CN108052857A - A kind of unmanned aerial vehicle (UAV) control apparatus and method based on LED panel lamp and airborne camera - Google Patents
A kind of unmanned aerial vehicle (UAV) control apparatus and method based on LED panel lamp and airborne camera Download PDFInfo
- Publication number
- CN108052857A CN108052857A CN201711106010.3A CN201711106010A CN108052857A CN 108052857 A CN108052857 A CN 108052857A CN 201711106010 A CN201711106010 A CN 201711106010A CN 108052857 A CN108052857 A CN 108052857A
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- panel lamp
- led panel
- image
- unmanned plane
- uav
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/1141—One-way transmission
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
Abstract
The present invention discloses a kind of unmanned aerial vehicle (UAV) control device based on LED panel lamp and airborne camera, including being loaded into the camera on unmanned plane and being electrically connected to each other and wireless image transmitter, it is electrically connected below the unmanned plane equipped with LED panel lamp with microcomputer, computer, wireless image receiver and radio controller is additionally provided with below the unmanned plane；The computer is electrically connected respectively with the wireless image receiver and the radio controller, and the wireless image transmitter is connected with the wireless image receiver with wireless communication, and the radio controller is connected with the unmanned plane with wireless communication.Invention additionally discloses a kind of on the control method based on LED panel lamp and the unmanned aerial vehicle (UAV) control device of airborne camera.Technical solution of the present invention can realize information transmission and the automatic feedback of unmanned plane and ground, and then when environmental disturbances, preferably judge unmanned plane position and posture, carry out more accurate UAV Flight Control.
Description
Technical field
It is more particularly to a kind of based on LED panel lamp and airborne camera the present invention relates to unmanned aerial vehicle (UAV) control technical field
Unmanned aerial vehicle (UAV) control apparatus and method.
Background technology
Unmanned plane full name is UAV, to be manipulated using radio robot and the presetting apparatus provided for oneself
The not manned aircraft of movement, unmanned plane are rapidly developed as an emerging industry and applied to every field.
At present, unmanned plane is there are mainly two types of flight control mode, and one of which is to set target airspeed, but this controlling party
Formula is indirect control for the control of height, therefore there are certain hysteresis or fluctuations；It is another then be when presetting flat fly
The angle of attack, this control mode can make height change reacts at the first time, but when throttle fail, due to height reduction
Flying control will make aircraft keep the maximum elevation by amplitude limit, eventually cause stall due to the shortage of power.
Even professional operator, unmanned aerial vehicle (UAV) control are also relatively difficult, are flown more particularly along preset
Walking along the street footpath or specific position, angle perform shooting task when, can usually be influenced be subject to various factors.In addition, if nobody
When machine is with effector's hypertelorism, the accident caused by control is wrong or can not receive radio is susceptible to.Therefore,
It is necessary to develop unmanned machine automatic drive control or flight assisting system.
In recent years, the semiconductor devices LED for being known as " green illumination " is rapidly developed, compared to conventional incandescent illumination light
Source, LED have the characteristics that low energy consumption, long lifespan, environmentally protective.Meanwhile LED also have modulating performance is good, response sensitivity is high,
Without advantages such as electromagnetic interferences, display panel is made in several LED light, transmission image can be stablized, and contrast is high, image easily quilt
Identification.
QR codes are one kind of two-dimensional bar code, and data are handled using transverse and longitudinal both direction, and being provided with positioning in 3 corners schemes
Case, edge leave the blank of 4 symbols.QR codes have automatic error-correcting, support the quickly reading etc. of all types of data, any angle
Advantage.Micro- QR codes are similar with QR code functions, and structure is relatively simple, and edge only stays 2 symbol blank, and only there are one registration pattern,
It can be printed in smaller space, but it is less to store information.
AR marks are the visual cues that triggering shows virtual information, and mark is normal picture trained in advance, so as in phase
It is identified in machine stream.After identification mark, position, ratio and rotation angle are exported from visual cues, and are transferred in virtual information.
AR rectangle markeds are square marks, and are the types that AR is marked with the frame of significant black (or white).Through excessive
Year development, the real-time identification of AR rectangle markeds has improved, even if image can also be realized well by rotating or tilting
Identification.In tracking phase, system first searches for a black rectangle, and only after it is internal border to examine the frame, system is
Determine the image for mark.According to the inclined mode of frame, system can extract position and rotation of the mark compared with camera, i.e.,
The relative position and posture of camera can be obtained.
The content of the invention
The main object of the present invention be propose a kind of unmanned aerial vehicle (UAV) control device based on LED panel lamp and airborne camera and
Method, it is intended to realize information transmission and the automatic feedback of unmanned plane and ground, and then when environmental disturbances, preferably sentence
Disconnected unmanned plane position and posture, carry out more accurate UAV Flight Control.
To achieve the above object, a kind of unmanned aerial vehicle (UAV) control based on LED panel lamp and airborne camera proposed by the present invention
Device including being loaded into the camera on unmanned plane and being electrically connected to each other and wireless image transmitter, is set below the unmanned plane
There is LED panel lamp to be electrically connected with microcomputer, computer, wireless image receiver and nothing are additionally provided with below the unmanned plane
Line electric controller；The computer is electrically connected respectively with the wireless image receiver and the radio controller, described
Wireless image transmitter is connected with the wireless image receiver with wireless communication, the radio controller and the unmanned plane
It is connected with wireless communication.
Preferably, the LED panel lamp is made of the LED light of visor and several aligned orderlies, each LED light
It is electrically connected respectively with the microcomputer.
Preferably, the LED panel lamp shows image using QR codes, micro- QR codes and AR codes driving mark.
The present invention also proposes a kind of side using the unmanned aerial vehicle (UAV) control device based on LED panel lamp and airborne camera
Method comprises the following steps：
S1：LED panel lamp described in the Microcomputer control show needed for image；
S2：Image that LED panel lamp described in the camera shooting, collecting is shown simultaneously passes through the wireless image transmitter
The image collected is transmitted to the wireless image receiver；
S3：The wireless image receiver receives and by image transmitting to the computer disposal；
S4：Analysis result is shown after computer analyzing and processing image and to the radio controller transimiison analysis knot
Fruit, the radio controller send instruction and control the unmanned plane during flying.
Preferably, wireless image receiver described in the step S3 scans the reception of the LED panel lamp scan image
Including odd scan and even-line interlace.
Technical solution of the present invention has the following advantages compared with the prior art：
(1) the relatively existing control technology of technical solution of the present invention, the 3D positions and posture that can improve unmanned plane judge essence
Degree so that position judgment is easier.
(2) the visible data transmission method in visible light communication technology has been used in combination in technical solution of the present invention, passes through
The capture of image is shown to LED panel lamp, the visible light communication data that LED light is sent is obtained, enhances unmanned plane transceiving data
With the real-time of instruction, the efficiency of UAV Flight Control is improved.And technical solution of the present invention makes LED panel lamp
It improves, installs visor additional, enhance anti-interference of the airborne camera to image capture so that system also can under strong light environment
Normal work.
(3) technical solution of the present invention carries out interlacing scan by the image parity field division to capture, compensates for camera
The motion blur of progressive scan.
(4) AR marks and QR codes is used in combination in technical solution of the present invention, using the advantage of both of which, improves capture images
Discrimination, further improve the property of can determine whether in complex condition unmanned plane position.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Structure according to these attached drawings obtains other attached drawings.
Fig. 1 is the structure diagram the present invention is based on LED panel lamp and the unmanned aerial vehicle (UAV) control device of airborne camera；
Fig. 2 is LED panel lamp outline structural diagram of the present invention；
Fig. 3 is LED panel lamp internal structure schematic diagram of the present invention；
Fig. 4 shows image effect figure for LED panel lamp of the present invention；
Fig. 5 is flow chart of the image capture of the present invention to data acquisition；
Fig. 6 is LED panel lamp image detection schematic diagram of the present invention.
Drawing reference numeral explanation：
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, belongs to the scope of protection of the invention.
If it is to be appreciated that related in the embodiment of the present invention directionality instruction (such as up, down, left, right, before and after ...),
Then directionality instruction be only used for explaining relative position relation under a certain particular pose (as shown in drawings) between each component,
Motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes correspondingly.
If in addition, relating to the description of " first ", " second " etc. in the embodiment of the present invention, " first ", " second " etc. are somebody's turn to do
Description be only used for description purpose, and it is not intended that instruction or implying its relative importance or implicit indicating indicated skill
The quantity of art feature." first " is defined as a result, and the feature of " second " can be expressed or implicitly includes at least one spy
Sign.In addition, the technical solution between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
Based on enough realizations, the knot of this technical solution is will be understood that when the combination appearance of technical solution is conflicting or can not realize
Conjunction is not present, also not the present invention claims protection domain within.
The present invention proposes a kind of unmanned aerial vehicle (UAV) control device based on LED panel lamp and airborne camera.
Fig. 1 is referred to, the unmanned aerial vehicle (UAV) control device of the embodiment of the present invention includes, including being loaded on unmanned plane 6 and mutually
The camera 61 of electrical connection and wireless image transmitter 62,6 lower section of unmanned plane are electrically connected equipped with LED panel lamp 2 with microcomputer 1
Connect, the lower section of unmanned plane 6 is additionally provided with computer 4, wireless image receiver 3 and radio controller 5, computer 4 respectively with nothing
Line image receiver 3 and radio controller 5 are electrically connected, and wireless image transmitter 62 and wireless image receiver 3 are with wireless
Communication is connected, and radio controller 5 is connected with unmanned plane 6 with wireless communication.
Fig. 2 to Fig. 4 is referred to, the LED panel lamp 2 of the embodiment of the present invention is by visor 21 and several aligned orderlies
LED light 22 forms, and each LED light 22 is electrically connected respectively with microcomputer 1, and visor 21 and LED light 22 cover it is whole
A LED panel lamp 2.
Fig. 1 and Fig. 6 are referred to, the present invention also proposes a kind of unmanned plane of use based on LED panel lamp and airborne camera
The method of control device, comprises the following steps：
S1：Microcomputer 1 controls LED panel lamp 2 to show required image；
S2：The image of 61 shooting, collecting LED panel lamp 2 of camera display simultaneously passes through wireless image transmitter 62 and will collect
Image transmitting to wireless image receiver 3；
S3：Wireless image receiver 3 receives and handles image transmitting to computer 4；
S4：Computer 4 shows analysis result and to 5 transimiison analysis of radio controller as a result, nothing after analyzing and processing image
Line electric controller 5 sends instruction control unmanned plane 6 and flies.
Refer to Fig. 2 and Fig. 4, specifically, the LED panel lamp 2 of the embodiment of the present invention by 32 × 32 at intervals of 15mm, greatly
It is small to be formed for the LED light 22 of 5mm, the matching of pattern and information needed for instruction progress is pre-entered by microcomputer 1, is passed through
Microcomputer 1 controls the bright of each LED light 22 or secretly with the image of control display.
In addition, the LED panel lamp 2 of the present embodiment shows that QR codes, micro- QR codes and AR codes driving mark can be used in image.
Preferably, using QR codes as image is shown, since QR codes there are 40 kinds of specifications, more information can be stored, selects 29
Each lattice of × 29 specification, the then each correspondence of LED light 22 QR codes, since color is reversed after imaging, therefore bright light corresponds to
Black square, concealed light correspond to white square.
Preferably, using micro- QR codes as image is shown, storage information is reduced, but each grid proportion bigger, into
As better, 15 × 15 specification is chosen, then 2 × 2 LED light correspond to 1 lattice in micro- QR codes.
Preferably, marked using AR as image is shown, an image is only able to display a kind of information, but AR is marked after imaging
Position be more easy to extract, 1 pixel of each LED light correspondence image is to show image.
In the embodiment of the present invention, it is bright or secretly converted that microcomputer 1 controls LED light 22 to pass through so that LED panel lamp
The 2 specific images of display, and the image that the camera 61 for being equipped on unmanned plane 6 shows LED panel lamp 2 is shot, due to
Camera 61 is electrically connected with wireless image transmitter 62, therefore the image that wireless image transmitter 62 shows LED panel lamp 2 is sent out
It send to wireless image receiver 3, corresponding image is sent to computer 4 and handled by wireless image receiver 3, computer 4
Result after analysis is simultaneously transmitted to radio controller 5 by display analysis result, and unmanned plane 6 is controlled by radio controller 5
Flight path.
Unmanned aerial vehicle (UAV) control device of the technical solution of the present invention based on LED panel lamp and airborne camera can carry out image
The accuracy to the location estimation of unmanned plane, greatly improved to 6 position of unmanned plane and posture judgement is realized in processing analysis, so as to for
Unmanned plane 6 provides more accurately information and instruction.
In addition, to avoid generating motion blur influence under 5 interlacing scan of camera, Liang Chang is divided the image into, such as Fig. 6 institutes
Show, one group is made of odd-numbered scan lines, and another group is made of even-line interlace line, and LED panel is detected in two scene images
2 part of LED panel lamp detected by projective transformation is corrected, finally merges into complete LED faces by the angle point of lamp 2
2 displayed image of plate lamp.
To become apparent from image border, the discrimination of image is improved, pair of histogram sharpening enhancement image can be used
Degree of ratio.
Further, by calculating the similarity of 2 image of LED panel lamp and capture images, analysis draws airborne camera shooting
First 61 i.e. 3D position of the unmanned plane 6 with respect to LED panel lamp 2 and posture.2 image of LED panel lamp and capture images pair can wherein be used
Answer pixel absolute difference divided by valid pixel number summation as similarity calculation.
Further, for capture AR mark, directly with match pattern as a result, and since first result into
Row iteration；For the QR codes of capture, binaryzation and decoding are carried out to it, extract embedded data message, and from first result
Proceed by iteration.
Further, in order to reduce ambient light according to the influence to 2 display effect of LED panel lamp, by LED panel lamp 2
Upper covering visor 21, reduces due to the noise that metal covering reflects and generates, and avoids reflected light missing knowledge as LED light 22, ensure
The discrimination of image.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every at this
Under the design of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content or directly/be used in it indirectly
His relevant technical field is included in the scope of patent protection of the present invention.
Claims (5)
1. a kind of unmanned aerial vehicle (UAV) control device based on LED panel lamp and airborne camera, which is characterized in that including being loaded into nobody
On machine and the camera and wireless image transmitter that are electrically connected to each other, LED panel lamp and microcomputer are equipped with below the unmanned plane
Mechatronics are calculated, computer, wireless image receiver and radio controller are additionally provided with below the unmanned plane；The calculating
Machine is electrically connected respectively with the wireless image receiver and the radio controller, the wireless image transmitter and described
Wireless image receiver is connected with wireless communication, and the radio controller is connected with the unmanned plane with wireless communication.
2. the unmanned aerial vehicle (UAV) control device based on LED panel lamp and airborne camera as described in claim 1, which is characterized in that
The LED panel lamp is made of the LED light of visor and several aligned orderlies, each LED light respectively with it is described miniature
Calculate mechatronics.
3. the unmanned aerial vehicle (UAV) control device based on LED panel lamp and airborne camera as described in claim 1, which is characterized in that
The LED panel lamp shows image using QR codes, micro- QR codes and AR codes driving mark.
4. a kind of method of unmanned aerial vehicle (UAV) control device using as described in claim 1 based on LED panel lamp and airborne camera,
It is characterised in that it includes following steps：
S1：LED panel lamp described in the Microcomputer control show needed for image；
S2：Image that LED panel lamp described in the camera shooting, collecting is shown simultaneously passes through the wireless image transmitter and will adopt
The image transmitting collected is to the wireless image receiver；
S3：The wireless image receiver receives and by image transmitting to the computer disposal；
S4：Show analysis result after computer analyzing and processing image and to the radio controller transimiison analysis as a result,
The radio controller sends instruction and controls the unmanned plane during flying.
5. method as claimed in claim 4, which is characterized in that wireless image receiver is to the LED described in the step S3
The reception scanning of panel light scan image includes odd scan and even-line interlace.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711106010.3A CN108052857A (en) | 2017-11-10 | 2017-11-10 | A kind of unmanned aerial vehicle (UAV) control apparatus and method based on LED panel lamp and airborne camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711106010.3A CN108052857A (en) | 2017-11-10 | 2017-11-10 | A kind of unmanned aerial vehicle (UAV) control apparatus and method based on LED panel lamp and airborne camera |
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| CN108052857A true CN108052857A (en) | 2018-05-18 |
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| CN201711106010.3A Pending CN108052857A (en) | 2017-11-10 | 2017-11-10 | A kind of unmanned aerial vehicle (UAV) control apparatus and method based on LED panel lamp and airborne camera |
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| CN1599413A (en) * | 2003-06-02 | 2005-03-23 | 三星电子株式会社 | Scanning conversion apparatus and method |
| CN204287962U (en) * | 2014-10-31 | 2015-04-22 | 深圳市大疆创新科技有限公司 | A kind of removable machine and robot |
| CN105953786A (en) * | 2016-04-20 | 2016-09-21 | 清华大学 | Indoor precise positioning method and system based on imaging communication |
| CN105843242A (en) * | 2016-04-22 | 2016-08-10 | 四方继保（武汉）软件有限公司 | UAV image-guided landing method of unmanned ship shipborne platform |
| CN106081146A (en) * | 2016-07-18 | 2016-11-09 | 厦门大壮深飞科技有限公司 | Unmanned plane based on landing guidance supply platform |
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