CN108960026B - Unmanned plane during flying Orientation system - Google Patents
Unmanned plane during flying Orientation system Download PDFInfo
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- CN108960026B CN108960026B CN201810197310.5A CN201810197310A CN108960026B CN 108960026 B CN108960026 B CN 108960026B CN 201810197310 A CN201810197310 A CN 201810197310A CN 108960026 B CN108960026 B CN 108960026B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
- G06V20/625—License plates
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Abstract
The present invention relates to a kind of unmanned plane during flying Orientation systems, it include: background detection equipment, for receiving current Aerial Images, background area in the current Aerial Images is detected, it selects the curve in the current Aerial Images by the background area as analysis curve, each pixel of the analysis curve will be passed through in the current Aerial Images as reference image vegetarian refreshments；Data statistics equipment, for executing following data statistical operation to each reference image vegetarian refreshments in the current Aerial Images: the tonal content of reference image vegetarian refreshments and saturation degree ingredient being multiplied to obtain ingredient product value, it takes the square value of the luminance components of reference image vegetarian refreshments to obtain ingredient square value, the ingredient square value is obtained to the statistical data of reference image vegetarian refreshments divided by the ingredient product value.By means of the invention it is possible to obtain the uniform Aerial Images of frame stabilization, parameter.
Description
Technical field
The present invention relates to unmanned plane field more particularly to a kind of unmanned plane during flying Orientation systems.
Background technique
As the improvement of people's living standards, the requirement to substance has been substantially achieved satisfaction, people start to throw in the visual field
Entering onto the pursuit of cultural life, goes with the tide of historical development, film industry has obtained great prosperity, and various film companies start one after another,
Laying project, seizes market.
In order to improve shooting film quality, film company carried out no small investment in terms of shooting details, for example,
The purchase of high-resolution capture apparatus, the research and development etc. of film trick are carried out particularly with the highway chase scene of people's preference
Careful exploration.However, how the vehicle target stable in high aerial photographing, be current insoluble problem, be on the one hand
Because the complexity of high aerial shooting environmental is easy to cause shooting quality not reach requirement, each image parameter is unbalanced, another
Aspect is to cause the picture of shooting unstable because synchronous with vehicle target holding can not travel.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of unmanned plane during flying Orientation systems, the camera shooting to high-altitude
The structure and shooting process of equipment are optimized, and corresponding target segment more is imaged based on license plate it is essential that using
The ratio of center to the vector at the center of current Aerial Images and the target segment size and benchmark license plate size determines institute
The target flight direction of unmanned plane is stated, the target segment size is the area of the target segment, the benchmark license plate size
For the area of entity license plate, so as to drive the power-equipment of unmanned plane to control the unmanned plane according to the target flight
It flies in direction.
Specifically, the present invention at least has following important inventive point:
(1) image recognition of the license plate number based on tracking vehicle, has formulated the target of a set of targeted unmanned plane
The detection scheme of heading, to realize the lasting tracking to tracking vehicle in the air；
(2) integrating in background area judgement, selection is by the curve of background area to carry out mentioning for reference image vegetarian refreshments
It takes, ensure that the randomness of reference image vegetarian refreshments, in addition, the correspondence also based on luminance components, saturation degree ingredient and tonal content point
Cloth relationship is realized and is identified to the high-precision of the lightness of image to be detected；
(3) it is analyzed by the data to previous shooting image, correcting scheme corresponding with data analysis result is determined, with right
Each object gray threshold range carries out the correction respectively of upper limit gray threshold and lower limit gray threshold, to improve Object identifying
Precision.
According to an aspect of the present invention, a kind of unmanned plane during flying Orientation system is provided, the system comprises:
Background detection equipment is arranged on unmanned plane, for receiving the current Aerial Images from the unmanned plane, to institute
The background area stated in current Aerial Images is detected, and selection is in the current Aerial Images by the background area
Curve will pass through each pixel of the analysis curve as reference pixel as analysis curve in the current Aerial Images
Point；
Data statistics equipment is connect with the background detection equipment, for each ginseng in the current Aerial Images
It examines pixel and executes following data statistical operation: the tonal content of reference image vegetarian refreshments and saturation degree ingredient being multiplied to obtain ingredient
Product value takes the square value of the luminance components of reference image vegetarian refreshments to obtain ingredient square value, by the ingredient square value divided by institute
Ingredient product value is stated to obtain the statistical data of reference image vegetarian refreshments；
Lightness identifies equipment, connect with the data statistics equipment, for receiving the statistical data of each reference image vegetarian refreshments,
The arithmetic mean of instantaneous value of the statistical data of each reference image vegetarian refreshments is calculated, and by the arithmetic mean of instantaneous value compared with reference threshold, when
When the arithmetic mean of instantaneous value is less than the reference threshold, determine that the lightness of the current Aerial Images is lower, when the arithmetic is flat
When mean value is more than or equal to the reference threshold, determine that the lightness of the current Aerial Images is higher；
Threshold value selects equipment, connect with lightness identification equipment, for receiving arithmetic mean of instantaneous value, and is based on the arithmetic
Average value is corrected each object gray threshold range, to export the object grey scale threshold range after each correction, wherein
The threshold value selection equipment is based on the arithmetic mean of instantaneous value to be corrected each object gray threshold range including: based on described
Arithmetic mean of instantaneous value is respectively corrected the upper limit gray threshold of each object grey scale threshold range and lower limit gray threshold, institute
It is bigger to state arithmetic mean of instantaneous value, the upper limit gray threshold is bigger, and the lower limit gray threshold is bigger；
Object just knows equipment, connect respectively with the unmanned plane and threshold value selection equipment, described current for receiving
Aerial Images and reception object grey scale threshold range corresponding with license plate object, and based on object ash corresponding with license plate object
Degree threshold range identifies multiple license plate piecemeals from the current Aerial Images；
Car license recognition equipment is arranged on unmanned plane, for obtaining multiple license plate piecemeals and current Aerial Images, to each
A license plate piecemeal carries out OCR identification, to obtain each corresponding license plate number of license plate piecemeal.
Detailed description of the invention
Embodiment of the present invention is described below with reference to attached drawing, in which:
Fig. 1 is the tracking schematic diagram according to the unmanned plane during flying Orientation system shown in embodiment of the present invention.
Specific embodiment
The embodiment of unmanned plane during flying Orientation system of the invention is described in detail below with reference to accompanying drawings.
In order to overcome above-mentioned deficiency, the present invention has built a kind of unmanned plane during flying Orientation system, can solve simultaneously
Aerial photographing picture quality is uneven and stablizes the technical problem for chasing vehicle target difficulty.
Fig. 1 is the tracking schematic diagram according to the unmanned plane during flying Orientation system shown in embodiment of the present invention, described
System includes:
Background detection equipment is arranged on unmanned plane, for receiving the current Aerial Images from the unmanned plane, to institute
The background area stated in current Aerial Images is detected, and selection is in the current Aerial Images by the background area
Curve will pass through each pixel of the analysis curve as reference pixel as analysis curve in the current Aerial Images
Point；
Data statistics equipment is connect with the background detection equipment, for each ginseng in the current Aerial Images
It examines pixel and executes following data statistical operation: the tonal content of reference image vegetarian refreshments and saturation degree ingredient being multiplied to obtain ingredient
Product value takes the square value of the luminance components of reference image vegetarian refreshments to obtain ingredient square value, by the ingredient square value divided by institute
Ingredient product value is stated to obtain the statistical data of reference image vegetarian refreshments.
Then, continue that the specific structure of unmanned plane during flying Orientation system of the invention is further detailed.
Can also include: in the unmanned plane during flying Orientation system
Lightness identifies equipment, connect with the data statistics equipment, for receiving the statistical data of each reference image vegetarian refreshments,
The arithmetic mean of instantaneous value of the statistical data of each reference image vegetarian refreshments is calculated, and by the arithmetic mean of instantaneous value compared with reference threshold, when
When the arithmetic mean of instantaneous value is less than the reference threshold, determine that the lightness of the current Aerial Images is lower, when the arithmetic is flat
When mean value is more than or equal to the reference threshold, determine that the lightness of the current Aerial Images is higher.
Can also include: in the unmanned plane during flying Orientation system
Threshold value selects equipment, connect with lightness identification equipment, for receiving arithmetic mean of instantaneous value, and is based on the arithmetic
Average value is corrected each object gray threshold range, to export the object grey scale threshold range after each correction；
Wherein, the threshold value selection equipment is corrected each object gray threshold range based on the arithmetic mean of instantaneous value
It include: based on the arithmetic mean of instantaneous value respectively to the upper limit gray threshold of each object grey scale threshold range and lower limit gray scale threshold
Value is corrected, and the arithmetic mean of instantaneous value is bigger, and the upper limit gray threshold is bigger, and the lower limit gray threshold is bigger.
Can also include: in the unmanned plane during flying Orientation system
Object just knows equipment, connect respectively with the unmanned plane and threshold value selection equipment, described current for receiving
Aerial Images and reception object grey scale threshold range corresponding with license plate object, and based on object ash corresponding with license plate object
Degree threshold range identifies multiple license plate piecemeals from the current Aerial Images；
Car license recognition equipment is arranged on unmanned plane, for obtaining multiple license plate piecemeals and current Aerial Images, to each
A license plate piecemeal carries out OCR identification, to obtain each corresponding license plate number of license plate piecemeal；
License plate analytical equipment is arranged on unmanned plane, for being divided based on default license plate number the multiple license plate piecemeal
Not corresponding multiple license plate numbers are matched, and export license plate piecemeal corresponding to the license plate number being matched to divide as target
Block output；
Tracking information obtains equipment, connect respectively with the car license recognition equipment and the license plate analytical equipment, for connecing
Receive the target segment and the current Aerial Images, and the center based on the target segment is to the current Aerial Images
The vector at center and the ratio of the target segment size and benchmark license plate size determine the target flight side of the unmanned plane
To；
Tracking operation equipment, obtains equipment with the tracking information and connect, for receiving the target flight direction, and base
The power-equipment of the unmanned plane is driven in the target flight direction to control the unmanned plane according to the target flight side
To flying；
Wherein, it is obtained in equipment in the tracking information, the center based on the target segment to the images to be recognized
The vector at center and the ratio of the target segment size and benchmark license plate size determine the target flight of the unmanned plane
Direction includes: the area that the target segment size is the target segment, and the benchmark license plate size is the face of entity license plate
Product.
Can also include: in the unmanned plane during flying Orientation system
FLASH stores equipment, corresponding each for distinguishing various objects from image for being stored in advance
Object grey scale threshold range；
Wherein, in FLASH storage equipment, object type is different, then corresponding object grey scale threshold range is not yet
Together；
Wherein, the object grey scale threshold range includes upper limit gray threshold and lower limit gray threshold, the upper limit gray scale
Threshold value and the value range of the lower limit gray threshold are all 0-255.
Meanwhile the unmanned plane during flying Orientation method shown according to an embodiment of the present invention includes:
Using background detection equipment, it is arranged on unmanned plane, for receiving the current Aerial Images from the unmanned plane,
Background area in the current Aerial Images is detected, the background area is passed through in selection in the current Aerial Images
The curve in domain will pass through each pixel of the analysis curve as reference as analysis curve in the current Aerial Images
Pixel；
Data statistics equipment is connect with the background detection equipment, for each ginseng in the current Aerial Images
It examines pixel and executes following data statistical operation: the tonal content of reference image vegetarian refreshments and saturation degree ingredient being multiplied to obtain ingredient
Product value takes the square value of the luminance components of reference image vegetarian refreshments to obtain ingredient square value, by the ingredient square value divided by institute
Ingredient product value is stated to obtain the statistical data of reference image vegetarian refreshments.
Then, continue that the specific steps of unmanned plane during flying Orientation method of the invention are further detailed.
The unmanned plane during flying Orientation method can also include:
Equipment is identified using lightness, is connect with the data statistics equipment, for receiving the statistics of each reference image vegetarian refreshments
Data, calculate the arithmetic mean of instantaneous value of the statistical data of each reference image vegetarian refreshments, and by the arithmetic mean of instantaneous value and reference threshold ratio
Compared with, when the arithmetic mean of instantaneous value be less than the reference threshold when, determine that the lightness of the current Aerial Images is lower, when the calculation
When art average value is more than or equal to the reference threshold, determine that the lightness of the current Aerial Images is higher.
The unmanned plane during flying Orientation method can also include:
Equipment is selected using threshold value, is connect with lightness identification equipment, for receiving arithmetic mean of instantaneous value, and based on described
Arithmetic mean of instantaneous value is corrected each object gray threshold range, to export the object grey scale threshold range after each correction；
Wherein, the threshold value selection equipment is corrected each object gray threshold range based on the arithmetic mean of instantaneous value
It include: based on the arithmetic mean of instantaneous value respectively to the upper limit gray threshold of each object grey scale threshold range and lower limit gray scale threshold
Value is corrected, and the arithmetic mean of instantaneous value is bigger, and the upper limit gray threshold is bigger, and the lower limit gray threshold is bigger.
The unmanned plane during flying Orientation method can also include:
Just equipment is known using object, is connect respectively with the unmanned plane and threshold value selection equipment, it is described for receiving
Current Aerial Images and reception object grey scale threshold range corresponding with license plate object, and based on corresponding with license plate object right
As gray threshold range identifies multiple license plate piecemeals from the current Aerial Images；
Using car license recognition equipment, it is arranged on unmanned plane, it is right for obtaining multiple license plate piecemeals and current Aerial Images
Each license plate piecemeal carries out OCR identification, to obtain each corresponding license plate number of license plate piecemeal；
Using license plate analytical equipment, it is arranged on unmanned plane, for being divided based on default license plate number the multiple license plate
The corresponding multiple license plate numbers of block are matched, and export license plate piecemeal corresponding to the license plate number being matched to using as mesh
Mark piecemeal output；
Equipment is obtained using tracking information, is connect respectively with the car license recognition equipment and the license plate analytical equipment, is used
In receiving the target segment and the current Aerial Images, and the center based on the target segment is to the current figure of taking photo by plane
The vector at the center of picture and the ratio of the target segment size and benchmark license plate size determine that the target of the unmanned plane flies
Line direction；
Equipment is operated using tracking, equipment is obtained with the tracking information and connect, for receiving the target flight direction,
And the power-equipment of the unmanned plane is driven to control the unmanned plane according to the target and fly based on the target flight direction
Line direction flies；
Wherein, it is obtained in equipment in the tracking information, the center based on the target segment to the images to be recognized
The vector at center and the ratio of the target segment size and benchmark license plate size determine the target flight of the unmanned plane
Direction includes: the area that the target segment size is the target segment, and the benchmark license plate size is the face of entity license plate
Product.
The unmanned plane during flying Orientation method can also include:
Equipment is stored using FLASH, it is corresponding for distinguishing various objects from image for being stored in advance
Each object gray threshold range；
Wherein, in FLASH storage equipment, object type is different, then corresponding object grey scale threshold range is not yet
Together；
Wherein, the object grey scale threshold range includes upper limit gray threshold and lower limit gray threshold, the upper limit gray scale
Threshold value and the value range of the lower limit gray threshold are all 0-255.
In addition, including wireless router in tracking operation equipment, the power for building on the unmanned plane is set
Standby wireless connection.
Wireless router cans be compared to the extended pattern product for being combined into one pure wireless aps and broadband router, it not only has
Standby pure wireless aps institute is functional such as to be supported dhcp client, supports VPN, firewall, supports WEP encryption, but also
Include network address translation function, the network connection of LAN subscriber can be supported shared.It can be achieved in family wireless network
Internet connection is shared, realizes the wireless sharing access of ADSL, Cable modem and partial wideband.Wireless router can be with
ADSL MODEM or the CABLE MODEM connect with all Ethernets is connected directly, and can also pass through interchanger/line concentration when in use
The locals net mode such as device, broadband router accesses again.It is built-in with simple virtual dial-up software, can store user name and close
Code dialing online can be implemented as ADSL, CM of dial-up access Internet etc. and provide automatic dialing, without dialling manually
Number or occupy a computer do server use.In addition, wireless router is generally also equipped with relatively more perfect security protection function
Energy.
3G router is mainly embedded in wireless 3G module user first in former router and is routed using a rate card insertion 3G
Device carries out dial-up networking by operator 3G network WCDMA, TD-SCDMA etc., so that it may realize that data are transmitted, the road such as online
By device have WIFI function realize shared internet connection, have wireless network card as long as mobile phone, computer, psp or with wifi function as long as can pass through
3G wireless router accesses Internet, provides great convenience to realize that WLAN shares 3G wireless network.Part factory
Family also has wired broadband interface, also can normally access internet without 3G.By 3G wireless router, broadband may be implemented
Connection, meets or exceeds the network bandwidth of current ADSL, becomes very extensive in the application such as internet.
Using unmanned plane during flying Orientation system of the invention, not for aerial photographing picture quality in the prior art
Balance and the stable technical problem for chasing vehicle target difficulty, by having built optimized-type image image-forming mechanism on unmanned plane
And stable target chases mechanism, helps film company when shooting highway and chasing piece, can guarantee image quality optimization,
Imaging parameters it is uniform, avoid bringing discomfort to spectators, in addition it is possible to steadily follow the vehicle chased, improve picture
The stability in face.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any person skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications all are made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of variation.Therefore, anything that does not depart from the technical scheme of the invention are right according to the technical essence of the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the range of technical solution of the present invention protection
It is interior.
Claims (2)
1. a kind of unmanned plane during flying Orientation system, which is characterized in that the system comprises:
Background detection equipment is arranged on unmanned plane, for receiving the current Aerial Images from the unmanned plane, works as to described
Background area in preceding Aerial Images is detected, and the curve for passing through the background area in the current Aerial Images is selected
As analysis curve, each pixel of the analysis curve will be passed through in the current Aerial Images as reference image vegetarian refreshments；
Data statistics equipment is connect with the background detection equipment, for each reference image in the current Aerial Images
Vegetarian refreshments executes following data statistical operation: the tonal content of reference image vegetarian refreshments and saturation degree ingredient being multiplied to obtain ingredient product
Value, take the square value of the luminance components of reference image vegetarian refreshments to obtain ingredient square value, by the ingredient square value divided by it is described at
Product value is taken separately to obtain the statistical data of reference image vegetarian refreshments；
Lightness identifies equipment, connect with the data statistics equipment, for receiving the statistical data of each reference image vegetarian refreshments, calculates
The arithmetic mean of instantaneous value of the statistical data of each reference image vegetarian refreshments, and by the arithmetic mean of instantaneous value compared with reference threshold, when described
When arithmetic mean of instantaneous value is less than the reference threshold, determine that the lightness of the current Aerial Images is lower, when the arithmetic mean of instantaneous value
When more than or equal to the reference threshold, determine that the lightness of the current Aerial Images is higher；
Threshold value selects equipment, connect with lightness identification equipment, for receiving arithmetic mean of instantaneous value, and is based on the arithmetic average
Value is corrected each object gray threshold range, to export the object grey scale threshold range after each correction；
Wherein, the threshold value selection equipment is based on the arithmetic mean of instantaneous value and is corrected packet to each object gray threshold range
It includes: based on the arithmetic mean of instantaneous value respectively to the upper limit gray threshold of each object grey scale threshold range and lower limit gray threshold
It is corrected, the arithmetic mean of instantaneous value is bigger, and the upper limit gray threshold is bigger, and the lower limit gray threshold is bigger；
Object just knows equipment, connect with the unmanned plane and threshold value selection equipment, described currently takes photo by plane respectively for receiving
Image and reception object grey scale threshold range corresponding with license plate object, and it is based on object grey scale threshold corresponding with license plate object
Value range identifies multiple license plate piecemeals from the current Aerial Images；
Car license recognition equipment is arranged on unmanned plane, for obtaining multiple license plate piecemeals and current Aerial Images, to each vehicle
Board piecemeal carries out OCR identification, to obtain each corresponding license plate number of license plate piecemeal；
License plate analytical equipment is arranged on unmanned plane, for right respectively to the multiple license plate piecemeal based on default license plate number
The multiple license plate numbers answered are matched, and export license plate piecemeal corresponding to the license plate number being matched to using defeated as target segment
Out；
Tracking information obtains equipment, connect respectively with the car license recognition equipment and the license plate analytical equipment, for receiving
State target segment and the current Aerial Images, and the center based on the target segment to the center of the current Aerial Images
Vector and the ratio of the target segment size and benchmark license plate size determine the target flight direction of the unmanned plane；
Tracking operation equipment, obtains equipment with the tracking information and connect, and for receiving the target flight direction, and is based on institute
State target flight direction drive the power-equipment of the unmanned plane with control the unmanned plane according to the target flight direction into
Row flight；
Wherein, it is obtained in equipment in the tracking information, the center at the center based on the target segment to images to be recognized
Vector and the ratio of the target segment size and benchmark license plate size determine that the target flight direction of the unmanned plane includes:
The target segment size is the area of the target segment, and the benchmark license plate size is the area of entity license plate.
2. unmanned plane during flying Orientation system as described in claim 1, which is characterized in that further include:
FLASH stores equipment, for the corresponding each object for distinguishing various objects from image to be stored in advance
Gray threshold range；
Wherein, in FLASH storage equipment, object type is different, then corresponding object grey scale threshold range is also different；
Wherein, the object grey scale threshold range includes upper limit gray threshold and lower limit gray threshold, the upper limit gray threshold
Value range with the lower limit gray threshold is all 0-255.
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| KR100477656B1 (en) * | 2002-07-27 | 2005-03-22 | 삼성전자주식회사 | Method and apparatus for improvement of digital image quality |
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| CN107220926A (en) * | 2016-03-22 | 2017-09-29 | 中国科学院遥感与数字地球研究所 | The quick joining method of unmanned plane image based on KD trees and global BFS |
| CN107273832B (en) * | 2017-06-06 | 2020-09-22 | 青海省交通科学研究院 | License plate recognition method and system based on integral channel characteristics and convolutional neural network |
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| CN101211341A (en) * | 2006-12-29 | 2008-07-02 | 上海芯盛电子科技有限公司 | Image intelligent mode recognition and searching method |
| CN107390722A (en) * | 2017-07-28 | 2017-11-24 | 上海瞬动科技有限公司合肥分公司 | A kind of unmanned plane during flying angle intelligent control method |
| CN107592499A (en) * | 2017-09-07 | 2018-01-16 | 单维峰 | Anti- harassment Command Information System based on unmanned plane |
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