CN106292719B - Ground station fusion system and ground station video data fusion method - Google Patents
Ground station fusion system and ground station video data fusion method Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention provides a ground station fusion system and a ground station video data fusion method, wherein the ground station fusion system comprises an unmanned aerial vehicle and a ground station, the unmanned aerial vehicle and the ground station are connected through a communication link, the unmanned aerial vehicle comprises a video acquisition module, the video acquisition module is used for shooting video images and transmitting the video images to the ground station through the communication link in a video signal form, the ground station comprises a video acquisition module, a DShow is used for acquiring video signal streams in the communication link, an event identification module is used for identifying events in the video signal streams by using an OPENCV algorithm, a data analysis module is used for acquiring and analyzing control parameters of the unmanned aerial vehicle, a display module is used for displaying the events in the video signal streams and the analyzed flight control parameters together, an event processing library is used for processing the identified abnormal events and the analyzed abnormal parameters, so that the time difference of switching of independent pictures is eliminated, the control of the unmanned aerial vehicle is facilitated, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a ground station fusion system and a ground station video data fusion method.
Background
In recent years, unmanned aerial vehicle industry has developed rapidly, and the application field of unmanned aerial vehicles is also becoming wider and wider. The ground station of the unmanned aerial vehicle is a command control center of the whole unmanned aerial vehicle system, and is particularly important for the unmanned aerial vehicle because the unmanned aerial vehicle mostly flies beyond the line of sight. The complete ground station system can well assist operators of the ground station to monitor and control the flight condition of the unmanned aerial vehicle in real time. However, in the existing ground station system, the technology is uneven, all functions cannot be well fused, most ground stations are used for independently displaying video images and unmanned aerial vehicle control systems, relevant color data parameters are identified by human eyes, timeliness is poor, and the ground station system is still in a blank state in the aspects of video receiving and fusion application.
Disclosure of Invention
The invention mainly aims to provide a ground station fusion system, which aims to solve the technical problems that the existing ground stations are used for independently displaying video images and unmanned aerial vehicles, and the timeliness is poor due to the fact that the identification is carried out by human eyes.
In order to achieve the above object, the present invention provides a ground station fusion system, which includes an unmanned aerial vehicle, a ground station, and a communication link connecting the unmanned aerial vehicle and the ground station;
the unmanned aerial vehicle comprises a video acquisition module, a video image is shot, and the video image is sent to a ground station through the communication link;
the ground station includes:
the video acquisition module acquires a video signal stream in a communication link by using DShow;
the event identification module is used for identifying the event in the video signal stream by using an OPENCV algorithm;
the data analysis module is used for acquiring flight control parameters of the unmanned aerial vehicle and analyzing the flight control parameters;
the display module displays the events in the video signal stream and the analyzed flight control parameters; a kind of electronic device with high-pressure air-conditioning system
And the event processing library is used for processing abnormal events and flight control parameters.
Further, the ground station further comprises:
the alarm module is used for giving an alarm prompt according to the processing result of the event processing library; a kind of electronic device with high-pressure air-conditioning system
And the automatic processing module is used for controlling the unmanned aerial vehicle under the condition of unmanned monitoring or emergency.
Further, the ground station further comprises:
and the communication module establishes communication interaction and data sharing with other ground stations or terminal equipment.
Further, the unmanned aerial vehicle further includes:
and the interaction module is used for identifying the language of the limbs and carrying out dynamic interaction.
Further, the event identified by the event identification module includes license plates, fire sources, motor vehicle violations, criminal location, violence, and first aid.
Further, the flight control parameters include: fly height, endurance, climb rate, flight speed, and wind resistance.
Further, the video acquisition module is a camera with an image sensor.
Further, the display module is an LCD display screen or an LED display screen, and an interface for photographing and video recording is arranged on the LCD display screen or the LED display screen.
Another object of the present invention is to provide a method for merging video data of a ground station, comprising the following steps:
the unmanned aerial vehicle shoots a video image to form a video signal, and the video signal and flight control parameters are sent to a ground station by utilizing a communication link;
the ground station acquires a video signal stream in a communication link by using DShow, and identifies events in the video signal stream by using an OPENCV algorithm;
the ground station acquires flight control parameters of the unmanned aerial vehicle and analyzes the flight control parameters;
the ground station displays the events in the video signal stream and the analyzed flight control parameters, and processes the abnormal events and flight control parameters.
The ground station fusion system comprises an unmanned aerial vehicle and a ground station, wherein the unmanned aerial vehicle and the ground station are connected through a communication link, the unmanned aerial vehicle comprises a video acquisition module and is used for shooting video images and sending the video images to the ground station through the communication link in a video signal form, the ground station comprises a video acquisition module, a video signal stream in the communication link is acquired by using DShow, an event identification module identifies events in the video signal stream by using an OPENCV algorithm, a data analysis module acquires and analyzes control parameters of the unmanned aerial vehicle, a display module displays the events in the video signal stream and the analyzed flight control parameters together, an event processing library processes the identified abnormal events and the analyzed abnormal parameters, and the time difference of switching independent pictures is eliminated. According to the ground station fusion system, the control system for displaying the flight control parameters is fused with the video signals for displaying the video images, the technical problems that the existing ground station is used for independently displaying the video images and the unmanned aerial vehicle control, and the timeliness is poor due to the fact that human eyes are used for identification are solved, the visual effect of a user is facilitated, the control of the unmanned aerial vehicle is facilitated, the control is efficient and rapid, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a functional block diagram of one embodiment of a ground station fusion system of the present invention;
fig. 2 is a flowchart of an embodiment of a ground station video data fusion method according to the present invention.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name |
| 10 | Unmanned plane | 24 | Display module |
| 11 | Video acquisition module | 25 | Event processing library |
| 12 | Interactive module | 26 | Alarm module |
| 20 | Ground station | 27 | Automatic processing module |
| 21 | Video acquisition module | 28 | Communication module |
| 22 | Event recognition module | 30 | Communication link |
| 23 | Data analysis module |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Referring to fig. 1, fig. 1 is a functional block diagram of an embodiment of a ground station fusion system of the present invention, in which the ground station fusion system includes a drone 10, a ground station 20, and a communication link 30 connecting the drone 10 and the ground station 20;
the unmanned aerial vehicle 10 comprises a video acquisition module 11 for shooting video images and sending the video images to the ground station 20 through the communication link 30;
the ground station 20 includes:
a video acquisition module 21 for acquiring a video signal stream in the communication link 30 using DShow;
an event recognition module 22 that recognizes events within the video signal stream using an OPENCV algorithm;
the data analysis module 23 acquires and analyzes flight control parameters of the unmanned aerial vehicle 10;
a display module 24 for displaying events in the video signal stream and parsed flight control parameters; a kind of electronic device with high-pressure air-conditioning system
The event processing library 25 processes abnormal events and flight control parameters.
The ground fusion system of the present embodiment includes the unmanned aerial vehicle 10, the ground station 20, and the communication link 30 connecting the unmanned aerial vehicle 10 and the ground station 20, and the communication link 30 is mainly used for data transmission and instruction transmission between the unmanned aerial vehicle 10 and the ground station 20. The unmanned aerial vehicle 10 includes video acquisition module 11, and video acquisition module 11 carries image sensor for the cloud platform camera that unmanned aerial vehicle 10 carried, is used for shooting the video image in monitoring area or the route scope to with the form of video signal is through communication link 30 access ground station 20, and video acquisition module 11 is in operating condition all the time after unmanned aerial vehicle 10 starts, carries out the omnidirectional shooting to any region that it passed through, and sends the video image of its shooting to ground station 20 in real time. The ground station 20 includes a video acquisition module 21, the video signal sent by the video acquisition module 11 to the ground station 20 is not always received by the ground station 20, the video acquisition module 21 uses DShow to acquire a video signal stream from the communication link 30, and accesses the main display interface of the ground station 20, because a large number of complex events are included in the video signal stream, the event identification module 22 is required to identify related special events, such as events with negative effects on license plates, fire sources, motor vehicle violations, criminal positioning, violence, first aid and the like, or abnormal events with a certain risk coefficient and a high probability of occurrence, from a large number of events in the video signal stream by using an OPENCV algorithm.
When the unmanned aerial vehicle 10 and the ground station 20 are in data transmission, video images shot by the video acquisition module 11 are transmitted, meanwhile, flight control parameters of the unmanned aerial vehicle 10 can be shared through the communication link 30, the data analysis module 23 is used for acquiring the flight control parameters of the unmanned aerial vehicle 10 and analyzing the flight control parameters, the flight control parameters of the unmanned aerial vehicle comprise flight altitude, endurance time, climbing rate, flight speed and wind resistance, the video acquisition module 21 and the data analysis module 23 are matched with each other, so that events in a video stream and the analyzed flight control parameters are jointly displayed on the display module 24 of the ground station 20, meanwhile, after the event identification module 22 and the data analysis module 23 are used for identification and analysis, abnormal events in the video signal stream and the abnormal flight control parameters are sent into the event processing library 25 for comparison analysis, the event processing library 25 makes final judgment, and the display module 24 is an LCD display screen or an LED display screen, and an interface for shooting and video recording is arranged on the LCD display screen.
According to the ground station fusion system, an unmanned aerial vehicle comprises a video acquisition module, the video acquisition module is used for shooting video images and sending the video images to the ground station in a video signal mode through a communication link, the ground station comprises the video acquisition module, a DShow is utilized to acquire video signal streams in the communication link, an event identification module is used for identifying events in the video signal streams by utilizing an OPENCV algorithm, a data analysis module is used for acquiring and analyzing control parameters of the unmanned aerial vehicle, a display module is used for displaying the events in the video signal streams and the analyzed flight control parameters together, an event processing library is used for processing the identified abnormal events and the analyzed abnormal parameters, and time difference of switching independent pictures is eliminated. According to the ground station fusion system, the control system for displaying the flight control parameters is fused with the video signals for displaying the video images, the technical problems that the existing ground station is used for independently displaying the video images and the unmanned aerial vehicle control, and the timeliness is poor due to the fact that human eyes are used for identification are solved, the visual effect of a user is facilitated, the control of the unmanned aerial vehicle is facilitated, the control is efficient and rapid, and the user experience is improved.
Further, referring to fig. 1, the ground station 20 further includes:
an alarm module 26 for giving an alarm prompt according to the processing result of the event processing library 25;
an automatic processing module 27 for controlling the unmanned aerial vehicle 10 in the case of unmanned monitoring or emergency; a kind of electronic device with high-pressure air-conditioning system
Communication module 28 establishes communication interactions and data sharing with other ground stations or terminal devices.
In the ground station fusion system of the embodiment, the ground station 20 further includes an alarm module 26, an automatic processing module 27, and a communication module 28, where the alarm module 26 is mainly used to make alarm prompts for abnormal events and abnormal flight control parameters determined by the event processing library 25 after the final determination is made by the event processing library 25, the alarm prompts include two types, one is to give prompts on the display module 24, the other is mainly suitable for the unmanned aerial vehicle 10 to manage personnel at the operation end, the other is to give alarm prompts through voice so as to enlarge the range of the alarm prompts, the automatic processing module 27 is mainly used to manage the unmanned aerial vehicle 10 under the condition of unmanned aerial vehicle monitoring or emergency, the starting of the automatic processing module 27 is based on the unmanned aerial vehicle 10 set by the ground station 20 within a certain range threshold after the alarm prompts, no response is made or the condition emergency cannot be made, so as to further ensure the safety of the unmanned aerial vehicle, and accordingly, the ground station 20 is also provided with a communication module 28 capable of establishing communication mutual assistance and data sharing with other ground stations or terminal devices, and the communication module 28 is mainly used to rapidly transmit video or other data to the ground stations or other terminal devices in a timely manner under the condition of video or in a rapid mode.
Further, referring to fig. 1, the unmanned aerial vehicle 10 further includes:
the interaction module 12 recognizes the language of the limb and performs dynamic interaction.
The ground station fusion system of this embodiment, unmanned aerial vehicle 10 still is provided with interactive module 12, and this interactive module 12 mainly shoots dynamic limb language based on video acquisition module 11, then through analyzing this limb language, makes corresponding action, realizes the dynamic interaction with the aircraft, has strengthened the interactivity, recreational and the technological sense of unmanned aerial vehicle 10 itself.
Referring to fig. 1 and 2, fig. 2 is a flowchart of an embodiment of a ground station video data fusion method according to the present invention, in which the ground station video data fusion method includes the steps of:
s10: the unmanned aerial vehicle 10 captures video images, forms video signals, and transmits the video signals and flight control parameters to the ground station 20 using the communication link 30;
s20a: the ground station 20 obtains the video signal stream in the communication link 30 using DShow and identifies events within the video signal stream using the OPENCV algorithm;
s20b: the ground station 20 acquires and analyzes flight control parameters of the unmanned aerial vehicle 10;
s30: the ground station 20 displays events within the video signal stream and parsed flight control parameters and processes abnormal events and flight control parameters.
According to the ground station video data fusion method of the embodiment, firstly, video images around a monitoring area or a route are shot by a cradle head camera carried by the unmanned aerial vehicle 10 to form video signals, a communication link 30 is utilized to access the ground station 20, flight control parameters of the unmanned aerial vehicle 10 and the video signals can be simultaneously transmitted to the ground station 20, the ground station 20 obtains video signal streams in the communication link 30 by DShow on one hand, and obtains events with negative influences on license plates, fire sources, motor vehicle violations, criminal positioning, violence, first-aid and the like in the video signal streams or events with a certain dangerous coefficient by utilizing an OPENCV algorithm, and abnormal events with a high occurrence probability are identified, on the other hand, flight control parameters of the unmanned aerial vehicle 10 such as flight altitude, endurance, climbing rate, flight speed, wind resistance and the like are obtained, the identified abnormal events and the analyzed abnormal flight control parameters are jointly displayed on the same display interface of the ground station 20, further processing is carried out by utilizing an event processing library 25, and finally the event processing library 25 is judged.
According to the ground station video data fusion method, the control system for displaying the flight control parameters and the video signals for displaying the video images are fused, the technical problems that the existing ground station is used for independently displaying the video images and unmanned aerial vehicle control, and the timeliness is poor due to the fact that human eyes are used for identification are solved, visual effects of users are facilitated, control of the unmanned aerial vehicle is facilitated, efficiency and rapidness are improved, and user experience is improved.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (5)
1. A ground station fusion system comprising a drone, a ground station, and a communication link connecting the drone and the ground station;
the unmanned aerial vehicle comprises a video acquisition module, a video image is shot, and the video image is sent to a ground station through the communication link;
the ground station includes:
the video acquisition module acquires a video signal stream in a communication link by using DShow;
the event identification module is used for identifying events in the video signal stream by utilizing an OPENCV algorithm, wherein the events identified by the event identification module comprise license plates, fire sources, motor vehicle violations, criminal positioning, violence and first aid;
the data analysis module is used for acquiring flight control parameters of the unmanned aerial vehicle and analyzing the flight control parameters;
the display module displays the events in the video signal stream and the analyzed flight control parameters; a kind of electronic device with high-pressure air-conditioning system
The event processing library is used for processing abnormal events and flight control parameters;
the alarm module is used for giving an alarm prompt according to the processing result of the event processing library, wherein the alarm prompt comprises giving the alarm prompt on the display module or giving the alarm prompt through voice; a kind of electronic device with high-pressure air-conditioning system
The automatic processing module is used for controlling the unmanned aerial vehicle in danger based on the condition that no response is made or the emergency cannot be made within a preset range threshold value after the alarm prompt is set by the ground station;
the communication module establishes communication interaction and data sharing with other ground stations or terminal equipment;
and the interaction module is used for shooting dynamic limb language based on the video acquisition module and carrying out dynamic interaction by analyzing the limb language.
2. The ground station fusion system of claim 1, wherein the flight control parameters comprise: fly height, endurance, climb rate, flight speed, and wind resistance.
3. The ground station fusion system of claim 1, wherein the video acquisition module is a camera with an image sensor.
4. The ground station fusion system of claim 1, wherein the display module is an LCD display screen or an LED display screen, and an interface for photographing and video recording is provided on the LCD display screen or the LED display screen.
5. A ground station video data fusion method employing the ground station fusion system of any one of claims 1-4, comprising the steps of:
the unmanned aerial vehicle shoots a video image to form a video signal, and the video signal and flight control parameters are sent to a ground station by utilizing a communication link;
the ground station acquires a video signal stream in a communication link by using DShow, and identifies events in the video signal stream by using an OPENCV algorithm;
the ground station acquires flight control parameters of the unmanned aerial vehicle and analyzes the flight control parameters;
the ground station displays the events in the video signal stream and the analyzed flight control parameters, and processes the abnormal events and flight control parameters.
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| CN108983806B (en) * | 2017-06-01 | 2022-09-16 | 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 |
| CN108183780B (en) * | 2017-12-28 | 2020-10-20 | 中航联创科技有限公司 | Redundancy unmanned aerial vehicle data transmission system and transmission method |
| CN110720185B (en) * | 2018-09-27 | 2023-08-04 | 深圳市大疆创新科技有限公司 | Mobile platform hijacked behavior identification and coping method and device and mobile platform |
| CN110362101A (en) * | 2019-07-22 | 2019-10-22 | 复汉海志(江苏)科技有限公司 | A kind of monitoring system of taking photo by plane based on unmanned plane |
| CN112119630A (en) * | 2019-07-24 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Data sending and processing method, movable platform, display device, glasses and system |
| 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 |
| WO2021217425A1 (en) * | 2020-04-28 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Control method, control apparatus and movable platform |
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