CN106828952A - A kind of method and device of assisting in flying device safe flight - Google Patents
A kind of method and device of assisting in flying device safe flight Download PDFInfo
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- CN106828952A CN106828952A CN201710134868.4A CN201710134868A CN106828952A CN 106828952 A CN106828952 A CN 106828952A CN 201710134868 A CN201710134868 A CN 201710134868A CN 106828952 A CN106828952 A CN 106828952A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
Abstract
The invention provides a kind of method of auxiliary security flight, apply in aircraft takeoff, when flight and landing, the method mainly uses optical sensor to detect brightness value, ultra-low illumination pattern or infrared mode are entered according to testing result selection, when corresponding pattern is entered, image is gathered respectively according to different focal lengths, focusing identical image carries out image mosaic respectively, spliced image is carried out into image co-registration, and show the image after fusion, it is related to both of which in this programme, that is ultra-low illumination pattern and infrared mode, mutually switched by both patterns, collection image, can effectively solve the problem that in rain, snow, mist, under the severe weather conditions such as haze, the sight line difference unsafe problem of flight.With reference to identical focal length image mosaic, then spliced image is merged, obtained the big angle of visual field, clearly image, with this assisting in flying, improved the security of flight.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of method and device of assisting in flying device safe flight,
IC belongs to B64C or B64F classification.
Background technology
With the appearance that the aircraft such as aircraft are equipped, the pattern of communications and transportation there occurs huge change.Air transportation
Substantial amounts of passenger is attract with easily and efficiently advantage.Distance between the world " shortens " therewith, and starting at dawn and arrive at dusk has turned into out of question
The fact, but aviation safety is always a great problem that annoying people's selection trip.Air transportation development initial stage, due to
Science and technology more falls behind, and the aircraft accident triggered by aircraft mechanical breakdown in itself remains high, and occupies main cause.
In recent decades, continuing to develop with science and technology, a large amount of of new material use, and aircraft has been high and new technology
Masterpiece, itself safety coefficient improves constantly, and the aviation accident ratio caused due to natural cause and human factor is big
It is big to increase.Nearly seventy percent accident of numerical monitor is caused by natural cause with artificial origin according to statistics, as restriction aviation safety most
Big obstacle.
In flight, especially during landing, aircraft pilot it should be understood that the ambient conditions of front and lower section, with safety
Ground flight, landing.However, in the prior art, not such equipment on aircraft, so that aircraft pilot observation flight
Device front and the scene of lower section.Even if some aircraft have the camera head of observation front and lower section scene, but due to using
The limitation of condition, can not preferably use, while more lacking related theoretical method to instruct so that aircraft security performance
Cannot effectively improve.
The content of the invention
Based on above mentioned problem, the purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, there is provided drive system with auxiliary
The aircraft of system, the landing method of aircraft and the flying method and device of barrier crash are avoided, make the aircraft pilot can be with
More facilitate the scene environment that aircraft front and lower section are clearly viewed in time.The present invention is by ultra-low illumination video camera, infrared
The technologies such as thermal imaging, image processing techniques and elaborate servo control are combined in the system of coming together in, and can aid in flying well
Office staff night is dark and the bad weather circumstances such as rain, snow, mist, haze under complete the demands such as aircraft takeoff, flight, landing.
On the basis of inventive concept design, in specific implementation, can be summarized by following four aspect
Illustrate and show, it is necessary to illustrate, this four aspect is separate and connects each other, and its structures and methods main idea neither constitutes phase
Mutual contradiction, those skilled in the art are after reading comprehensively it will be appreciated that where spirit of the invention.
(1) aircraft flight DAS (Driver Assistant System)
A kind of aircraft flight DAS (Driver Assistant System), including video acquisition unit and manipulation unit, the manipulation unit bag
Industrial computer and display unit are included, wherein the industrial computer includes image capture module and image processing module, the video acquisition
Unit includes forward sight unit and overlooks unit two parts, and forward sight unit and vertical view unit absorb aircraft front and aircraft respectively
The image of lower section, and the image that will be absorbed respectively sends image capture module, the view data hair that image capture module will be obtained
Display unit is sent after sending image processing module to be processed to be shown.
It is preferred that, the forward sight unit includes imaging lens, visible light lens, is respectively used to intake described winged
Graphic images, visible images in front of row device；Overlooking unit includes imaging lens, visible light lens, is respectively used to take the photograph
Take graphic images, the visible images below the aircraft.
It is preferred that, the forward sight unit include the first forward sight imaging lens and the second forward sight imaging lens,
And first forward sight ultra-low illumination camera lens and the second forward sight ultra-low illumination camera lens, it is respectively used to absorb the heat in front of the aircraft
Image and visible images, the vertical view unit include first overlook imaging lens and second overlook imaging lens,
And first overlook ultra-low illumination camera lens and second overlook ultra-low illumination camera lens, be respectively used to absorb the heat below the aircraft
Image and visible images.
It is preferred that, the forward sight unit and the vertical view unit are by independent or groups of imaging lens, and list
The quantity of only or groups of visible light lens composition, the imaging lens or visible light lens is 1,2 or 4.
It is preferred that, two imaging lens of the forward sight unit are same focal length lenses, the forward sight unit
Two ultra-low illumination camera lenses are same focal length lenses, and two imaging lens of the vertical view unit are same focal length lenses, described to bow
Two ultra-low illumination camera lenses for regarding unit are same focal length lenses；
Described image processing module includes image mosaic submodule, for two imaging lens to the forward sight unit
The image for being absorbed is spliced, and the image that two ultra-low illumination camera lenses of the forward sight unit are absorbed is spliced, right
The image that two imaging lens for overlooking unit are absorbed is spliced, two ultra-low illumination camera lenses to overlooking unit
The image for being absorbed is spliced.
It is preferred that, two imaging lens of the forward sight unit are different focal camera lens, the forward sight unit
Two ultra-low illumination camera lenses be different focal camera lens, two imaging lens of the vertical view unit are different focal camera lens,
Two ultra-low illumination camera lenses for overlooking unit are different focal camera lens；
Described image processing module includes image co-registration submodule, for two imaging lens to the forward sight unit
The image for being absorbed is merged, and the image that two ultra-low illumination camera lenses of the forward sight unit are absorbed is merged, right
The image that two imaging lens for overlooking unit are absorbed is merged, to two ultra-low illuminations of the vertical view unit
The image that camera lens is absorbed is merged.
It is preferred that, the forward sight unit include two 25mm imaging lens, two 12.3mm imaging lens,
Two 25mm ultra-low illuminations camera lenses, two 8mm ultra-low illumination camera lenses, the vertical view unit include two 25mm imaging lens,
Two 12.3mm imaging lens, two 25mm ultra-low illuminations camera lenses, two 8mm ultra-low illumination camera lenses, the imaging lens
For absorbing graphic images, the ultra-low illumination camera lens is used to absorb visible images；Described image processing module includes figure
As splicing submodule, image co-registration submodule, described image splicing submodule is used for two 25mm heat to forward sight unit
The image that imaging lens are absorbed is spliced, the image absorbed to two 12.3mm imaging lens of the forward sight unit
Spliced, the image that two 25mm ultra-low illumination camera lenses of the forward sight unit are absorbed is spliced, to the forward sight
The image that two 8mm ultra-low illumination camera lenses of unit are absorbed is spliced, two 25mm thermal imagings to the vertical view unit
The image that camera lens is absorbed is spliced, and the image that two 12.3mm imaging lens of the vertical view unit are absorbed is carried out
Splicing, splices, to the vertical view unit to the image that two 25mm ultra-low illumination camera lenses of the vertical view unit are absorbed
The image that is absorbed of two 8mm ultra-low illumination camera lenses spliced；Described image fusion submodule is used for the forward sight list
Two 12.3mm heat of image after the image mosaic absorbed of two 25mm imaging lens of unit and the forward sight unit into
As the image after the image mosaic that camera lens is absorbed is merged, to two 25mm ultra-low illuminations camera lens institutes of the forward sight unit
After the image mosaic that image after the image mosaic of intake is absorbed with two 8mm ultra-low illumination camera lenses of the forward sight unit
Image is merged, to the image after the image mosaic absorbed of two 25mm imaging lens of the vertical view unit with it is described
Image after the image mosaic that two 12.3mm imaging lens of vertical view unit are absorbed is merged, to the vertical view unit
The image mosaic absorbed of two 25mm ultra-low illumination camera lenses after image and two 8mm ultra-low illuminations for overlooking unit
Image after the image mosaic that camera lens is absorbed is merged.
It is preferred that, the video acquisition unit also includes gyroscope, servo platform, the bat for making forward sight unit
The shooting direction taken the photograph direction holding level and overlook unit keeps vertical.
It is preferred that, the industrial computer also include memory module, for processing image processing module after video
Image carries out real-time storage.
It is preferred that, the industrial computer also includes playback module, aobvious for carrying out playback to the video image for storing
Show, and video selecting module, for selecting graphic images or visible images output to display unit.
(2) auxiliary security flying method and the device of application the method in aircraft takeoff, flight and landing
The auxiliary security flying method is comprised the following steps：
Detection brightness value, judges into ultra-low illumination pattern according to the testing result for obtaining or enters infrared mode；
When the ultra-low illumination pattern is entered, the first some width of focal length ultra-low illumination image and the second focal length are gathered respectively
The some width of ultra-low illumination image, respectively focusing identical ultra-low illumination image carry out image mosaic, obtain the super of the first focal length
The ultra-low illumination stitching image of low-light (level) stitching image and the second focal length；Then by the ultra-low illumination stitching image of the first focal length and
The ultra-low illumination stitching image of the second focal length carries out image co-registration, the ultra-low illumination image after being merged, after the fusion
Ultra-low illumination image be sent to aircraft human pilot, the ultra-low illumination image after display fusion, return terminates；
When the infrared mode is entered, the 3rd some width of focal length infrared image and the 4th focal length infrared image are gathered respectively
Some width, respectively focusing identical infrared image carry out image mosaic, obtain trifocal infrared mosaic image and the 4th
The infrared mosaic image of focal length；Then the infrared mosaic image of trifocal infrared mosaic image and the 4th focal length is carried out into figure
As the infrared image after the fusion is sent to aircraft human pilot by fusion, the infrared image after being merged, display is melted
Infrared image after conjunction, return terminates.
It is preferred that, it is described to gather the first focal length ultra-low illumination image and the second focal length ultra-low illumination image respectively,
Including：The first focal length ultra-low illumination image, the second focal length ultra-low illumination figure in preceding apparent direction before gathering respectively in apparent direction
Picture, the first focal length ultra-low illumination image, the second focal length ultra-low illumination image in overlook direction in collection overlook direction；
The identical ultra-low illumination of the focusing respectively image carries out image mosaic, and the ultra-low illumination for obtaining the first focal length is spelled
The ultra-low illumination stitching image of map interlinking picture and the second focal length, including：To the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs away from identical ultra-low illumination figure
As carrying out image mosaic, second Jiao on the ultra-low illumination stitching image and preceding apparent direction of the first focal length in preceding apparent direction is obtained
Away from ultra-low illumination stitching image；And image mosaic is carried out to focal length identical ultra-low illumination image in the overlook direction,
The ultra-low illumination for obtaining the second focal length on the ultra-low illumination stitching image and overlook direction of the first focal length in overlook direction is spelled
Map interlinking picture；
It is described by the ultra-low illumination stitching image of first focal length and the ultra-low illumination stitching image of second focal length
Image co-registration is carried out, the ultra-low illumination image after being merged, including：By the ultralow photograph of the first focal length in the preceding apparent direction
The ultra-low illumination stitching image of the second focal length on degree stitching image and the preceding apparent direction carries out image co-registration, obtains forward sight side
Ultra-low illumination image after merging upwards；By the ultra-low illumination stitching image of the first focal length in the overlook direction and described bow
The ultra-low illumination stitching image of the second focal length in apparent direction carries out image co-registration, obtains the ultralow photograph after fusion in overlook direction
Degree image.
It is preferred that, collection the 3rd focal length infrared image and the 4th focal length infrared image, including：Gather respectively
The 4th focal length infrared image on the 3rd focal length infrared image, preceding apparent direction in preceding apparent direction, in collection overlook direction the
The 4th focal length infrared image in three focal length infrared images, overlook direction；
The identical of the focusing respectively infrared image carries out image mosaic, obtain trifocal infrared mosaic image and
The infrared mosaic image of the 4th focal length, including：Image mosaic is carried out away from identical infrared image to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs, is obtained
The infrared mosaic image of the 4th focal length on trifocal infrared mosaic image and preceding apparent direction on to preceding apparent direction；To institute
Stating focal length identical infrared image in overlook direction carries out image mosaic, obtains the trifocal infrared mosaic in overlook direction
The infrared mosaic image of the 4th focal length of image and overlook direction；
The infrared mosaic image by the trifocal infrared mosaic image and the 4th focal length carries out image
Fusion, the infrared image after being merged, including：By the trifocal infrared mosaic image in the preceding apparent direction and described
The infrared mosaic image of the 4th focal length in preceding apparent direction carries out image co-registration, obtains the infrared figure after fusion in preceding apparent direction
Picture；And by the red of the 4th focal length on the trifocal infrared mosaic image and the overlook direction in the overlook direction
Outer stitching image carries out image co-registration, obtains the infrared image after fusion in overlook direction.
It is preferred that, the detection brightness value, according to obtain testing result selection enter ultra-low illumination pattern or
Infrared mode, including：The current brightness value of the detection, if the testing result for obtaining meets first pre-conditioned, enters
Ultra-low illumination pattern；Otherwise enter infrared mode.
It is preferred that, methods described also includes：Whether detection forward sight shooting direction is in level, does not locate when detecting
When level, adjustment orientation to level.
Additionally, the part also includes disclosing a kind of device of auxiliary security flight, it is characterised in that described device is installed
On board the aircraft, image is gathered in the aircraft takeoff, flight and landing, including：
Mode selection module, for detecting brightness value, according to obtain testing result selection enter ultra-low illumination pattern or
Infrared mode；
Ultra-low illumination image capture module, surpasses for when the ultra-low illumination pattern is entered, gathering the first focal length respectively
The some width of low-light (level) image and the second focal length some width of ultra-low illumination image；
Ultra-low illumination image mosaic module, image mosaic is carried out for focusing identical ultra-low illumination image respectively, is obtained
To the ultra-low illumination stitching image and the ultra-low illumination stitching image of the second focal length of the first focal length；
Ultra-low illumination image co-registration module, for by the ultra-low illumination stitching image of first focal length and described second burnt
Away from ultra-low illumination stitching image carry out image co-registration, the ultra-low illumination image after being merged, by the fusion after it is ultralow
Illumination image is sent to aircraft human pilot, shows the ultra-low illumination image after the fusion；
Infrared image acquisition module, for when the infrared mode is entered, if gathering the 3rd focal length infrared image respectively
Dry width and the 4th some width of focal length infrared image；
Infrared image concatenation module, image mosaic is carried out for focusing identical infrared image respectively, obtains the 3rd burnt
Away from infrared mosaic image and the 4th focal length infrared mosaic image；
Infrared image Fusion Module, for by the infrared of the trifocal infrared mosaic image and the 4th focal length
Stitching image carries out image co-registration, the infrared image after being merged, and the infrared image after the fusion is sent into aircraft
Human pilot, shows the infrared image after the fusion.
(3) device of methods and applications the method for aircraft landing security is improved based on detection obstacle
A kind of method that landing security is improved based on detection obstacle, it is characterised in that comprise the following steps：Capture apparatus
Itself orientation is adjusted, makes forward sight shooting direction be level；
Whether detection current illumination value, the testing result that judgement is obtained meets ultra-low illumination treatment conditions；
When the testing result meets ultra-low illumination treatment conditions, then current location is gathered by ultra-low illumination camera
Front view picture and overhead view image, by obtaining ultra-low illumination front view picture and ultra-low illumination overhead view image after splicing and fusion；
Obstacle detection is carried out to the ultra-low illumination front view picture and ultra-low illumination overhead view image after splicing fusion respectively, works as inspection
Measure in ultra-low illumination front view picture and/or ultra-low illumination overhead view image when there is obstacle, generate and send warning information, return
Terminate；
When the testing result does not meet the ultra-low illumination treatment conditions, then gathered by infrared thermal imaging camera
The front view picture and overhead view image of current location, by obtaining infrared level front view picture and infrared level top view after splicing and fusion
Picture；
Respectively to splicing and fusion after infrared level front view picture and infrared level overhead view image carry out obstacle detection, work as detection
When there is obstacle in infrared level front view picture and/or infrared level overhead view image, warning information is generated and sent, return terminates.
It is preferred that, the capture apparatus adjust itself orientation makes forward sight shooting direction for level, including：
Whether the equipment real-time detection forward sight shooting direction is in level, when level is not in, adjusts self-position,
Forward sight shooting direction is set to be level.
It is preferred that, the front view picture and overhead view image that current location is gathered by ultra-low illumination camera,
Including：
Some width front view pictures and some width overhead view images are gathered by ultra-low illumination camera；
Focal length identical front view picture is divided into one group, every group of focal length identical front view picture is spliced into a width figure
Picture, obtains the corresponding first splicing front view picture of the focal length；
The first splicing front view picture to different focal carries out image co-registration, piece image is finally fused into, as ultralow
Illumination front view picture；
Focal length identical overhead view image is divided into one group, every group of focal length identical overhead view image is spliced into a width figure
Picture, obtains the corresponding first splicing overhead view image of the focal length；
The first splicing overhead view image to different focal carries out image co-registration, piece image is finally fused into, as ultralow
Illumination overhead view image.
It is preferred that, the front view picture and top view that current location is gathered by infrared thermal imaging camera
Picture, including：
Some width front view pictures and some width overhead view images are gathered by infrared thermal imaging camera；
Focal length identical front view picture is divided into one group, every group of focal length identical front view picture is spliced into a width figure
Picture, obtains the corresponding second splicing front view picture of the focal length；
The second splicing front view picture to different focal carries out image co-registration, piece image is finally fused into, as infrared
Level front view picture；
Focal length identical overhead view image is divided into one group, every group of focal length identical overhead view image is spliced into a width figure
Picture, obtains the corresponding second splicing overhead view image of the focal length；
The second splicing overhead view image to different focal carries out image co-registration, piece image is finally fused into, as infrared
Level overhead view image.
It is preferred that, the front view picture is specifically included：In preceding apparent direction overlying lid the first predetermined angle scope
Image；The overhead view image is specifically included：The image of the second predetermined angle scope is covered in overlook direction.
It is preferred that, it is described the ultra-low illumination front view picture and the ultra-low illumination overhead view image are carried out respectively
Obstacle detection, specifically includes：
Judge to whether there is characteristics of image in the ultra-low illumination front view picture and/or the ultra-low illumination overhead view image
Point, is then to extract described image characteristic point, according to described image feature point-rendering obstacle image, and before corresponding ultra-low illumination
The obstacle image is marked in visible image and/or ultra-low illumination overhead view image, there is obstacle with this determination；Otherwise determine do not exist
Obstacle.
It is preferred that, it is described to detect the ultra-low illumination front view picture and/or the ultra-low illumination top view
When there is obstacle as in, generating and sending warning information includes：
By the positional information of obstacle described in satellite fix, according to the positional information of the obstacle, and it is marked with described
The ultra-low illumination front view picture and/or ultra-low illumination overhead view image of obstacle image, generate warning information, send the alarm
Information.
It is preferred that, it is described when the testing result meets ultra-low illumination treatment conditions, then by ultra-low illumination
Camera gathers the ultra-low illumination front view picture and ultra-low illumination overhead view image of current location, specifically includes：
When the testing result meets ultra-low illumination treatment conditions, state of flight is detected,
If in takeoff condition or landing state or state of flight, current location is gathered by ultra-low illumination camera
Ultra-low illumination front view picture and ultra-low illumination overhead view image.
It is preferred that, it is described when the testing result does not meet the ultra-low illumination treatment conditions, then by red
Outer thermal imaging camera gathers the infrared level front view picture and infrared level overhead view image of current location, specifically includes：
When the testing result does not meet the ultra-low illumination treatment conditions, state of flight is detected,
If in takeoff condition or landing state or state of flight, current location is gathered by infrared level camera
Infrared level front view picture and infrared level overhead view image.
A kind of equipment that landing security is improved based on detection obstacle, it is characterised in that including：
Orientation adjustment module, for adjusting itself orientation, makes forward sight shooting direction be level；
Luminance detection module, for detecting current illumination value, whether the testing result that judgement is obtained meets at ultra-low illumination
Manage bar part；
Starlight acquisition module, for when the testing result meets ultra-low illumination treatment conditions, then by ultra-low illumination
The ultra-low illumination front view picture and ultra-low illumination overhead view image of camera collection current location are simultaneously spliced and fusion treatment；
Starlight obstacle detection module, for respectively to the ultra-low illumination front view picture and ultra-low illumination after splicing fusion
Overhead view image carries out obstacle detection, exists in the ultra-low illumination front view picture and/or ultra-low illumination overhead view image is detected
During obstacle, warning information is generated and sent；
Infrared collecting module, for when the testing result does not meet the ultra-low illumination treatment conditions, then by red
The infrared level front view picture and infrared level overhead view image of outer thermal imaging camera collection current location and spliced and fusion at
Reason；
Infrared obstacle detection module, for respectively to the described infrared level front view picture and the infrared level after splicing fusion
Overhead view image carries out obstacle detection, there is obstacle in the infrared level front view picture and/or infrared level overhead view image is detected
When, generate and send warning information.
(4) aircraft of the methods and applications the method that aircraft knocks down of avoiding based on data syn-chronization
A kind of method that collision free based on data syn-chronization hinders, it is characterised in that including：
Aircraft obtains current positional information, and environmental information request is obtained according to the positional information tissue, and by institute
Acquisition environmental information request is stated to send to data center；
When the environmental information response that the data center returns is received, obstacle is obtained from environmental information response
Information, as history complaint message, flight parameter is obtained from environmental information response, is flown as history and joined
Number；
State of flight collection ambient image according to itself, obtains current complaint message from the ambient image, according to
The current complaint message, the history complaint message and the history flight parameter, mark should in the ambient image
Obstacle, shows the ambient image of marked obstacle；
When the obstacle is avoided, the flight parameter in the obstructive process is avoided in acquisition, as current flight ginseng
Number, the current location information, the current flight parameter and the current complaint message are sent to data center.
It is preferred that, the aircraft obtains current location information, including：
The aircraft obtains longitude, latitude and height above sea level using global position system, by the longitude, the latitude
Degree and the height above sea level are used as current location information.
It is preferred that, complaint message is obtained from environmental information response, as history complaint message, bag
Include：
Positional information, dimension information, the mobile attribute information of obstacle are obtained from environmental information response, by the barrier
Positional information, dimension information and the mobile attribute information for hindering are used as history complaint message.
It is preferred that, it is described that ambient image is gathered according to the state of flight of itself, specifically include：
The state of flight of itself is obtained, if takeoff condition or landing state or state of flight, then gather front view picture
And overhead view image, the image that will be collected is used as ambient image.
It is preferred that, it is described that current complaint message is obtained from the ambient image, specifically include：
For the ambient image for collecting in the same direction, the ambient image of identical focal length is carried out into image mosaic, spelled
Piece image is connected into, the spliced image of different focal in this direction is carried out into image co-registration, the image after being merged, from
Characteristic point is extracted on image after the fusion, when characteristic point is extracted, according to the feature point-rendering obstacle, and institute is marked
Obstacle is stated, the positional information of the obstacle is obtained by global position system, according to the positional information and mark of the obstacle
The image of the obstacle, calculates the dimension information of the obstacle, mobile attribute information, by the positional information of the obstacle, size
Information, mobile attribute information are used as current complaint message.
It is preferred that, it is described to be flown according to the current complaint message, the history complaint message and the history
Line parameter marks obstacle in the ambient image, including：
Judge whether the current complaint message is identical with the history complaint message, be then in the ambient image subscript
Note obstacle, and point out the history flight parameter；Otherwise marked in the ambient image according to the current complaint message
Obstacle.
It is preferred that, methods described also includes：The motion track of the obstacle is drawn on the image of mark obstacle；
The motion track for drawing the obstacle, including：
The once obstacle is positioned every Preset Time, when the obstacle is positioned every time, is obtained residing for the obstacle
Height above sea level, the angle of pitch, azimuth, and obtain it is double position the obstacle when obstacle displacement；
The displacement of height above sea level, the angle of pitch, azimuth and the obstacle according to residing for the obstacle, calculates the obstacle and moves
Dynamic trace information, and the obstacle the direction of motion and movement velocity；
The trace information and the direction of motion and movement velocity of the obstacle moved according to the obstacle, simulate the obstacle
The track that will be moved in three dimensions；
The track drawn the trace information of the obstacle movement and will move in three dimensions.
It is preferred that, the collection ambient image, including：
Detection current illumination value, corresponding image pickup mode collection ambient image is selected according to the testing result for obtaining,
When the testing result meets ultra-low illumination treatment conditions, then environment map is gathered by ultra-low illumination camera
Picture；
When the testing result does not meet the ultra-low illumination treatment conditions, then gathered by infrared thermal imaging camera
Ambient image.
It is preferred that, methods described also includes：
The data center receives the current location information, the current flight parameter and the current obstacle letter
During breath, flight parameter corresponding with the current location information and complaint message are obtained, replaced with the current flight parameter
Flight parameter originally, original complaint message is replaced with the current complaint message.
A kind of aircraft of the collision free obstacle based on data syn-chronization, it is characterised in that including：
Information request module, for obtaining current positional information, environmental information is obtained according to the positional information tissue
Request, and the acquisition environmental information request is sent to data center；
Information receiving module, for when the environmental information response that the data center returns is received, from the environment
Complaint message is obtained in information response, as history complaint message, flight parameter is obtained from environmental information response,
As history flight parameter；
Obstacle detection module, for gathering ambient image according to the state of flight of itself, obtains from the ambient image
Current complaint message, according to the current complaint message, the history complaint message and the history flight parameter, described
The obstacle is marked in ambient image, the ambient image of marked obstacle is shown；
Data simultaneous module, for when the obstacle is avoided, the flight parameter in the obstructive process to be avoided in acquisition, will
It sends out the current location information, the current flight parameter and the current complaint message as current flight parameter
Deliver to data center.
The beneficial effects of the invention are as follows：Aircraft flight DAS (Driver Assistant System) of the invention is single using forward sight unit, vertical view
Unit, can absorb aircraft front, lower section video image send display unit be shown to pilot, will appreciate that pilot
Aircraft front, the ambient conditions of lower section, improve the security of flight, landing.
Brief description of the drawings
Will now be described such as preferred but non-limiting embodiment, these and other features of the invention, side of the invention
Face and advantage will become obvious when refer to the attached drawing reads detailed further below, wherein：
Fig. 1 is the structural representation of DAS (Driver Assistant System) in present invention ()；
Fig. 2 is another structural representation of DAS (Driver Assistant System) in present invention ()；
Fig. 3 is another structural representation of DAS (Driver Assistant System) in present invention ()；
Fig. 4 is another structural representation of DAS (Driver Assistant System) in present invention ()；
Fig. 5 is the method flow diagram of auxiliary security flight in present invention (two)；
Fig. 6 is the device block diagram of auxiliary security flight in present invention (two)；
Fig. 7 is the method flow diagram based on detection obstacle raising landing security in present invention (three)；
Fig. 8 is the equipment block diagram based on detection obstacle raising landing security in present invention (three)；
Fig. 9 is the method flow diagram of the collision free obstacle based on data syn-chronization in present invention (four)；
Figure 10 is the aircraft device block diagram of the collision free obstacle based on data syn-chronization in present invention (four)；
Figure 11 is the structural representation of obstacle detection module in present invention (four)；
Figure 12 is image acquisition units schematic view of the mounting position in present invention ()；
Figure 13 is image acquisition units camera arrangement schematic diagram in present invention ()；
Figure 14 is image acquisition units camera arrangement schematic diagram in present invention ().
Specific embodiment
It is that the following description is substantially merely exemplary and be not intended to limitation the disclosure, using or purposes.Should
Understand, in whole accompanying drawings, corresponding reference represents identical or corresponding part and feature.
The present invention will comprehensively explain substance of the invention, it is necessary to explanation, this four by following four aspect
Aspect is separate and connects each other, and its structures and methods main idea neither constitutes conflicting, and those skilled in the art are comprehensive
It will be appreciated that where spirit of the invention after reading.
First, flight DAS (Driver Assistant System)
According to an aspect of the present invention, a kind of flight DAS (Driver Assistant System) for being applied to aircraft is disclosed, specifically such as
Under：
Reference picture 1 and Figure 12, in one embodiment of the invention, flight DAS (Driver Assistant System) of the invention includes video
Collecting unit 100 and manipulation unit 200, manipulation unit 200 include industrial computer 210 and display unit 240, wherein industrial computer 210
Including image capture module 212 and image processing module 211, video acquisition unit 100 is installed to aircraft bottom part down, its bag
Include forward sight unit 110 and overlook the two parts of unit 140, forward sight unit 110 and overlook unit 140 absorb respectively aircraft front with
Image below aircraft, and the image that will be absorbed respectively sends image capture module 212, image capture module 212 will be obtained
View data send image processing module 211 processed after send display unit 240 shown.The system has preceding
Depending on, overlook two big image acquisition units, aircraft pilot can clearly observe winged by display screen (display unit transmission)
Row device front, the ambient conditions of lower section, it is ensured that the safety of flight.Forward sight unit 110 and vertical view unit 140 can be by individually or in groups
Imaging lens, and independent or groups of visible light lens composition, the quantity of imaging lens or visible light lens can be 1
It is individual, the paired quantity of 2 or 4 or more.
Further, as shown in Fig. 2 forward sight unit 110 includes forward sight imaging lens 111 and forward sight visible light lens
125, it is respectively used to absorb the graphic images and visible images in front of aircraft；Overlooking unit 140 includes overlooking thermal imaging
Camera lens 141 and vertical view visible light lens 155, are respectively used to absorb the graphic images and visible images below aircraft.Such as
This realizes thermal imaging camera and is used in combination with visible light camera, realizes thermal imaging camera with visible light camera
Have complementary advantages, video image is gathered using visible light camera on daytime, in the severe weather conditions such as night and rain, snow, mist, haze
Lower use thermal imaging camera, can clearly watch aircraft front, the situation of lower section, so that equipment can not receive environmental factor
Influence, reaches the effect for gathering video image round the clock；In order to be able to preferably keep shooting angle, video camera is set to shoot flight all the time
The video image of device level front, vertically lower section, is easy to aircraft pilot to grasp aircraft front, the situation of lower section at any time,
Safely flight and landing, video acquisition unit 100 also includes gyroscope 170 and servo platform 180, and the two is used cooperatively, and is made
The shooting direction of forward sight unit 110 keeps the shooting direction of level and vertical view unit 140 to keep vertical.
Further, as shown in figure 3, forward sight unit 110 include the first forward sight imaging lens 112 and the second forward sight heat into
As the forward sight ultra-low illumination camera lens 126 of camera lens 113 and first and the second forward sight ultra-low illumination camera lens 127, it is respectively used to intake and flies
Graphic images and visible images in front of row device.
Equally, overlook unit 140 include first overlook imaging lens 142 and second overlook imaging lens 143 and
First overlooks ultra-low illumination camera lens 156 and second overlooks ultra-low illumination camera lens 157, be respectively used to absorb heat below aircraft into
As image and visible images.Using ultra-low illumination video camera, video camera can be made in light than still being able in the case of dark
Clearly image is absorbed, the scope of application of the system is expanded.
Wherein, two imaging lens 112 and 113 of forward sight unit 110 can be same focal length lenses, forward sight unit 110
Two ultra-low illumination camera lenses 126 and 127 can be same focal length lenses, overlook unit 140 two Hes of imaging lens 142
143 can be same focal length lenses, and the two ultra-low illumination camera lenses 156 and 157 for overlooking unit 140 can be same focal length lenses.
It should be noted that the bigger angle of visual field of focal length is smaller, the distance of shooting is more remote, and the smaller angle of visual field of focal length is bigger, claps
The distance taken the photograph is nearer, and the purpose of the image under collection different focal is, by different focal image co-registration, to reach the big visual angle of image
And remote purpose, with this rich image content, image is apparent.
Based on this, image processing module 211 includes image mosaic submodule 213, for two heat to forward sight unit 110
The image that imaging lens 112 and 113 (the first forward sight imaging lens 112 and the second forward sight imaging lens 113) are absorbed enters
Row splicing, to (the first vertical view ultra-low illumination camera lens 126 and second of two ultra-low illumination camera lenses 126 and 127 of forward sight unit 110
Overlook ultra-low illumination camera lens 127) image that is absorbed spliced, two Hes of imaging lens 142 to overlooking unit 140
The image that 143 (the first vertical view imaging lens 142 and second overlook imaging lens 143) are absorbed is spliced, to overlooking
(first overlooks ultra-low illumination camera lens 156 and second overlooks ultra-low illumination mirror to two ultra-low illumination camera lenses 156 and 157 of unit 140
The first image for 157) being absorbed is spliced.
Two imaging lens 112 and 113 of forward sight unit 110 can also be different focal camera lens, forward sight unit 110
Two ultra-low illumination camera lenses 126 and 127 can also be different focal camera lens, overlook two Hes of imaging lens 142 of unit 140
143 can also be different focal camera lens, and the two ultra-low illumination camera lenses 156 and 157 for overlooking unit 140 can also be different focal
Camera lens.
Image processing module 211 also includes image co-registration submodule 214, for two thermal imagings to forward sight unit 110
The image that camera lens 112 and 113 (the first forward sight imaging lens 112 and the second forward sight imaging lens 113) is absorbed is melted
Close, to two ultra-low illumination camera lenses 126 and 127 (the first vertical view ultra-low illumination camera lens 126 and second vertical view of forward sight unit 110
Ultra-low illumination camera lens 127) image that is absorbed merged, two imaging lens 142 and 143 (the to overlooking unit 140
One vertical view imaging lens 142 and second overlook imaging lens 143) image that is absorbed merged, to overlooking unit 140
Two ultra-low illumination camera lenses 156 and 157 (first overlooks ultra-low illumination camera lens 156 and second overlooks ultra-low illumination camera lens 157)
The image for being absorbed is merged.
Industrial computer 210 also includes memory module 215, playback module 216, electronics amplification module 217, video selecting module
218.Wherein, memory module 215 is used to carry out real-time storage to the video image after the treatment of image processing module 211；Playback mould
Block 216 shows for carrying out playback to the video image for storing；Electronics amplification module 217 is having remote target video image
When being unfavorable for eye-observation, electronics enlarging function can be performed to target area in manipulation unit 200, distant object region is carried out
Amplify, negligible image at a distance is become big and become clear, facilitate aircraft pilot to observe distant object；Video selecting module 218 is used
Display unit 240 is arrived in selection graphic images or visible images output.Or, image co-registration submodule 214 is respectively to preceding
Depending on unit 110 final graphic images merged with final visible images, to overlook unit 140 final heat
Image is merged with final visible images, the video image after the display fusion of display device 240.
As shown in figure 4, being driven to preferably obtain image auxiliary, in another embodiment, forward sight unit 110 includes
Four imaging lens and four ultra-low illumination camera lenses, it is respectively two 25mm imaging lens (i.e. the first forward sight 25mm heat
The forward sight 25mm imaging lens 115 of imaging lens 114 and second), two 12.3mm imaging lens (i.e. the first forward sight 12.3mm
The forward sight 12.3mm imaging lens 117 of imaging lens 116 and second), two 25mm ultra-low illuminations camera lens (i.e. the first forward sights
25mm ultra-low illuminations camera lens 128 and the second forward sight 25mm ultra-low illuminations camera lens 129) and two 8mm ultra-low illuminations camera lenses (i.e. first
Forward sight 8mm ultra-low illuminations camera lens 130 and the second forward sight 8mm ultra-low illuminations camera lens 131).
The camera of forward sight unit 110 as shown in figure 13 is specific towards arranging, eight cameras are divided to the row four of row two to indulge altogether
Arrangement, two of which 25mm imaging lens are located in the middle of first row, two 25mm ultra-low illuminations camera lens point row first row both sides,
Two 12.3mm imaging lens are located in the middle of second row, two 8mm ultra-low illuminations camera lens point row second row both sides, such cloth
The mode of putting can maximize the corresponding function of different cameras.It is following overlook units 140 eight camera arrangements with it is upper
State it is identical, reference can be made to Figure 14.
Overlooking unit 140 also includes four imaging lens and four ultra-low illumination camera lenses, and it is respectively two 25mm heat
Imaging lens (i.e. first overlooks 25mm imaging lens 144 and second overlooks 25mm imaging lens 145), two 12.3mm heat
Imaging lens (i.e. first overlooks 12.3mm imaging lens 146 and second overlooks 12.3mm imaging lens 147), two 25mm
Ultra-low illumination camera lens (i.e. first overlooks 25mm ultra-low illuminations camera lens 158 and second overlooks 25mm ultra-low illuminations camera lens 159) and two
Individual 8mm ultra-low illuminations camera lens (i.e. first overlooks 8mm ultra-low illuminations camera lens 160 and second overlooks 8mm ultra-low illuminations camera lens 161),
Imaging lens are used to absorb graphic images, and ultra-low illumination camera lens is used to absorb visible images.
Image processing module 211 includes image mosaic submodule 213 and image co-registration submodule 214, image mosaic submodule
Block 213 is used for two imaging lens of the identical focal length (imaging lens 114 and 115, thermal imaging mirror to forward sight unit 110
First 116 and 117) image that is absorbed is spliced, the ultra-low illumination camera lens to two identical focal lengths of forward sight unit 110 is (super
High-aperture lens 128 and 129, ultra-low illumination camera lens 130 and 131) image that is absorbed are spliced, to overlooking unit 140
The image that two imaging lens of identical focal length (imaging lens 144 and 145, imaging lens 146 and 147) are absorbed enters
Row splicing, ultra-low illumination camera lens (the ultra-low illumination camera lens 158 and 159, ultralow photograph of two identical focal lengths to overlooking unit 140
Degree camera lens 160 and 161) image that is absorbed are spliced；
Before image co-registration submodule 214 is used for the first forward sight 25mm imaging lens 114 and second of forward sight unit 110
The first forward sight 12.3mm heat of image after the image mosaic absorbed depending on 25mm imaging lens 115 and forward sight unit 110 into
As the image after the image mosaic that the forward sight 12.3mm imaging lens 117 of camera lens 116 and second are absorbed is merged, to forward sight
The image that first forward sight 25mm ultra-low illuminations camera lens 128 of unit 110 and the second forward sight 25mm ultra-low illuminations camera lens 129 are absorbed
The first forward sight 8mm ultra-low illuminations camera lens 130 and the second forward sight 8mm ultra-low illumination mirrors of spliced image and forward sight unit 110
Image after first 131 image mosaics absorbed is merged, the first vertical view 25mm imaging lens to overlooking unit 140
144 and the second image and the first vertical view for overlooking unit 140 after the image mosaic absorbed of vertical view 25mm imaging lens 145
The image that 12.3mm imaging lens 146 and second are overlooked after the image mosaic that 12.3mm imaging lens 147 are absorbed is carried out
Fusion, the first vertical view 25mm ultra-low illuminations camera lens 158 and second to overlooking unit 140 overlooks 25mm ultra-low illuminations camera lens 159
Image after the image mosaic absorbed is overlooked with the first vertical view 8mm ultra-low illuminations camera lens 160 and second for overlooking unit 140
Image after the image mosaic that 8mm ultra-low illuminations camera lens 161 is absorbed is merged.
The splicing of the video image that above-mentioned image processing process is absorbed by the camera lens to same focal length, can form width and regard
The video image at angle, and by the fusion of the video image to spliced different focal, the requirement of wide visual field angle had both been reached,
The fine definition in image center is in turn ensured that, image unsharp problem at a distance is solved.The remainder of the present embodiment with it is upper
One embodiment is identical, and here is omitted.Certainly from cost-effective angle, all can also be imaged using ultra-low illumination
Machine (cost of thermal camera is higher), uses infrared lamp floor light, ultra-low illumination video camera is collected clear figure
Picture.When all using ultra-low illumination video camera, the focal length of each video camera in forward sight/overlook direction can be adjusted to：Two
4mm, two 8mm.
The technique effect that the portion of techniques scheme is obtained：Forward sight list is used using the aircraft of above-mentioned assisting in flying system
Unit, overlook unit, can absorb aircraft forward, lower section video image send display unit be shown to pilot, make pilot
The ambient conditions of aircraft forward, lower section is will appreciate that, the security of flight, landing is improve.
2nd, in aircraft takeoff, flight and landing auxiliary security flying method and the device of application the method
Present invention also offers a kind of method of auxiliary security flight, when applying in aircraft takeoff, flight and landing,
The method mainly uses optical sensor to detect brightness value, and ultra-low illumination pattern or infrared mould are entered according to testing result selection
Formula, when corresponding pattern is entered, image is gathered according to different focal lengths respectively, and focusing identical image carries out image respectively
Splicing, image co-registration is carried out by spliced image, and shows the image after fusion, both of which is related in this programme, i.e.,
Ultra-low illumination pattern and infrared mode, are mutually switched by both patterns, gather image, can effectively solve the problem that rain, snow,
Under the severe weather conditions such as mist, haze, the sight line difference unsafe problem of flight.With reference to identical focal length image mosaic, then by after splicing
Image merged, obtain the big angle of visual field, clearly image, with this assisting in flying, further improve the security of flight.
As shown in figure 5, specifically including following steps：
Step 101：Detection brightness value, judges to enter ultra-low illumination pattern or infrared mode according to the testing result for obtaining,
If ultra-low illumination pattern, then step 102 is performed；If infrared mode, then step 105 is performed；
In the present invention, the brightness value of current environment is detected, the testing result to obtaining judges, if the detection knot
It is pre-conditioned that fruit meets first, it is determined that enters ultra-low illumination pattern, performs step 102；Otherwise determine to enter infrared mode, hold
Row step 105, wherein, first it is pre-conditioned can be more than 0.0001Lux.In the technical scheme that the present invention is provided, comprising super
Low-light (level) pattern and infrared mode, naturally it is also possible to comprising other patterns, for example：When testing result is more than 0.1Lux, enter
Enter general mode, now can gather image using optical camera lens；When testing result is less than or equal to more than 0.01Lux
During 0.1Lux, into low-light (level) pattern, now image can be gathered using low-illuminance cameras；When testing result is more than
0.001Lux enters moon lighting level pattern less than or equal to 0.01Lux, using moon lighting level camera acquisition image；When testing result is more than
When 0.0001Lux is less than or equal to 0.001Lux, into ultra-low illumination pattern, using ultra-low illumination camera acquisition image；Work as inspection
When surveying result less than or equal to 0.0001Lux, into infrared mode, image, various patterns are gathered using thermal infrared imaging camera
The method for gathering image is identical, and here is omitted.
Step 102：It is some that the first some width of focal length ultra-low illumination image, the second focal length ultra-low illumination image are gathered respectively
Width, then performs step 103；
When in the present invention, into ultra-low illumination pattern, ultra-low illumination video camera can be used under the conditions of different focal
Collection image, as a rule, the bigger angle of visual field of focal length is smaller, and the distance of shooting is more remote, in the method, is taken the photograph using ultra-low illumination
Camera, respectively using the first focal length, the second focal length as focal length value, gathers ultra-low illumination image in preceding apparent direction, wherein, first
The value of focal length can be differed with the value of the second focal length, and the first focal length value can be 25mm, and the second focal length value can be
8mm.The ultra-low illumination image that will be collected is as the first focal length ultra-low illumination image in preceding apparent direction, in preceding apparent direction
The second focal length ultra-low illumination image.Using ultra-low illumination video camera in overlook direction respectively with the first focal length, the second focal length
As focal length value, ultra-low illumination image is gathered, the ultra-low illumination image that will be collected is burnt as first in overlook direction
The second focal length ultra-low illumination image in ultra-low illumination image, overlook direction.During IMAQ is carried out, in order to carry
The definition of the image that height is collected and the visual angle of image are open enough, can gather some width focal lengths in preceding apparent direction
The different image of identical, shooting angle；Equally in overlook direction can also gather that some width focal lengths are identical, shooting angle not
Same image.
Step 103：Focusing identical ultra-low illumination image carries out image mosaic respectively, obtains the ultralow photograph of the first focal length
The ultra-low illumination stitching image of degree stitching image and the second focal length；
In the present invention, image mosaic is carried out away from identical ultra-low illumination image to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs, obtains forward sight side
The ultra-low illumination stitching image of the second focal length on the ultra-low illumination stitching image and preceding apparent direction of the first upward focal length, also
It is to say, by the first focal length ultra-low illumination image mosaic in apparent direction before some width into piece image, obtains in preceding apparent direction
The ultra-low illumination stitching image of the first focal length.By the second focal length ultra-low illumination image mosaic in apparent direction before some width an into width
Image, obtains the ultra-low illumination stitching image of the second focal length in preceding apparent direction.Same method obtains in overlook direction
The ultra-low illumination stitching image of the second focal length on the ultra-low illumination stitching image and overlook direction of one focal length.
In the present invention, by the way that by identical, towards under the conditions of upper, identical focal length, the image for each angle acquisition carries out figure
As splicing, the ultra-low illumination stitching image and the ultra-low illumination spliced map of the second focal length of the first focal length in preceding apparent direction are obtained
Picture, wherein, the ultra-low illumination stitching image of the first focal length is the image mosaic collected under the first focus condition, second
The ultra-low illumination stitching image of focal length is the image mosaic collected under the second focus condition, and the image of each angle is spelled
When being connected into piece image, by increasing capacitance it is possible to increase picture material, the definition of raising characteristics of image.In addition, the ultralow photograph with the second focal length
Degree stitching image compares, but the narrow mesh that can be photographed remotely of the ultra-low illumination stitching image angle of visual field of the first focal length
Mark, accordingly, with a wide angle of view for the second ultra-low illumination splicing figure, but the characteristics of image of distant place is relatively obscured.
Step 104：The ultra-low illumination stitching image of the ultra-low illumination stitching image of the first focal length and the second focal length is carried out
Ultra-low illumination image after fusion is sent to aircraft human pilot by image co-registration, the ultra-low illumination image after being merged,
Ultra-low illumination image after display fusion, return terminates；
In the present invention, by second on the ultra-low illumination stitching image and preceding apparent direction of the first focal length in preceding apparent direction
The ultra-low illumination stitching image of focal length carries out image co-registration, obtains the ultra-low illumination image after fusion in preceding apparent direction；To overlook
The ultra-low illumination stitching image of the second focal length on the ultra-low illumination stitching image and overlook direction of the first focal length on direction enters
Row image co-registration, obtains the ultra-low illumination image after fusion in overlook direction.In the present invention, by by preceding apparent direction
The ultra-low illumination stitching image of one focal length and the ultra-low illumination stitching image of the second focal length carry out image co-registration, make the angle of visual field narrower
The ultra-low illumination stitching image of the first focal length be fused in the ultra-low illumination stitching image of the angle of visual field the second focal length wider, both
The purpose of wide visual field angle is reached, the definition of image has been improve again, and the characteristics of image of distant place can be seen.
Step 105：The 3rd some width of focal length infrared image and the 4th some width of focal length infrared image are gathered respectively, perform step
Rapid 106；
When in the present invention, into infrared mode, can be adopted using thermal infrared imaging camera under the conditions of different focal
Collection image, as a rule, the bigger angle of visual field of focal length is smaller, and the distance of shooting is more remote, in the method, is taken the photograph using infrared thermal imaging
Camera gathers infrared image using the 3rd focal length, the 4th focal length as focal length value respectively in preceding apparent direction (overlook direction), wherein,
3rd focal length and the 4th focal length can be differed, and the 3rd focal length can be 25mm, and the 4th focal length can be 12.3mm.To collect
Infrared image respectively as the 3rd focal length infrared image in preceding apparent direction (or overlook direction), preceding apparent direction (or vertical view side
To) on the 4th focal length infrared image.During IMAQ is carried out, in order to improve the definition of the image for collecting with
And the visual angle of image is open enough, some images that width focal length is identical, shooting angle is different can be gathered in preceding apparent direction；
Some images that width focal length is identical, shooting angle is different equally can also be gathered in overlook direction.
Step 106：The some width infrared images of focusing identical carry out image mosaic respectively, obtain trifocal infrared
The infrared mosaic image of stitching image and the 4th focal length；
In the present invention, image mosaic is carried out away from identical infrared image to the apparent direction part of the body cavity above the diaphragm housing the heart and lungs before some width, obtains forward sight
The infrared mosaic image of the 4th focal length on trifocal infrared mosaic image and preceding apparent direction on direction.Same method
Obtain the infrared mosaic image of the 4th focal length on the trifocal infrared mosaic image and overlook direction in overlook direction.
Step 107：The infrared mosaic image of trifocal infrared mosaic image and the 4th focal length is carried out into image co-registration,
Infrared image after being merged, aircraft human pilot is sent to by the infrared image after fusion, infrared after display fusion
Image, return terminates.
In the present invention, by the 4th focal length on the trifocal infrared mosaic image and preceding apparent direction in preceding apparent direction
Infrared mosaic image carry out image co-registration, obtain in preceding apparent direction the infrared image after fusion.Similarly, by overlook direction
The infrared mosaic image of the 4th focal length on trifocal infrared mosaic image and overlook direction carries out image co-registration, is bowed
Infrared image after being merged in apparent direction.
In the present invention, above-mentioned processing mode makes the narrower trifocal infrared mosaic image co-registration of the angle of visual field to visual field
In the infrared mosaic image of angle the 4th focal length wider, the purpose of wide visual field angle was both reached, the definition of image had been improve again,
And the characteristics of image of distant place can be seen.
In the present invention, for the difference of brightness value, using infrared mode and ultra-low illumination type collection image, illumination bar
When part is preferable, using ultra-low illumination type collection image.In illumination conditions difference, than if any thick fog, haze, cloud layer, rain, snow, dark
Under the mal-conditions such as night, image is gathered using infrared mode, image can be collected, environment, assisting in flying are understood with this.
In the method, by obtaining the image of the big angle of visual field to image mosaic, and then more images can be collected
Content；The ultra-low illumination stitching image of the ultra-low illumination stitching image of the first focal length and the second focal length is carried out into image co-registration, is obtained
Ultra-low illumination image after to fusion, the ultra-low illumination image after display fusion, as a rule, focal length value is bigger, and visual angle is smaller,
The distance of shooting is more remote, in the present invention, the different image of focal length is carried out into image co-registration, and farther, more wide viewing angle is obtained with this
Image, further increase picture material.In addition, when being operated under infrared mode, power consumption is big, and cost is higher, because
This, in the present invention, clear, big visual field can be effectively collected using infrared mode by the way of ultra-low illumination pattern is combined
The image at angle, power consumption is low, cost-effective.
It should be noted that can also include in the method：Whether detection forward sight shooting direction is in level, works as detection
When level is not in, adjustment orientation to level, it is possible to use gyroscope is detected whether in level, when in level, energy
Front view, top view are enough collected, when level is not in, it is necessary to adjust to level, front view, top view is then gathered again.
In addition, in the present invention, can independently select image acquisition modality with user.In aircraft takeoff, flight or can land
When, image acquisition modality according to user's selection instruction carries out next step operation.In the present invention, can obtain and parse use
The voice command of family input, corresponding image acquisition modality is selected according to analysis result.
The position that user touches on screen can also be obtained, corresponding IMAQ mould is selected according to the positional information
Formula.The physical button triggered by user can certainly be detected, when the physical button being triggered is that ultra-low illumination pattern is corresponding
During button, step 102 is performed；When the physical button of user's triggering is the corresponding button of infrared mode, step 105 is performed.
In the embodiment of the present invention, can will be used for gathering the thermal camera of infrared image, and for gathering ultra-low illumination image
Ultra-low illumination video camera, radial arrangement, with this broadening angle of visual field, makes the image f iotaeld-of-view angle for collecting wider respectively.
Correspondingly, to realize above-mentioned the method, a kind of device of corresponding auxiliary security flight is also disclosed, such as Fig. 6 institutes
Show, the device is applied to aircraft takeoff, flight and gathers image when landing, and it includes：Mode selection module 201, is used for
Detection brightness value, ultra-low illumination pattern or infrared mode are entered according to the testing result selection for obtaining；
In the present invention, mode selection module 201, the brightness value specifically for detecting current environment, the detection to obtaining
Result is judged, if the testing result meets the first pre-conditioned, triggering ultra-low illumination image capture module 202；It is no
Then triggering infrared image acquisition module 205, wherein, first it is pre-conditioned can be more than 0.0001Lux.Furthermore it is also possible to root
More accurate pattern is marked off according to brightness value, is used in conjunction with each other with the video camera that this makes different types, reached more
Clearly, the more rich image of content, corresponding, mode selection module 201, the brightness value specifically for detecting current environment,
Testing result to obtaining judges, when testing result is more than 0.1Lux, into general mode, can now use optics
Pick-up lens gathers image；When testing result is less than or equal to 0.1Lux more than 0.01Lux, into low-light (level) pattern, now may be used
Image is gathered with using low-illuminance cameras；When testing result enters moon lighting level mould more than 0.001Lux less than or equal to 0.01Lux
Formula, using moon lighting level camera acquisition image；When testing result is less than or equal to 0.001Lux more than 0.0001Lux, enter the excess of imports
Low-light (level) pattern, using ultra-low illumination camera acquisition image；When testing result is less than or equal to 0.0001Lux, into infrared
Pattern, image is gathered using thermal infrared imaging camera, and the method for various type collection images is identical, and here is omitted.
Ultra-low illumination image capture module 202, for when ultra-low illumination pattern is entered, the first focal length being gathered respectively ultralow
Illumination image, the second focal length ultra-low illumination image；
In the present invention, ultra-low illumination image capture module 202, for using ultra-low illumination video camera in preceding apparent direction
Respectively using the first focal length, the second focal length as focal length value, ultra-low illumination image is gathered, wherein, the value of the first focal length and second
The value of focal length is differed, and the first focal length value can be 25mm, and the second focal length value can be 8mm.The ultra-low illumination that will be collected
Image is respectively as the first focal length ultra-low illumination image in preceding apparent direction, the second focal length ultra-low illumination figure in preceding apparent direction
Picture.Using ultra-low illumination video camera in overlook direction respectively using the first focal length, the second focal length as focal length value, gather ultralow photograph
Degree image, the ultra-low illumination image that will be collected is as the first focal length ultra-low illumination image, the vertical view side in overlook direction
The second upward focal length ultra-low illumination image.During IMAQ is carried out, in order to improve the clear of the image for collecting
The visual angle of degree and image is open enough, can gather some figures that width focal length is identical, shooting angle is different in preceding apparent direction
Picture；Some images that width focal length is identical, shooting angle is different equally can also be gathered in overlook direction.
Ultra-low illumination image mosaic module 203, image mosaic is carried out for focusing identical ultra-low illumination image respectively,
Obtain the ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length；
In the present invention, ultra-low illumination image mosaic module 203, specifically for ultralow away from identical to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs
Illumination image carries out image mosaic, obtains on the ultra-low illumination stitching image and preceding apparent direction of the first focal length in preceding apparent direction
The ultra-low illumination stitching image of the second focal length, that is to say, that by the first focal length ultra-low illumination image in apparent direction before some width
Piece image is spliced into, the ultra-low illumination stitching image of the first focal length in preceding apparent direction is obtained.By in apparent direction before some width
The second focal length ultra-low illumination image mosaic into piece image, obtain the ultra-low illumination spliced map of the second focal length in preceding apparent direction
Picture.
Ultra-low illumination image mosaic module 203, is specifically additionally operable to focal length identical ultra-low illumination image in overlook direction
Image mosaic is carried out, the second focal length on the ultra-low illumination stitching image and overlook direction of the first focal length in overlook direction is obtained
Ultra-low illumination stitching image, that is to say, that by the first focal length ultra-low illumination image mosaic in some width overlook directions into
Width image, obtains the ultra-low illumination stitching image of the first focal length in overlook direction.In some width overlook directions second is burnt
Away from ultra-low illumination image mosaic into piece image, the ultra-low illumination stitching image of the second focal length in overlook direction is obtained.
Ultra-low illumination image co-registration module 204, for by the ultra-low illumination stitching image of the first focal length and the second focal length
Ultra-low illumination stitching image carries out image co-registration, the ultra-low illumination image after being merged, by the ultra-low illumination after the fusion
Image is sent to aircraft human pilot, the ultra-low illumination image after display fusion.
In the present invention, ultra-low illumination image co-registration module 204, specifically for surpassing the first focal length in preceding apparent direction
The ultra-low illumination stitching image of the second focal length on low-light (level) stitching image and preceding apparent direction carries out image co-registration, obtains forward sight side
Ultra-low illumination image after merging upwards；
Ultra-low illumination image co-registration module 204, is specifically additionally operable to spell the ultra-low illumination of the first focal length in overlook direction
The ultra-low illumination stitching image of the second focal length on map interlinking picture and overlook direction carries out image co-registration, obtains being merged in overlook direction
Ultra-low illumination image afterwards.
Infrared image acquisition module 205, for when infrared mode is entered, the 3rd focal length infrared image, the being gathered respectively
Four focal length infrared images, triggering infrared image concatenation module 206；
In the present invention, infrared image acquisition module 205, specifically for using thermal infrared imaging camera in preceding apparent direction
It is upper to gather infrared image respectively using the 3rd focal length, the 4th focal length as focal length value, wherein, the 3rd focal length can be 25mm, the 4th
Focal length can be 12.3mm.The infrared image that will be collected is as the 3rd focal length infrared image, the forward sight in preceding apparent direction
The 4th focal length infrared image on direction.Using thermal infrared imaging camera in overlook direction respectively with the 3rd focal length, the 4th
Focal length gathers infrared image as focal length value, and the infrared image that will be collected is red as the 3rd focal length in overlook direction
The 4th focal length infrared image in outer image, overlook direction.During IMAQ is carried out, in order to improve the figure for collecting
The definition of picture and the visual angle of image are open enough, can be in preceding apparent direction, and some width focal lengths of collection are identical, shooting angle
Different images；Some images that width focal length is identical, shooting angle is different equally can also be gathered in overlook direction.
Infrared image concatenation module 206, image mosaic is carried out for focusing identical infrared image respectively, obtains the 3rd
The infrared mosaic image of focal length and the infrared mosaic image of the 4th focal length；
In the present invention, infrared image concatenation module 206, specifically for the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs away from identical infrared image
Image mosaic is carried out, the red of the 4th focal length on the trifocal infrared mosaic image and preceding apparent direction in preceding apparent direction is obtained
Outer stitching image, that is to say, that the 3rd focal length infrared image in apparent direction before some width is spliced into piece image, before obtaining
Trifocal infrared mosaic image in apparent direction.The 4th focal length infrared image in apparent direction before some width is spliced into one
Width image, obtains the infrared mosaic image of the 4th focal length in preceding apparent direction.
It is additionally operable to carry out image mosaic to focal length identical infrared image in overlook direction, obtains the 3rd in overlook direction
The infrared mosaic image of the 4th focal length on the infrared mosaic image and overlook direction of focal length, that is to say, that overlook some width
The 3rd focal length infrared image on direction is spliced into piece image, obtains the trifocal infrared mosaic figure in overlook direction
Picture.The 4th focal length infrared image in some width overlook directions is spliced into piece image, the 4th Jiao in overlook direction is obtained
Away from infrared mosaic image.
Infrared image Fusion Module 207, for by the infrared mosaic of trifocal infrared mosaic image and the 4th focal length
Image carries out image co-registration, the infrared image after being merged, and the infrared image after the fusion is sent into aircraft drives
Personnel, the infrared image after display fusion.
In the present invention, infrared image Fusion Module 207, specifically for by the trifocal infrared spelling in preceding apparent direction
The infrared mosaic image of the 4th focal length on map interlinking picture and preceding apparent direction carries out image co-registration, after obtaining being merged in preceding apparent direction
Infrared image.
It is additionally operable to the red of the 4th focal length on the trifocal infrared mosaic image and overlook direction in overlook direction
Outer stitching image carries out image co-registration, obtains the infrared image after fusion in overlook direction.
In the present invention, by by the infrared spelling of trifocal infrared mosaic image and the 4th focal length in preceding apparent direction
Map interlinking picture carries out image co-registration, make the narrower trifocal infrared mosaic image co-registration of the angle of visual field to the angle of visual field it is wider the 4th
In the infrared mosaic image of focal length, the purpose of wide visual field angle was both reached, the definition of image had been improve again, and can see clearly
The characteristics of image of Chu distant place.For the difference of brightness value, using infrared mode and ultra-low illumination type collection image, illumination conditions
When preferable, using ultra-low illumination type collection image.In illumination conditions difference, than if any thick fog, haze, cloud layer, rain, snow, dark night
Under Deng mal-condition, image is gathered using infrared mode, image can be collected, environment, assisting in flying are understood with this.In addition,
When being operated under infrared mode, power consumption is big, and cost is higher, therefore in the present invention, using infrared mode with it is ultralow
The mode that illumination pattern is combined can effectively collect the image of clear, the big angle of visual field, and power consumption is low, cost-effective.
The present apparatus may also include：Detection orientation module, for whether detecting forward sight shooting direction in level, when detecting
When being not in level, adjustment orientation to level.Specific detection orientation module can be gyroscope, be detected whether using gyroscope
In level, when in level, collection front view, top view, when level is not in, it is necessary to adjust to level, Ran Houzai
Collection front view, top view.By gathering front view picture and overhead view image, the mode that both are combined, by flight course
The picture showing of related angle is easy to safe flight to operating personnel.
3rd, the device of methods and applications the method for aircraft landing security is improved based on detection obstacle
For further assisting in flying, on the basis of foregoing teachings, the front view after fusion, top view can be hindered
Hinder detection, after detecting obstacle, warning information can be generated, to warn aircraft operation personnel.It is specific as follows,
A kind of method that landing security is improved based on detection obstacle is disclosed as shown in Figure 7, is comprised the following steps：
Step 1010：Adjustment capture apparatus itself orientation, makes forward sight shooting direction be level；
In embodiments of the present invention, whether capture apparatus real-time detection forward sight shooting direction is in level, when being not in water
Usually, self-position is adjusted by servo platform, makes forward sight shooting direction be level.Specifically gyroscope can be fixed on equipment
In, whether level is in by gyroscope testing equipment.
Step 1020：Detection current illumination value, judges whether testing result meets ultra-low illumination treatment conditions, is to perform
Step 1030；Otherwise perform step 1050；
In this embodiment, current illumination value is detected, the testing result to obtaining judges, if the testing result is accorded with
Close ultra-low illumination treatment conditions, it is determined that enter ultra-low illumination pattern, perform step 1030；Otherwise determine to enter infrared mode,
Perform step 1050.Wherein, ultra-low illumination treatment conditions can be more than 0.0001Lux.
Step 1030：Some width front view pictures and some width top views of current location are gathered using ultra-low illumination camera
Picture, by obtaining ultra-low illumination front view picture and ultra-low illumination overhead view image after splicing and fusion, then performs step 1040；
In embodiment, before being gathered with 8 cameras (+4 ultra-low illumination cameras of 4 infrared thermal imaging cameras)
Visible image, 8 cameras (+4 ultra-low illumination cameras of 4 infrared thermal imaging cameras) gather overhead view image, same type
Camera focal length may be the same or different, for example gather front view picture 8 cameras in, two Jiao of ultra-low illumination camera
Away from being 25mm, the focal length of two other ultra-low illumination camera is 8mm.
Some width front view pictures and some width overhead view images are gathered using ultra-low illumination camera；Wherein, front view picture is
In the image of preceding apparent direction overlying lid the first predetermined angle scope, overhead view image is that the second predetermined angle is covered in overlook direction
The image of scope.
Optionally, focal length identical front view picture is divided into one group, every group of focal length identical front view picture is spelled
Piece image is connected into, the corresponding first splicing front view picture of the focal length is obtained.Then, first to different focal splices front view
As carrying out image co-registration, piece image is finally fused into, as ultra-low illumination front view picture.
Optionally, focal length identical overhead view image is divided into one group, every group of focal length identical overhead view image is spelled
Piece image is connected into, the corresponding first splicing overhead view image of the focal length is obtained.The first splicing overhead view image to different focal enters
Row image co-registration, is finally fused into piece image, used as ultra-low illumination overhead view image.
In the technical scheme for providing, different state of flights can be directed to and gather different images, peace is aided in this
Full flight.State of flight can be detected when testing result meets ultra-low illumination treatment conditions, if being in takeoff condition or drop
The state that falls or state of flight, then gather the ultra-low illumination front view picture and ultra-low illumination of current location by ultra-low illumination camera
Overhead view image.
Step 1040：Obstacle is carried out to the ultra-low illumination front view picture and ultra-low illumination overhead view image after splicing fusion respectively
Detection, when there is obstacle in detecting ultra-low illumination front view picture and/or ultra-low illumination overhead view image, generates and sends alarm
Information, return terminates.
In this embodiment, carrying out obstacle detection can be by judging that ultra-low illumination front view picture and/or ultra-low illumination are bowed
Judge with the presence or absence of image characteristic point in visible image, when it is determined that there is image characteristic point, image characteristic point is extracted, according to figure
As feature point-rendering obstacle image, and obstacle figure is marked in corresponding ultra-low illumination front view picture and ultra-low illumination overhead view image
Picture；When it is determined that not existing image characteristic point, it is determined that not existing obstacle.
By the positional information of satellite fix obstacle, according to the positional information of obstacle, and the super of obstacle image is marked with
Low-light (level) front view picture and ultra-low illumination overhead view image, generate warning information, send a warning message.
Step 1050：The some width front view pictures and some width for gathering current location using infrared thermal imaging camera are overlooked
Image, by obtaining infrared level front view picture and infrared level overhead view image after splicing and fusion, performs step 1060；
In embodiment, some width front view pictures and some width overhead view images are gathered using infrared thermal imaging camera, its
In, front view picture is the image in preceding apparent direction overlying lid the first predetermined angle scope, and overhead view image is in overlook direction overlying
The image of lid the second predetermined angle scope.
Optionally, focal length identical front view picture is divided into one group, every group of focal length identical front view picture is spelled
Piece image is connected into, the corresponding second splicing front view picture of the focal length is obtained.The second splicing front view picture to different focal enters
Row image co-registration, is finally fused into piece image, used as infrared level front view picture.
Optionally, focal length identical overhead view image is divided into one group, every group of focal length identical overhead view image is spelled
Piece image is connected into, the corresponding second splicing overhead view image of the focal length is obtained.The second splicing overhead view image to different focal enters
Row image co-registration, is finally fused into piece image, used as infrared level overhead view image.
In embodiment, different state of flights can be directed to and gather different images, auxiliary security come with this and is flown.Can
When testing result does not meet ultra-low illumination treatment conditions, to detect state of flight, if in takeoff condition or landing state
Or state of flight, then the infrared level front view picture and infrared level overhead view image of current location are gathered by infrared level camera.
Step 1060：Respectively to splicing and fusion after infrared level front view picture and infrared level overhead view image carry out obstacle inspection
Surveying, when there is obstacle in detecting infrared level front view picture and/or infrared level overhead view image, generating and sending warning information.
In embodiment, the method for obstacle detection is carried out ibid, can be by judging infrared level front view picture and/or infrared
Obstacle is judged whether with the presence or absence of image characteristic point in level overhead view image, when it is determined that there is image characteristic point, is extracted
Image characteristic point, according to characteristics of image point-rendering obstacle image, and in corresponding infrared level front view picture and infrared level top view
Obstacle image is marked as in；When it is determined that not existing image characteristic point, it is determined that not existing obstacle.
By the positional information of satellite fix obstacle, according to the positional information of obstacle, and the red of obstacle image is marked with
Outer level front view picture and infrared level overhead view image, generate warning information, send a warning message.In embodiment, can also show
The warning information, and when touch-screen event is detected, amplify obstacle image.
To realize the above method, the corresponding equipment that landing security is improved based on detection obstacle of the method is amplified out, such as
Shown in Fig. 8, the equipment includes：
Orientation adjustment module 2010, for adjusting itself orientation, makes forward sight shooting direction be level；
In embodiments of the present invention, orientation adjustment module 2010 is used for whether real-time detection forward sight shooting direction to be in water
It is flat, when level is not in, self-position is adjusted by servo platform, make forward sight shooting direction be level.Orientation adjustment module
2010 can be specifically gyroscope, and it is fixed in a device, and whether level is in for testing equipment.
Luminance detection module 2020, for detecting current illumination value, judges whether testing result meets ultra-low illumination treatment
Condition；
In embodiments of the present invention, luminance detection module 2020, specifically for detection current illumination value, the detection to obtaining
Result is judged, if the testing result meets ultra-low illumination treatment conditions, triggering starlight acquisition module 2030；Otherwise touch
Rubescent outer acquisition module 2050.Wherein, ultra-low illumination treatment conditions can be more than 0.0001Lux.
Starlight acquisition module 2030, for when testing result meets ultra-low illumination treatment conditions, then by ultra-low illumination
The ultra-low illumination front view picture and ultra-low illumination overhead view image of camera collection current location are simultaneously spliced and fusion treatment, or
Person is spliced and fusion treatment function can be completed by other separate modulars；
In embodiments of the present invention, starlight acquisition module 2030 is used to gather some width front view pictures and some width top views
Picture；Wherein, front view picture is the image in preceding apparent direction overlying lid the first predetermined angle scope, and overhead view image is in overlook direction
The image of the second predetermined angle scope of upper covering.
Selectively, can also be divided into for focal length identical front view picture by starlight acquisition module 2030 or other separate modulars
One group, every group of focal length identical front view picture is spliced into piece image, obtains the corresponding first splicing front view picture of the focal length.
The first splicing front view picture to different focal carries out image co-registration, piece image is finally fused into, as ultra-low illumination forward sight
Image.
Focal length identical overhead view image is divided into one group, every group of focal length identical overhead view image is spliced into a width figure
Picture, obtains the corresponding first splicing overhead view image of the focal length.The first splicing overhead view image to different focal carries out image co-registration,
Piece image finally is fused into, as ultra-low illumination overhead view image.
In the technical scheme for providing, different state of flights can be directed to and gather different images, peace is aided in this
Full flight.Can be when testing result meet ultra-low illumination treatment conditions, triggering state monitoring modular, for detecting flight shape
State, if being in takeoff condition, the ultra-low illumination front view picture of current location is gathered by ultra-low illumination camera；If place
In landing state, then the ultra-low illumination overhead view image of current location is gathered by ultra-low illumination camera；If being in flight shape
State, then gather the ultra-low illumination front view picture and ultra-low illumination overhead view image of current location by ultra-low illumination camera.
Starlight obstacle detection module 2040, for respectively to the ultra-low illumination front view picture and ultralow after splicing fusion
Illumination overhead view image carries out obstacle detection, exists in ultra-low illumination front view picture and/or ultra-low illumination overhead view image is detected
During obstacle, warning information is generated and sent；
In embodiment, starlight obstacle detection module 2040 can be by judging ultra-low illumination front view picture and/or ultralow
Obstacle is judged whether with the presence or absence of image characteristic point in illumination overhead view image, when it is determined that there is image characteristic point, is carried
Image characteristic point is taken, according to characteristics of image point-rendering obstacle image, and in corresponding ultra-low illumination front view picture and ultra-low illumination
Obstacle image is marked in overhead view image；When it is determined that not existing image characteristic point, it is determined that not existing obstacle.
Starlight obstacle detection module 2040, is additionally operable to the positional information by satellite fix obstacle, according to the position of obstacle
Information, and the ultra-low illumination front view picture and ultra-low illumination overhead view image of obstacle image are marked with, warning information is generated, send
Warning information.
Infrared collecting module 2050, for when testing result does not meet ultra-low illumination treatment conditions, then by infrared heat
The infrared level front view picture and infrared level overhead view image of imaging camera head collection current location are simultaneously spliced and fusion treatment, or
Person is spliced and fusion treatment function can be completed by other separate modulars；
In embodiments of the present invention, before infrared collecting module 2050 is used to gather some width using infrared thermal imaging camera
Visible image and some width overhead view images, wherein, front view picture is the image in preceding apparent direction overlying lid the first predetermined angle scope,
Overhead view image is the image that the second predetermined angle scope is covered in overlook direction.
Selectively, can also be divided into for focal length identical front view picture by infrared collecting module 2050 or other separate modulars
One group, every group of focal length identical front view picture is spliced into piece image, obtains the corresponding second splicing front view picture of the focal length.
The second splicing front view picture to different focal carries out image co-registration, piece image is finally fused into, as infrared level front view
Picture.
Similarly, also focal length identical overhead view image can be divided into one group, every group of focal length identical overhead view image is spliced
Into piece image, the corresponding second splicing overhead view image of the focal length is obtained.The second splicing overhead view image to different focal is carried out
Image co-registration, is finally fused into piece image, used as infrared level overhead view image.
In embodiments of the present invention, different state of flights can be directed to and gathers different images, auxiliary security is come with this
Flight.The present apparatus can include state detection module, for when testing result does not meet ultra-low illumination treatment conditions, detection to fly
Row state, if being in takeoff condition, the infrared level front view picture of current location is gathered by infrared level camera；If place
In landing state, then the infrared level overhead view image of current location is gathered by infrared level camera；When in state of flight, then
The infrared level front view picture and infrared level overhead view image of current location are gathered by infrared level camera.
Infrared obstacle detection module 2060, for overlooking the infrared level front view picture and infrared level after splicing fusion respectively
Image carries out obstacle detection, and when there is obstacle in detecting infrared level front view picture and/or infrared level overhead view image, generation is simultaneously
Send a warning message.
In embodiment, infrared obstacle detection module 2060 is used for by judging infrared level front view picture and/or infrared level
Obstacle is judged whether with the presence or absence of image characteristic point in overhead view image, when it is determined that there is image characteristic point, figure is extracted
As characteristic point, according to characteristics of image point-rendering obstacle image, and in corresponding infrared level front view picture and infrared level overhead view image
Middle mark obstacle image；When it is determined that not existing image characteristic point, it is determined that not existing obstacle.
The positional information by satellite fix obstacle is additionally operable to, according to the positional information of obstacle, and obstacle figure is marked with
The infrared level front view picture and infrared level overhead view image of picture, generate warning information, send a warning message.It should be noted that
In the embodiment of the present invention, touch screen module can also be included, for showing the warning information, and when touch-screen event is detected,
Amplify obstacle image.The ultra-low illumination camera mentioned in the embodiment of the present invention specially low-light (level) ultra-low illumination camera.
The portion of techniques scheme obtain technique effect be：Equipment makes the forward sight shooting direction be by adjusting itself orientation
Level, detects current illumination value, is imaged using ultra-low illumination camera or infrared thermal imaging according to the testing result selection for obtaining
Head gathers the front view picture and overhead view image of current location respectively, carries out obstacle detection to front view picture and overhead view image respectively,
When obstacle is detected, warning information is generated and sent.Being coordinated using infrared thermal imaging camera and ultra-low illumination camera is made
Method, can gather artwork master under conditions of light condition extreme difference, even 0Lux using infrared thermal imaging camera
Picture, detects obstacle, being capable of effective early warning obstacle.Further, when light condition meets ultra-low illumination condition, using super
Low-light (level) camera gathers coloured image, and the image of acquisition is apparent, true to nature, advantageously in alarm obstruction, so as to improve winged
Row security.
4th, the aircraft of the method for the collision free obstacle based on data syn-chronization and application the method
As shown in figure 9, present invention also offers a kind of method of the collision free obstacle based on data syn-chronization, including：
Step 401：Aircraft obtains current positional information, and environmental information request is obtained according to positional information tissue, and
Environmental information request will be obtained to send to data center；
In embodiment, aircraft obtains longitude, latitude and height above sea level by global position system, by longitude, latitude
Degree and height above sea level specifically can send Location Request as current location information to GPS or big-dipper satellite alignment system, connect
Receive longitude, latitude and the height above sea level for returning.
Step 402：When the environmental information for receiving data center's return is responded, obstacle is obtained from environmental information response
Information, as history complaint message, obtains flight parameter, as history flight parameter from environmental information response；
Data center is stored with the response of corresponding with positional information environmental information, and the position comprising obstacle is believed in environmental response
Breath, dimension information, mobile attribute information and flight parameter when bypassing the obstacle.In this programme, aircraft can be from connecing
In the environmental information response for receiving, positional information, dimension information, the mobile attribute information of obstacle are obtained, the position of obstacle is believed
Breath, dimension information and mobile attribute information as history complaint message, obtained from the environmental response flight parameter, as
History flight parameter.
Step 403：State of flight collection ambient image according to itself, obtains current complaint message from ambient image,
According to current complaint message, history complaint message and history flight parameter, the obstacle is marked in ambient image, display has been marked
Remember the ambient image of obstacle；
For aircraft, there are four kinds of state of flights, that is, take off, fly, landing and be static, fly for different
The different ambient image assisting in flying of row state acquisition.Aircraft collection image method can be：Obtain the flight shape of itself
State, if takeoff condition or landing state or state of flight, then gathers front view picture, overhead view image (referring to foregoing teachings one
With the part of content two), the image that will be collected is used as ambient image.Obstacle detection is carried out of course for comprehensive, can be with
Collection upward view picture, left view image, right view image and rearview picture such that it is able to the comprehensive environment for observing surrounding,
The obstacle moved on other directions is avoided to hinder flight safety.
As it was previously stated, in order to improve the definition of the image for collecting and cost-effective, when ambient image is gathered, can
To detect current illumination value, corresponding image pickup mode collection ambient image is selected according to the testing result for obtaining, work as testing result
When meeting ultra-low illumination treatment conditions, then ambient image is gathered by ultra-low illumination camera；When testing result do not meet it is ultralow
During illumination treatment conditions, then ambient image is gathered by infrared thermal imaging camera.Wherein, ultra-low illumination treatment conditions can be
Brightness value more than 0.0001Lux.
Current complaint message can be being obtained after getting environmental information from ambient image, for adopting in the same direction
The ambient image for collecting, image mosaic is carried out by the ambient image of identical focal length, is spliced into piece image.Will be different in this direction
The spliced image of focal length carries out image co-registration, and the image after being merged extracts characteristic point on the image from after fusion, when
When extracting characteristic point, according to feature point-rendering obstacle (process is same or similar with the part of foregoing teachings three), and barrier is marked
Hinder, the positional information of obstacle is obtained by global position system, the image of positional information and mark obstacle according to obstacle, meter
The dimension information of obstacle, mobile attribute information are calculated, using the positional information of obstacle, dimension information, mobile attribute information as current
Complaint message.Then, judge whether current complaint message is identical with history complaint message, be that barrier is then marked in ambient image
Hinder, and point out history flight parameter；Obstacle is otherwise marked in ambient image according to current complaint message.
In this aspect of invention, the motion track of obstacle can also be drawn on the image of mark obstacle, can be every pre-
If obstacle of timi requirement, in positioning obstacle every time, height above sea level, the angle of pitch, the azimuth residing for obstacle are obtained, and obtain
The displacement of obstacle during double positioning obstacle；
The displacement of height above sea level, the angle of pitch, azimuth and obstacle according to residing for obstacle, calculates the track letter of obstacle movement
Breath, and obstacle the direction of motion and movement velocity；
The trace information and the direction of motion and movement velocity of obstacle moved according to obstacle, analog obstacle is in three dimensions
The track that will be moved；
The track drawn the trace information of obstacle movement and will move in three dimensions.
Step 404：When obstacle is avoided, the flight parameter in obstructive process is avoided in acquisition, as current flight ginseng
Number, current location information, current flight parameter and current complaint message are sent to data center.
In this aspect of invention, data center receives current location information, current flight parameter and current obstacle letter
During breath, flight parameter corresponding with current location information and complaint message are obtained, original flying is replaced with current flight parameter
Line parameter, original complaint message is replaced with current complaint message.
It should be noted that in the embodiment of the present invention, aircraft does not receive the environmental information response of data center's return
When, ambient image can be gathered according to the state of flight of itself, current complaint message is obtained from ambient image, according to current barrier
Hinder information that the obstacle is marked in ambient image, show the ambient image of marked obstacle, when obstacle is avoided, barrier is avoided in acquisition
Flight parameter during hindering, as current flight parameter, by current location information, current flight parameter and current barrier
Information is hindered to send to data center.In embodiments of the present invention, the radial arrangement of video camera of ambient image will can be used for,
With this broadening angle of visual field, make the image f iotaeld-of-view angle for collecting wider.
On the other hand, in the technical scheme that the present invention is provided, to reach identical purpose of the present invention, can also be by step
401 to step 403 replaces with step a1 to step a3.
Step a1：Aircraft gathers ambient image according to the state of flight of itself, and current obstacle is obtained from ambient image
Information, data center is sent to by ambient image and/or current complaint message；
Specific embodiment in this step is identical with the mode described in above-mentioned steps 403, and here is omitted.
Step a2：When the environmental information for receiving data center's return is responded, obstacle is obtained from environmental information response
Information, as history complaint message, obtains flight parameter, as history flight parameter from environmental information response；
Complaint message is obtained in being responded from environmental information in this step and flight parameter is obtained from environmental information response
Specific embodiment it is identical with the mode described in above-mentioned steps 402, here is omitted.
Step a3：According to current complaint message, history complaint message and history flight parameter, marked in ambient image
The obstacle, shows the ambient image of marked obstacle, performs step 404.
The specific embodiment and step 403 of the ambient image of mark obstacle and the marked obstacle of display in this step
Described in mode it is identical, here is omitted.
Corresponding with the above method, as shown in Figure 10, the present invention also provides a kind of collision free based on data syn-chronization
The aircraft of obstacle, including：
Information request module 4010, for obtaining current positional information, environmental information is obtained according to positional information tissue
Request, and environmental information request transmission to data center will be obtained；
In the aircraft, information request module 4010 is used to obtain longitude, latitude and sea by global position system
Degree of lifting, using longitude, latitude and height above sea level as current location information.Can be sent out to GPS or big-dipper satellite alignment system
Location Request is sent, longitude, latitude and the height above sea level for returning is received.Environmental information request is obtained according to positional information tissue,
And send it to data center.
Information receiving module 4020, for when the environmental information for receiving data center's return is responded, from environmental information
Complaint message is obtained in response, as history complaint message, flight parameter is obtained from environmental information response, as
History flight parameter；
In this aircraft, information receiving module 4020 from the environmental information response for receiving, obtains the position of obstacle
Information, dimension information, mobile attribute information, the positional information of obstacle, dimension information and mobile attribute information are hindered as history
Hinder information, from the environmental response obtain flight parameter, as history flight parameter.
Obstacle detection module 4030 is used to gather ambient image according to the state of flight of itself, is obtained from ambient image and worked as
Preceding complaint message, according to current complaint message, history complaint message and history flight parameter, marks the barrier in ambient image
Hinder, show the ambient image of marked obstacle；
Data simultaneous module 4040, for when obstacle is avoided, the flight parameter in obstructive process to be avoided in acquisition, is made
It is current flight parameter, current location information, current flight parameter and current complaint message is sent to data center.
Herein, as shown in figure 11, obstacle detection module 4030, it may include：
State detection unit 2031, for obtaining the state of flight of itself；
Ambient image collecting unit 2032, in takeoff condition or landing state or state of flight, gathering front view
Picture and overhead view image, as ambient image；
Obstacle detection unit 2033, for current obstacle letter can be obtained after getting environmental information from ambient image
Breath, for the ambient image for collecting in the same direction, image mosaic is carried out by the ambient image of identical focal length, is spliced into one
Width image.The spliced image of different focal in this direction is carried out into image co-registration, the image after being merged, from after fusion
Image on extract characteristic point, when characteristic point is extracted, according to feature point-rendering obstacle, and obstacle is marked, by satellite
Position system obtains the positional information of obstacle, the image of positional information and mark obstacle according to obstacle, calculates the size of obstacle
Information, mobile attribute information, using the positional information of obstacle, dimension information, move attribute information as current complaint message；Herein
IMAQ, splicing and merge referring to foregoing teachings one, two and three parts, it is same or similar, will not be repeated here.
Mark obstacle unit 2034, is then in ring for judging whether current complaint message is identical with history complaint message
Obstacle is marked on the image of border, and points out history flight parameter；Barrier is otherwise marked in ambient image according to current complaint message
Hinder.
In addition, obstacle detection module 4030 can also draw the motion track of obstacle, its bag on the image of mark obstacle
Include：Obstacle positioning unit, for that can position an obstacle every Preset Time, in positioning obstacle every time, obtains obstacle institute
The height above sea level at place, the angle of pitch, azimuth, and obtain it is double positioning obstacle when obstacle displacement；Computing unit, for basis
The displacement of height above sea level, the angle of pitch, azimuth and obstacle residing for obstacle, the trace information of calculating obstacle movement, and obstacle
The direction of motion and movement velocity；Analog track unit, for the trace information and the direction of motion of obstacle that are moved according to obstacle and
Movement velocity, the track that analog obstacle will be moved in three dimensions；Track drafting unit, the rail for drawing obstacle movement
Mark information and the track that will be moved in three dimensions.
In the present apparatus, obstacle detection module 4030 can also include：Mode checking unit, in collection ambient image
When, current illumination value is detected, corresponding image pickup mode collection ambient image is selected according to the testing result for obtaining, work as testing result
When meeting ultra-low illumination treatment conditions, then ambient image is gathered by ultra-low illumination camera；Wherein, ultra-low illumination treatment conditions
It can be the brightness value more than 0.0001Lux.When testing result does not meet ultra-low illumination treatment conditions, then by it is infrared heat into
As camera gathers ambient image.
In technical solution of the present invention, data center receives current location information, current flight parameter and current barrier
When hindering information, flight parameter corresponding with current location information and complaint message are obtained, replace original with current flight parameter
Flight parameter, replace original complaint message with current complaint message.
What the contents of the section technical scheme was obtained has the beneficial effect that：Aircraft is obtained according to itself present position information tissue
Environmental information is asked, and sends it to data center；When the environmental information for receiving data center's return is responded, from environment
History complaint message, and history flight parameter are obtained in information response, the state of flight collection ambient image according to itself, from
Current complaint message is obtained in ambient image, according to current complaint message, history complaint message and history flight parameter, in ring
The obstacle is marked on the image of border, the ambient image of marked obstacle is shown, is flown with this assisting in flying device, avoiding barrier in addition
Hinder, the flight parameter in obstructive process is avoided in acquisition, as current flight parameter, by current location information, current flight
Parameter and current complaint message send to data center and are backed up, to be referred in subsequent flights.Further, this hair
In the technical scheme of bright offer, also infrared camera and ultra-low illumination camera are used cooperatively, gather ambient image, protected with this
The image clearly that gets of card, and do not influenceed by factors such as illumination, mist, haze, rain, snow.
It should be noted that tetrameric each embodiment of the present invention is described by the way of progressive or part repetition,
What each embodiment was stressed is the difference with other embodiment, and identical similar part is mutual between each embodiment
Referring to.For system embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, it is related
Part is illustrated referring to the part of embodiment of the method.
Also, it should be noted that in the present invention, such as first and second or the like relational terms are used merely to one
Individual entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operate it
Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to
Cover including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include those
Key element, but also other key elements including being not expressly set out, or also include for this process, method, article or set
Standby intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in the process including the key element, method, article or equipment.
Presently disclosed embodiment, for realizing those skilled in the art or using the present invention.To these embodiments
Various modifications or modification will be apparent for a person skilled in the art.General Principle described herein can be
In the case of not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to
Embodiment described herein, and it is to fit to the most wide model consistent with principles disclosed herein and novel features
Enclose.
Claims (6)
1. a kind of method of assisting in flying device safe flight, comprises the following steps：
Detection brightness value, judges into ultra-low illumination pattern according to the testing result for obtaining or enters infrared mode；
When the ultra-low illumination pattern is entered, the first some width of focal length ultra-low illumination image are gathered respectively and the second focal length is ultralow
The some width of illumination image, respectively focusing identical ultra-low illumination image carry out image mosaic, obtain the ultralow photograph of the first focal length
The ultra-low illumination stitching image of degree stitching image and the second focal length；
Then the ultra-low illumination stitching image of the ultra-low illumination stitching image of the first focal length and the second focal length is carried out into image co-registration,
Ultra-low illumination image after being merged, aircraft human pilot is sent to by the ultra-low illumination image after the fusion, display
Ultra-low illumination image after fusion, return terminates；
When the infrared mode is entered, gather the 3rd some width of focal length infrared image respectively and the 4th focal length infrared image is some
Width, respectively focusing identical infrared image carry out image mosaic, obtain trifocal infrared mosaic image and the 4th focal length
Infrared mosaic image；
Then the infrared mosaic image of trifocal infrared mosaic image and the 4th focal length is carried out into image co-registration, is merged
Infrared image afterwards, aircraft human pilot is sent to by the infrared image after the fusion, shows the infrared image after fusion,
Return terminates.
2. the method for assisting in flying device safe flight according to claim 1,
It is described to gather the first focal length ultra-low illumination image and the second focal length ultra-low illumination image respectively, including：Forward sight is gathered respectively
The second focal length ultra-low illumination image on the first focal length ultra-low illumination image, preceding apparent direction on direction, in collection overlook direction
The first focal length ultra-low illumination image, the second focal length ultra-low illumination image in overlook direction；
The identical ultra-low illumination of the focusing respectively image carries out image mosaic, obtains the ultra-low illumination spliced map of the first focal length
The ultra-low illumination stitching image of picture and the second focal length, including：The preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs is entered away from identical ultra-low illumination image
Row image mosaic, obtains the second focal length on the ultra-low illumination stitching image and preceding apparent direction of the first focal length in preceding apparent direction
Ultra-low illumination stitching image；And image mosaic is carried out to focal length identical ultra-low illumination image in the overlook direction, obtain
The ultra-low illumination spliced map of the second focal length on the ultra-low illumination stitching image and overlook direction of the first focal length in overlook direction
Picture；
The ultra-low illumination stitching image by the ultra-low illumination stitching image of first focal length and second focal length is carried out
Image co-registration, the ultra-low illumination image after being merged, including：The ultra-low illumination of the first focal length in the preceding apparent direction is spelled
The ultra-low illumination stitching image of the second focal length on map interlinking picture and the preceding apparent direction carries out image co-registration, obtains in preceding apparent direction
Ultra-low illumination image after fusion；By the ultra-low illumination stitching image of the first focal length in the overlook direction and the vertical view side
The ultra-low illumination stitching image of the second upward focal length carries out image co-registration, obtains the ultra-low illumination figure after fusion in overlook direction
Picture.
3. the method for assisting in flying device safe flight according to claim 1,
Collection the 3rd focal length infrared image and the 4th focal length infrared image, including：The 3rd in preceding apparent direction is gathered respectively
The 4th focal length infrared image in focal length infrared image, preceding apparent direction, gathers the 3rd focal length infrared image in overlook direction, bows
The 4th focal length infrared image in apparent direction；
The identical of the focusing respectively infrared image carries out image mosaic, obtains trifocal infrared mosaic image and the 4th
The infrared mosaic image of focal length, including：Image mosaic is carried out away from identical infrared image to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs, before obtaining
The infrared mosaic image of the 4th focal length on trifocal infrared mosaic image and preceding apparent direction in apparent direction；Bowed to described
Focal length identical infrared image carries out image mosaic in apparent direction, obtains the trifocal infrared mosaic image in overlook direction
With the infrared mosaic image of the 4th focal length of overlook direction；
The infrared mosaic image by the trifocal infrared mosaic image and the 4th focal length carries out image co-registration,
Infrared image after being merged, including：By trifocal infrared mosaic image and the forward sight in the preceding apparent direction
The infrared mosaic image of the 4th focal length on direction carries out image co-registration, obtains the infrared image after fusion in preceding apparent direction；With
And by the infrared spelling of the 4th focal length on the trifocal infrared mosaic image and the overlook direction in the overlook direction
Map interlinking picture carries out image co-registration, obtains the infrared image after fusion in overlook direction.
4. the method for assisting in flying device safe flight according to claim 1, the detection brightness value, according to the inspection for obtaining
Survey result selection and enter ultra-low illumination pattern or infrared mode, including：The current brightness value of the detection, if the detection for obtaining
Result meets first pre-conditioned, then into ultra-low illumination pattern；Otherwise enter infrared mode.
5. the method for assisting in flying device safe flight according to claim 11, methods described also includes：Detection forward sight is clapped
Whether direction is taken the photograph in level, when detect be not in level when, adjustment orientation to level.
6. a kind of device of assisting in flying device safe flight, it is characterised in that described device is installed on board the aircraft, is flown described
Row device gathers image when taking off, fly and landing, including：
Mode selection module, for detecting brightness value, ultra-low illumination pattern or infrared is entered according to the testing result selection for obtaining
Pattern；
Ultra-low illumination image capture module, for when the ultra-low illumination pattern is entered, the ultralow photograph of the first focal length being gathered respectively
The degree some width of image and the second focal length some width of ultra-low illumination image；
Ultra-low illumination image mosaic module, image mosaic is carried out for focusing identical ultra-low illumination image respectively, obtains
The ultra-low illumination stitching image of one focal length and the ultra-low illumination stitching image of the second focal length；
Ultra-low illumination image co-registration module, for by the ultra-low illumination stitching image of first focal length and second focal length
Ultra-low illumination stitching image carries out image co-registration, the ultra-low illumination image after being merged, by the ultra-low illumination after the fusion
Image is sent to aircraft human pilot, shows the ultra-low illumination image after the fusion；
Infrared image acquisition module, for when the infrared mode is entered, the 3rd some width of focal length infrared image being gathered respectively
With the 4th some width of focal length infrared image；
Infrared image concatenation module, image mosaic is carried out for focusing identical infrared image respectively, obtains trifocal
The infrared mosaic image of infrared mosaic image and the 4th focal length；
Infrared image Fusion Module, for by the infrared mosaic of the trifocal infrared mosaic image and the 4th focal length
Image carries out image co-registration, the infrared image after being merged, and the infrared image after the fusion is sent into aircraft drives
Personnel, show the infrared image after the fusion.
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| CN201710134868.4A CN106828952B (en) | 2016-07-14 | 2016-07-14 | A kind of method and device of assisting in flying device safe flight |
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| CN201610556749.3A CN106184787B (en) | 2016-07-14 | 2016-07-14 | Aircraft and its landing with DAS (Driver Assistant System) and the method avoided collision |
| CN201710134868.4A CN106828952B (en) | 2016-07-14 | 2016-07-14 | A kind of method and device of assisting in flying device safe flight |
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| CN201710136026.2A Active CN106965946B (en) | 2016-07-14 | 2016-07-14 | A kind of method and apparatus improving landing safety based on detection obstacle |
| CN201710134868.4A Expired - Fee Related CN106828952B (en) | 2016-07-14 | 2016-07-14 | A kind of method and device of assisting in flying device safe flight |
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| CN110874921A (en) | 2018-08-31 | 2020-03-10 | 百度在线网络技术（北京）有限公司 | Intelligent road side unit and information processing method thereof |
| CN109700439B (en) * | 2019-02-19 | 2023-11-21 | 酷黑科技（北京）有限公司 | Data processing method and device and aircraft |
| CN110519540A (en) * | 2019-08-29 | 2019-11-29 | 深圳市道通智能航空技术有限公司 | A kind of image processing method, device, equipment and storage medium |
| CN112884807B (en) * | 2021-01-18 | 2024-02-27 | 珠海翔翼航空技术有限公司 | Flight control action monitoring method and system based on infrared thermal imaging |
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Also Published As
| Publication number | Publication date |
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| CN106184787A (en) | 2016-12-07 |
| CN106965946B (en) | 2019-06-18 |
| CN106828952B (en) | 2019-03-15 |
| CN106965945B (en) | 2019-09-03 |
| CN106184787B (en) | 2018-10-26 |
| CN106965946A (en) | 2017-07-21 |
| CN106965945A (en) | 2017-07-21 |
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