CN107719683B - Unmanned aerial vehicle mounting control method and device - Google Patents
Unmanned aerial vehicle mounting control method and device Download PDFInfo
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Abstract
The invention provides a method and a device for controlling mounting of an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring a target image through an image collector arranged on the unmanned aerial vehicle; extracting reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle; and controlling the hanging object to execute corresponding operation according to the reference object information. According to the invention, after the reference object information in the target image acquired by the image acquisition device is determined, the mounted object is controlled to execute different operations according to different reference object information, and the control flexibility and accuracy are better.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for controlling mounting of an unmanned aerial vehicle.
Background
With the technology changing day by day, Unmanned Aerial Vehicles (UAVs) are becoming popular and widely used in the fields of pesticide scattering, Aerial photography, Aerial broadcast, object transportation, topographic mapping, and the like.
The UAV serves as a platform, and if a task is to be executed to be applied to various fields according to a user requirement, the UAV usually needs to mount related operation articles, such as a medicine barrel, a camera, a public address device, a laser mapping instrument, and the like, on the drone.
At present, no complete technical scheme is available for how to control the mounted articles.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for controlling mounting of an unmanned aerial vehicle, which achieve control of a mounted object through an image processing manner, and have better control flexibility and accuracy.
In a first aspect, the present invention provides a method for controlling mounting of an unmanned aerial vehicle, where the method includes:
acquiring a target image through an image collector arranged on the unmanned aerial vehicle;
extracting reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
and controlling the mounted object to execute corresponding operation according to the reference object information.
With reference to the first aspect, the present invention provides a first possible implementation manner of the first aspect, where the reference information is ground information, and the controlling the mounted object to perform corresponding operations according to the reference information includes:
determining whether the unmanned aerial vehicle reaches a preset geographical position area or not according to the ground information;
and if so, controlling the hanging object to execute corresponding operation according to the first control signal.
With reference to the first possible implementation manner of the first aspect, the present invention provides a second possible implementation manner of the first aspect, where the determining whether the unmanned aerial vehicle reaches a preset geographic location area according to the ground information includes:
comparing reference ground information with the ground information, wherein the reference ground information is the ground information in a reference image comprising the preset geographic position area;
and if the comparison is successful, determining that the unmanned aerial vehicle reaches the preset geographic position area.
With reference to the first aspect, the present invention provides a third possible implementation manner of the first aspect, where the reference information is mounted object information, and the controlling the mounted object to perform corresponding operations according to the reference information includes:
determining whether the position of the hanging object in the target image is within a preset range according to the hanging object information;
if not, controlling the hanging object to move relative to the image collector according to a second control signal so that the position of the hanging object in the target image is within a preset range.
With reference to the first aspect, the present invention provides a fourth possible implementation manner of the first aspect, where the reference information is ground information and mounted object information, and the controlling the mounted object to perform corresponding operations according to the reference information includes:
determining the height of the mounted object from the ground and the corresponding ground position according to the ground information and the mounted object information;
and controlling the mounted object to execute a specified operation based on the height and the ground position.
In a second aspect, the present invention further provides a method for controlling mounting of an unmanned aerial vehicle, where the method includes:
acquiring a target image through an image collector arranged on the unmanned aerial vehicle;
sending the target image to a ground station, and receiving a control signal generated by the ground station according to reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
and controlling the hanging object or the image collector or the unmanned aerial vehicle to execute corresponding operation according to the control signal.
In a third aspect, the present invention further provides a method for controlling mounting of an unmanned aerial vehicle, where the method includes:
receiving a target image sent by an unmanned aerial vehicle, wherein the target image is an image acquired by an image collector arranged on the unmanned aerial vehicle;
extracting reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
and generating a corresponding control signal based on the reference object information, and sending the control signal to the unmanned aerial vehicle, wherein the control signal is used for controlling the hanging object or the image collector or the unmanned aerial vehicle to execute corresponding operation.
With reference to the third aspect, the present invention provides a first possible implementation manner of the third aspect, where the reference information is mounted object information, and the generating a control signal for controlling the mounted object to perform a corresponding operation based on the reference information includes:
determining whether the position of the hanging object in the target image is within a preset range according to the hanging object information;
and if not, generating a corresponding control signal to control the hanging object to move relative to the image collector according to the control signal so as to enable the position of the hanging object in the target image to be within a preset range.
With reference to the third aspect, the present invention provides a second possible implementation manner of the third aspect, wherein the reference information is mounted object information, and the generating a control signal for controlling the mounted object and the drone to perform corresponding operations based on the reference information includes:
determining whether the position of the hanging object in the target image is within a preset range according to the hanging object information;
if not, generating a corresponding control signal to control the hanging object to move relative to the image collector according to the control signal and control the unmanned aerial vehicle to move when the movement of the hanging object reaches an extreme state so as to enable the position of the hanging object in the target image to be within a preset range.
In a fourth aspect, the present invention further provides a control device for mounting an unmanned aerial vehicle, where the device includes:
the acquisition module is used for acquiring a target image through an image collector arranged on the unmanned aerial vehicle;
an extraction module, configured to extract reference object information in the target image, where the reference object information includes one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
and the control module is used for controlling the mounted object to execute corresponding operation according to the reference object information.
The invention provides a method and a device for controlling mounting of an unmanned aerial vehicle.A target image is obtained through an image collector arranged on the unmanned aerial vehicle; then extracting reference object information including ground information and/or mounted object information in the target image; and finally, controlling the hanging object to execute corresponding operation according to the reference object information, namely, after determining the reference object information in the target image acquired by the image acquisition device, controlling the hanging object to execute different operations according to different reference object information, wherein the control flexibility and accuracy are better.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a flowchart of a control method for mounting an unmanned aerial vehicle according to a first embodiment of the present invention;
fig. 2 is a flowchart illustrating another method for controlling the mounting of the drone according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating another method for controlling the mounting of the drone according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating another method for controlling the mounting of the drone according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating another method for controlling the mounting of the drone according to an embodiment of the present invention;
fig. 6 shows a flowchart of a control method for mounting an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 7 shows a flowchart of a control method for mounting an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 8 shows a schematic block diagram of a control device for unmanned aerial vehicle mounting according to a fourth embodiment of the present invention.
Description of the main element symbols:
11. an acquisition module; 22. an extraction module; 33. and a control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In view of the urgent need of the related art for how to control the mounted articles, the present invention provides a method and an apparatus for controlling mounting of an unmanned aerial vehicle, which are described in detail in the following through several embodiments.
The first embodiment is as follows:
referring to fig. 1, an embodiment of the present invention provides a method for controlling mounting of an unmanned aerial vehicle, where an execution main body of the method is a controller or other control chip of the unmanned aerial vehicle, and the method specifically includes the following steps:
s101, acquiring a target image through an image collector arranged on an unmanned aerial vehicle;
the target image in the control method for unmanned aerial vehicle mounting provided by the embodiment of the invention is an image shot by an image collector arranged on the unmanned aerial vehicle. Considering that the image collector can not only automatically scan the ground target, but also obtain the current movement condition of the mounted object, the target image may only include the ground, the mounted object, and both the ground and the mounted object.
S102, extracting reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
based on the difference of the target images acquired in step 101, different reference object information will be extracted. Corresponding ground information is extracted from the target image corresponding to the ground; corresponding to a target image of a hanging object arranged on the unmanned aerial vehicle, corresponding hanging object information is extracted; corresponding ground information and mounted object information are extracted corresponding to the target images of the ground and the mounted objects.
The ground information may include mark information of a ground specific target, and the mounted object information may include motion information of a mounted object and height information of the mounted object from the ground.
S103, controlling the hanging object to execute corresponding operation according to the reference object information.
The control method for unmanned aerial vehicle mounting provided by the embodiment of the invention can control the mounted object to execute different operations based on different reference object information. For example, when the hanging object is a parcel to be delivered, the operation can be to control the hanging object to fall off; when the hanging object is a communication repeater, the operation can be to control the opening of the hanging object; when the mounted object is a scanning module, the operation can be to control the mounted object to execute ground scanning; when the hanging object is a loudspeaker, the operation can be to control and adjust the volume of the hanging object and the like, so that different requirements of different users are met.
The method for controlling the mounting of the unmanned aerial vehicle comprises the following steps of firstly, acquiring a target image through an image collector arranged on the unmanned aerial vehicle; then extracting reference object information including ground information and/or mounted object information in the target image; and finally, controlling the hanging object to execute corresponding operation according to the reference object information, namely, after determining the reference object information in the target image acquired by the image acquisition device, controlling the hanging object to execute different operations according to different reference object information, wherein the control flexibility and accuracy are better.
In consideration of the control method for mounting the unmanned aerial vehicle provided by the embodiment of the invention, the unmanned aerial vehicle controls the mounted object according to the reference object information, and different reference object information corresponds to different control modes, which specifically includes the following three conditions.
In the first case:
when the reference object information is determined to be the ground information, referring to fig. 2, controlling the hanging object to execute the corresponding operation according to the ground information is specifically realized by the following steps:
s201, determining whether the unmanned aerial vehicle reaches a preset geographical position area or not according to ground information;
in order to determine whether the unmanned aerial vehicle reaches the preset geographical position area according to the ground information, the embodiment of the invention further judges by referring to the comparison result of the ground information and the ground information. Referring to fig. 3, the above determination process specifically includes the following steps:
s2011, comparing reference ground information with ground information, wherein the reference ground information is the ground information in a reference image comprising a preset geographic position area;
s2012, if the comparison is successful, determining that the unmanned aerial vehicle reaches the preset geographic position area.
The control method for unmanned aerial vehicle mounting provided by the embodiment of the invention can compare reference ground information with ground information based on image comparison, deep learning and other modes. For the deep learning mode, a deep learning model corresponding to a preset geographic position area can be trained in advance, and then a target is detected based on the deep learning model so as to identify ground information; for the image comparison mode, the ground information and the reference ground information can be compared in a characteristic mode, the mode can be compared based on any one of the comparison modes by means of the ground information and the identification information carried in the reference ground information, and when the comparison is successful, the fact that the unmanned aerial vehicle reaches the preset geographic position area is determined.
And S202, if so, controlling the hanging object to execute corresponding operation according to the first control signal.
When the unmanned aerial vehicle is determined to reach the preset geographic position area, the hanging object can be controlled to execute corresponding operation according to the first control signal.
The first control signal can be a control signal which is autonomously generated by the unmanned aerial vehicle based on a position determination result, and can also be a signal which is fed back to the unmanned aerial vehicle after the unmanned aerial vehicle sends the position determination result to the ground station and the ground station synthesizes the determination result and/or generates a corresponding control signal by other information.
In the second case:
when the reference object information is determined to be the mounted object information, referring to fig. 4, controlling the mounted object to execute the corresponding operation according to the mounted object information is specifically realized by the following steps:
s301, determining whether the position of the hanging object in the target image is within a preset range according to the hanging object information;
s302, if not, controlling the hanging object to move relative to the image collector according to a second control signal so that the position of the hanging object in the target image is within a preset range.
The unmanned aerial vehicle mounting control method provided by the embodiment of the invention can control the mounting object to execute corresponding operation according to the ground information and can also control the mounting object to execute corresponding operation according to the mounting object information.
The embodiment of the invention determines the relative relationship between the hanging object and the image collector based on the hanging object information in the target image, such as the size information, the position information and the like of the hanging object in the target image. And if the two images have deviation, namely the position of the hanging object in the target image is not in the preset range, controlling the hanging object to move relative to the image collector according to a second control signal so as to enable the position of the hanging object in the target image to be in the preset range.
Wherein, similar to first control signal is, above-mentioned second control signal can be the unmanned aerial vehicle based on the control signal that the result of confirming independently generated, can also be after unmanned aerial vehicle sends the result of confirming to the ground station, this ground station synthesizes the signal that feeds back to unmanned aerial vehicle after confirming result and/or other information generation corresponding control signal. In addition, the preset range is preferably an area range corresponding to the center position of the target image.
It is worth mentioning that, after determining the relative relationship between the hanging object and the image collector based on the information of the hanging object in the target image, the embodiment of the invention can control the hanging object to move relative to the image collector, can also control the image collector to move relative to the hanging object, can also control the hanging object to move first, and when the movement reaches the limit state, can control the flight angle of the unmanned aerial vehicle to move so as to realize that the position of the hanging object in the target image is within the preset range, thereby meeting the requirements of different application scenes.
In the third case:
when the reference object information is determined to be the ground information and the mounted object information, referring to fig. 5, controlling the mounted object to execute the corresponding operation according to the ground information and the mounted object information is specifically realized by the following steps:
s401, determining the height of the mounted object from the ground and the corresponding ground position according to the ground information and the mounted object information;
and S402, controlling the hanging object to execute a specified operation based on the height and the ground position.
The image collector in the embodiment of the invention is calibrated in the setting process, and the attribute information of the collector is determined, wherein the attribute information at least comprises camera angle information and focal length information. The height of the mounted object from the ground and the corresponding ground position can be determined based on the ground information, the mounted object information and the above attribute information. The mounted object can be controlled to perform a specified operation based on the determined height and the ground position.
Wherein, above-mentioned appointed operation can be that the unmanned aerial vehicle who carries the parcel that remains to deliver controls this parcel and drops when height and ground position all satisfy, can also be that the unmanned aerial vehicle who carries the scanning module controls this scanning module and begins to scan ground when height and ground position all satisfy, can also be that the unmanned aerial vehicle who carries the communication repeater controls this repeater to open when height and ground position all satisfy etc to satisfy different users' different demands.
The method for controlling the mounting of the unmanned aerial vehicle comprises the following steps of firstly, acquiring a target image through an image collector arranged on the unmanned aerial vehicle; then extracting reference object information including ground information and/or mounted object information in the target image; and finally, controlling the hanging object to execute corresponding operation according to the reference object information, namely, after determining the reference object information in the target image acquired by the image acquisition device, controlling the hanging object to execute different operations according to different reference object information, wherein the control flexibility and accuracy are better.
Example two:
referring to fig. 6, an embodiment of the present invention provides a method for controlling mounting of an unmanned aerial vehicle, where an execution main body of the method is a controller or other control chip of the unmanned aerial vehicle, and the method specifically includes the following steps:
s501, acquiring a target image through an image collector arranged on the unmanned aerial vehicle;
the target image in the control method for unmanned aerial vehicle mounting provided by the embodiment of the invention is an image shot by an image collector arranged on the unmanned aerial vehicle. Considering that the image collector can not only automatically scan the ground target, but also obtain the current movement condition of the mounted object, the target image may only include the ground, the mounted object, and both the ground and the mounted object.
S502, sending the target image to a ground station, and receiving a control signal generated by the ground station according to reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
based on the difference of the target images obtained in step 501, the ground station will extract different reference object information, and generate different control signals based on the different reference object information. Corresponding ground information is extracted from the target image corresponding to the ground; corresponding to a target image of a hanging object arranged on the unmanned aerial vehicle, corresponding hanging object information is extracted; corresponding ground information and mounted object information are extracted corresponding to the target images of the ground and the mounted objects.
The ground information may include mark information of a ground specific target, and the mounted object information may include motion information of a mounted object and height information of the mounted object from the ground.
And S503, controlling the hanging object or the image collector or the unmanned aerial vehicle to execute corresponding operation according to the control signal.
The control method for unmanned aerial vehicle mounting provided by the embodiment of the invention can control the mounting object or the image collector or the unmanned aerial vehicle to execute different operations based on the control signal. The operation of controlling the hanging object is as follows, when the hanging object is a parcel to be delivered, the operation can be controlling the hanging object to fall off; when the hanging object is a communication repeater, the operation can be to control the opening of the hanging object; when the mounted object is a scanning module, the operation can be to control the mounted object to execute ground scanning; when the hanging object is a loudspeaker, the operation can be to control and adjust the volume of the hanging object and the like, so that different requirements of different users are met. For example, the image collector is controlled as follows, when the unmanned aerial vehicle is far away from the ground, the focal length of the image collector can be adjusted, and the robustness of the image is realized in a zooming adjusting mode. Control unmanned aerial vehicle for example as follows, can cooperate the carry flight angle that hangs and change self to satisfy different demands.
The method for controlling the mounting of the unmanned aerial vehicle comprises the following steps of firstly, acquiring a target image through an image collector arranged on the unmanned aerial vehicle; then sending the target image to a ground station, and receiving control information generated by the ground station according to reference object information in the target image; and finally, controlling the hanging object or the image collector or the unmanned aerial vehicle to execute corresponding operation according to the control signal, namely, after determining reference object information in a target image acquired by the image collector, controlling the hanging object to execute different operations according to different reference object information, wherein the control flexibility and the control accuracy are better.
Example three:
referring to fig. 7, an embodiment of the present invention provides a method for controlling mounting of an unmanned aerial vehicle, where an execution main body of the method is a ground station, and the method specifically includes the following steps:
s601, receiving a target image sent by the unmanned aerial vehicle, wherein the target image is an image acquired by an image acquisition device arranged on the unmanned aerial vehicle;
the target image in the control method for unmanned aerial vehicle mounting provided by the embodiment of the invention is an image shot by an image collector arranged on the unmanned aerial vehicle. Considering that the image collector can not only automatically scan the ground target, but also obtain the current movement condition of the mounted object, the target image may only include the ground, the mounted object, and both the ground and the mounted object.
S602, extracting reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
based on the difference of the target images received in step 601, different reference object information will be extracted. Corresponding ground information is extracted from the target image corresponding to the ground; corresponding to a target image of a hanging object arranged on the unmanned aerial vehicle, corresponding hanging object information is extracted; corresponding ground information and mounted object information are extracted corresponding to the target images of the ground and the mounted objects.
The ground information may include mark information of a ground specific target, and the mounted object information may include motion information of a mounted object and height information of the mounted object from the ground.
S603, generating a corresponding control signal based on the reference object information, and sending the control signal to the unmanned aerial vehicle, wherein the control signal is used for controlling the hanging object or the image collector or the unmanned aerial vehicle to execute corresponding operation.
The unmanned aerial vehicle mounting control method provided by the embodiment of the invention generates different control signals based on different reference object information, and can control the mounting object or the image collector or the unmanned aerial vehicle to execute different operations based on different control signals. The operation of controlling the hanging object is as follows, when the hanging object is a parcel to be delivered, the operation can be controlling the hanging object to fall off; when the hanging object is a communication repeater, the operation can be to control the opening of the hanging object; when the mounted object is a scanning module, the operation can be to control the mounted object to execute ground scanning; when the hanging object is a loudspeaker, the operation can be to control and adjust the volume of the hanging object and the like, so that different requirements of different users are met. For example, the image collector is controlled as follows, when the unmanned aerial vehicle is far away from the ground, the focal length of the image collector can be adjusted, and the robustness of the image is realized in a zooming adjusting mode. Control unmanned aerial vehicle for example as follows, can cooperate the carry flight angle that hangs and change self to satisfy different demands.
In consideration of the fact that in the method for controlling the mounting of the unmanned aerial vehicle provided by the embodiment of the invention, the ground station controls the mounted object according to the reference object information, and different reference object information corresponds to different control modes, similar to the three cases determined by the unmanned aerial vehicle in the first embodiment, the ground station can determine that the reference object information is three cases of ground information, mounted object information and combination of the two pieces of information, and generate corresponding control signals based on the three cases.
The ground station can determine whether the unmanned aerial vehicle reaches a preset geographical position area according to ground information, generates a corresponding control signal after determining that the unmanned aerial vehicle reaches the preset geographical position, and sends the control signal to the unmanned aerial vehicle so that the unmanned aerial vehicle executes corresponding operation.
Secondly, above-mentioned ground station can also confirm the height of carry thing apart from ground according to ground information and carry thing information to and the ground position that corresponds, and generate corresponding control signal based on above-mentioned height and geographical position, and send this control signal to unmanned aerial vehicle so that unmanned aerial vehicle carries out appointed operation.
Thirdly, the ground station can also determine whether the position of the hanging object in the target image is within a preset range according to the information of the hanging object, and if not, a corresponding control signal is generated to control the hanging object to move relative to the image collector according to the control signal so as to enable the position of the hanging object in the target image to be within the preset range. In addition, the embodiment of the invention can also be used for adjusting the motion of the unmanned aerial vehicle in a matching way when the motion of the hanging object reaches the limit state, so that the position of the hanging object in the target image is in the preset range.
The unmanned aerial vehicle mounting control method provided by the embodiment of the invention comprises the steps of firstly receiving a target image sent by an unmanned aerial vehicle; then extracting reference object information including ground information and/or mounted object information in the target image; and finally, generating a corresponding control signal according to the reference object information, and sending the control signal to the unmanned aerial vehicle to control the mounted object mounted on the unmanned aerial vehicle to execute corresponding operation, namely, after determining the reference object information in the target image acquired by the image acquisition device, controlling the mounted object to execute different operations according to different reference object information, wherein the control flexibility and accuracy are better.
Example four:
referring to fig. 8, an embodiment of the present invention provides a control device for mounting an unmanned aerial vehicle, where the control device includes:
the acquisition module 11 is used for acquiring a target image through an image acquisition device arranged on the unmanned aerial vehicle;
an extracting module 22, configured to extract reference object information in the target image, where the reference object information includes one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
and the control module 33 is used for controlling the hanging object to execute corresponding operation according to the reference object information.
In consideration of the control device for mounting the unmanned aerial vehicle provided by the embodiment of the invention, the unmanned aerial vehicle controls the mounted object according to the reference object information, and different reference object information corresponds to different control modes, which specifically includes the following three conditions.
In the first case:
when determining that the reference object information is the ground information, the control module 33 specifically includes:
the first determining unit is used for determining whether the unmanned aerial vehicle reaches a preset geographical position area or not according to the ground information;
and the first control unit is used for controlling the hanging object to execute corresponding operation according to the first control signal when the unmanned aerial vehicle is determined to reach the preset geographic position area.
The first determining unit specifically includes:
the first comparison subunit is used for comparing reference ground information with ground information, wherein the reference ground information comprises ground information in a reference image of a preset geographic position area;
and the first determining subunit is used for determining that the unmanned aerial vehicle reaches the preset geographic position area when the reference ground information is successfully compared with the ground information.
In the second case:
when determining that the reference object information is the mounted object information, the control module 33 further includes:
the second determining unit is used for determining whether the position of the hanging object in the target image is within a preset range according to the hanging object information;
and the second control unit is used for controlling the hanging object to move relative to the image collector according to a second control signal so as to enable the position of the hanging object in the target image to be within the preset range when the position of the hanging object in the target image is determined not to be within the preset range.
In the third case:
when determining that the reference object information is the ground information and the mounted object information, the control module 33 further includes:
the third determining unit is used for determining the height of the mounted object from the ground and the corresponding ground position according to the ground information and the mounted object information;
and the third control unit is used for controlling the hanging object to execute specified operation based on the height and the ground position.
In the control device for mounting the unmanned aerial vehicle provided by the embodiment of the invention, the acquisition module 11 acquires a target image through an image collector arranged on the unmanned aerial vehicle; the extraction module 22 extracts reference object information including ground information and/or mounted object information from the target image; the control module 33 controls the mounted object to perform corresponding operations according to the reference object information, that is, after determining the reference object information in the target image acquired by the image acquirer, the control module controls the mounted object to perform different operations according to different reference object information, and both the flexibility and the accuracy of the control are better.
Example five:
the embodiment of the invention provides a control device for mounting an unmanned aerial vehicle, which comprises:
the acquisition module is used for acquiring a target image through an image collector arranged on the unmanned aerial vehicle;
the sending module is used for sending the target image to the ground station and receiving a control signal generated by the ground station according to reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
and the control module is used for controlling the hanging object or the image collector or the unmanned aerial vehicle to execute corresponding operation according to the control signal.
According to the control device for mounting the unmanned aerial vehicle, the acquisition module acquires a target image through the image collector arranged on the unmanned aerial vehicle; the sending module sends the target image to a ground station and receives control information generated by the ground station according to reference object information in the target image; the control module controls the hanging object or the image collector or the unmanned aerial vehicle to execute corresponding operation according to the control signal, namely, after the reference object information in the target image acquired by the image collector is determined, the hanging object is controlled to execute different operations according to different reference object information, and the control flexibility and the control accuracy are better.
Example six:
the embodiment of the invention provides a control device for mounting an unmanned aerial vehicle, which comprises:
the receiving module is used for receiving a target image sent by the unmanned aerial vehicle, wherein the target image is an image acquired by an image acquisition device arranged on the unmanned aerial vehicle;
the extraction module is used for extracting reference object information in the target image, wherein the reference object information comprises one or a combination of the following information: the system comprises ground information and mounted object information, wherein the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
and the generating module is used for generating a corresponding control signal based on the reference object information and sending the control signal to the unmanned aerial vehicle, wherein the control signal is used for controlling the hanging object or the image collector or the unmanned aerial vehicle to execute corresponding operation.
Considering that the control device for unmanned aerial vehicle mounting provided by the embodiment of the invention controls the mounted object according to the reference object information, and different reference object information corresponds to different control modes, similar to the three cases determined by the unmanned aerial vehicle in the first embodiment, the embodiment of the invention can determine that the reference object information is three cases of ground information, mounted object information and combination of the two pieces of information, and generate corresponding control signals based on the three cases.
The unmanned aerial vehicle control system comprises a generation module, a control signal generation module and a control signal transmission module, wherein the generation module can determine whether the unmanned aerial vehicle reaches a preset geographical position area according to ground information, generates a corresponding control signal after determining that the unmanned aerial vehicle reaches the preset geographical position, and transmits the control signal to the unmanned aerial vehicle to enable the unmanned aerial vehicle to execute corresponding operation.
Secondly, the generating module can also determine the height of the mounted object from the ground and the corresponding ground position according to the ground information and the mounted object information, generate a corresponding control signal based on the height and the geographic position, and send the control signal to the unmanned aerial vehicle to enable the unmanned aerial vehicle to execute the designated operation.
Thirdly, the generating module can also determine whether the position of the hanging object in the target image is within a preset range according to the information of the hanging object, and if not, generate a corresponding control signal to control the hanging object to move relative to the image collector according to the control signal so as to enable the position of the hanging object in the target image to be within the preset range. In addition, the embodiment of the invention can also be used for adjusting the motion of the unmanned aerial vehicle in a matching way when the motion of the hanging object reaches the limit state, so that the position of the hanging object in the target image is in the preset range.
According to the control device for mounting the unmanned aerial vehicle, the receiving module receives the target image sent by the unmanned aerial vehicle; the extraction module extracts reference object information comprising ground information and/or mounted object information in the target image; the generation module generates a corresponding control signal according to the reference object information, and sends the control signal to the unmanned aerial vehicle to control the mounted object mounted on the unmanned aerial vehicle to execute corresponding operation, namely, after the reference object information in the target image acquired by the image acquisition device is determined, the mounted object is controlled to execute different operations according to different reference object information, and the control flexibility and accuracy are better.
The computer program product of the control method for unmanned aerial vehicle mounting provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and will not be described herein again.
The control device for mounting the unmanned aerial vehicle provided by the embodiment of the invention can be specific hardware on equipment or software or firmware installed on the equipment and the like. The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. A control method for unmanned aerial vehicle mounting is characterized by comprising the following steps:
acquiring a target image through an image collector arranged on the unmanned aerial vehicle;
extracting reference object information in the target image, wherein the reference object information is mounted object information or combination information of ground information and the mounted object information, and the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
controlling the mounted object to execute corresponding operation according to the reference object information;
the controlling the mounted object to execute corresponding operation according to the reference object information comprises the following steps:
determining whether the position of the hanging object in the target image is within a preset range according to the hanging object information;
if not, controlling the hanging object to move relative to the image collector according to a control signal so that the position of the hanging object in the target image is within a preset range;
after determining whether the position of the hanging object in the target image is within a preset range according to the hanging object information, the method further comprises the following steps:
if not, controlling the image collector to move relative to the hanging object according to the control signal so as to enable the position of the hanging object in the target image to be within a preset range, or,
if not, controlling the hanging object to move according to the control signal, and controlling the flight angle of the unmanned aerial vehicle to move when the movement reaches the limit state, so that the position of the hanging object in the target image is within the preset range.
2. The method according to claim 1, wherein the reference information is combination information of ground information and mounted object information, and the controlling the mounted object to perform corresponding operations according to the reference information comprises:
determining the height of the mounted object from the ground and the corresponding ground position according to the ground information and the mounted object information;
and controlling the mounted object to execute a specified operation based on the height and the ground position.
3. The utility model provides a controlling means of unmanned aerial vehicle mount, its characterized in that includes:
the acquisition module is used for acquiring a target image through an image collector arranged on the unmanned aerial vehicle;
the extraction module is used for extracting reference object information in the target image, wherein the reference object information is mounted object information or combination information of ground information and the mounted object information, and the mounted object information is information of a mounted object arranged on the unmanned aerial vehicle;
the control module is used for controlling the mounted object to execute corresponding operation according to the reference object information;
the control module specifically comprises:
the mounted object position determining unit is used for determining whether the position of the mounted object in the target image is within a preset range according to the mounted object information;
the hanging object position control unit is used for controlling the hanging object to move relative to the image collector according to a control signal so as to enable the position of the hanging object in the target image to be within a preset range when the position of the hanging object in the target image is determined not to be within the preset range;
after the mount position determining unit, the method further includes:
an image collector position control unit, configured to, when it is determined that the position of the hanging object in the target image is not within a preset range, control the image collector to move relative to the hanging object according to a control signal, so that the position of the hanging object in the target image is within the preset range, or,
and the unmanned aerial vehicle control unit is used for controlling the hanging object to move according to a control signal when the position of the hanging object in the target image is determined not to be within a preset range, and controlling the flight angle of the unmanned aerial vehicle to move when the hanging object reaches an extreme state, so that the position of the hanging object in the target image is within the preset range.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710954578.4A CN107719683B (en) | 2017-10-13 | 2017-10-13 | Unmanned aerial vehicle mounting control method and device |
| PCT/CN2018/080778 WO2019071922A1 (en) | 2017-10-13 | 2018-03-28 | Carrier apparatus, unmanned aerial vehicle, telepresence system thereof |
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| CN201710954578.4A CN107719683B (en) | 2017-10-13 | 2017-10-13 | Unmanned aerial vehicle mounting control method and device |
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| WO2019071922A1 (en) * | 2017-10-13 | 2019-04-18 | Powervision Tech Inc. | Carrier apparatus, unmanned aerial vehicle, telepresence system thereof |
| CN108710863A (en) * | 2018-05-24 | 2018-10-26 | 东北大学 | Unmanned plane Scene Semantics dividing method based on deep learning and system |
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| US9745062B2 (en) * | 2014-10-06 | 2017-08-29 | James Sommerfield Richardson | Methods and systems for providing a safety apparatus to distressed persons |
| CN204507290U (en) * | 2015-04-08 | 2015-07-29 | 辽宁力德航空科技有限公司 | The accurate jettison system of unmanned plane |
| CN105151303B (en) * | 2015-08-06 | 2017-03-01 | 张子林 | A kind of unmanned plane delivery device and method |
| CN105599900A (en) * | 2016-01-20 | 2016-05-25 | 清华大学合肥公共安全研究院 | Low-altitude positioning load air-drop method based on multi-rotor unmanned aerial vehicle |
| CN105857615B (en) * | 2016-05-16 | 2019-01-15 | 深圳市星睿达科技有限公司 | A kind of unmanned plane with robotic article transportation function |
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