CN105678289A - Control method and device of unmanned aerial vehicle - Google Patents
Control method and device of unmanned aerial vehicle Download PDFInfo
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- CN105678289A CN105678289A CN201610127660.5A CN201610127660A CN105678289A CN 105678289 A CN105678289 A CN 105678289A CN 201610127660 A CN201610127660 A CN 201610127660A CN 105678289 A CN105678289 A CN 105678289A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
Abstract
The invention discloses a control method and device of an unmanned aerial vehicle. The method includes the steps of: collecting an objective target corresponding to an objective body in real time through an image collection device during the flight according to a preset flight trajectory; determining whether the target image satisfies a preset condition; if the target image satisfies the preset condition, determining a position coordinate of the target image; controlling the unmanned aerial vehicle to fly around the position; and collecting the images in the position coordinate region in real time.
Description
Technical field
The application relates to unmanned vehicle technical field, particularly relates to control method and the device of a kind of unmanned vehicle.
Background technology
In current smart city project, unmanned vehicle is used to carry out the major technique effect realized of taking photo by plane, it is utilize unmanned vehicle from the shooting task carried out in the air earthward, it is no matter that tradition is taken photo by plane middle adopted mode of just penetrating, still the oblique photograph mode of hot topic is started recently, it is substantially carried out the mode taken photo by plane or relatively simple, shoots generally along certain default circuit, or carries out for shooting for certain specific features object.
For example, it is possible to carry out flight shooting along certain highway, it is thus achieved that be continuously shot result, result is simulated, it is possible to visual field when emulation reduction travels on this highway; For another example, it is possible to carry out surrounding shooting for certain colliery, it is thus achieved that the shooting results of multiframe different angles, result is processed, it is possible to restore the 3-D view in this colliery.
But one of problem of the prior art is in that, the intelligence degree used for technology of taking photo by plane is inadequate, present task of taking photo by plane, set typically by the mode controlling the prior appointed task route of end, even simpler, directly transfer to the experienced hands that flies to operate completely the control process of whole aerial mission, be based purely on a specific people to make independent judgement.
For above-mentioned technical scheme, the realization of task depends on experience and the level of individual, cause task complete there is randomness and risk, namely the take photo by plane intelligence degree of monitoring task of unmanned vehicle is not high.
Summary of the invention
Embodiments provide control method and the device of a kind of unmanned vehicle, in order to solve the problem that in prior art, the randomness of unmanned vehicle prison bat, risk and intelligence degree are not high.
Its concrete technical scheme is as follows:
A kind of control method of unmanned vehicle, described method includes:
When navigating by water according to default ship trajectory, by image collecting device real-time gather target image corresponding to target object;
Judge whether described target image meets pre-conditioned;
If described target image meets pre-conditioned, it is determined that the position coordinates of described target image;
Control unmanned vehicle according to setting sail mode navigation, and the real-time image gathering described position coordinates correspondence object.
Optionally, it is determined that it is pre-conditioned whether described target image meets, including:
Described pre-set image set filters out and with the target image collected, there is the pre-set image of same position coordinate;
Judge that whether the image difference value between described target image and described pre-set image is more than predetermined threshold value.
Optionally, it is determined that the image difference value between described target image and described pre-set image whether more than predetermined threshold value, including:
Described target image is determined the object region that target object is corresponding, and in described pre-set image, determines the pre-set image region that described target object is corresponding;
Obtain the difference value of described object region pixel value and the pixel value in described pre-set image region;
Judge that whether described difference value is more than predetermined threshold value.
Optionally, before navigating by water according to default ship trajectory, described method also includes:
Obtain and control the ship trajectory completing navigation under end instruction and the image collection collected;
Ship trajectory is stored as default ship trajectory, and using the image collection that collects as pre-set image set.
Optionally, obtain the ship trajectory completing navigation first and the image collection collected, including:
Obtain flight path between origin coordinates and the origin coordinates point controlling to complete navigation under end instruction, and using described origin coordinates point and described flight path as described ship trajectory;
Using the image that collects according to default acquisition mode as described image collection.
Optionally, it is determined that it is pre-conditioned whether described target image meets, including:
The target image collected is carried out graphical analysis, obtains the characteristic element in described target image;
Judge that the described characteristic element that gets is whether as characteristic element set in advance.
Optionally, the target image collected is carried out graphical analysis, obtain the characteristic element in described target image, particularly as follows:
Pixel in described target image is analyzed, obtains the color characteristic element in described target image;
The described described characteristic element judging to get whether as characteristic element set in advance, particularly as follows:
Judge whether the color characteristic element got exists color characteristic element set in advance.
Optionally, described default sail mode includes surrounding sail mode, by shooting, around sail mode, the target image that described target object is corresponding.
A kind of control device of unmanned vehicle, including:
Image capture module, gathers, for real-time, the target image that target object is corresponding;
Determination module, is used for judging whether described target image meets pre-conditioned;
Navigation positioning module, if meet pre-conditioned for described target image, it is determined that the position coordinates of described target image;
Control module, be used for controlling unmanned vehicle according to setting sail mode navigation, and indicate the real-time image gathering described position coordinates correspondence object of described image capture module.
Optionally, described determination module, with the target image collected, there is the pre-set image of same position coordinate specifically for filtering out in described pre-set image set; Judge that whether the image difference value between described target image and described pre-set image is more than predetermined threshold value.
In the inventive solutions, unmanned vehicle is when navigating by water according to default ship trajectory, by the purpose target that the collection purpose object that image collecting device is real-time is corresponding, judge whether target image meets pre-conditioned, if this target image meets pre-conditioned, determine the position coordinates of target image, control unmanned vehicle and navigate by water according to default sail mode, and the real-time image gathered in position coordinates region.
Accompanying drawing explanation
Fig. 1 is the flow chart of the control method of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 2 obtains the method flow diagram presetting ship trajectory in the embodiment of the present invention;
Fig. 3 is the structural representation controlling device of a kind of unmanned vehicle in the embodiment of the present invention.
Detailed description of the invention
In order to solve the randomness that in prior art, unmanned vehicle prison is clapped, the problem that risk and intelligence degree are not high, embodiments provide the control method of a kind of unmanned vehicle, the method includes: when navigating by water according to default ship trajectory, by the purpose target that the collection purpose object that image collecting device is real-time is corresponding, judge whether target image meets pre-conditioned, if this target image meets pre-conditioned, determine the position coordinates of target image, control unmanned vehicle according to setting sail mode navigation, and the real-time image gathered in position coordinates region.
Briefly, unmanned vehicle can navigate by water according to the ship trajectory prestored before, and meeting Real-time Collection target image in navigation process, and the target image collected is analyzed, determine when target image meets pre-conditioned, this electronic equipment will fly around this impact point, and the real-time image gathering impact point.So it is possible not only to reduce randomness and the risk of whole navigation process, it is also possible to promote the intelligence degree that unmanned vehicle prison is clapped.
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, it is to be understood that, concrete technical characteristic in the embodiment of the present invention and embodiment is the explanation to technical solution of the present invention, rather than limit, when not conflicting, the embodiment of the present invention and the concrete technical characteristic in embodiment can be mutually combined.
The flow chart of the control method being illustrated in figure 1 in the embodiment of the present invention a kind of unmanned vehicle, the method includes:
S101, when navigating by water according to default ship trajectory, by image collecting device real-time gather target image corresponding to target object;
First, in embodiments of the present invention, this unmanned vehicle can navigate by water according to default ship trajectory, and default ship trajectory here can be obtained by method flow as shown in Figure 2, and the method includes:
S201, obtains the ship trajectory completing navigation first and the image collection collected;
If getting default ship trajectory, so it is accomplished by first passing through control end control unmanned vehicle to complete once to navigate by water, certainly, maiden voyage is based on user's manual operation and completes, when unmanned vehicle starts to navigate by water, first starting point coordinate (the X1 of unmanned vehicle is recorded, Y1), this starting point left side is determined by satellite navigation locating module, then the coordinate points in navigation process is periodically recorded, when unmanned vehicle lands, record the terminal point coordinate (X2, Y2) of this unmanned vehicle. Write coordinate points by this and can be obtained by the ship trajectory of unmanned vehicle.
Certainly, except coordinate points in record navigation process, also need to gather the image in navigation process, here image can gather according to default acquisition mode, such as takes the photograph an image according to every 1 second beats, or takes the photograph an image every 2 second beats, if from (X1, Y1) between (X2, Y2), have taken 35 images, then these 35 images are just as an image collection.
It addition, every image can also add a position coordinates, the camera site of every image can be oriented accurately by this position coordinates. So provide condition for the matching process of image.
S202, stores ship trajectory as default ship trajectory, and will collect image collection as pre-set image set.
After completing navigation, and obtaining ship trajectory, this ship trajectory will store as default ship trajectory, so can transfer default ship trajectory at any time to control unmanned vehicle navigation.
Certainly, the image collection of all images gathered in navigation process also serves as pre-set image set storage, and the image so can transferred at any time in pre-set image set processes.
In embodiments of the present invention, default ship trajectory can add according to demand or revise, image in pre-set image set can also be revised and add, do not limit in embodiments of the present invention, and this default ship trajectory and pre-set image set can adjust according to actual demand.
After completing the storage of default ship trajectory and pre-set image set, this unmanned vehicle just can navigate by water according to default ship trajectory.
User transferred a default ship trajectory navigate by water time, unmanned vehicle will navigate by water according to this default ship trajectory, and in navigation process, the photographic head on unmanned vehicle will gather, according to predetermined manner, the target image that target object is corresponding.
This target object can be just vehicle, building, highway etc., and therefore in navigation process, the photographic head on unmanned vehicle just gathers target image in a manner mentioned above.
S102, it is determined that it is pre-conditioned whether target image meets;
In embodiments of the present invention, if target image meets pre-conditioned, then perform S103; If target image is unsatisfactory for pre-conditioned, then perform S105.
S103, it is determined that the position coordinates of target image;
S104, controls unmanned vehicle according to setting sail mode navigation, and the image that real-time collection position coordinates is to corresponding object;
S105, continues to navigate by water according to default ship trajectory.
Specifically, in embodiments of the present invention the judgement of target image is contained two kinds of situations, specific as follows:
Situation one:
When collecting target image, first target image is analyzed, it is determined that go out the position coordinates of target image, then filters out in pre-set image set, with the target image collected, there is the pre-set image of same position coordinate.
It is to say, screen image by position coordinates to can ensure that the target image photographed and the image that the pre-set image filtered out is that same position photographs, it may be assumed that the target image that same target object is corresponding.
After filtering out pre-set image, obtain the image difference between target image and the pre-set image filtered out, and judge that whether this image difference is more than predetermined threshold value;
Specifically, in embodiments of the present invention, mainly for being target object, so when doing image difference and calculating, the object region corresponding firstly the need of determining target object in the target image, and in pre-set image, determine the pre-set image region that target object is corresponding, obtain the difference value of target object image area pixel value and the pixel value in pre-set image region, finally judge that whether difference value is more than predetermined threshold value, so can more accurately the change of target object be monitored, thus ensure that the accuracy that difference is judged.
If this difference value is more than predetermined threshold value, then illustrate that bigger change occurs in target object, so this unmanned vehicle will navigate by water according to default sail mode, and pass through the target image that real-time this target object of shooting of photographic head is corresponding, so can collect the image of the target object of change timely.
It should be noted that, this default sail mode can be the pattern around the navigation of described target location, it is also possible to be hovering sail mode, it is also possible to be upper and lower sail mode etc., in embodiments of the present invention, this eligible sail mode is around sail mode or hovering sail mode. Certainly, preset sail mode except above-mentioned parameter, it is also possible to comprise the mode of image acquisition, such as can be continuous shooting collection, directly image collection, or 360 pan-shot collections etc. The default sail mode of correspondence can be often triggered in embodiments of the present invention according to different application.
Such as, when shooting building, it is possible to gather around sail mode, and use continuous shooting collection to gather the image of this building, so can shoot building from all angles. Pan-shot can also be used to gather the image in park or road.
In the present invention program, when target object is building, can according to the actual floor area of building and image scale etc., design unit image area more than 400*400 pixel in image as screening object, only exist unit image area scope picture material occur diverse time, just it is judged that there is discrepancy, thus being required for discrepancy to shoot task targetedly.
Briefly, by the way, unmanned vehicle can change on a large scale automatically according to incity, city, carry out image acquisition targetedly, when such as constructing on a large scale occur in certain building, certain location, can effectively be detected, and the personnel that are similar to are walked about, vehicle travels such daily random event, this prison can't be clapped and interfere. This ensure that the accuracy of prison bat and efficiency.
Situation two:
After collecting target image, the target image collected is carried out graphical analysis, obtain characteristic element in target image, it is determined that whether the characteristic element got is characteristic element set in advance.
If the characteristic element in target image is characteristic element set in advance, then determine the position coordinates of this target image, then unmanned vehicle will according to setting sail mode navigation, and pass through the target image that real-time this target object of shooting of photographic head is corresponding, so can collect the image of the target object of change timely.
If during the characteristic element of the characteristic element non-predetermined in target image, then this unmanned vehicle will continue navigation according to default ship trajectory.
In embodiments of the present invention, the characteristic element of target image is extracted particularly as follows: the pixel in target image is analyzed, obtain the color characteristic element in target image, and judge whether the color characteristic element got exists color characteristic element set in advance.
Such as, it is presently required unmanned vehicle and carries out a comparatively comprehensively image acquisition process according to default ship trajectory, if it is to be appreciated that when the greening in city covers the region of higher region or municipal middle water territory area, user can preserve characteristic element in this unmanned vehicle, know that green coverage just can using green element as characteristic element, know water surface area just can using blue light elements as characteristic element, by the image collected is analyzed being assured that out whether existing characteristics element. Thus just characteristic area or region-of-interest can be monitored.
To sum up, pass through technical scheme, target object usually can be taken photo by plane targetedly monitoring by unmanned vehicle according to the characteristics of image unit collected, so there is no need to user and remove manual operation unmanned vehicle, avoid the complex operations of user, it is achieved that the diversified demand that prison is clapped and prison is clapped automatically of unmanned vehicle.
The control method of a kind of unmanned vehicle in the corresponding embodiment of the present invention, the embodiment of the present invention additionally provides the control device of a kind of unmanned vehicle, the structural representation controlling device being illustrated in figure 3 in the embodiment of the present invention a kind of unmanned vehicle, this device includes:
Image capture module 301, gathers, for real-time, the target image that target object is corresponding;
Determination module 302, is used for judging whether described target image meets pre-conditioned;
Navigation positioning module 303, if meet pre-conditioned for described target image, it is determined that the position coordinates of described target image;
Control module 304, be used for controlling unmanned vehicle according to setting sail mode navigation, and indicate the real-time image gathering described position coordinates correspondence object of described image capture module.
Further, in embodiments of the present invention, described determination module 302: specifically for determining the object region that target object is corresponding in described target image, and determine the pre-set image region that described target object is corresponding in described pre-set image; Obtain the difference value of described object region pixel value and the pixel value in described pre-set image region; Judge that whether described difference value is more than predetermined threshold value.
Further, in embodiments of the present invention, this device also includes:
Acquisition module, controls the ship trajectory completing navigation under end instruction and the image collection collected for obtaining;
Memory module, for storing ship trajectory as default ship trajectory, and using the image collection that collects as pre-set image set.
Further, in embodiments of the present invention, acquisition module, specifically for obtaining flight path between origin coordinates and the origin coordinates point controlling to complete navigation under end instruction, and using described origin coordinates point and described flight path as described ship trajectory; Using the image that collects according to default acquisition mode as described image collection.
Further, in the embodiment of the present invention, described determination module 302, it is additionally operable to the target image collected is carried out graphical analysis, obtains the characteristic element in described target image; Judge that the described characteristic element that gets is whether as characteristic element set in advance.
Further, in embodiments of the present invention, described image capture module 301, specifically for the pixel in described target image is analyzed, obtain the color characteristic element in described target image;
Described determination module 302, specifically for judging whether there is color characteristic element set in advance in the color characteristic element got.
Further, in embodiments of the present invention, described control module 304, specifically for transferring out around sail mode in setting sail mode set; According to described around sail mode, control unmanned vehicle and navigate by water around the object that described position coordinates is corresponding, and the real-time image gathering described position coordinates correspondence object.
Although having been described for the preferred embodiment of the application, but one of ordinary skilled in the art is once know basic creative concept, then these embodiments can be made other change and amendment. So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the application scope.
Obviously, the application can be carried out various change and modification without deviating from spirit and scope by those skilled in the art. So, if these amendments of the application and modification belong within the scope of the application claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.
Claims (10)
1. the control method of a unmanned vehicle, it is characterised in that described method includes:
When navigating by water according to default ship trajectory, by image collecting device real-time gather target image corresponding to target object;
Judge whether described target image meets pre-conditioned;
If described target image meets pre-conditioned, it is determined that the position coordinates of described target image;
Control unmanned vehicle according to setting sail mode navigation, and the real-time image gathering described position coordinates correspondence object.
2. the method for claim 1, it is characterised in that judge whether described target image meets pre-conditioned, including:
Described pre-set image set filters out and with the target image collected, there is the pre-set image of same position coordinate;
Judge that whether the image difference value between described target image and described pre-set image is more than predetermined threshold value.
3. method as claimed in claim 2, it is characterised in that judge that whether the image difference value between described target image and described pre-set image is more than predetermined threshold value, including:
Described target image is determined the object region that target object is corresponding, and in described pre-set image, determines the pre-set image region that described target object is corresponding;
Obtain the difference value of described object region pixel value and the pixel value in described pre-set image region;
Judge that whether described difference value is more than predetermined threshold value.
4. method as claimed in claim 2, it is characterised in that before navigating by water according to default ship trajectory, described method also includes:
Obtain and control the ship trajectory completing navigation under end instruction and the image collection collected;
Ship trajectory is stored as default ship trajectory, and using the image collection that collects as pre-set image set.
5. method as claimed in claim 4, it is characterised in that obtain the ship trajectory completing navigation first and the image collection collected, including:
Obtain flight path between origin coordinates and the origin coordinates point controlling to complete navigation under end instruction, and using described origin coordinates point and described flight path as described ship trajectory;
Using the image that collects according to default acquisition mode as described image collection.
6. the method for claim 1, it is characterised in that judge whether described target image meets pre-conditioned, including:
The target image collected is carried out graphical analysis, obtains the characteristic element in described target image;
Judge that the described characteristic element that gets is whether as characteristic element set in advance.
7. method as claimed in claim 6, it is characterised in that the target image collected is carried out graphical analysis, obtains the characteristic element in described target image, particularly as follows:
Pixel in described target image is analyzed, obtains the color characteristic element in described target image;
The described described characteristic element judging to get whether as characteristic element set in advance, particularly as follows:
Judge whether the color characteristic element got exists color characteristic element set in advance.
8. the method for claim 1, it is characterised in that described default sail mode includes surrounding sail mode, by shooting, around sail mode, the target image that described target object is corresponding.
9. the control device of a unmanned vehicle, it is characterised in that including:
Image capture module, gathers, for real-time, the target image that target object is corresponding;
Determination module, is used for judging whether described target image meets pre-conditioned;
Navigation positioning module, if meet pre-conditioned for described target image, it is determined that the position coordinates of described target image;
Control module, be used for controlling unmanned vehicle according to setting sail mode navigation, and indicate the real-time image gathering described position coordinates correspondence object of described image capture module.
10. device as claimed in claim 6, it is characterised in that described determination module, has the pre-set image of same position coordinate specifically for filtering out in described pre-set image set with the target image collected; Judge that whether the image difference value between described target image and described pre-set image is more than predetermined threshold value.
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| CN106927059A (en) * | 2017-04-01 | 2017-07-07 | 成都通甲优博科技有限责任公司 | A kind of unmanned plane landing method and device based on monocular vision |
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| CN108700883A (en) * | 2017-06-12 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method and unmanned plane |
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