CN108805928A - Control method, apparatus, computer equipment and the storage medium of unmanned machine live streaming - Google Patents
Control method, apparatus, computer equipment and the storage medium of unmanned machine live streaming Download PDFInfo
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Classifications
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a kind of method, apparatus, computer equipment and the storage mediums of the live streaming of control unmanned machine, including：Unmanned machine obtains pending first state instruction, and first state instructs the motion track for controlling unmanned machine；Unmanned machine is moved according to motion track in preset path, and obtains space video information of unmanned machine during traveling on direction of travel by the imaging sensor on unmanned machine；Space video information plug-flow is sent to server end by unmanned machine.The method and apparatus of the control unmanned machine live streaming of the present invention can be used in be seen in the scene in room automatically, any user can automatically control the device of control unmanned machine live streaming, allow the device according to the hobby of oneself, it walks in scheduled route, and associated picture is shot, realize that remote control equipment independently remotely see the function in room, user needs not move through the controlled training of profession, control mode is simple, controls flexibility ratio bigger.
Description
Technical field
The present invention relates to remote control technical fields, specifically, the present invention relates to a kind of control unmanned machine live streamings
Method, apparatus, computer equipment and storage medium.
Background technology
As the improvement of people's living standards, the demand of people's house-purchase is very big, and for big city, the people that rents a house
Very much.People guarantee to buy or lease before purchase house is either rented a house to arrive suitable house, can all go in person
Room is seen on the spot, is just made a decision after experiencing in person.
Understand the situation in house in advance for the ease of people, many house transaction service providers can use on line in the prior art
It sees the mode in room, the pictorial information in related house is first provided on network, to the feelings of the satisfied with information in the related house on network
Under condition, house supply and demand both sides first arrange to see the room time, and the attendant then provided again by Xian Xia service providers, which accompanies, sees room, than
Such as by letting agency with going to see room, the cost and cost that this process is spent all are relatively high, exist and waste time
With the excessively high drawback of human cost, see that room efficiency is relatively low.Also, the key unlocked at present is also varied, is not unified
Management, can also increase manpower maintenance cost in this way.
In the prior art, in order to which the satisfaction of client dynamic sees room, there is the technology that video on line sees room, but this line
Upper video sees the technology in room, is moved in the room by staff's handheld video capture apparatus, will by wireless network
Data flow is sent to server end, and user terminal obtains live data by accessing server end, completes and see setting for room on line
Think.A kind of method that automatic robot sees room is also provided in the prior art, video equipment is carried by robot, user is remotely controlled
Robot motion processed realizes that video sees the function in room, but since the environment inside house is complicated, without the use of professional training
Family can not drive unmanned machine under complex environment, and operation rashly be easy to cause the damage of robot.
Invention content
The purpose of the present invention is intended at least solve above-mentioned one of technological deficiency, and especially one kind can freely control nothing
Method, apparatus, computer equipment and the storage medium of people's equipment live streaming to reach free control terminal, and are checked where terminal
The image of environment.
The present invention provides a kind of method of control unmanned machine live streaming, including：
Unmanned machine obtains pending first state instruction, and the first state instruction is for controlling the unmanned machine
Motion track；
The unmanned machine is moved according to the motion track in preset path, and passes through the figure on the unmanned machine
As sensor obtains space video information of unmanned machine during traveling on direction of travel；
The space video information plug-flow is sent to server end by the unmanned machine.
Further, when the unmanned machine is moved according to the motion track in preset path, the method is also
Including：
Obtain the first parameter value between barrier；
Judge whether first parameter value meets the first preset condition；
When first parameter value meets the first preset condition, preset second status command is executed.
Further, the space video information includes：It is expert at by the spot projector projection on the unmanned machine
Into the light spot image of the ranging hot spot on direction；Obtain and barrier between the first parameter value the step of include：
Obtain the frame picture image of the space video information；
Calculate scale of view of the light spot image in the frame picture image.
Further, second status command includes：Stop advance instruction, the instruction of reduction gait of march or negative line feed
Any one among instruction.
Further, before executing the first state instruction, the method further includes：
Obtain preset travel path and real-time position information；
Judge the real-time position information whether in the travel path；
When the real-time position information is not in the travel path, forbid executing the first state instruction.
Further, before executing the first state instruction, the method further includes：
Obtain preset travel path and real-time position information；
Judge that the first state instruction characterizes according to the frontier distance of the real-time position information and the travel path
Final position whether in the travel path；
When the final position is not in the travel path, forbid executing the first state instruction.
Invention additionally discloses a kind of devices of control unmanned machine live streaming, including：
Acquisition module：For obtaining pending first state instruction, the first state instruction is for controlling the nothing
The motion track of people's equipment；
Processing module：It is moved in preset path according to the motion track for the unmanned machine, and by described
Imaging sensor on unmanned machine obtains space video information of unmanned machine during traveling on direction of travel；
Execution module：The space video information plug-flow is sent to server end for the unmanned machine.
Further, further include：
First acquisition module：For the first parameter value between acquisition and barrier；
First processing module：For judging whether first parameter value meets the first preset condition；
First execution module：When first parameter value meets the first preset condition, executes preset second state and refer to
It enables
Further, the space video information includes：It is expert at by the spot projector projection on the unmanned machine
Into the light spot image of the ranging hot spot on direction, the step of obtaining the first parameter value between barrier, specifically includes：
Obtain the frame picture image of the space video information；
Calculate scale of view of the light spot image in the frame picture image.
Further, second status command includes：Stop advance instruction, the instruction of reduction gait of march or negative line feed
Any one command information in instruction.
Further, the present apparatus further includes：
Second acquisition module：For obtaining preset travel path and real-time position information；
Second processing module：For judging the real-time position information whether in the travel path；
Second execution module：For when the real-time position information is not in the travel path, forbidding described in execution
First state instructs.
Further, the present apparatus further includes：
Third acquisition module：Obtain preset travel path and real-time position information；
Third processing module：Judge described first according to the frontier distance of the real-time position information and the travel path
Whether the final position of status command characterization is in the travel path；
Third execution module：When the final position is not in the travel path, forbids executing the first state and refer to
It enables.
Invention additionally discloses a kind of computer equipment, including memory and processor, calculating is stored in the memory
Machine readable instruction, when the computer-readable instruction is executed by the processor so that the processor is executed as any of the above-described
The step of method of control unmanned machine live streaming described in item claim.
Invention additionally discloses a kind of storage mediums being stored with computer-readable instruction, and the computer-readable instruction is by one
When a or multiple processors execute so that one or more processors execute the control nothing as described in any of the above-described claim
The step of method of people's equipment live streaming.
The beneficial effects of the invention are as follows：The method and apparatus of control unmanned machine live streaming disclosed by the invention, pass through reception
Relevant control instruction on remote terminal, makes unmanned machine be moved according to control instruction, and shoot the unmanned machine institute simultaneously
Spatial image in position is back in remote terminal to realize client in long-range real time inspection spatial image, the control nobody
The method and apparatus of equipment live streaming can be used in and see in the scene in room automatically, and any user can automatically control and control nobody
The device of equipment live streaming, allows the device according to the hobby of oneself, walks in scheduled route, and shoot associated picture, realizes
Remote control equipment independently remotely see the function in room, and user needs not move through the controlled training of profession, you can the device is operated,
Application method is simple, and the method control mode of entire control unmanned machine live streaming is simple, controls flexibility ratio bigger.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the method flow diagram of present invention control unmanned machine live streaming；
Fig. 2 is the method flow diagram that unmanned machine of the present invention obtains distance；
Fig. 3 is the method flow diagram that unmanned machine of the present invention obtains distance using ranging hot spot；
Fig. 4 is the first embodiment flow chart that the present invention executes that first state instructs precondition；
Fig. 5 is second of embodiment flow chart that the present invention executes that first state instructs precondition；
Fig. 6 is the apparatus module schematic diagram of present invention control unmanned machine live streaming；
Fig. 7 is computer equipment basic structure block diagram of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that is used in the specification of the present invention arranges
It refers to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or addition to take leave " comprising "
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange
Diction "and/or" includes that the whole of one or more associated list items or any cell are combined with whole.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless by specific definitions as here, the meaning of idealization or too formal otherwise will not be used
To explain.
It includes wireless communication that those skilled in the art of the present technique, which are appreciated that " terminal " used herein above, " terminal device " both,
The equipment of number receiver, only has the equipment of the wireless signal receiver of non-emissive ability, and includes receiving and transmitting hardware
Equipment, have on bidirectional communication link, can execute two-way communication reception and emit hardware equipment.This equipment
May include：Honeycomb or other communication equipments are shown with single line display or multi-line display or without multi-line
The honeycomb of device or other communication equipments；PCS (Personal Communications Service, PCS Personal Communications System), can
With combine voice, data processing, fax and/or communication ability；PDA (Personal Digital Assistant, it is personal
Digital assistants), may include radio frequency receiver, pager, the Internet/intranet access, web browser, notepad, day
It goes through and/or GPS (Global Positioning System, global positioning system) receiver；Conventional laptop and/or palm
Type computer or other equipment, have and/or the conventional laptop including radio frequency receiver and/or palmtop computer or its
His equipment." terminal " used herein above, " terminal device " they can be portable, can transport, be mounted on the vehicles (aviation,
Sea-freight and/or land) in, or be suitable for and/or be configured in local runtime, and/or with distribution form, operate in the earth
And/or any other position operation in space." terminal " used herein above, " terminal device " can also be communication terminal, on
Network termination, music/video playback terminal, such as can be PDA, MID (Mobile Internet Device, mobile Internet
Equipment) and/or mobile phone with music/video playing function, can also be the equipment such as smart television, set-top box.
In order to allow arbitrary people can device of the remote control for traveling, and execute shooting function, realize real time inspection
The purpose of the image of shooting, the present invention provide a kind of method of control unmanned machine live streaming, wherein when this method use is long-range
When seeing in the application scenarios in room, the method for control unmanned machine live streaming includes at least two terminals, and one is remote terminal, uses
Image and state of a control are checked in user, and send the remote terminal of control instruction, which can be with
Be computer, notebook, mobile phone either other terminals and the unmanned machine can be robot or unmanned plane, telecar
Etc. unmanned equipment.And another is then to be controlled to be moved and be able to carry out nobody of related shooting action to set
It is standby.Telecommunication between the two, unmanned machine analyzes and determines the dependent instruction of transmission according to the motion state of itself, holds
Row forbids the first state to instruct, and to achieve the purpose that remote control sees room, while unmanned machine has automatic obstacle-avoiding
Function, intelligence degree is high, and control mode is simple.
Specifically, referring to Fig. 1, including according to the method that remote terminal and unmanned machine carry out control unmanned machine live streaming
Following steps：
S100, unmanned machine obtain pending first state instruction, and the first state instruction is for controlling the nothing
The motion track of people's equipment；
Motion track of first instruction for controlling the unmanned machine, that is, control the unmanned machine according to specified
Direction movement.Further, direction input unit is provided on remote terminal, can by direction input unit, or
Person controls the unmanned machine and is moved by setting relevant directioin parameter.Any one, which can be transmitted, in user can allow nobody
Equipment carries out mobile direction instruction, controls the enough wishes according to user of the unmanned machine and moves.
S200, the unmanned machine are moved according to the motion track in preset path, and pass through the unmanned machine
On imaging sensor obtain space video information of unmanned machine during traveling on direction of travel；
There are many space video information, including：The ranging light spot image of projection in the direction of travel is either current
The image of ambient enviroment on position.These space video information are obtained by the imaging sensor on unmanned machine.
In the present invention, the ranging light spot image for projecting in the direction of travel be mainly used for monitoring the unmanned machine with
The distance between barrier on direction of travel, to avoid colliding.And on current location the image of ambient enviroment be then for
The user is facilitated to understand the environment around the unmanned machine position.
The space video information of both of these case can obtain simultaneously, or obtain at times.While the case where obtaining, is,
It is divided to two different photographic devices to obtain the image of ambient enviroment on above-mentioned ranging light spot image and current location.And timesharing
The case where section obtains is usually, and using a photographic device, during traveling, ranging light spot image is first obtained, with to nobody
Equipment measures at a distance from front obstacle, when unmanned machine stops, just starting to the position week where unmanned machine
The environment enclosed is shot, and corresponding image is obtained.
In the present invention, the first instruction includes：Control the command information of moving direction.The unmanned machine is according to the first shape
State instruction is automatically moved, thus should it is necessary to avoidance mechanism carry out avoidance.Obtain ranging light spot image actually
It is a kind of avoidance mode.In the present invention, open one kind judging the unmanned machine and preceding object by ranging light spot image
The distance between object.
The space video information plug-flow is sent to server end by S300, the unmanned machine.
Due to there are many space video information, including：The ranging light spot image of projection in the direction of travel is either current
The image of ambient enviroment on position, after acquiring correlation space video information, direct plug-flow is sent to server end.
Further, referring to Fig. 2, when the unmanned machine is moved according to the motion track in preset path,
The method further includes：
The first parameter value between S210, acquisition and barrier；
Barrier refers to the object being blocked on the unmanned machine direction of travel.First parameter value is the unmanned machine
Relationship between barrier, such as distance relation.
S220, judge whether first parameter value meets the first preset condition；
First preset condition be first parameter value and condition, such as when the first parameter value be unmanned machine with
It, can in order to preferably allow unmanned machine to execute specified action in the direction of travel when the distance between barrier relationship
With one first threshold about distance of setting, when the first parameter value is less than first threshold, then it represents that unmanned machine with
The distance of barrier is closer.Relationship of first preset condition between the first parameter value and first threshold, for example meet the first ginseng
Numerical value is more than first threshold or the first parameter value is less than first threshold either other relationships, according to corresponding application scenarios
To determine.
S230, when first parameter value meets the first preset condition, execute preset second status command.
Further, in the present invention, the second status command includes stopping advancing instructing, reducing gait of march instruction or reversed
Any one command information advanced in instructing.Above three step is introduced with specific embodiment.
For example, using ultrasonic wave mode obtain barrier between unmanned machine at a distance from when, it is assumed that the first threshold
Value is 1 meter, and the first preset condition is that the first parameter value is less than first threshold.When the first parameter value that ultrasonic wave obtains is 0.8 meter
When, the first parameter value is less than first threshold, meets the first preset condition, in this way, unmanned machine then executes the second status command, stands
Stop or is to reduce gait of march or negative line feed.
In the present invention, there are many kinds of the modes that obtain and take the first parameter value between barrier, can also be laser ranging,
It can be seen that the either other modes of ligh-ranging.In the present invention, be also disclosed it is a kind of using ranging hot spot carry out ranging by the way of, that is, obtain
The first parameter value taken is the parameter value about ranging hot spot.
Further referring to Fig. 3, the first parameter value is obtained using ranging hot spot and executes the specific step of the second preset condition
Suddenly include：
S211, the frame picture image for obtaining the space video information；
It should be noted that it refers to ranging hot spot figure that the step, which is useful in described space video information, before this step executes
As in the case of, the purpose for obtaining the frame picture image of the space video information is to measure the unmanned machine and obstacle
The distance between object.Specific distance measuring method is refering to S212 steps.
S212, scale of view of the light spot image in the frame picture image is calculated；
Under normal conditions, the equipment for sending light beam is directly installed on unmanned machine, and shoots front with complete
The camera of the spatial image of hot spot is also disposed on unmanned machine, and preferably, the camera fills one kind with luminous
It sets close proximity to, left-right situs each other, is arranged above and below or in tandem, to reduce the inclination of the spatial image with complete hot spot
Angle.In the present embodiment, the equipment for sending light beam is spot projector, and spot projector is taken the photograph with image of the shooting with hot spot
As head is sequentially overlapped composition distance-measuring equipment, the distance measuring method of distance-measuring equipment is directed toward the direction of traveling always, and laser emitter is by light
Spot is incident upon on barrier, camera in real time or timing acquiring hot spot region in image.
After collecting the image information with complete hot spot, complete hot spot face can be obtained by image processing techniques
Product, since camera is fixed, the area of the picture entirely shot is changeless, therefore can be obtained by fixed algorithm
Glossing up accounts for the accounting of whole image area.In the present embodiment, the light spot shape of spot projector projection is fixed, only
Due to the distance of distance, the area for being incident upon the hot spot on barrier can be different, it is to be understood that when the unmanned machine
When close to barrier, the facula area of the spot projector projection on the unmanned machine is small, when spot projector is separate
When barrier, then the facula area of barrier projection is big, in this way, under the premise of projecting direction is certain, can be easy to
It is corresponding to one about the projected area of hot spot and the functional value of distance, before camera position and shooting angle are fixed
It puts, the picture size of camera shooting is certain, can also be obtained being presented in captured picture according to the prior art
Spot size and picture area between ratio and the distance between spot for photography and barrier relationship, therefore can be by sentencing
Accounting value of the area in region in whole described image is presented in hot spot in disconnected described image, obtains the unmanned machine and obstacle
The distance between object.
Further, in another embodiment, it can also be transmitting visible light at a distance from barrier to measure unmanned machine,
For this method as above-mentioned hot spot ranging, another kind is to be counted using pulse valve or phase method using laser ranging
Calculate the distance between laser transmitting set position and barrier.It is the side of wherein several rangings disclosed by the invention above
Formula, but one of the above distance measuring method is not limited in the present invention, it can also be other modes.
S213, when the scale of view is more than the first threshold, execute preset second status command.
In the present embodiment, first threshold is light spot image the regarding in the frame picture image in above-mentioned steps S212
One critical value of figure ratio.It can be seen that in frame picture by the step of step S212, from the ratio shared by light spot image
It may determine that the distance between current unmanned machine and front obstacle.And ambient enviroment on current location will be shot simultaneously by working as
Image when, if unmanned machine is closer from barrier, can not only stop the actions such as turn, move ahead of unmanned machine, obstacle
Object may stop a part of visual angle, the environment being unfavorable for around shooting, therefore need that a unmanned machine and barrier is arranged
Between optimum distance, the image of ambient enviroment can either be shot well, and can ensure that unmanned machine will not be with barrier
It collides,
S212 can obtain scale of view of the light spot image in frame picture image through the above steps, you can to obtain
The current position of unmanned machine is stated at a distance from front obstacle, the corresponding light of the critical distance between unmanned machine and barrier
Scale of view of the spot image in frame picture image is then above-mentioned first threshold.Assuming that the gross area of frame picture image is
S1, and light spot image is S2, then the actual range L between current unmanned machine and barrier in the area of the frame picture image
For the mapping about light spot image area S2 and the ratio value and respective distances functional relation f (n) of frame picture image gross area S1,
That is L=(S2/S1) * f (n).Thus relationship can obtain, the functional relation of f (n) is fixed, variable S2/S1, and S2/S1
It is the relationship of an inverse ratio with L, i.e., when distance L is small, the proportionate relationship of S2/S1 is big, and when distance L is big, the ratio of S2/S1 is closed
It is small, therefore when the proportionate relationship of S2/S1 is more than first threshold, corresponding distance L is too small.Preset second is executed at this time
Status command.
In one embodiment, the second status command includes：Stop appointing in traveling, reduction gait of march or negative line feed
One command information of meaning.For example, in one embodiment, when above-mentioned proportionate relationship is more than first threshold, executing stopping
The second status command advanced, collides to avoid the unmanned machine with barrier.
Further, in another embodiment, when above-mentioned proportionate relationship is more than first threshold, speed of advancing is reduced
Degree, makes it that close to barrier, second threshold more slowly may further be provided in the present embodiment, unmanned machine is made to carry out
Other actions such as it is slowly moved to the position corresponding to second threshold, then executes stopping or turning.It should be noted that
It can obtain in real time to obtain the distance between unmanned machine and barrier, can also be to be obtained according to a certain frequency.When
When to be obtained according to a certain frequency, due to existence time interval, when detect unmanned machine and front obstacle it
Between apart from when, it is more likely that the distance can be less than preset value, therefore a first threshold can first be arranged, when more than the first threshold
When value, gait of march is reduced, the unmanned machine is controlled and comes according to a smaller Moving Unit and apart from detection frequency
The distance between the unmanned machine and barrier value are adjusted, the unmanned machine is made more accurately to reach corresponding to second threshold
Position.
Further, in another embodiment, when above-mentioned proportionate relationship is more than first threshold, reversed row is executed
Into the second status command, so that the unmanned machine is moved in reverse direction, also simultaneously continue monitoring S2/S1 relation value, until
S2/S1 is equal to when first threshold is either less than first threshold to be stopped the unmanned machine or executes other actions again.First
Distance corresponding to threshold value can be safest distance, and unmanned machine more suitable than so distance is turned to or this distance
The distance that collision etc. or first threshold are less likely to occur can be most suitable for the distance of shooting surrounding space image, because working as
When the distance between unmanned machine and barrier are excessively close, it is easy the blocking because of barrier, influences the shooting of spatial image, therefore
The distance value of first threshold is set, meanwhile, when the unmanned machine is less than first threshold at a distance from barrier, simultaneously
It controls the unmanned machine to retreat, the unmanned machine is made to be more than or equal to the critical value of distance at a distance from barrier, with
Reach the distance range most preferably shot, unmanned machine is enable more fully to shoot the image of surrounding.Allow user in current distance
It can observe most comprehensive spatial image.
Further, second status command further includes：Send information warning.When S2/S1 is more than described preset the
When one threshold value, then it represents that the unmanned machine has the danger of the upper front obstacle of collision or is unfavorable for holding for action in next step
Row, therefore information warning can be sent out to remote terminal either to relevant server, to carry out alarm, remind user or
Person administrative staff check, or take measures on customs clearance and be adjusted.Information warning can be control alarm equipment alarm, promptly
Telephone call, emergency mail transmission etc..
In the present invention, referring to Fig. 4, described instructed according to the first state obtains on direction of travel in vision range
Space video information the step of before further include：
S110, preset travel path and real-time position information are obtained；
This step can be particularly applicable in certain some scene, for example, in automatic house viewing system, pass through remote control
Unmanned machine shoots the ambient enviroment where unmanned machine, to carry out independently seeing room.Since object compares in room
It is more, automatically walk shooting is carried out by unmanned machine completely, is easy to happen collision, and the unmanned machine of this automatically walk is usual
It can advance according to specified route, different clients have different hobbies and observation habit, cannot indiscriminately ad. as one wishes allow client
Check any one scene in current environment.Therefore the method that the present invention controls the unmanned machine control unmanned machine live streaming can
Solve the problems, such as this.But in a room, due to the limitation of pattern and finishing, the unmanned machine cannot be allowed arbitrarily to move,
For example, when unmanned machine runs to no glass or has the balcony of guardrail in gap, since unmanned machine is small,
It is easy to fall from the guardrail gap of balcony, positive edge of table should not be gone to, or be mounted with the lavatory of squat toilet, be easy to cause institute
It states unmanned machine to fall, or in duplex, is located at next layer of stair position, it is sliding from stair to be easy to cause unmanned machine
It falls.In a room, always there are some unsafe places, be not suitable for the unmanned machine and move ahead, it therefore in the present embodiment, can be with
A travel path for being adapted to current environment is further formulated, to ensure that the unmanned machine can be moved safely,
And it can completely shoot the image around current environment.
S120, judge the real-time position information whether in the travel path；
S130, when the real-time position information is not in the travel path, forbid executing the first state instruction.
Travel path of the unmanned machine in current location is not identical, in order to adapt to different house types,
Can be that each room one travel path of setting obtains the reality of the unmanned machine when unmanned machine is started to work
When position the travel path in corresponding room is matched according to the position where unmanned machine, when receive have first state instruction when
It waits, first choice judges current unmanned machine whether in the travel path, if so, according to the direction of first state instruction instruction
It is moved, if not, then it represents that the position where current unmanned machine is illegal region, i.e., dangerous region does not execute described
First state instructs.Further, unmanned machine can also be controlled and send alarm signal, to remind current location for non-tagmeme
It sets, prompts staff or teleworker to move unmanned machine, be detached from illegal region.
Further, referring to Fig. 5, in the present invention, another kind limitation unmanned machine executes the side of first state instruction
Formula is：
S140, preset travel path and real-time position information are obtained；
S150, the first state instruction is prejudged according to the frontier distance of the real-time position information and the travel path
Whether the final position of characterization is in the travel path；
S160, when the final position is not in the travel path, forbid executing the first state instruction.
A kind of this mode is similar with a kind of mode above, and needs to preset a travel path, and obtains nobody and set
Standby current location information, matches corresponding travel path.The difference is that unmanned machine is needed according to the first state
The pointed direction of instruction, judges whether the current position of unmanned machine falls within traveling road with the final position that will be advanced
Within the boundary of diameter, for example, when first state instruction moves 10 seconds forwards with the speed of 10cm/s, due to movement
10 seconds distances are 100cm, when executing first state instruction, first prejudge current unmanned machine and move forwards
Whether residing final position is also in above-mentioned preset conduct path domain after 100cm, only when i.e. by the terminal of conduct
When dropping within travel path, first state instruction is just executed, if after the execution first state instruction of unmanned machine, there are de-
The case where from the travel path, then forbids executing the first state instruction, in case unmanned machine is performing first state
There is the upper risk of operation after instruction.
Further, the travel path mentioned in above-mentioned two schemes is preset electron path, can be passed by data
Defeated mode, which is sent to, to be executed in mobile device, and still, in the present invention, which is not limited to above-mentioned electricity
Subpath can also be the electromagnetic path being arranged in house, executes and is provided on mobile unmanned machine for detecting electromagnetism
The Hall sensor of track detects unmanned machine whether on electromagnetic path by the Hall sensor, judges whether to hold successively
Row first state instructs.Specifically, when unmanned machine is unmanned plane, Hall sensor is set in the both sides of unmanned plane,
When the Hall sensor of side can not detect electromagnetic field or the electromagnetic field detected is too small, unmanned robot is passed to the Hall
The other side offset of sensor until receive subject to electromagnetic field signal, make to see by way of automatic Pilot room enhanced convenience and
Intelligence.
Invention additionally discloses a kind of devices of control unmanned machine live streaming, referring to Fig. 6, including：
Acquisition module 100：For obtaining pending first state instruction, the first state instruction is described for controlling
The motion track of unmanned machine；
Processing module 200：It is moved in preset path according to the motion track for the unmanned machine, and passes through institute
It states the imaging sensor on unmanned machine and obtains space video information of unmanned machine during traveling on direction of travel；
Execution module 300：The space video information plug-flow is sent to server end for the unmanned machine.
It is described first instruction include：Control the command information of moving direction.The unmanned machine is controlled according to specified
It moves in direction.Further, direction input unit is provided on remote terminal, can by direction input unit, or
By setting relevant directioin parameter, controls the unmanned machine and moved.Any one, which can be transmitted, in user to allow nobody to set
It is standby to carry out mobile direction instruction, it controls the enough wishes according to user of the unmanned machine and moves.
There are many space video information, including：The ranging light spot image of projection in the direction of travel is either current
The image of ambient enviroment on position.When processing module 200 receives first state instruction, it can obtain simultaneously above-mentioned
The image of ranging light spot image and current location ambient enviroment, or ranging light spot image is first obtained, under certain condition again
Obtain the image of the ambient enviroment of current location.It is usually the photographic device for shooting ranging light spot image to obtain situation simultaneously
It is two different devices with the photographic device of the image for current location ambient enviroment, the two in this way shoots different figures
Picture, and complementary influence.And the case where obtaining two kinds of image respectively can be the case where sharing a photographic device.Such case
Under, it is preferential to obtain ranging light spot image, to measure the distance between current location and barrier, it is ensured that unmanned machine is to operate in
Within the scope of safe distance, in the case that unmanned machine stops or ensures current direction of travel safety, then voluntarily shooting is current
The function of the image of position ambient enviroment.
Any one of the above image information shot can be sent to clothes execution module 300 in a manner of plug-flow
It is stored in business device, or is retransmited into Terminal Server Client by server and carry out real time inspection.
Further, the automatic traveling device further includes：
First acquisition module：For the first parameter value between acquisition and barrier；
First processing module：For judging whether first parameter value meets the first preset condition；
First execution module：When first parameter value meets the first preset condition, executes preset second state and refer to
It enables.
Further, the space video information includes：It is expert at by the spot projector projection on the unmanned machine
Into the light spot image of the ranging hot spot on direction, the step of obtaining the first parameter value between barrier, specifically includes：
Obtain the frame picture image of the space video information；
Calculate scale of view of the light spot image in the frame picture image.
In conjunction with above-mentioned steps, it can be deduced that：First acquisition module：Frame for obtaining the space video information is drawn
Face image；First processing module：For calculating scale of view of the light spot image in the frame picture image；First executes
Module：For when the scale of view is more than the first threshold, executing preset second status command.
Above-mentioned the first acquisition module, first processing module and the first execution module is mainly used for being regarded according to above-mentioned space
The light spot image of ranging hot spot in frequency information measures the distance between unmanned machine and barrier.
The device for projecting ranging hot spot is mounted on unmanned machine, and the device of light spot image of the shooting with complete hot spot is also pacified
On unmanned machine, unmanned machine is closer from the distance between front obstacle, band light spot image of the complete hot spot in shooting
Frame picture image in ratio it is bigger, therefore can according to this relationship, set complete hot spot in a frame picture image account for it is whole
The first threshold of the area ratio of a frame picture, to obtain a distance threshold between unmanned machine and barrier.By whole
A first distance threshold executes the second status command to control unmanned machine.
Second status command includes：Stop times among traveling instruction, the instruction of reduction gait of march or negative line feed instruction
Meaning one.It according to circumstances can be applicable to different occasions.Its application scenario and for example above-mentioned control unmanned machine of control method
As in the method for live streaming.
Further, second status command further includes：Send information warning.When S2/S1 is more than described preset the
When one threshold value, then it represents that the unmanned machine has the danger of the upper front obstacle of collision or is unfavorable for holding for action in next step
Row, therefore information warning can be sent out to remote terminal either to relevant server, to carry out alarm, remind user or
Person administrative staff check, or take measures on customs clearance and be adjusted.Information warning can be control alarm equipment alarm, promptly
Telephone call, emergency mail transmission etc., to improve safety.
Further, the automatic traveling device further includes：
Second acquisition module：For obtaining preset travel path and real-time position information；
Second processing module：For judging the real-time position information whether in the travel path；
Second execution module：For when the real-time position information is not in the travel path, forbidding described in execution
First state instructs.
Since if automatic traveling device is arbitrarily moved in current location, due to the mobile pattern in place and asking for topography
Topic is not suitable for automatic traveling device movement, therefore needs, according to each different place pattern and topography, a traveling road to be arranged
Diameter.Such as in order to adapt to different house types, it can be that a travel path is arranged in each room, start to work when unmanned machine
When, the real time position of the unmanned machine is obtained, according to the position where unmanned machine, matches the traveling road in corresponding room
Diameter, when reception has first state instruction, first choice judges current unmanned machine whether in the travel path, if so,
It is then moved according to the direction of first state instruction instruction, if not, then it represents that the position where current unmanned machine is illegal
Region, i.e., dangerous region do not execute the first state instruction.Further, unmanned machine can also be controlled and send alarm
Signal prompts staff or teleworker to move unmanned machine to remind current location as illegal position,
It is detached from illegal region.
Further, the invention also includes the structures that another limitation unmanned machine executes first state instruction, including：
Third acquisition module：Obtain preset travel path and real-time position information；
Third processing module：Judge described first according to the frontier distance of the real-time position information and the travel path
Whether the final position of status command characterization is in the travel path；
Third execution module：When the final position is not in the travel path, forbid executing the first state
Instruction.
A kind of this mode is similar with a kind of mode above, and needs to preset a travel path, and obtains nobody and set
Standby current location information, matches corresponding travel path.The difference is that unmanned machine needs to search first state according to Soviet Union
The pointed direction of instruction, judges whether the current position of unmanned machine falls within traveling road with the final position that will be advanced
Within the boundary of diameter, only when also falling into the distance of conduct within travel path, first state instruction is just executed, if
After the execution first state instruction of unmanned machine, there is the case where being detached from the travel path, then forbid executing first shape
State instructs, in case there is the upper risk of operation after performing first state instruction in unmanned machine.
Invention additionally discloses a kind of computer equipment, including memory and processor, calculating is stored in the memory
Machine readable instruction, when the computer-readable instruction is executed by the processor so that the processor executes above-mentioned any one
The method of the item control unmanned machine live streaming.
The embodiment of the present invention provides computer equipment basic structure block diagram and please refers to Fig. 7.
The computer equipment includes processor, non-volatile memory medium, memory and the net connected by system bus
Network interface.Wherein, the non-volatile memory medium of the computer equipment is stored with operating system, database and computer-readable finger
It enables, control information sequence can be stored in database, when which is executed by processor, may make that processor is real
A kind of existing user behavior associated cue method.For the processor of the computer equipment for providing calculating and control ability, support is whole
The operation of a computer equipment.Computer-readable instruction can be stored in the memory of the computer equipment, this is computer-readable
When instruction is executed by processor, processor may make to execute a kind of user behavior associated cue method.The net of the computer equipment
Network interface is used for and terminal connection communication.It will be understood by those skilled in the art that structure shown in Fig. 7, only with this Shen
Please the relevant part-structure of scheme block diagram, do not constitute the limit for the computer equipment being applied thereon to application scheme
Fixed, specific computer equipment may include either combining certain components or tool than more or fewer components as shown in the figure
There is different component arrangements.
The status information for prompting behavior that computer equipment is sent by receiving associated client, i.e., whether associated terminal
It opens prompt and whether user closes the prompt task.By verifying whether above-mentioned task condition is reached, and then eventually to association
End sends corresponding preset instructions, so that associated terminal can execute corresponding operation according to the preset instructions, to realize
Effective supervision to associated terminal.Meanwhile when prompt message state and preset status command differ, server end control
Associated terminal persistently carries out jingle bell, to prevent the prompt task of associated terminal the problem of being terminated automatically after executing a period of time.
The present invention also provides a kind of storage mediums being stored with computer-readable instruction, and the computer-readable instruction is by one
When a or multiple processors execute so that it is straight that one or more processors execute control unmanned machine described in any of the above-described embodiment
The method broadcast.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, which can be stored in a computer-readable storage and be situated between
In matter, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, storage medium above-mentioned can be
The non-volatile memory mediums such as magnetic disc, CD, read-only memory (Read-Only Memory, ROM) or random storage note
Recall body (Random Access Memory, RAM) etc..
It should be understood that although each step in the flow chart of attached drawing is shown successively according to the instruction of arrow,
These steps are not that the inevitable sequence indicated according to arrow executes successively.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, can execute in the other order.Moreover, at least one in the flow chart of attached drawing
Part steps may include that either these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, execution sequence is also not necessarily to be carried out successively, but can be with other
Either the sub-step of other steps or at least part in stage execute step in turn or alternately.
The above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of method of control unmanned machine live streaming, which is characterized in that including：
Unmanned machine obtains pending first state instruction, and the first state instructs the shifting for controlling the unmanned machine
Dynamic rail mark；
The unmanned machine is moved according to the motion track in preset path, and is passed by the image on the unmanned machine
Sensor obtains space video information of unmanned machine during traveling on direction of travel；
The space video information plug-flow is sent to server end by the unmanned machine.
2. the method for control unmanned machine live streaming according to claim 1, which is characterized in that when the unmanned machine foundation
When being moved in preset path, the method further includes the motion track：
Obtain the first parameter value between barrier；
Judge whether first parameter value meets the first preset condition；
When first parameter value meets the first preset condition, preset second status command is executed.
3. the method for control unmanned machine live streaming according to claim 2, which is characterized in that the space video packet
It includes：Pass through the light spot image of the ranging hot spot of spot projector projection in the direction of travel on the unmanned machine；Obtain with
The step of the first parameter value between barrier includes：
Obtain the frame picture image of the space video information；
Calculate scale of view of the light spot image in the frame picture image.
4. the method for control unmanned machine live streaming according to claim 2 or 3, which is characterized in that second state refers to
Order includes：Stop any one among traveling instruction, the instruction of reduction gait of march or negative line feed instruction.
5. the method for control unmanned machine live streaming according to claim 1, which is characterized in that executing the first state
Before instruction, the method further includes：
Obtain preset travel path and real-time position information；
Judge the real-time position information whether in the travel path；
When the real-time position information is not in the travel path, forbid executing the first state instruction.
6. the method for control unmanned machine live streaming according to claim 1, which is characterized in that executing the first state
Before instruction, the method further includes：
Obtain preset travel path and real-time position information；
The end of the first state instruction characterization is judged according to the frontier distance of the real-time position information and the travel path
Whether point position is in the travel path；
When the final position is not in the travel path, forbid executing the first state instruction.
7. a kind of device of control unmanned machine live streaming, which is characterized in that including：
Acquisition module：For obtaining pending first state instruction, the first state instruction for control it is described nobody set
Standby motion track；
Processing module：Moved in preset path according to the motion track for the unmanned machine, and by it is described nobody
Imaging sensor in equipment obtains space video information of unmanned machine during traveling on direction of travel；
Execution module：The space video information plug-flow is sent to server end for the unmanned machine.
8. the device of control unmanned machine live streaming according to claim 7, which is characterized in that further include：
First acquisition module：For the first parameter value between acquisition and barrier；
First processing module：For judging whether first parameter value meets the first preset condition；
First execution module：When first parameter value meets the first preset condition, preset second status command is executed.
9. a kind of computer equipment, including memory and processor, it is stored with computer-readable instruction in the memory, it is described
When computer-readable instruction is executed by the processor so that the processor is executed such as any one of claim 1 to 7 right
It is required that the step of method of the control unmanned machine live streaming.
10. a kind of storage medium being stored with computer-readable instruction, the computer-readable instruction is handled by one or more
When device executes so that one or more processors execute control as described in any one of claim 1 to 7 claim nobody
The step of method of equipment live streaming.
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| CN201810502117.8A CN108805928B (en) | 2018-05-23 | 2018-05-23 | Method and device for controlling live broadcast of unmanned equipment, computer equipment and storage medium |
| PCT/CN2018/102874 WO2019223159A1 (en) | 2018-05-23 | 2018-08-29 | Method and apparatus for controlling live broadcast of unmanned device, computer device, and storage medium |
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| CN201810502117.8A CN108805928B (en) | 2018-05-23 | 2018-05-23 | Method and device for controlling live broadcast of unmanned equipment, computer equipment and storage medium |
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| CN113848986A (en) * | 2021-11-03 | 2021-12-28 | 广州港集团有限公司 | Unmanned aerial vehicle safety inspection method and system |
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| CN108805928B (en) | 2023-04-18 |
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