CN106568419A - Method used for sending images, and unmanned aerial vehicle - Google Patents

Method used for sending images, and unmanned aerial vehicle Download PDF

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Publication number
CN106568419A
CN106568419A CN201610931666.8A CN201610931666A CN106568419A CN 106568419 A CN106568419 A CN 106568419A CN 201610931666 A CN201610931666 A CN 201610931666A CN 106568419 A CN106568419 A CN 106568419A
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CN
China
Prior art keywords
image
unmanned plane
conditioned
described image
pre
Prior art date
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CN201610931666.8A
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Chinese (zh)
Inventor
赵国成
张小辉
李威
万勇
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易瓦特科技股份公司
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Priority to CN201610931666.8A priority Critical patent/CN106568419A/en
Publication of CN106568419A publication Critical patent/CN106568419A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures

Abstract

The invention implementation provides a method used for sending images, and an unmanned aerial vehicle used for realizing automatic sending to preset terminals after acquisition of emergency situation images. The method comprises following steps: in flying process of the unmanned aerial vehicle and imaging collecting process using an image acquisition unit carried by the unmanned aerial vehicle, detection parameters detected by sensors of the unmanned aerial vehicle are acquired; it is determined based on the detection parameters that whether images capable of satisfying preset conditions are collected by the image acquisition unit, and if the images capable of satisfying preset conditions are collected by the image acquisition unit, the images are sent to the preset terminals.

Description

A kind of method and unmanned plane for sending image

Technical field

The present invention relates to electronic technology field, more particularly to a kind of method and unmanned plane for sending image.

Background technology

At present, unmanned plane is widely used in ground mapping, Forest servey, rescue and relief work, logistics express delivery, high-altitude shooting etc. Field.Most of unmanned planes are all equipped with image acquisition units so that unmanned plane can in the air gather image.Prior art In, image is sent back UE (user equipment, the User with unmanned plane binding by unmanned plane in real time during shooting Equipment), such as mobile phone or panel computer, watch for user during unmanned plane during flying.

If unmanned plane collects some emergency cases, such as fire is then supplied to by user from the image for being about to preciousness Media or public security department etc..Even, if user is unaware of image to reporting and succouring the importance of emergency case, it is also possible to Delete these precious images.

The content of the invention

The method and unmanned plane of a kind of transmission image are embodiments provided, for realizing actively collecting burst The technique effect of default terminal is sent to after the image of situation.

In a first aspect, the invention provides it is a kind of send image method, including:

In unmanned plane during flying and using the UAV flight image acquisition units collection image during, obtain institute State the detection parameter that the sensor of unmanned plane is detected;

Judge whether described image collecting unit collects based on the detection parameter and meet pre-conditioned image;

When described image collecting unit is collected meets the pre-conditioned image, described image is sent to default Terminal.

Optionally, the sensor is specially infrared array, and the detection parameter is specially infrared matrix, based on described Detect that parameter judges whether described image collecting unit collects and meets pre-conditioned image, including:

Temperature according to represented by the value of each element of the infrared matrix, from the infrared matrix value table is identified Object element of the temperature shown higher than preset temperature;

Whether the quantity for judging object element reaches threshold value;When the quantity of the element reaches threshold value, the figure is represented Meet the pre-conditioned image as collecting unit is collected.

Optionally, the sensor is specially sound transducer, and the detection parameter is specially loudness of a sound, based on the detection Parameter judges whether described image collecting unit collects and meets pre-conditioned image, including:

Judge whether the loudness of a sound reaches preset strength;When the loudness of a sound reaches the preset strength, the figure is represented Meet the pre-conditioned image as collecting unit is collected.

Optionally, after described image to be sent to default terminal, also include:

The unmanned plane is controlled in hovering pattern, and prompting letter is sent to the user equipment (UE) for controlling the unmanned plane Breath.

Second aspect, the invention provides a kind of unmanned plane, including:

Module is obtained, for the image acquisition units in unmanned plane during flying and using the UAV flight image is gathered During, obtain the detection parameter that the sensor of the unmanned plane is detected;

Judge module, for judging whether described image collecting unit collects the default bar of satisfaction based on the detection parameter The image of part;

Sending module, for when described image collecting unit is collected and meets the pre-conditioned image, will be described Image is sent to default terminal.

Optionally, the sensor is specially infrared array, and the detection parameter is specially infrared matrix, the judgement mould Block is used for the temperature according to represented by the value of each element of the infrared matrix, identifies that value is represented from the infrared matrix Temperature higher than preset temperature object element;Whether the quantity for judging object element reaches threshold value;When the quantity of the element When reaching threshold value, represent that described image collecting unit is collected and meet the pre-conditioned image.

Optionally, the sensor is specially sound transducer, and the detection parameter is specially loudness of a sound, the judge module For judging whether the loudness of a sound reaches preset strength;When the loudness of a sound reaches the preset strength, represent that described image is adopted Collection unit is collected and meets the pre-conditioned image.

Optionally, the unmanned plane also includes:

Control transmitting element, for after described image to be sent to default terminal, controlling the unmanned plane in outstanding Stop mode, and send information to the user equipment (UE) for controlling the unmanned plane.

Said one or multiple technical schemes in the embodiment of the present application, at least imitates with following one or more technology Really:

In the technical scheme of the embodiment of the present invention, in unmanned plane during flying and using the image acquisition units of UAV flight During collection image, the detection parameter that the sensor of unmanned plane is detected is obtained, be then based on detecting that parameter judges image Whether collecting unit collects meets pre-conditioned image, and when image acquisition units are collected pre-conditioned image is met When, send an image to default terminal.So, the unmanned plane automatic decision in the embodiment of the present invention goes out image acquisition and has arrived satisfaction During pre-conditioned image, pre-conditioned image will be met automatically and is sent to default terminal, so, realize actively in collection The technique effect of associated terminal is sent to after the image of emergency case.

Specific embodiment

The method and unmanned plane of a kind of transmission image are embodiments provided, for realizing actively collecting burst The technique effect of default terminal is sent to after the image of situation.

In order to solve above-mentioned technical problem, the technical scheme general thought that the present invention is provided is as follows:

In the technical scheme of the embodiment of the present invention, in unmanned plane during flying and using the image acquisition units of UAV flight During collection image, the detection parameter that the sensor of unmanned plane is detected is obtained, be then based on detecting that parameter judges image Whether collecting unit collects meets pre-conditioned image, and when image acquisition units are collected pre-conditioned image is met When, send an image to default terminal.So, the unmanned plane automatic decision in the embodiment of the present invention goes out image acquisition and has arrived satisfaction During pre-conditioned image, pre-conditioned image will be met automatically and is sent to default terminal, so, realize actively in collection The technique effect of associated terminal is sent to after the image of emergency case.

Technical solution of the present invention is described in detail below by specific embodiment, it should be understood that the embodiment of the present application with And the specific features in embodiment are the detailed description to technical scheme, rather than to the limit of technical scheme Fixed, in the case where not conflicting, the technical characteristic in the embodiment of the present application and embodiment can be mutually combined.

The terms "and/or", only a kind of incidence relation of description affiliated partner, represents there may be three kinds of passes System, for example, A and/or B can be represented:Individualism A, while there is A and B, individualism B these three situations.In addition, herein Middle character "/", typicallys represent forward-backward correlation pair as if a kind of relation of "or".

First aspect present invention provides a kind of method of transmission image, and the method includes:

S101:In unmanned plane during flying and using the UAV flight image acquisition units collection image during, Obtain the detection parameter that the sensor of the unmanned plane is detected;

S102:Judge whether described image collecting unit collects based on the detection parameter and meet pre-conditioned figure Picture;

S103:When described image collecting unit is collected meets the pre-conditioned image, described image is sent To default terminal.

Specifically, unmanned plane can start image acquisition units collection image in flight course.Also, unmanned plane can It is first stored in the memory space of unmanned plane with the image for collecting image acquisition units, will be collected again after flight terminates Image be supplied to user.Or, it is also possible to during image acquisition units collection image, in real time by the image for collecting It is sent to mobile phone, panel computer or PC with unmanned plane binding etc..Those skilled in the art can So that according to actually being selected, the present invention is not particularly limited.

Sensor in the embodiment of the present invention refers specifically to detect the air environment and unmanned plane around unmanned plane The sensor of the environment such as following land.For example, sound transducer, infrasonic sensor and infrared array etc..Certainly, concrete During realization, be additionally provided with unmanned plane one or more detection unmanned plane oneself state sensors, such as velocity sensor, Acceleration sensing and temperature sensor etc., the present invention is not particularly limited.

In S101, the detection parameter that the sensor of detection environment is detected is obtained.Then, in S102, based on detection ginseng Number, judges whether image acquisition units collect and meets pre-conditioned image.Meeting in the embodiment of the present invention is pre-conditioned Image, including but not limited to image of the image of earthquake, the image of fire, the image of tsunami and blast etc..Specifically, exist In the embodiment of the present invention, because sensor there are various possibility, then detect that parameter also there are various possibility, then sentence based on detection parameter Whether disconnected image acquisition units collect the implementation of the image for meeting pre-conditioned also various.Wherein two will be enumerated below Kind, it is including but not limited to following two during implementing

The first:

In the first implementation, sensor is specially infrared array.The infrared probe of infrared array can be 4 × 64 Matrix, 32 × 64 matrixes etc., those skilled in the art can be of the invention not do according to actually being selected Concrete restriction.When sensor is infrared array, detection parameter is then specially infrared matrix.So, judged based on detection parameter Whether image acquisition units collect meets pre-conditioned image, then realize especially by following process:

Temperature according to represented by the value of each element of the infrared matrix, from the infrared matrix value table is identified Object element of the temperature shown higher than preset temperature;

Whether the quantity for judging object element reaches threshold value;When the quantity of the element reaches threshold value, the figure is represented Meet the pre-conditioned image as collecting unit is collected.

Specifically, between 0~255, different values represents different to the value scope of each element in infrared matrix Temperature.Unmanned plane can prestore the corresponding relation between the value of element and actual temperature, and such as 255 represent 1000 DEG C, 0 table Show 25 ° etc., the present invention is not particularly limited.In embodiments of the present invention, in order to accurately judging that image acquisition units are The no image for acquiring bursty state, the detection range of infrared array is consistent with the acquisition range of image acquisition units. During implementing, infrared array can be fixedly connected with image acquisition units, and then image acquisition units are rotated and rotated During image-capture field, the detection range of infrared array is also just changed simultaneously.

After infrared matrix is obtained, unmanned plane will identify that the temperature that value is represented is higher than preset temperature from infrared array Element, the present invention by value represent temperature be higher than preset temperature element be referred to as object element.Specifically, unmanned plane according to The value of element and the corresponding relation of temperature, determine the corresponding value of preset temperature, such as 180, then, identify from infrared matrix Object element of the value higher than 180.

Then, unmanned plane further counts object element quantity of all values more than the corresponding value of preset temperature, and sentences Whether the quantity of disconnected object element reaches threshold value.In embodiments of the present invention, threshold value is, for example, the 80% of the quantity of all elements, 90% etc., the present invention is not particularly limited.

When reaching threshold value due to the quantity of object element, expression currently exists large-area in image-capture field The emergency cases such as high temperature, such as fire or volcanic eruption, so, in embodiments of the present invention, when the quantity of object element reaches During threshold value, determine that image acquisition units have been collected and meet pre-conditioned image.

Second:

In second implementation method, sensor is specially sound transducer, and detection parameter is then specially loudness of a sound.So, Judge whether image acquisition units collect based on detection parameter and meet pre-conditioned image, then especially by following process reality It is existing:

Judge whether the loudness of a sound reaches preset strength;When the loudness of a sound reaches the preset strength, the figure is represented Meet the pre-conditioned image as collecting unit is collected.

Specifically, in order to accurately judge whether image acquisition units acquire the image of bursty state, at this The incidence range of the sound transducer in inventive embodiments is consistent with the acquisition range of image acquisition units.Implementing Cheng Zhong, infrared array can be fixedly connected with sound transducer, and then image acquisition units are rotated and rotating image acquisition range When, the incidence range of sound transducer is also just changed simultaneously.

Unmanned plane obtains the loudness of a sound that sound transducer is detected, and then judges whether loudness of a sound exceedes preset strength.It is default strong Degree could be arranged to loudness of a sound of loudness of a sound, the loudness of a sound of tsunami or building collapsing for exploding etc., common skill of the art Art personnel can be according to actually being selected, and the present invention is not particularly limited.

When the sound transducer detection of unmanned plane reaches the loudness of a sound of preset strength, adopting in image acquisition units is represented Situations such as there is blast, tsunami or building collapsing in collection scope, so judging that the satisfaction that image acquisition units are collected is preset The image of condition.

During implementing, the those of ordinary skill in the described field of the present invention can select above-mentioned according to practical situation Any one in implementation, or other implementations, the present invention is not particularly limited.

Next, in S103, when judge image acquisition units collected meet pre-conditioned image when, in order to and When provide precious image to relevant departments or media, the unmanned plane in the embodiment of the present invention will will meet pre-conditioned figure automatically As being sent to default terminal.Specifically, the default terminal in the embodiment of the present invention is the matchmaker such as TV station terminal or website terminal Body can receive the terminal of image, or for relevant departments such as public security department's terminal, relief department's terminal or government department's terminals Terminal.

So as to by unmanned plane when judging that image acquisition units have collected the image of emergency situations, actively in time Media or relevant departments are sent an image to, not only can in time notify that media report and relevant portion take measures, also, also Can play an important role for the follow-up disaster relief and the reason for find out bursty state.

Further, after default terminal is sent images to, can also include:

The unmanned plane is controlled in hovering pattern, and prompting letter is sent to the user equipment (UE) for controlling the unmanned plane Breath.

Specifically, due to occurring in that emergency situations in land or flight environment of vehicle, then if unmanned plane is now toward any One direction flight all can be potentially encountered danger, so, the unmanned plane in order to ensure the safety of unmanned plane, in the embodiment of the present invention Itself will at this moment be controlled in hovering pattern, i.e., it is static in the air.

Meanwhile, unmanned plane will want that the UE (user equipment, User Equipment) for controlling unmanned plane sends information, carry Show user now in the flight environment of vehicle or corresponding land generation emergency situations of unmanned plane, and then make user determine drop in time Fall unmanned plane, make a return voyage unmanned plane or upper flight etc. in any direction.

Based on the inventive concept same with the method for transmission image in previous embodiment, second aspect present invention also provides one Unmanned plane is planted, including:

Module is obtained, for the image acquisition units in unmanned plane during flying and using the UAV flight image is gathered During, obtain the detection parameter that the sensor of the unmanned plane is detected;

Judge module, it is default for judging whether described image collecting unit collects satisfaction based on the detection parameter The image of condition;

Sending module, for when described image collecting unit is collected and meets the pre-conditioned image, will be described Image is sent to default terminal.

Specifically, the sensor is specially infrared array, and the detection parameter is specially infrared matrix, the judgement Module is used for the temperature according to represented by the value of each element of the infrared matrix, and from the infrared matrix value table is identified Object element of the temperature shown higher than preset temperature;Whether the quantity for judging object element reaches threshold value;When the number of the element When amount reaches threshold value, represent that described image collecting unit is collected and meet the pre-conditioned image.

Or, the sensor is specially sound transducer, and the detection parameter is specially loudness of a sound, and the judge module is used In judging whether the loudness of a sound reaches preset strength;When the loudness of a sound reaches the preset strength, described image collection is represented Unit is collected and meets the pre-conditioned image.

Further, the unmanned plane also includes:

Control transmitting element, for after described image to be sent to default terminal, controlling the unmanned plane in outstanding Stop mode, and send information to the user equipment (UE) for controlling the unmanned plane.

The various change mode and instantiation of the method for the transmission image in previous embodiment is equally applicable to this enforcement The unmanned plane of example, by the aforementioned detailed description to sending the method for image, those skilled in the art are clear that this The implementation of unmanned plane in embodiment, thus it is succinct for description, will not be described in detail herein.

Said one or multiple technical schemes in the embodiment of the present application, at least imitates with following one or more technology Really:

In the technical scheme of the embodiment of the present invention, in unmanned plane during flying and using the image acquisition units of UAV flight During collection image, the detection parameter that the sensor of unmanned plane is detected is obtained, be then based on detecting that parameter judges image Whether collecting unit collects meets pre-conditioned image, and when image acquisition units are collected pre-conditioned image is met When, send an image to default terminal.So, the unmanned plane automatic decision in the embodiment of the present invention goes out image acquisition and has arrived satisfaction During pre-conditioned image, pre-conditioned image will be met automatically and is sent to default terminal, so, realize actively in collection The technique effect of associated terminal is sent to after the image of emergency case.

Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program Product.Therefore, the present invention can be using complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware Apply the form of example.And, the present invention can be adopted and wherein include the computer of computer usable program code at one or more The computer program implemented in usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) is produced The form of product.

The present invention is the flow process with reference to method according to embodiments of the present invention, equipment (system) and computer program Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram The combination of journey and/or square frame and flow chart and/or the flow process in block diagram and/or square frame.These computer programs can be provided The processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.

These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy In determining the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or The function of specifying in multiple square frames.

These computer program instructions also can be loaded in computer or other programmable data processing devices so that in meter Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one The step of function of specifying in individual square frame or multiple square frames.

Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprising these changes and modification.

Claims (8)

1. it is a kind of send image method, it is characterised in that include:
During image acquisition units collection image in unmanned plane during flying and using the UAV flight, the nothing is obtained The detection parameter that man-machine sensor is detected;
Judge whether described image collecting unit collects based on the detection parameter and meet pre-conditioned image;
When described image collecting unit is collected meets the pre-conditioned image, by described image be sent to it is default eventually End.
2. the method for claim 1, it is characterised in that the sensor is specially infrared array, the detection parameter Specially infrared matrix, judges whether described image collecting unit collects and meets pre-conditioned figure based on the detection parameter Picture, including:
Temperature according to represented by the value of each element of the infrared matrix, identifies what value was represented from the infrared matrix Object element of the temperature higher than preset temperature;
Whether the quantity for judging object element reaches threshold value;When the quantity of the element reaches threshold value, represent that described image is adopted Collection unit is collected and meets the pre-conditioned image.
3. the method for claim 1, it is characterised in that the sensor is specially sound transducer, the detection ginseng Number is specially loudness of a sound, judges whether described image collecting unit collects based on the detection parameter and meets pre-conditioned figure Picture, including:
Judge whether the loudness of a sound reaches preset strength;When the loudness of a sound reaches the preset strength, represent that described image is adopted Collection unit is collected and meets the pre-conditioned image.
4. the method for claim 1, it is characterised in that after described image to be sent to default terminal, also include:
The unmanned plane is controlled in hovering pattern, and information is sent to the user equipment (UE) for controlling the unmanned plane.
5. a kind of unmanned plane, it is characterised in that include:
Obtain module, in unmanned plane during flying and using the UAV flight image acquisition units gather image process In, obtain the detection parameter that the sensor of the unmanned plane is detected;
Judge module, meets pre-conditioned for judging whether described image collecting unit collects based on the detection parameter Image;
Sending module, for when described image collecting unit is collected and meets the pre-conditioned image, by described image It is sent to default terminal.
6. unmanned plane as claimed in claim 5, it is characterised in that the sensor is specially infrared array, the detection ginseng Number is specially infrared matrix, and the judge module is used for the temperature according to represented by the value of each element of the infrared matrix, The object element of the temperature higher than preset temperature of value expression is identified from the infrared matrix;Judging the quantity of object element is It is no to reach threshold value;When the quantity of the element reaches threshold value, represent that described image collecting unit is collected and meet described default The image of condition.
7. unmanned plane as claimed in claim 5, it is characterised in that the sensor is specially sound transducer, the detection Parameter is specially loudness of a sound, and the judge module is used to judge whether the loudness of a sound reaches preset strength;When the loudness of a sound reaches institute When stating preset strength, represent that described image collecting unit is collected and meet the pre-conditioned image.
8. unmanned plane as claimed in claim 5, it is characterised in that the unmanned plane also includes:
Control transmitting element, for after described image to be sent to default terminal, controlling the unmanned plane in hovering mould Formula, and send information to the user equipment (UE) for controlling the unmanned plane.
CN201610931666.8A 2016-10-31 2016-10-31 Method used for sending images, and unmanned aerial vehicle CN106568419A (en)

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