CN109063532A - A kind of field lost contact personnel's method for searching based on unmanned plane - Google Patents

A kind of field lost contact personnel's method for searching based on unmanned plane Download PDF

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CN109063532A
CN109063532A CN201810382529.2A CN201810382529A CN109063532A CN 109063532 A CN109063532 A CN 109063532A CN 201810382529 A CN201810382529 A CN 201810382529A CN 109063532 A CN109063532 A CN 109063532A
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CN109063532B (en
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郑恩辉
饶建民
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China Jiliang University
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    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
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Abstract

The invention discloses a kind of field lost contact personnel's method for searching based on unmanned plane.Unmanned plane takes photo by plane searchs to the region of lost contact personnel activity through row by scheduled course line, using automatic cruise mode, makes a return voyage after task of completing to take photo by plane；During taking photo by plane, image dividing processing, ROI region mapping and object detection process are successively carried out to the image of acquisition by onboard image processing module in real time, and will test the image of target and its GPS position information of corresponding record is transferred to earth station by communication module, rescue work is unfolded by the information that unmanned plane returns in rescue worker.Its location information and dependent image data are sent to earth station by communication module to help rescue worker to determine lost contact personnel positions for lost contact personnel that may be present by the present invention.

Description

A kind of field lost contact personnel's method for searching based on unmanned plane
Technical field
The present invention relates to the method for searching of field lost contact personnel a kind of, especially relate to a kind of open country based on unmanned plane Outer lost contact personnel method for searching.
Background technique
In recent years, self-service autonomous travelling receives pursuing for vast travelling fan, and the depopulated zone without exploitation It is the place that " tour pal " most often sets foot in again.Since travelling fan is with independently spontaneous and most of professional there is no passing through Training, therefore in exploration while kickster also along with huge risk, lost contact phenomenon occurs repeatedly.To field During lost contact personnel search and rescue, the greatest difficulty that rescue worker faces is how quickly to position the position of lost contact personnel, mesh Preceding conventional method is to carry out inch-by-inch search by a large amount of personnel, and this method is not only time-consuming and laborious, but also depends critically upon The subjective judgement of people, so that search-and-rescue work inefficiency, often results in irremediable consequence.
Summary of the invention
The technical problem to be solved by the present invention is providing one for deficiency present in current field personnel method for searching Field lost contact personnel method for searching of the kind based on unmanned plane.
Problem to be solved by this invention includes the following steps:
Unmanned plane is taken photo by plane through row using region of the automatic cruise mode to lost contact personnel activity and is searched by scheduled course line It seeks, completion, which is taken photo by plane, makes a return voyage after task；During taking photo by plane, in real time by onboard image processing module to the image of acquisition successively into Row image dividing processing, ROI region mapping and object detection process, and will test the image and its corresponding record of target GPS position information is transferred to earth station by communication module, and rescue work is unfolded by the information that unmanned plane returns in rescue worker.
Infrared camera and visible image capturing head, infrared camera and visible image capturing head are mounted on the unmanned plane Acquisition obtains infrared hybrid optical system and visible images respectively, and infrared camera and visible image capturing head constitute Image Acquisition list Member, infrared camera and visible image capturing head are arranged side by side in unmanned plane head, and infrared camera and visible image capturing head Towards same direction.
Described carries out image dividing processing by image of the onboard image processing module to acquisition in real time, specifically uses Improved maximum entropy method (MEM) carries out image segmentation to infrared hybrid optical system, obtains the foreground area that may represent human body target, in turn For extracting the region in image there may be human body:
1) gray-scale statistical is carried out to the infrared hybrid optical system that infrared camera obtains, calculates grey level histogram, then basis Grey level histogram is calculated using the following equation each gray level probability:
Wherein, piIndicate that the probability of i-th of gray level, i indicate gray level ordinal number, niIndicate i-th gray level in image Pixel quantity, N indicate the total number of pixels of entire image；
2) Random entropy of background B and target O are then calculated using the following equation:
In formula, H (B), H (O) are respectively the Random entropy of background B and target O, and t indicates that the gray level of infrared hybrid optical system is pre- If segmentation threshold, i, j indicate that the gray level ordinal number of infrared hybrid optical system, L indicate maximum gray scale；
3) then, according to obtained Random entropy, following optimal threshold t is established*Objective function:
In formula, toIndicate that the gray value that human body is represented in infrared hybrid optical system, α indicate gray value toConfidence level；
Finally according to Lagrange duality, the solution that carries out of objective function is obtained most using antithesis optimization method Excellent threshold value t*, utilize optimal threshold t*Infrared hybrid optical system is split, foreground area and background area are obtained.
The present invention is specially designed objective function, and wherein special setting confidence level α, can be improved to human body target Detection accuracy.
Described is carried out at ROI region mapping and target detection by image of the onboard image processing module to acquisition in real time Reason specifically uses improved target identification method, obtain in image whether the testing result of human body target, can effectively reduce Calculate useless calculating of the equipment in identification object procedure:
1) collected infrared hybrid optical system is distinguished to infrared camera and visible image capturing head and visible images carries out Calibration, obtains n between infrared hybrid optical system and visible images to characteristic point pair, and n is to characteristic point to being at least 8 pairs of characteristic points It is right；
2) pass through n to characteristic point to the basic square being calculated using the following equation between infrared hybrid optical system and visible images Battle array f:
Af=0
In formula, A indicates R-matrix, and matrix A is the matrix of n × 9, (u, v)T, (u ', v ') is respectively infrared gray scale The coordinate of a pair of of characteristic point pair in image and visible images；
3) it is calculated using the following equation the foreground area for obtaining and being partitioned into infrared hybrid optical system and corresponds to visible images In polar curve l:
L=fm
In formula, m is the Geometric center coordinates for the foreground area extracted in infrared hybrid optical system；
4) sliding detection window is then established centered on each pixel on polar curve l, and extracts sliding detection window Hog feature, each Hog feature of polar curve l is then input to trained support vector machines and is classified, identify The presence for whether having human body target in visible images obtained.
The present invention carries out ROI region mapping and target detection through the above way, can more preferably, more rapidly, more accurately examine Survey the human body target obtained in image.
Trained support vector machines are to represent human body target by the image zooming-out acquisition in standardized human body's picture library Then the known pixels point label information of image in Hog feature and standardized human body's picture library is input to by the Hog feature of pixel Learning training obtains in support vector machines, uses RBF kernel function (gaussian kernel function) when learning training.
The unmanned plane be a kind of small-sized fixed-wing of the solar energy that flexible photovoltaic component is covered on wing and empennage without It is man-machine, to realize the long-time continuation of the journey when intensity of illumination meets enough.
The flexible photovoltaic component full name monocrystalline flexible solar component, is a kind of device converted solar energy into electrical energy Part, converts solar energy into electrical energy in the present embodiment and is sent in battery and store, to push loaded work piece.It is so-called Flexibility refers to that the solar panel can bending.Bending angle is up to 30 degree.
The prebriefed pattern is to be planned by artificially treating region of search by inch-by-inch search mode, executes flight Unmanned plane will be searched according to course line after order.
Compared with existing method for searching, the beneficial effects of the present invention are:
In existing field lost contact personnel's method for searching, not yet there are the relevant technologies based on unmanned plane vision search, because This present invention is a completely new direction.
The invention avoids when artificial search the problem of existing low efficiency at high cost, while using visible light and infrared heat The efficient identification technology of imaging carries out large-scale field personnel search, provides reliable foundation for accurate rescue work.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention.
Specific embodiment
Hereinafter reference will be made to the drawings, and the present invention is further described.
As shown in Figure 1, in present invention specific implementation, what it is using the main earth station composition corresponding comprising unmanned plane is System, unmanned plane are selected the small-sized fixed-wing unmanned plane of solar energy to meet the long requirement continued a journey as flying platform, are filled on unmanned plane Flight control panel, power management module, barometer, gyroscope, accelerometer, GPS module are carried, for carrying out attitude of flight vehicle control System and the demand of navigation, external communication module, image variants unit shoot the image of target for identification and return phase The data answered.
Infrared camera and visible image capturing head are mounted on unmanned plane, infrared camera and visible image capturing head are adopted respectively Collection obtains infrared hybrid optical system and visible images, and infrared camera and visible image capturing head constitute image acquisition units, infrared Camera and visible image capturing head are arranged side by side in unmanned plane head, and infrared camera and visible image capturing head are towards same Direction.
Unmanned plane is a kind of small-sized fixed-wing unmanned plane of the solar energy that flexible photovoltaic component is covered on wing and empennage.
Flight control panel flies control processor module, the 3 axis gyros for integrating by MPU-6050 using STM32F407 Instrument, 3 axis accelerometers and geomagnetic sensor acquire attitude data and control attitude of flight vehicle, are led by GPS module Boat.
Image acquisition units use image capture device and controllable three axis cloud including visible light and infrared thermal imaging The effect of jitter of aircraft flight process is reduced to minimum by platform, holder, so that maximum possible guarantee collects the clear of image Degree.Acquired image information is transmitted to the identification that onboard image processing module is used for target by camera.
Image processing module, as processing unit, adds four cores by NVIDIA 4-1 using NVIDIA Tegra K1 processor ARM-Cortex A15CPU and NVIDIA Kepler GPU comprising 192 NVIDIA CUDA cores are formed to complete image The demand of processing.
Communication module uses iridium satellite 9602SBD satellite data transmission module, and Iridium 9602 is veneer transceiver module, By satellite channel sending and receiving data packet, to realize, the data of unmanned plane and earth station are transmitted in the depopulated zone of field.
Power management module is voltage 5V and output electricity needed for lithium battery voltage to be down to airborne platform and flies control unit Flow 2A.
Earth station is the information for receiving and showing airborne platform transmission in real time.
Implementation process of the invention is as follows:
1, objective for implementation of the somewhere without the deserted mountain largely developed as the present embodiment is chosen, delimiting area to be sought is 10 hectares, forest land landforms, the random distribution 10-20 human simulation lost contact personnel to be searched and rescued in region to be searched.Pass through earth station Upper computer software prebriefed pattern carries out blanket type search to target area, and drone flying height is set in 20-25m or so.
Unmanned plane is according to prebriefed pattern autonomous navigation, route speed 30-40km/h.Unmanned plane is every with 3 seconds during navigation The speed of width image persistently shoots ground,
2, during taking photo by plane, image dividing processing is carried out by image of the onboard image processing module to acquisition in real time
Specific implementation carries out image segmentation to infrared hybrid optical system using improved maximum entropy method (MEM), obtains foreground area:
1) gray-scale statistical is carried out to the infrared hybrid optical system that infrared camera obtains, calculates grey level histogram, then basis Grey level histogram is calculated using the following equation each gray level probability:
Wherein, piIndicate that the probability of i-th of gray level, i indicate gray level ordinal number, for 8-bit gray level image, value Usually take 0~255；niIndicate that the pixel quantity of i-th of gray level in image, N indicate the total number of pixels of entire image；
2) Random entropy of background B and target O are then calculated using the following equation:
In formula, H (B), H (O) are respectively the Random entropy of background B and target O, and t indicates that the gray level of infrared hybrid optical system is pre- If segmentation threshold, i, j indicate that the gray level ordinal number of infrared hybrid optical system, L indicate maximum gray scale, the L for 8-bit image Take 255；
3) following optimal threshold t is then established according to obtained Random entropy*Objective function:
In formula, toIndicate the gray value that human body is represented in infrared hybrid optical system, toBy the standard IR gray scale for having human body Image determines, is a constant, and α indicates gray value toConfidence level；
Finally according to Lagrange duality, the solution that carries out of objective function is obtained most using antithesis optimization method Excellent threshold value t*, utilize optimal threshold t*Infrared hybrid optical system is split, foreground area and background area are obtained.
3, ROI region mapping and object detection process are carried out by image of the onboard image processing module to acquisition in real time, Specifically use improved target identification method, obtain in image whether the testing result of human body target:
1) collected infrared hybrid optical system is distinguished to infrared camera and visible image capturing head and visible images uses Camera Calibrator tool in matlab software toolkit is demarcated, and infrared hybrid optical system and visible light figure are obtained N as between is to characteristic point pair；
2) pass through n to characteristic point to the basic square being calculated using the following equation between infrared hybrid optical system and visible images Battle array f:
Af=0
In formula, A indicates R-matrix, and matrix A is the matrix of n × 9, (u, v)T, (u ', v ') is respectively infrared gray scale The coordinate of a pair of of characteristic point pair in image and visible images；
Specific implementation carries out singular value decomposition to R-matrix A, calculates the generalized inverse matrix A of R-matrix A+, and according to Generalized inverse matrix A+The least square solution for calculating fundamental matrix f, to obtain fundamental matrix f.
3) it is calculated using the following equation the foreground area for obtaining and being partitioned into infrared hybrid optical system and corresponds to visible images In polar curve l, polar curve l represents that the foreground area central point being partitioned into infrared hybrid optical system corresponds in visible images can Energy place:
L=fm
In formula, m is the Geometric center coordinates for the foreground area extracted in infrared hybrid optical system；
4) sliding detection window is then established centered on each pixel on polar curve l, and extracts sliding detection window Hog feature, each Hog feature of polar curve l is then input to trained support vector machines and is classified, identify The presence for whether having human body target in visible images obtained.
Trained support vector machines are to represent human body target by the image zooming-out acquisition in standardized human body's picture library Then the known pixels point label information of image in Hog feature and standardized human body's picture library is input to by the Hog feature of pixel Learning training obtains in support vector machines, uses RBF kernel function (gaussian kernel function) when learning training.
4, the GPS position information of the image and its corresponding record that will test target is transferred to ground by communication module It stands, rescue work is unfolded by the information that unmanned plane returns in rescue worker.
When unmanned plane detects target, the width image and corresponding GPS information are sent to by satellite communication module Earth station, earth station staff compare the data of unmanned plane passback and the correctness of cross-check information.
Unmanned plane completes the search task of target area, and straight line makes a return voyage.
By actual test, which can compare in the case where not being blocked by obstructions to rescue worker's body Accurately identification positioning belt rescue worker, the satellite transmission module used can be good at target information being transmitted to host computer, The average handling time of each image (1920 × 1080) only need to be less than 1s.In many experiments, for the to be checked of random distribution Survey personnel, the detection accuracy of system reach 98.2%, meet the requirement searched to field lost contact personnel.
The continuation of the journey of the long-time when intensity of illumination meets enough, nothing may be implemented in solar energy unmanned plane of the invention as a result, It is man-machine during a wide range of long working, ground image is constantly obtained by image acquisition units and passes through image procossing Unit, which is differentiated, whether there is doubtful lost contact personnel, for lost contact personnel that may be present by its location information and dependent image data Earth station is sent to by communication module to help rescue worker to determine lost contact personnel positions.

Claims (6)

1. a kind of field lost contact personnel's method for searching based on unmanned plane, it is characterised in that the following steps are included: unmanned plane passes through Scheduled course line takes photo by plane searchs to the region of lost contact personnel activity through row using automatic cruise mode, returns after task of completing to take photo by plane Boat；During taking photo by plane, image dividing processing, ROI are successively carried out to the image of acquisition by onboard image processing module in real time Area maps and object detection process, and will test the image of target and its GPS position information of corresponding record passes through communication Rescue work is unfolded by the information that unmanned plane returns to earth station, rescue worker in module transfer.
2. a kind of field lost contact personnel's method for searching based on unmanned plane according to claim 1, it is characterised in that: described Unmanned plane on be mounted with infrared camera and visible image capturing head, infrared camera and visible image capturing head are arranged side by side in nothing Man-machine head, and infrared camera and visible image capturing head are towards same direction.
3. a kind of field lost contact personnel's method for searching based on unmanned plane according to claim 2, it is characterised in that: described Image dividing processing is carried out to the image of acquisition by onboard image processing module in real time, specifically use improved maximum entropy Method carries out image segmentation to infrared hybrid optical system, obtains foreground area:
1) gray-scale statistical is carried out to the infrared hybrid optical system that infrared camera obtains, grey level histogram is calculated, then according to gray scale Histogram is calculated using the following equation each gray level probability:
Wherein, piIndicate that the probability of i-th of gray level, i indicate gray level ordinal number, niIndicate the pixel of i-th of gray level in image Quantity, N indicate the total number of pixels of entire image；
2) Random entropy of background B and target O are then calculated using the following equation:
In formula, H (B), H (O) are respectively the Random entropy of background B and target O, and t indicates default point of the gray level of infrared hybrid optical system Threshold value is cut, i, j indicate that the gray level ordinal number of infrared hybrid optical system, L indicate maximum gray scale；
3) then, according to obtained Random entropy, following optimal threshold t is established*Objective function:
In formula, toIndicate that the gray value that human body is represented in infrared hybrid optical system, α indicate gray value toConfidence level；
Finally according to Lagrange duality, solve the optimal threshold of acquisition to objective function using antithesis optimization method Value t*, utilize optimal threshold t*Infrared hybrid optical system is split, foreground area and background area are obtained.
4. a kind of field lost contact personnel's method for searching based on unmanned plane according to claim 2, it is characterised in that: described ROI region mapping and object detection process are carried out to the image of acquisition by onboard image processing module in real time, specifically adopt With improved target identification method, obtain in image whether the testing result of human body target:
1) to infrared camera and visible image capturing head, collected infrared hybrid optical system and visible images are demarcated respectively, The n between infrared hybrid optical system and visible images is obtained to characteristic point pair；
2) pass through n to characteristic point to the fundamental matrix f being calculated using the following equation between infrared hybrid optical system and visible images:
Af=0
In formula, A indicates R-matrix, and matrix A is the matrix of n × 9, (u, v)T, (u ', v ') is respectively infrared hybrid optical system With the coordinate of characteristic point pair a pair of of in visible images；
3) foreground area for obtaining and being partitioned into infrared hybrid optical system is calculated using the following equation to correspond in visible images Polar curve l:
L=fm
In formula, m is the Geometric center coordinates for the foreground area extracted in infrared hybrid optical system；
4) sliding detection window is then established centered on each pixel on polar curve l, and extracts the Hog of sliding detection window Then each Hog feature of polar curve l is input to trained support vector machines and classified by feature, identification obtains can Whether the presence of human body target is had in light-exposed image.
5. a kind of field lost contact personnel's method for searching based on unmanned plane according to claim 1, it is characterised in that: described Unmanned plane be a kind of small-sized fixed-wing unmanned plane of the solar energy that flexible photovoltaic component is covered on wing and empennage.
6. a kind of field lost contact personnel's method for searching based on unmanned plane according to claim 1, it is characterised in that: described Prebriefed pattern is to be planned by artificially treating region of search by inch-by-inch search mode, executes unmanned plane after flight orders It will be searched according to course line.
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CN115147741B (en) * 2022-06-28 2023-06-30 慧之安信息技术股份有限公司 Auxiliary helicopter search and rescue method based on edge calculation
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