CN106843264A - The indoor cruise method and system of unmanned plane - Google Patents
The indoor cruise method and system of unmanned plane Download PDFInfo
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- CN106843264A CN106843264A CN201611240150.5A CN201611240150A CN106843264A CN 106843264 A CN106843264 A CN 106843264A CN 201611240150 A CN201611240150 A CN 201611240150A CN 106843264 A CN106843264 A CN 106843264A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses the indoor cruise method and system of unmanned plane, methods described is included in during the cruise of unmanned plane, and the flight path to unmanned plane is verified at regular intervals；Image to five directions lower all around of unmanned plane is processed, and extracts the characteristic value of image；The characteristic value of ranging data and image to the four direction all around of unmanned plane synthesizes the coordinate of unmanned plane；The path passed through according to unmanned plane during flying determines the current location of unmanned plane, searches the coordinate of unmanned plane current location；The coordinate of synthesis and the deviation of the coordinate for finding out are calculated, if deviation within the specific limits, illustrates that the route of unmanned plane during flying is correct, is cruised；Otherwise, prompting user's unmanned plane has deviated from cruise route.Indoor cruise scheme of the invention, can be positioned to verify whether flight path is correct during cruise to unmanned plane.
Description
Technical field
The present invention relates to unmanned air vehicle technique, indoor cruise method and the interior of unmanned plane more particularly, to unmanned plane
Cruise system.
Background technology
UAV is unmanned flight equipment referred to as " unmanned plane ".Can be divided into from technical standpoint：Nobody consolidates
Fixed wing machine, unmanned VTOL machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
The application of unmanned plane is more and more extensive, for example, unmanned plane can be applied to the security monitoring to indoor environment：Control
Unmanned plane processed cruises indoors, the image that user is shot by the camera that network is checked on unmanned aerial vehicle body, it is possible to learn
Indoor situations.Because unmanned plane cruises indoors, therefore this monitor mode can be without dead angle.
Unmanned plane during cruise, it is necessary to positioned to the position of unmanned plane, to verify the flight path of unmanned plane
It is whether correct, but the gps signal in indoor environment is very faint, it is not easy to realize positioning the position of unmanned plane.
The content of the invention
It is an object of the invention to provide a kind of technical scheme of the indoor cruise of unmanned plane, can cruise process indoors
In unmanned plane is positioned.
According to the first aspect of the invention, there is provided a kind of indoor cruise method of unmanned plane, in the cruise of unmanned plane
Cheng Zhong, at regular intervals the flight path to unmanned plane verify that the checking is comprised the following steps：
Five directions lower all around to unmanned plane are taken pictures, and obtain five directions lower all around of unmanned plane
Image；Described image is processed, the characteristic value of described image is extracted；
Four direction all around to unmanned plane is found range, and obtains the range finding of the four direction all around of unmanned plane
Data；
Synthesize unmanned plane with the ranging data of the four direction all around of the unmanned plane and the characteristic value of described image
Coordinate；
The path passed through according to unmanned plane during flying determines the current location of unmanned plane, and unmanned plane is searched in coordinate database
The coordinate of current location；
The deviation of the coordinate for synthesizing and the coordinate found out from coordinate database is calculated, if the deviation is in certain model
In enclosing, illustrate that the route of unmanned plane during flying is correct, control unmanned plane continues to be cruised according to cruise route；Otherwise, prompting is used
Family unmanned plane has deviated from cruise route.
Alternatively, it is described that described image is processed, the characteristic value of described image is extracted, comprise the following steps：To institute
State image and do rim detection, obtain one group of edge feature value.
Alternatively, it is described that described image is processed, the characteristic value of described image is extracted, it is further comprising the steps of：Will
Described image switchs to brightness histogram, right by detecting that brightness histogram is converted to curve by the peak point in brightness histogram
The curve carries out Fourier analysis and obtains one group of brightness value.
Alternatively, five infrared cameras by being arranged on unmanned aerial vehicle body shoot and obtain unmanned plane all around
The image in lower five directions.
Alternatively, by four laser range finders being arranged on unmanned aerial vehicle body to four sides all around of unmanned plane
To being found range.
According to the second aspect of the invention, it is proposed that a kind of indoor cruise system of unmanned plane, including flight path checking
Module；
The flight path authentication module, for during the cruise of unmanned plane, at regular intervals to unmanned plane
Flight path is verified；
The flight path authentication module includes one group of camera, image processing module, one group of range finder module, coordinate synthesis
Module, coordinate searching modul and driftage computing module；
One group of camera, takes pictures for five directions lower all around to unmanned plane, obtains unmanned plane
The all around image in lower five directions；
Described image processing module, for processing described image, extracts the characteristic value of described image；
Residing one group of range finder module, finds range for the four direction all around to unmanned plane, obtains unmanned plane
The all around ranging data of four direction；
The coordinate synthesis module, for the ranging data and the figure of the four direction all around with the unmanned plane
The characteristic value of picture synthesizes the coordinate of unmanned plane；
Coordinate searching modul, the path for passing through according to unmanned plane during flying determines the current location of unmanned plane, in coordinate
The coordinate of unmanned plane current location is searched in database；
The driftage computing module, the coordinate for calculating synthesis is inclined with the coordinate found out from coordinate database
Difference, if the deviation is within the specific limits, illustrates that the route of unmanned plane during flying is correct, and control unmanned plane continues according to cruise road
Line is cruised；Otherwise, prompting user's unmanned plane has deviated from cruise route.
Alternatively, described image processing module, for doing rim detection to described image, obtains one group of edge feature value.
Alternatively, described image processing module, is additionally operable to for described image to switch to brightness histogram, by detecting that brightness is straight
Brightness histogram is converted to curve by the peak point in square figure, Fourier analysis is carried out to the curve and obtains one group of brightness
Value.
Alternatively, the camera is infrared camera.
Alternatively, the range finder module is following any：Radar range finding module, laser ranging module, optical ranging module,
Infrared distance measurement module, ultrasonic distance measuring module.
The indoor cruise scheme of unmanned plane of the invention, positions during can cruising indoors to unmanned plane, with
Verify whether the flight path of unmanned plane is correct.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described.It should be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope.For those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows the schematic flow sheet to the checking of unmanned plane during flying route provided in an embodiment of the present invention；
Fig. 2 shows the block diagram of flight path authentication module provided in an embodiment of the present invention；
Fig. 3 shows the block diagram of the fractional hardware configuration of unmanned plane provided in an embodiment of the present invention.
Specific embodiment
Describe various exemplary embodiments of the invention in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value for otherwise illustrating in these embodiments do not limit this
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or use.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as a part for specification.
In all examples shown here and discussion, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further discussed in subsequent accompanying drawing.
The cruise method of unmanned plane provided in an embodiment of the present invention is illustrated with reference to Fig. 1：
During the cruise of unmanned plane, the flight path to unmanned plane is verified at regular intervals, the checking
Comprise the following steps：
101st, five directions lower all around to unmanned plane are taken pictures, and obtain five sides lower all around of unmanned plane
To image；Described image is processed, the characteristic value of described image is extracted.
In one embodiment, can be shot by five infrared cameras being arranged on unmanned aerial vehicle body and obtain nobody
The image in five directions lower all around of machine.
In one embodiment, it is described that described image is processed, extract described image characteristic value, can include with
Lower two steps：
Rim detection is done to described image, one group of edge feature value is obtained.For example, described image is switched into gray level image,
Gray level image is divided into multiple regions, rim detection is done to each region to extract edge feature value, then by each area
The edge feature value in domain pools together；This mode can reduce the complexity of calculating.
Described image is switched into brightness histogram, by detecting that the peak point in brightness histogram changes brightness histogram
It is curve, Fourier analysis is carried out to the curve and obtains one group of brightness value.
102nd, the four direction all around to unmanned plane is found range, and obtains the four direction all around of unmanned plane
Ranging data.
In one embodiment, can by four laser range finders being arranged on unmanned aerial vehicle body to unmanned plane before
Left and right four direction is found range afterwards.
The order of step 101 and step 102 can be exchanged.
103rd, nothing is synthesized with the ranging data of four direction all around and the characteristic value of described image of the unmanned plane
Man-machine coordinate.
104th, the path passed through according to unmanned plane during flying determines the current location of unmanned plane, and nothing is searched in coordinate database
The coordinate of man-machine current location.
Coordinate database was previously generated before unmanned plane cruise, was stored in the storage device of unmanned plane.At one
In embodiment, the interior space can be traveled through by controlling unmanned plane, record each position that unmanned plane passes through, and according to same
Mode synthesizes the coordinate of each position of unmanned plane, and position and coordinate are set up into corresponding relation forms coordinate database.
105th, the coordinate of synthesis and the deviation of the coordinate found out from coordinate database are calculated, if the deviation is one
Determine in scope, illustrate that the route of unmanned plane during flying is correct, control unmanned plane continues to be cruised according to cruise route；Otherwise, carry
Show that user's unmanned plane has deviated from cruise route.
The method of the indoor cruise of unmanned plane of the invention, positions during can cruising indoors to unmanned plane,
It is whether correct with the flight path for verifying unmanned plane.
To those skilled in the art, can be hardware mode, software mode or reality by way of software and hardware combining
The cruise method of existing foregoing unmanned plane.Based on same inventive concept, the cruise of the unmanned plane of the embodiment of the present invention is introduced with reference to Fig. 2
System.
The indoor cruise system of unmanned plane includes flight path authentication module；Flight path authentication module, at nobody
During the cruise of machine, the flight path to unmanned plane is verified at regular intervals.
Flight path authentication module includes one group of camera 1,2, one group of range finder module 3, coordinate synthesis of image processing module
Module 4, coordinate searching modul 5 and driftage computing module 6.
One group of camera 1, takes pictures for five directions lower all around to unmanned plane, obtains the front and rear of unmanned plane
The image in lower five directions in left and right；
Image processing module 2, for processing described image, extracts the characteristic value of described image；
One group of range finder module 3, finds range for the four direction all around to unmanned plane, obtains the front and rear of unmanned plane
The ranging data of left and right four direction；
Coordinate synthesis module 4, for the ranging data and described image of the four direction all around with the unmanned plane
Characteristic value synthesize unmanned plane coordinate；
Coordinate searching modul 5, the path for passing through according to unmanned plane during flying determines the current location of unmanned plane, in coordinate
The coordinate of unmanned plane current location is searched in database；
Driftage computing module 6, the deviation of the coordinate for calculating the coordinate of synthesis and being found out from coordinate database, such as
Really described deviation within the specific limits, illustrates that the route of unmanned plane during flying is correct, and control unmanned plane continues to enter according to cruise route
Row cruise；Otherwise, prompting user's unmanned plane has deviated from cruise route.
Alternatively, image processing module 2, for doing rim detection to described image, obtain one group of edge feature value.
Alternatively, image processing module 2, are additionally operable to for described image to switch to brightness histogram, by detecting brightness Nogata
Brightness histogram is converted to curve by the peak point in figure, Fourier analysis is carried out to the curve and obtains one group of brightness
Value.
Alternatively, camera 1 is infrared camera.
Alternatively, range finder module 3 is following any：It is radar range finding module, laser ranging module, optical ranging module, red
Outer range finder module, ultrasonic distance measuring module.
The system of the indoor cruise of unmanned plane of the invention, positions during can cruising indoors to unmanned plane,
It is whether correct with the flight path for verifying unmanned plane.
Fig. 3 is the block diagram for showing the example that can be used for the fractional hardware configuration of the unmanned plane for realizing embodiments of the invention.
Unmanned plane 300 includes processor 3010, memory 3020, interface arrangement 3030, communicator 3040, display device 3050, takes the photograph
As first 3060, range unit 3070, microphone 3080, etc..
Memory 3020 is used for store instruction, and the instruction is operated to perform according to preceding for control process device 3010
State the unmanned plane cruise method described in any one.
Processor 3010 for example can be central processor CPU, Micro-processor MCV etc..Memory 3020 for example includes ROM
(read-only storage), RAM (random access memory), the nonvolatile memory of hard disk etc..Interface arrangement 3030 is for example
Including USB interface, earphone interface etc..Communicator 3040 can for example carry out wired or wireless communication.Display device 3050
LCDs, touch display screen etc. in this way.Camera 3060 is, for example, infrared camera.Range unit 3070 is for example, following
It is any：Radar range unit, laser ranging system, optical distance measurement apparatus, infrared distance measurement device, supersonic range finder.User
Voice messaging can be exported by loudspeaker 3080.
Unmanned plane shown in Fig. 3 is only explanatory, and is never intended to limit invention, its application, or uses.
Although it will be appreciated by those skilled in the art that figure 3 illustrates multiple devices, the present invention can only relate to therein
Partial devices.Those skilled in the art can instruct according to presently disclosed conceptual design, and how control process device enters for instruction
Row operation is techniques well known, therefore is not described in detail herein.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference with other embodiment, between each embodiment identical similar part mutually referring to.
But it will be clear for those skilled in the art that the various embodiments described above can as needed be used alone or be combined with each other make
With.In addition, for device embodiment, because it is corresponding with embodiment of the method, so describe fairly simple, it is related
Part referring to the corresponding part of embodiment of the method explanation.System embodiment described above be only it is schematical,
The module for wherein being illustrated as separating component can be or to may also be not physically separate.
In addition, the flow chart and block diagram in accompanying drawing show system, method and the meter of multiple embodiments of the invention
The architectural framework in the cards of calculation machine program product, function and operation.At this point, each square frame in flow chart or block diagram
Can represent a part for module, program segment or code, the part of the module, program segment or code comprising one or
The executable instruction of logic function of the multiple for realizing specifying.It should also be noted that in some realizations as replacement, square frame
Middle marked function can also occur with different from the order marked in accompanying drawing.For example, two continuous square frames are actually
Can perform substantially in parallel, they can also be performed in the opposite order sometimes, this is depending on involved function.Also to note
Meaning, the combination of the square frame in each square frame and block diagram and/or flow chart in block diagram and/or flow chart can be with holding
The fixed function of professional etiquette or the special hardware based system of action are realized, or can use specialized hardware and computer instruction
Combination realize.
The computer program product that the embodiment of the present invention is provided, including store the computer-readable storage of program code
Medium, the instruction that described program code includes can be used to perform the method described in previous methods embodiment, and implementing to join
See embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit,
It is only a kind of division of logic function, there can be other dividing mode when actually realizing, but for example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for
The coupling each other of opinion or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling is communicated to connect, and can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.
If the function is to realize in the form of SFU software functional unit and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating
In any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to
Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
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 process, method, article or equipment including the key element.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, then it is not required in subsequent accompanying drawing
It is further defined and is explained.
Although being described in detail to some specific embodiments of the invention by example, the skill of this area
Art personnel it should be understood that example above is merely to illustrate, rather than in order to limit the scope of the present invention.The skill of this area
Art personnel to above example it should be understood that can modify without departing from the scope of the invention.Model of the invention
Enclose and be defined by the following claims.
Claims (10)
1. the indoor cruise method of a kind of unmanned plane, it is characterised in that right at regular intervals during the cruise of unmanned plane
The flight path of unmanned plane is verified that the checking is comprised the following steps：
Five directions lower all around to unmanned plane are taken pictures, and obtain the figure in five directions lower all around of unmanned plane
Picture；Described image is processed, the characteristic value of described image is extracted；
Four direction all around to unmanned plane is found range, and obtains the range finding number of the four direction all around of unmanned plane
According to；
Synthesize the seat of unmanned plane with the ranging data of the four direction all around of the unmanned plane and the characteristic value of described image
Mark；
The path passed through according to unmanned plane during flying determines the current location of unmanned plane, unmanned plane is searched in coordinate database current
The coordinate of position；
The deviation of the coordinate for synthesizing and the coordinate found out from coordinate database is calculated, if the deviation is in certain limit
It is interior, illustrate that the route of unmanned plane during flying is correct, control unmanned plane continues to be cruised according to cruise route；Otherwise, user is pointed out
Unmanned plane has deviated from cruise route.
2. method according to claim 1, it is characterised in that described to process described image, extracts described image
Characteristic value, comprise the following steps：
Rim detection is done to described image, one group of edge feature value is obtained.
3. method according to claim 2, it is characterised in that described to process described image, extracts described image
Characteristic value, it is further comprising the steps of：
Described image is switched into brightness histogram, by detecting that brightness histogram is converted to song by the peak point in brightness histogram
Line, Fourier analysis is carried out to the curve and obtains one group of brightness value.
4. method according to claim 1, it is characterised in that by five infrared photographies being arranged on unmanned aerial vehicle body
Head shoots the image in five directions lower all around for obtaining unmanned plane.
5. method according to claim 1, it is characterised in that by four laser rangings being arranged on unmanned aerial vehicle body
Instrument is found range to the four direction all around of unmanned plane.
6. the indoor cruise system of a kind of unmanned plane, it is characterised in that including flight path authentication module；
The flight path authentication module, for during the cruise of unmanned plane, at regular intervals to the flight of unmanned plane
Route is verified；
The flight path authentication module includes one group of camera, image processing module, one group of range finder module, coordinate synthesis mould
Block, coordinate searching modul and driftage computing module；
One group of camera, takes pictures for five directions lower all around to unmanned plane, obtains the front and rear of unmanned plane
The image in lower five directions in left and right；
Described image processing module, for processing described image, extracts the characteristic value of described image；
Residing one group of range finder module, finds range for the four direction all around to unmanned plane, obtains the front and rear of unmanned plane
The ranging data of left and right four direction；
The coordinate synthesis module, ranging data and described image for the four direction all around with the unmanned plane
Characteristic value synthesizes the coordinate of unmanned plane；
Coordinate searching modul, the path for passing through according to unmanned plane during flying determines the current location of unmanned plane, in coordinate data
The coordinate of unmanned plane current location is searched in storehouse；
The driftage computing module, the deviation of the coordinate for calculating the coordinate of synthesis and being found out from coordinate database, such as
Really described deviation within the specific limits, illustrates that the route of unmanned plane during flying is correct, and control unmanned plane continues to enter according to cruise route
Row cruise；Otherwise, prompting user's unmanned plane has deviated from cruise route.
7. system according to claim 6, it is characterised in that described image processing module, for doing side to described image
Edge detection, obtains one group of edge feature value.
8. system according to claim 7, it is characterised in that described image processing module, is additionally operable to turn described image
It is brightness histogram, by detecting that brightness histogram is converted to curve by the peak point in brightness histogram, the curve is entered
Row Fourier analysis obtains one group of brightness value.
9. system according to claim 6, it is characterised in that the camera is infrared camera.
10. system according to claim 6, it is characterised in that the range finder module is following any：Radar range finding mould
Block, laser ranging module, optical ranging module, infrared distance measurement module, ultrasonic distance measuring module.
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| CN108132675A (en) * | 2017-11-23 | 2018-06-08 | 东南大学 | Unmanned plane is maked an inspection tour from main path cruise and intelligent barrier avoiding method by a kind of factory |
| CN108132675B (en) * | 2017-11-23 | 2020-02-21 | 东南大学 | Autonomous path cruising and intelligent obstacle avoidance method for factory inspection unmanned aerial vehicle |
| CN108958108A (en) * | 2018-06-28 | 2018-12-07 | 安徽共生众服供应链技术研究院有限公司 | Unmanned plane cruises monitoring and alarming system in a kind of warehouse |
| CN110417455A (en) * | 2019-07-23 | 2019-11-05 | 安徽蓝煜电子科技有限公司 | One kind being based on 5G communication base station UAV Intelligent cruise system |
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