CN108776491A - Unmanned plane multiple target monitoring system and monitoring method based on dynamic image identification - Google Patents
Unmanned plane multiple target monitoring system and monitoring method based on dynamic image identification Download PDFInfo
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- CN108776491A CN108776491A CN201810500717.0A CN201810500717A CN108776491A CN 108776491 A CN108776491 A CN 108776491A CN 201810500717 A CN201810500717 A CN 201810500717A CN 108776491 A CN108776491 A CN 108776491A
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
Abstract
The invention discloses the unmanned plane multiple target identified based on dynamic image monitoring system and monitoring methods, monitoring system includes earth station system, flight control system and photoelectric tracking subsystem, photoelectric tracking subsystem includes image acquisition units, object recognition and detection unit, Data Management Analysis unit, image data transmission unit and cradle head control unit, earth station system includes information processing centre and ground display and control terminal, and flight control system is wirelessly communicated with information processing centre and connected.The present invention is realized by unmanned plane specified address of flying to and is carried out locating and tracking monitoring either statically or dynamically to single goal, multiple target, single class target or multi-class targets, applied widely.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to based on dynamic image identification unmanned plane multiple target monitoring system and
Monitoring method.
Background technology
Currently, the simple target static state that unmanned plane surveillance and tracking technology is directed to mostly in the prior art is tracked for multiple target
Dynamic surveillance tracking is also immature.
Chinese patent application 201610474279.6 disclose a kind of unmanned plane automatic testing method based on machine vision and
Unmanned plane method of control, this method are to carry out background modeling extraction movement by setting multiple monitoring points, and to each monitoring point
Then target identifies monitoring objective.But this method needs to be arranged multiple monitoring points and can not be to monitoring objective into line trace, nothing
Method is realized to multiple target dynamic surveillance and tracking.
Invention content
The purpose of the present invention is to provide the unmanned plane multiple targets identified based on dynamic image to monitor system and monitoring method,
To solve to be difficult to multiple target in the prior art, including multi-class targets carry out the defect of dynamic monitoring.
In unmanned plane multiple target the monitoring system, including earth station system, unmanned plane based on dynamic image identification
Flight control system and photoelectric tracking subsystem, photoelectric tracking subsystem include,
Image acquisition units are located on the extra-organismal holder of unmanned plane by control motor control, for obtaining extraneous ring
Border image information is simultaneously sent to object recognition and detection unit；
Object recognition and detection unit obtains each monitoring mesh for identifying all monitoring objectives from ambient image information
Target image and relative position information are sent to Data Management Analysis unit and cradle head control unit；
Data Management Analysis unit, by the position of the image of each monitoring objective and relative position information and unmanned plane itself and
Elevation information combines the actual position information for generating each monitoring objective and is sent to image data transmission unit；
Image data transmission unit flies control system for being re-send to after the actual position information for receiving each monitoring objective
System, and cradle head control unit and data processing and analysis unit are sent to after obtaining information from flight control system；
Cradle head control unit, is connected on holder and respectively controls motor, obtains after monitoring command information according to each monitoring objective
Image and relative position information, control holder on image acquisition units to each monitoring objective carry out track up；
Earth station system includes information processing centre and ground display and control terminal, flight control system and information processing centre channel radio
Letter connection, information processing centre are connected with ground display and control terminal, the image that information processing centre is used to send to obtaining unmanned plane
Information data decomposition and update is simultaneously sent to ground display and control terminal and sends out operator instruction morphing for corresponding control information
It is sent to flight control system and photoelectric tracking subsystem.
Preferably, holder is equipped with the automatically controlled shaft around three directions that X, Y, Z axis rotates, and control motor is located at each automatically controlled
In shaft.
Preferably, image acquisition units include several cameras, and each camera is mounted on a holder, and holder passes through
The shaft for controlling motor control is mounted on outside unmanned plane body.
Preferably, flight control system include control unmanned plane respectively fly control the winged control calculator of motor, attitude transducer,
GPS navigation system and altimeter, attitude transducer, GPS navigation system and altimeter, which are connected respectively to, flies control calculator, flies control meter
It calculates device and is connected respectively to image data transmission unit and wireless transmit/receive units, wireless transmit/receive units and information processing centre channel radio
Letter connection.
Preferably, image acquisition units include the camera for acquiring image, cradle head control unit also with camera phase
Even, for sending focus adjustment information to camera.
The monitoring method for the unmanned plane multiple target monitoring system based on dynamic image identification that the present invention also provides a kind of,
It is characterized in that：Include the following steps：
S1, operator are by the image information of ground display and control terminal Input Monitor Connector target and monitoring address information, through information
The flight control system of unmanned plane is sent to after processing center processing；
S2, flight control system control unmanned plane fly to and monitor address, and the image letter of monitoring objective is sent to data processing
Analytic unit, at the same image data transmission unit constantly obtained from flight control system unmanned plane itself position and elevation information it is concurrent
It is sent to Data Management Analysis unit；
After S3, unmanned plane reach monitoring address, image acquisition units obtain ambient image information and are sent to target identification
The image information of the monitoring objective recognized and relative position information are sent to data by positioning unit, object recognition and detection unit
Processing and analysis unit and cradle head control unit；
S4, Data Management Analysis unit believe the position and height of the relative position information of monitoring objective and unmanned plane itself
Breath combines the actual position information for generating each detection target and is sent to image data transmission unit；
The actual position information for each monitoring objective that S5, flight control system are obtained from image data transmission unit is sent to information
Processing center；
S6, operator formulate tracking scheme according to the actual position information of each monitoring objective, are turned by information processing centre
It turns to executable monitoring command information and is sent to flight control system, flight control system is sent to cradle head control list by command information is monitored
Member, flight control system fly to monitoring objective into line trace according to monitoring command information, and cradle head control unit is instructed also according to monitoring
Information adjusts the focal length of the posture and camera of holder, track up monitoring objective.
Preferably, fixed point tracing mode is stored in step S6 in the winged control calculator of flight control system and around tracing mode
Flight path generation method, operator sends out fixed point tracing mode or after the instruction of tracing mode, and unmanned plane is according to prison
The position for surveying target automatically generates flight path.
Preferably, in step S6, under track up state, when a monitoring objective is moved to outside setpoint distance
It waits, recognition result is sent to flight control system by object recognition and detection unit through Data Management Analysis unit, and triggering flight control system will
Unmanned plane flies to the center position of captured image when triggering.
Preferably, in step S6, under track up state, when a monitoring objective be blocked and unmanned plane move position
The target can not also be recognized again with shooting angle by setting, and Data Management Analysis unit ground station system sends out the target can not be with
The signal of track simultaneously continues to track other monitoring objectives.
The advantage of the invention is that：The information that operator can send monitoring objective in ground control system is flown to by unmanned plane
Specified address realizes the locating and tracking carried out either statically or dynamically to single goal, multiple target, single class target or multi-class targets and monitors.
Unmanned function is flown automatically according to the track path generation method being previously stored, also can be according to the result after the image recognition of acquisition
Automatic tracing is carried out to monitoring objective, improves the intelligent level of monitoring and positioning.
Description of the drawings
Fig. 1 is the system structure diagram of the embodiment of the present invention；
Fig. 2 is the monitoring method flow chart of the embodiment of the present invention.
Wherein, 1, information processing centre, 2, ground display and control terminal, 3, fly control calculator, 4, wireless transmit/receive units, 5, holder
Control unit, 6, image data transmission unit, 7, image acquisition units, 8, object recognition and detection unit, 9, Data Management Analysis
Unit.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making further details of theory to the specific embodiment of the invention
It is bright, to help those skilled in the art to have more complete, accurate and deep reason to the inventive concept of the present invention, technical solution
Solution.
Embodiment
The present invention provides the unmanned plane multiple target identified based on dynamic image monitoring system and monitoring methods.Such as Fig. 1-figure
Shown in 2, the unmanned plane multiple target monitoring system based on dynamic image identification include include earth station system, the winged control on unmanned plane
System and photoelectric tracking subsystem.
Wherein photoelectric tracking subsystem includes image acquisition units 7, object recognition and detection unit 8, Data Management Analysis list
Member 9, image data transmission unit 6 and cradle head control unit 5.
Image acquisition units 7 include several cameras, and each camera is mounted on a holder, and holder is by controlling electricity
The shaft of machine control is mounted on outside unmanned plane body.Holder is equipped with the automatically controlled shaft around three directions that X, Y, Z axis rotates, control
Motor processed is located in each automatically controlled shaft.Control motor rotation can adjust the direction of each camera.Image acquisition units 7 are for obtaining
The ambient image information in the external world is simultaneously sent to object recognition and detection unit 8.
Object recognition and detection unit 8 is connected with Data Management Analysis unit 9 and cradle head control unit 5.Object recognition and detection
Unit 8 obtains the image and relative position letter of each monitoring objective for identifying all monitoring objectives from ambient image information
Breath is sent to Data Management Analysis unit 9 and cradle head control unit 5.Cradle head control unit 5 can be according to object recognition and detection unit 8
The monitoring objective relative distance recognized changes and adjusts the direction of camera with tracking and monitoring target.
Data Management Analysis unit 9 is connected with winged control calculator 3 to be believed thus to obtain the position of unmanned plane itself and height
Breath.Position and height of the Data Management Analysis unit 9 by the image of each monitoring objective and relative position information with unmanned plane itself
Information combines the actual position information for generating each monitoring objective and is sent to image data transmission unit 6.
Image data transmission unit 6 is connected with control calculator 3 is flown, in the actual bit confidence for receiving each monitoring objective
Flight control system is re-send to after breath, and cradle head control unit 5 and data processing point are sent to after obtaining information from flight control system
Analyse unit 9.
Cradle head control unit 5, which is connected on holder, respectively controls motor, obtains after monitoring command information according to each monitoring objective
Image and relative position information, control holder on camera rotation to each monitoring objective carry out track up.Cradle head control
Unit 5 is also connected with camera, for sending focus adjustment information to camera.
Earth station system includes information processing centre 1 and ground display and control terminal 2, flight control system and 1 nothing of information processing centre
Line communicates to connect.Information processing centre 1 is connected with ground display and control terminal 2, and information processing centre 1 is used to send to obtaining unmanned plane
Image information data decomposition and update and be sent to ground display and control terminal 2 for operator observe, another aspect information processing centre 1
The instruction morphing corresponding control information that can perform for unmanned plane that operator sends out is sent to flight control system and photoelectric tracking
System.
Flight control system include control unmanned plane respectively fly control motor winged control calculator 3, attitude transducer, GPS navigation
System and altimeter, attitude transducer, GPS navigation system and altimeter, which are connected respectively to, flies control calculator 3, flies control calculator 3
It is connected respectively to image data transmission unit 6 and wireless transmit/receive units 4, wireless transmit/receive units 4 and 1 channel radio of information processing centre
Letter connection.Fly control calculator 3 and monitoring address information or monitoring command information, the place provided according to information or flight path are provided
It is required that control unmanned plane during flying.
The present invention also provides the monitoring method that a kind of unmanned plane multiple target based on dynamic image identification monitors system, packets
Include following steps：
S1, operator are by the image information of 2 Input Monitor Connector target of ground display and control terminal and monitoring address information, through information
The flight control system of unmanned plane is sent to after the processing of processing center 1；
S2, flight control system control unmanned plane fly to and monitor address, and the image letter of monitoring objective is sent to data processing
Analytic unit 9, at the same image data transmission unit 6 constantly obtained from flight control system unmanned plane itself position and elevation information simultaneously
It is sent to Data Management Analysis unit 9；
After S3, unmanned plane reach monitoring address, image acquisition units 7 obtain ambient image information and are sent to target identification
The image information of the monitoring objective recognized and relative position information are sent to number by positioning unit 8, object recognition and detection unit 8
According to processing and analysis unit 9 and cradle head control unit 5；
The position and height of S4, Data Management Analysis unit 9 by the relative position information of monitoring objective with unmanned plane itself
Information combines the actual position information for generating each detection target and is sent to image data transmission unit 6；
The actual position information for each monitoring objective that S5, flight control system are obtained from image data transmission unit 6 is sent to letter
Cease processing center 1；
S6, operator formulate tracking scheme according to the actual position information of each monitoring objective, by 1 turn of information processing centre
It turns to executable monitoring command information and is sent to flight control system, flight control system is sent to cradle head control list by command information is monitored
Member 5, flight control system fly to monitoring objective into line trace according to monitoring command information, and cradle head control unit 5 refers to also according to monitoring
Enable the focal length of the posture and camera of information adjustment holder, track up monitoring objective.
In step S6, under track up state, when a monitoring objective is moved to outside setpoint distance, target is known
Recognition result is sent to flight control system by other positioning unit 8 through Data Management Analysis unit 9, triggering flight control system from motion tracking,
The center position of captured image and the mobile monitoring objective of identification is further found when unmanned plane is flown to triggering.
Preferably, fixed point tracing mode is stored in step S6 in the winged control calculator 3 of flight control system and around tracking mould
The flight path generation method of formula, operator send out fixed point tracing mode or after the instructions of tracing mode, unmanned plane foundation
The position of monitoring objective automatically generates flight path.Operator need not send out the larger specific monitoring of data volume every time in this way
Command information, when pinpoint tracing mode or can meet around tracing mode need when, need to only send and need the monitoring objective that tracks
Information, this can effectively reduce the data volume of communication, improve the efficiency of monitoring and reduce the error that communication generates.
Preferably, in step S6, under track up state, when a monitoring objective be blocked and unmanned plane move position
The target can not also be recognized again with shooting angle by setting, and 9 ground station system of Data Management Analysis unit sends out the target can not
The signal of tracking simultaneously continues to track other monitoring objectives.This is the unmanned plane after it can not track some monitoring objective in order to prevent
The problem of repeating to find, generating useless action, or even influence to monitoring other monitoring objectives.
After being monitored using above-mentioned monitoring system, operator can ground control system send monitoring objective information by
Unmanned plane specified address of flying to realizes and carries out determining either statically or dynamically to single goal, multiple target, single class target or multi-class targets
It traces and monitors position.Monitoring range is wide, is suitable for a variety of situations, unmanned function is according to the result after the image recognition of acquisition to monitoring
Target carries out automatic tracing, improves the intelligent level of monitoring and positioning.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, it is or not improved as long as using the method for the present invention design and the improvement of various unsubstantialities that technical solution carries out
Present inventive concept and technical solution are directly applied into other occasions, within the scope of the present invention.
Claims (9)
1. a kind of unmanned plane multiple target based on dynamic image identification monitors system, it is characterised in that：Including earth station system, nothing
Flight control system on man-machine and photoelectric tracking subsystem, the photoelectric tracking subsystem include,
Image acquisition units (7) are located on the extra-organismal holder of the unmanned plane by control motor control, for obtaining the external world
Ambient image information is simultaneously sent to the object recognition and detection unit (8)；
Object recognition and detection unit (8) obtains each monitoring objective for identifying all monitoring objectives from ambient image information
Image and relative position information be sent to Data Management Analysis unit (9) and cradle head control unit (5)；
Data Management Analysis unit (9), by the position of the image of each monitoring objective and relative position information and unmanned plane itself and
Elevation information combines the actual position information for generating each monitoring objective and is sent to image data transmission unit (6)；
Image data transmission unit (6) flies control system for being re-send to after the actual position information for receiving each monitoring objective
System, and cradle head control unit (5) and data processing and analysis unit (9) are sent to after obtaining information from flight control system；
Cradle head control unit (5), is connected on holder and respectively controls motor, obtains after monitoring command information according to each monitoring objective
Image and relative position information, the image acquisition units (7) controlled on holder carry out track up to each monitoring objective；
The earth station system includes information processing centre (1) and ground display and control terminal (2), the flight control system and described information
Processing center (1) wireless communication connection, described information processing center (1) are connected with the ground display and control terminal (2), described information
Processing center (1) is used for the image information data decomposition and update to obtaining unmanned plane transmission and is sent to the ground display and control terminal
(2) and by what operator sent out instruction morphing the flight control system and photoelectric tracking subsystem are sent to for corresponding control information
System.
2. a kind of unmanned plane multiple target based on dynamic image identification according to claim 1 monitors system, feature exists
In：The holder is equipped with the automatically controlled shaft around three directions that X, Y, Z axis rotates, and the control motor is located at each automatically controlled shaft
It is interior.
3. a kind of unmanned plane multiple target based on dynamic image identification according to claim 1 monitors system, feature exists
In：Described image collecting unit (7) includes several cameras, and each camera is mounted on a holder, and the holder passes through
The shaft for controlling motor control is mounted on outside the unmanned plane body.
4. a kind of unmanned plane multiple target based on dynamic image identification according to claim 1 monitors system, feature exists
In：The flight control system includes controlling unmanned plane and respectively fly to control the winged control calculator (3) of motor, attitude transducer, GPS navigation
System and altimeter, the attitude transducer, the GPS navigation system and the altimeter are connected respectively to the winged control and calculate
Device (3), the winged control calculator (3) are connected respectively to described image data transmission unit (6) and wireless transmit/receive units (4), institute
Wireless transmit/receive units (4) are stated to connect with described information processing center (1) wireless communication.
5. a kind of unmanned plane multiple target based on dynamic image identification according to claim 1 monitors system, feature exists
In：Described image collecting unit (7) includes the camera for acquiring image, and the cradle head control unit (5) is also taken the photograph with described
Picture head is connected, for sending focus adjustment information to camera.
6. monitoring system according to a kind of unmanned plane multiple target based on dynamic image identification of claim 1-5 any one of them
Monitoring method, it is characterised in that：Include the following steps：
S1, operator are by the image information of ground display and control terminal (2) Input Monitor Connector target and monitoring address information, at information
The flight control system of unmanned plane is sent to after the processing of reason center (1)；
S2, flight control system control unmanned plane fly to and monitor address, and the image letter of monitoring objective is sent to data processing
Analytic unit (9), while the position of unmanned plane itself is constantly obtained from flight control system for image data transmission unit (6) and height is believed
It ceases and is sent to Data Management Analysis unit (9)；
After S3, unmanned plane reach monitoring address, image acquisition units (7), which obtain ambient image information and are sent to target identification, determines
The image information of the monitoring objective recognized and relative position information are sent to by bit location (8), object recognition and detection unit (8)
Data Management Analysis unit (9) and cradle head control unit (5)；
S4, Data Management Analysis unit (9) believe the position and height of the relative position information of monitoring objective and unmanned plane itself
Breath combines the actual position information for generating each detection target and is sent to image data transmission unit (6)；
S5, flight control system are sent to information from the actual position information for each monitoring objective that image data transmission unit (6) obtains
Processing center (1)；
S6, operator formulate tracking scheme according to the actual position information of each monitoring objective, are converted by information processing centre (1)
It is sent to flight control system for executable monitoring command information, the flight control system is sent to cradle head control by command information is monitored
Unit (5), the flight control system fly to monitoring objective into line trace according to monitoring command information, the cradle head control unit
(5) focal length of the posture and camera of holder, track up monitoring objective are adjusted also according to monitoring command information.
7. a kind of unmanned plane multiple target based on dynamic image identification according to claim 6 monitors the monitoring side of system
Method, it is characterised in that：Fixed point tracing mode and ring are stored in the winged control calculator (3) of flight control system described in the step S6
Around the flight path generation method of tracing mode, operator sends out fixed point tracing mode or after the instruction of tracing mode, nothing
The man-machine position according to monitoring objective automatically generates flight path.
8. a kind of unmanned plane multiple target based on dynamic image identification according to claim 6 monitors the monitoring side of system
Method, it is characterised in that：In the step S6, under track up state, when a monitoring objective is moved to outside setpoint distance
When, recognition result is sent to flight control system by object recognition and detection unit (8) through Data Management Analysis unit (9), and triggering flies
The center position of control system captured image when unmanned plane is flown to triggering.
9. a kind of unmanned plane multiple target based on dynamic image identification according to claim 6 monitors the monitoring side of system
Method, it is characterised in that：In the step S6, under track up state, when a monitoring objective be blocked and unmanned plane move
Dynamic position can not also recognize the target again with shooting angle, and Data Management Analysis unit (9) ground station system sends out the mesh
It marks the signal that can not be tracked and continues to track other monitoring objectives.
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