong
It is true to cross foundation and identical coordinate system in the image of the first shooting specific region in the image of the same specific region
The coordinate of fixed the multiple feature object；
Unmanned plane unit is adjusted, for the coordinate when the multiple feature object in the image for determining the same specific region
When variation with initial coordinate is located at except the first preset range, the direction of the unmanned plane is adjusted, is made one under the unmanned plane
The coordinate of the multiple feature object in the image of the same specific region of secondary shooting and the changing value of initial coordinate are located at institute
It states within the first preset range；
Wherein, the multiple feature object of the adjustment unmanned plane unit in the image for determining the same specific region
After coordinate and the changing value of initial coordinate are located at except the first preset range, and before the direction of the adjustment unmanned plane, also
For：
Judging the changing value of the initial distance between the distance between the multiple feature object and the multiple feature object is
It is no to be located within the second preset range, if so, adjusting the direction of the unmanned plane；
Otherwise, the image of specific region is re-shoot, and determines multiple characteristic bodies in the image of the specific region re-shoot
Body, and determine by establishing coordinate system in the image of the specific region initial coordinate of the multiple feature object,
In multiple feature objects for redefining do not include that coordinate generates variation and changing value is located at except second preset range
Feature object.
8. device according to claim 7, which is characterized in that the determining initial coordinate unit passes through in the given zone
The initial coordinate that coordinate system determines the multiple feature object is established in the image in domain, is specifically used for：
It includes horizontal and vertical and orthogonal coordinate system to be established in the image of the specific region, and determination is the multiple
Initial coordinate of the feature object in the coordinate system.
9. device according to claim 8, which is characterized in that the determining initial coordinate unit determines the multiple feature
Initial coordinate of the object in the coordinate system, is specifically used for：
Using the marginal position of the multiple feature object or center as the reference point of the multiple feature object, determine
The initial coordinate of the multiple feature object.
10. device according to claim 9, which is characterized in that same specific region described in the adjustment unmanned plane unit
Image in the coordinate of the multiple feature object and the changing value of initial coordinate be located at except the first preset range, it is specific to wrap
It includes：
The lateral coordinates of at least one of the image of the same specific region feature object are first with this feature object
The changing value of beginning lateral coordinates is located at except the first preset range；And/or；
The longitudinal coordinate of at least one of the image of the same specific region feature object is first with this feature object
The changing value of beginning longitudinal coordinate is located at except the first preset range.
11. device according to claim 10, which is characterized in that the adjustment unmanned plane unit is specifically used for：
When the lateral coordinates of at least one of the image for determining the same specific region feature object are more than this feature
The initial lateral coordinates of object then adjust the unmanned plane according to the negative direction of lateral coordinates；When determining the same given zone
The lateral coordinates of at least one of the image in domain feature object be less than this feature object initial lateral coordinates, then according to
The positive direction of lateral coordinates adjusts the unmanned plane；
And/or
When the longitudinal coordinate of at least one of the image for determining the same specific region feature object is more than this feature
The initial longitudinal coordinate of object then adjusts the unmanned plane according to the negative direction of longitudinal coordinate；When determining the same given zone
The longitudinal coordinate of at least one of the image in domain feature object be less than this feature object initial longitudinal coordinate, then according to
The positive direction of longitudinal coordinate adjusts the unmanned plane.
12. according to the device described in any claims of claim 7-11, which is characterized in that the multiple feature object be it is static not
Dynamic object.
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| CN106020218B (en) * | 2016-05-16 | 2018-11-13 | 国家电网公司 | A kind of the hovering method for testing precision and system of unmanned plane |
| WO2018027451A1 (en) * | 2016-08-08 | 2018-02-15 | 深圳市道通智能航空技术有限公司 | Flight positioning method and device |
| CN106643664A (en) * | 2016-12-28 | 2017-05-10 | 湖南省道通科技有限公司 | Method and device for positioning unmanned aerial vehicle |
| CN106774402A (en) * | 2016-12-28 | 2017-05-31 | 湖南省道通科技有限公司 | The method and device positioned to unmanned plane |
| CN106774406B (en) * | 2016-12-30 | 2023-06-23 | 武汉大势智慧科技有限公司 | Unmanned aerial vehicle image automatic acquisition system and method |
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| CN112585946A (en) * | 2020-03-27 | 2021-03-30 | 深圳市大疆创新科技有限公司 | Image shooting method, image shooting device, movable platform and storage medium |
| CN111614895B (en) * | 2020-04-30 | 2021-10-29 | 惠州华阳通用电子有限公司 | Image imaging jitter compensation method, system and equipment |
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| JP6029446B2 (en) * | 2012-12-13 | 2016-11-24 | セコム株式会社 | Autonomous flying robot |
| CN104298248B (en) * | 2014-10-08 | 2018-02-13 | 南京航空航天大学 | Rotor wing unmanned aerial vehicle accurate vision positioning and orienting method |
| CN104932523A (en) * | 2015-05-27 | 2015-09-23 | 深圳市高巨创新科技开发有限公司 | Positioning method and apparatus for unmanned aerial vehicle |
| CN105045276B (en) * | 2015-07-03 | 2019-01-11 | 深圳一电航空技术有限公司 | UAV Flight Control method and device |
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