CN106292719A - Earth station's emerging system and earth station's video data fusion method - Google Patents
Earth station's emerging system and earth station's video data fusion method Download PDFInfo
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- CN106292719A CN106292719A CN201610838865.4A CN201610838865A CN106292719A CN 106292719 A CN106292719 A CN 106292719A CN 201610838865 A CN201610838865 A CN 201610838865A CN 106292719 A CN106292719 A CN 106292719A
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- 238000004891 communication Methods 0.000 claims abstract description 41
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- 230000002159 abnormal effect Effects 0.000 claims description 9
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 230000008846 dynamic interplay Effects 0.000 claims description 4
- 230000002547 anomalous effect Effects 0.000 abstract description 7
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Classifications
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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
- G05D1/12—Target-seeking control
Abstract
nullThe present invention proposes a kind of earth station's emerging system and earth station's video data fusion method，Earth station's emerging system includes unmanned plane and earth station，Unmanned plane and earth station are connected by communication link，Unmanned plane includes video acquisition module，For shooting video image，And it is sent to earth station by communication link with the form of video signal，Earth station includes video acquiring module，DShow is utilized to obtain the video signal flow in communication link，Event recognition module，Utilize OPENCV algorithm that the event in video signal flow is identified，Data resolution module，Obtain and resolve the control parameter of unmanned plane，Display module，Flight after event in video signal flow and parsing is controlled parameter together show，Event handling storehouse，The anomalous event identified and the anomaly parameter parsed are processed，Eliminate the time difference that independent pictures switches over，Contribute to assisting the control of unmanned plane，More efficient quick，Improve Consumer's Experience.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of earth station's emerging system and earth station's video data melts
Conjunction method.
Background technology
In recent years, unmanned plane industry development is swift and violent, and the application of unmanned plane is more and more extensive.Unmanned aerial vehicle station is
The command and control center of whole UAS, because unmanned plane is over the horizon flight mostly, thus earth station is for unmanned plane
Just it is particularly important.The earth station system of complete set, it is possible to the operator at ancillary terrestrial station are to unmanned plane well
Flight condition monitors in real time and controls.But, current earth station system, technology is uneven, it is impossible to merge well
All of function, most earth stations are all video image and unmanned aerial vehicle control system individually to be shown, rely on human eye to identify phase
Close color data parameters, ageing poor, and in terms of video reception and fusion application, still in space state.
Summary of the invention
Present invention is primarily targeted at a kind of earth station of offer emerging system, it is intended to solve existing earth station and all will regard
Frequently image and unmanned aerial vehicle (UAV) control individually show, rely on human eye to be identified, ageing poor technical problem.
For achieving the above object, the present invention proposes a kind of earth station emerging system, including unmanned plane, earth station and connection
Unmanned plane and the communication link of earth station；
Described unmanned plane includes video acquisition module, shoots video image, is sent to earth station by described communication link；
Described earth station includes:
Video acquiring module, utilizes DShow to obtain the video signal flow in communication link；
Event recognition module, utilizes OPENCV algorithm to be identified the event in described video signal flow；
Data resolution module, the flight obtaining unmanned plane controls parameter, and resolves it；
Display module, the event in display video signal flow and the flight after parsing control parameter；And
Event handling storehouse, controls parameter to abnormal event and flight and processes.
Further, described earth station also includes:
Alarm module, makes alarm according to the result in event handling storehouse；And
Automatically process module, at no worker monitor or in emergency circumstances, unmanned plane is carried out management and control.
Further, described earth station also includes:
Communication module, sets up communication with other earth stations or terminal unit and helps each other and data sharing.
Further, described unmanned plane also includes:
Interactive module, identifies body language, carries out dynamic interaction.
Further, the event of described event recognition module identification includes car plate, burning things which may cause a fire disaster, motor vehicle violation, criminal
Location, violence and first aid.
Further, described flight controls parameter and includes: flying height, cruising time, the climb rate, flight speed and anti-
Wind energy power.
Further, described video acquisition module is the camera with image sensor.
Further, described display module is LCD display or LED display, described LCD display or LED display
It is provided with the interface for taking pictures and recording a video.
Another object of the present invention is to propose a kind of earth station video data fusion method, comprise the following steps:
Unmanned plane shooting video image, forms video signal, utilizes communication link that video signal and flight are controlled parameter
Send to earth station；
Earth station utilizes DShow to obtain the video signal flow in communication link, and utilizes OPENCV algorithm to described video
Event in signal stream is identified；
Earth station obtains the flight of unmanned plane and controls parameter, and resolves it；
Event in earth station's display video signal flow and the flight after resolving control parameter, and to abnormal event with fly
Row controls parameter and processes.
Earth station's emerging system of the present invention, passes through communication link including unmanned plane and earth station, unmanned plane and earth station
Connecting, unmanned plane includes video acquisition module, is used for shooting video image, and with the form of video signal, it is passed through communication chain
Road sends to earth station, and earth station includes video acquiring module, utilizes DShow to obtain the video signal flow in communication link, thing
Part identification module utilizes OPENCV algorithm to be identified the event in video signal flow, and data resolution module obtains and resolves nothing
Man-machine control parameter, the flight after the event in video signal flow and parsing is controlled parameter and together demonstrates by display module
Coming, the event handling storehouse anomalous event to identifying and the anomaly parameter parsed process, and eliminate independent pictures and carry out
The time difference of switching.Earth station's emerging system of the present invention, controls control system and the display video figure of parameter by display flight
The video signal of picture merges, and solves existing earth station and video image and unmanned aerial vehicle (UAV) control is individually shown, relies on human eye to enter
Row identifies, ageing poor technical problem, not only facilitates the visual effect of user, and contributes to assisting the control of unmanned plane
System, more efficient quick, improve Consumer's Experience.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to the structure shown in these accompanying drawings.
Fig. 1 is the functional block diagram of earth station of the present invention emerging system one embodiment；
Fig. 2 is the flow chart of earth station of the present invention video data fusion method one embodiment.
Drawing reference numeral illustrates:
| Label | Title | Label | Title |
| 10 | Unmanned plane | 24 | Display module |
| 11 | Video acquisition module | 25 | Event handling storehouse |
| 12 | Interactive module | 26 | Alarm module |
| 20 | Earth station | 27 | Automatically process module |
| 21 | Video acquiring module | 28 | Communication module |
| 22 | Event recognition module | 30 | Communication link |
| 23 | Data resolution module |
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under not paying creative work premise all its
His embodiment, broadly falls into the scope of protection of the invention.
It is to be appreciated that directional instruction in the embodiment of the present invention (such as up, down, left, right, before and after ...) is only used
In explaining relative position relation between each parts, motion conditions etc. under a certain particular pose (as shown in drawings), if should
When particular pose changes, then directionality instruction changes the most therewith.
It addition, the description relating to " first ", " second " etc. in the present invention is only used for describing purpose, and it is not intended that refer to
Show or imply its relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", "
Two " feature can express or implicitly include at least one this feature.It addition, the technical scheme between each embodiment can
To be combined with each other, but must be based on those of ordinary skill in the art are capable of, when the combination of technical scheme occurs
Conflicting will be understood that the combination of this technical scheme does not exists, the most not at the protection model of application claims when maybe cannot realize
Within enclosing.
With reference to the functional block diagram that Fig. 1, Fig. 1 are earth station of the present invention emerging system one embodiment, in this embodiment, ground
Station, face emerging system, including unmanned plane 10, earth station 20 and connection unmanned plane 10 and the communication link 30 of earth station 20；
Described unmanned plane 10 includes video acquisition module 11, shoots video image, by described communication link 30 send to
Earth station 20；
Described earth station 20 includes:
Video acquiring module 21, utilizes DShow to obtain the video signal flow in communication link 30；
Event recognition module 22, utilizes OPENCV algorithm to be identified the event in described video signal flow；
Data resolution module 23, the flight obtaining unmanned plane 10 controls parameter, and resolves it；
Display module 24, the event in display video signal flow and the flight after parsing control parameter；And
Event handling storehouse 25, controls parameter to abnormal event and flight and processes.
The ground emerging system of the present embodiment, including unmanned plane 10, earth station 20 and connection unmanned plane 10 and earth station 20
Communication link 30, the transmission of data that communication link 30 is mainly used between unmanned plane 10 and earth station 20 and instruction transmission.Nothing
Man-machine 10 include that video acquisition module 11, video acquisition module 11 are the The Cloud Terrace camera that unmanned plane 10 carries, and this camera carries
Image sensor, the video image in shooting monitoring region or the scope of the voyage, and pass through described with the form of video signal
Communication link 30 accesses earth station 20, and video acquisition module 11 is constantly in duty, to its warp after unmanned plane 10 starts
Any region crossed carries out omnibearing shooting, and the video image shot sends in real time to earth station 20.Earth station 20
Including video acquiring module 21, the video signal that video acquisition module 11 sends to earth station 20 is connect by earth station 20 the most always
Receive, video acquiring module 21 utilize DShow to obtain video signal flow from communication link 30, access the main display of earth station 20
Interface, owing to containing substantial amounts of complicated event in video signal flow, need event recognition module 22 utilize OPENCV algorithm from
A large amount of events in video signal flow identify relevant specific event, as fixed in car plate, burning things which may cause a fire disaster, motor vehicle violation, criminal
Position, violence and first aid etc. have the event of negative effect, or have certain danger coefficient, the abnormal thing that probability of happening is bigger
Part.
When carrying out data transmission between unmanned plane 10 and earth station 20, not only deliver regarding of video acquisition module 11 shooting
Frequently image, can also share the flight control parameter of unmanned plane 10 simultaneously by communication link 30, and data resolution module 23 is used for
The flight obtaining unmanned plane 10 controls parameter, and resolves this flight control parameter, and the flight of unmanned plane controls parameter bag
Include flying height, cruising time, the climb rate, flight speed and wind loading rating, video acquiring module 21 and data resolution module 23
Cooperate so that the event in video flowing and the flight after parsing control parameter and is jointly shown in the display module of earth station 20
On 24, meanwhile, after event recognition module 22 and the identification of data resolution module 23 and resolving, by video signal flow
Anomalous event and exception flight control parameter send into event handling storehouse 25 be analyzed, event handling storehouse 25 make
Going out final judgement, display module 24 is LCD display or LED display, and described LCD display or LED display are provided with
For the interface taken pictures and record a video.
Earth station's emerging system of the present embodiment, unmanned plane includes video acquisition module, is used for shooting video image, and will
It is sent to earth station by communication link with the form of video signal, and earth station includes video acquiring module, utilizes DShow to obtain
Taking the video signal flow in communication link, event recognition module utilizes OPENCV algorithm to know the event in video signal flow
Not, data resolution module obtains and resolves the control parameter of unmanned plane, and display module is by the event in video signal flow and parsing
After flight control parameter and together show, the event handling storehouse anomalous event to identifying and the anomaly parameter parsed enter
Row processes, and eliminates the time difference that independent pictures switches over.Earth station's emerging system of the present invention, controls ginseng by display flight
The control system of number merges with the video signal of display video image, solves existing earth station by video image and unmanned plane
Control individually display, rely on human eye to be identified, ageing poor technical problem, not only facilitate the visual effect of user,
And contribute to assisting the control of unmanned plane, more efficient quick, improve Consumer's Experience.
Further, with reference to Fig. 1, described earth station 20 also includes:
Alarm module 26, makes alarm according to the result in event handling storehouse 25；
Automatically process module 27, at no worker monitor or in emergency circumstances, unmanned plane 10 is carried out management and control；And
Communication module 28, sets up communication with other earth stations or terminal unit and helps each other and data sharing.
Earth station's emerging system of the present embodiment, earth station 20 also includes alarm module 26, automatically processes module 27 and lead to
Letter module 28, alarm module 26 is mainly used in, after final judgement is made in event handling storehouse 25, judging event handling storehouse 25
Anomalous event and abnormal flight control parameter and make alarm, and alarm includes two kinds, and one is at display module 24
On provide prompting, this one is primarily adapted for use in unmanned plane 10 management and control personnel in operating side, and another kind is to provide warning by voice
Prompting, to expand the scope of alarm, automatically processes module 27, is mainly used at no worker monitor or in emergency circumstances, to nothing
Man-machine 10 carry out management and control, and automatically process module 27 starts the certain limit threshold after alarm set based on earth station 20
In value, do not make any response or the situation is critical when cannot respond, unmanned plane 10 on the line is managed
Control, further ensures the safety of unmanned plane, and correspondingly, earth station 20 is also provided with can be with other earth stations or terminal unit
Setting up communication to help each other and the communication module 28 of data sharing, communication module 28 is mainly used in the internet mode, rapidly will
Video image or other data information transfer are to other earth stations or terminal unit, it is ensured that the promptness of data transmission is with efficient
Property.
Further, with reference to Fig. 1, described unmanned plane 10 also includes:
Interactive module 12, identifies body language, carries out dynamic interaction.
Earth station's emerging system of the present embodiment, described unmanned plane 10 is additionally provided with interactive module 12, this interactive module 12
It is based primarily upon video acquisition module 11 and shoots dynamic body language, then by resolving this body language, make corresponding dynamic
Make, it is achieved with the dynamic interaction of aircraft, enhance the interactivity of unmanned plane 10 itself, recreational and scientific and technological sense.
Seeing figures.1.and.2, Fig. 2 is the flow chart of earth station of the present invention video data fusion method one embodiment, real at this
Execute in example, earth station's video data fusion method, comprise the following steps:
S10: unmanned plane 10 shoots video image, forms video signal, utilizes communication link 30 by video signal and flight
Control parameter to send to earth station 20；
S20a: earth station 20 utilizes DShow to obtain the video signal flow in communication link 30, and utilizes OPENCV algorithm pair
Event in described video signal flow is identified；
S20b: earth station 20 obtains the flight of unmanned plane 10 and controls parameter, and resolves it；
Flight after S30: earth station 20 shows the event in video signal flow and resolves controls parameter, and to abnormal thing
Part and flight control parameter and process.
Earth station's video data fusion method of the present embodiment, the The Cloud Terrace camera first carried by unmanned plane 10 shooting monitoring
Video image around region or course line, forms video signal, utilizes communication link 30 to access earth station 20, can be simultaneously nothing
The flight of man-machine 10 controls parameter and described video signal sends to earth station 20, and earth station 20 1 aspect utilizes DShow to obtain
Video signal flow in communication link 30, and utilize OPENCV algorithm to the car plate in described video signal flow, burning things which may cause a fire disaster, motor vehicles
Violating the regulations, criminal location, violence and first aid etc. have the event of negative effect, or have certain danger coefficient, occur general
The anomalous event that rate is bigger is identified, and the flight on the other hand obtaining unmanned plane 10 controls parameter, during such as flying height, continuation of the journey
Between, the climb rate, flight speed and wind loading rating etc., and above-mentioned parameter is resolved, and the anomalous event that will identify that, and
The abnormal flight parsed controls parameter and is jointly shown on the same display interface of earth station 20, and by event handling storehouse
25 are for further processing, event handling storehouse 25 make final judgement.
Earth station's video data fusion method of the present invention, controls control system and the display video of parameter by display flight
The video signal of image merges, and solves existing earth station and video image and unmanned aerial vehicle (UAV) control is individually shown, relies on human eye
It is identified, ageing poor technical problem, not only facilitates the visual effect of user, and contribute to assisting unmanned plane
Control, more efficient quick, improve Consumer's Experience.
The foregoing is only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every at this
Under the inventive concept of invention, utilize the equivalent structure transformation that description of the invention and accompanying drawing content are made, or directly/indirectly use
The technical field relevant at other is included in the scope of patent protection of the present invention.
Claims (9)
1. earth station's emerging system, it is characterised in that include unmanned plane, earth station and connect unmanned plane and earth station
Communication link；
Described unmanned plane includes video acquisition module, shoots video image, is sent to earth station by described communication link；
Described earth station includes:
Video acquiring module, utilizes DShow to obtain the video signal flow in communication link；
Event recognition module, utilizes OPENCV algorithm to be identified the event in described video signal flow；
Data resolution module, the flight obtaining unmanned plane controls parameter, and resolves it；
Display module, the event in display video signal flow and the flight after parsing control parameter；And
Event handling storehouse, controls parameter to abnormal event and flight and processes.
Earth station the most according to claim 1 emerging system, it is characterised in that described earth station also includes:
Alarm module, makes alarm according to the result in event handling storehouse；And
Automatically process module, at no worker monitor or in emergency circumstances, unmanned plane is carried out management and control.
Earth station the most according to claim 1 emerging system, it is characterised in that described earth station also includes:
Communication module, sets up communication with other earth stations or terminal unit and helps each other and data sharing.
Ground the most according to claim 1 emerging system, it is characterised in that described unmanned plane also includes:
Interactive module, identifies body language, carries out dynamic interaction.
Earth station the most according to claim 1 emerging system, it is characterised in that the event of described event recognition module identification
Including car plate, burning things which may cause a fire disaster, motor vehicle violation, criminal location, violence and first aid.
Earth station the most according to claim 1 emerging system, it is characterised in that described flight controls parameter and includes: flight
Highly, cruising time, the climb rate, flight speed and wind loading rating.
Earth station the most according to claim 1 emerging system, it is characterised in that described video acquisition module is with image
The camera of sensor.
Earth station the most according to claim 1 emerging system, it is characterised in that described display module be LCD display or
LED display, described LCD display or LED display are provided with the interface for taking pictures and recording a video.
9. apply earth station's video data fusion method of earth station's emerging system described in any one of claim 1-8,
It is characterized in that, comprise the following steps:
Unmanned plane shooting video image, forms video signal, utilizes communication link that video signal and flight are controlled parameter and sends
To earth station；
Earth station utilizes DShow to obtain the video signal flow in communication link, and utilizes OPENCV algorithm to described video signal
Event in stream is identified；
Earth station obtains the flight of unmanned plane and controls parameter, and resolves it；
Event in earth station's display video signal flow and the flight after parsing control parameter, and control abnormal event and flight
Parameter processed processes.
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| CN108983806A (en) * | 2017-06-01 | 2018-12-11 | 菜鸟智能物流控股有限公司 | Method and system for generating area detection and air route planning data and aircraft |
| WO2019084814A1 (en) * | 2017-10-31 | 2019-05-09 | 深圳市大疆创新科技有限公司 | Method for indicating information of unmanned aerial vehicle, unmanned aerial vehicle, and ground equipment |
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| CN111103896A (en) * | 2019-12-16 | 2020-05-05 | 北京泊松技术有限公司 | Unmanned aerial vehicle air docking match judgment system and judgment method |
| CN112640423A (en) * | 2020-04-28 | 2021-04-09 | 深圳市大疆创新科技有限公司 | Control method, control device and movable platform |
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