CN109240318A - For controlling the method and device of unmanned plane during flying - Google Patents
For controlling the method and device of unmanned plane during flying Download PDFInfo
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- CN109240318A CN109240318A CN201811128638.8A CN201811128638A CN109240318A CN 109240318 A CN109240318 A CN 109240318A CN 201811128638 A CN201811128638 A CN 201811128638A CN 109240318 A CN109240318 A CN 109240318A
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- target object
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- unmanned plane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention provides the method and device for controlling unmanned plane during flying, control method therein includes: a navigation signal according to target object, the position that control unmanned plane during flying is indicated to the navigation signal；Obtain the image of preset range corresponding with the position of the instruction；Judge whether comprising the target object in described image, if it is, obtaining current display position of the target object in described image；When the current display position and default display position are distinct, the control parameter that the unmanned plane is then adjusted according to the relative position information of current display position and default display position, so that the display position of the target object is maintained at the default display position.The present invention realizes the technical effect precisely followed to target object.
Description
Technical field
The present invention relates to air vehicle technique field, more particularly, to the method, apparatus of control unmanned plane during flying and nobody
Machine.
Background technique
With the development of unmanned air vehicle technique, unmanned plane is widely used in the necks such as military surveillance, disaster area rescue, address exploration
Domain, and in above-mentioned application field, target follows a research hotspot as unmanned air vehicle technique.
In the prior art, GPS (Global Positioning System) module is set usually on following target
It obtains the location information of target, then adjusts the state of flight of unmanned plane accordingly, so that target is followed, however due to
The positioning accuracy of GPS is limited, can not accurately obtain the location information of target, disappears so as to cause target during following or nothing
The problem of method follows.
As it can be seen that the not high technical problem of accuracy that target follows exists in the prior art.
Summary of the invention
The embodiment of the invention provides the method and devices for controlling unmanned plane during flying, unmanned plane, existing for solving
The not high technical problem of the accuracy followed in technology there are target.
In a first aspect, the present invention provides the methods for controlling unmanned plane during flying, comprising:
According to target object navigation signal, the position that unmanned plane during flying is indicated to the navigation signal is controlled；
Obtain the image of preset range corresponding with the position of the instruction；
Judge whether comprising the target object in described image, if it is, obtaining the target object in the figure
Current display position as in；
When the current display position and default display position are distinct, then the current display position and pre- is obtained
If the relative position information of display position, and information adjusts the control parameter of the unmanned plane depending on that relative position, so that
The display position of the target object is maintained at the default display position；
Judge in described image whether include the non-target object remaining objects interfered, if it is, described in obtaining
Current display position of the objects interfered in described image, and generate alarm signal.
Optionally, the current display position for obtaining the target object in described image, comprising:
The corresponding relationship of characteristics of image and object according to the pre-stored data, determines the target object；
Described image is parsed, current display position of the target object in described image is obtained.
Optionally, the control parameter of the adjustment of the information depending on that relative position unmanned plane, comprising:
Information depending on that relative position obtains the opposite offset of the unmanned plane and the target object；
According to the height of the opposite offset and unmanned plane, the control parameter of the unmanned plane is adjusted.
Optionally, the control parameter includes: the flying speed and flight attitude of unmanned plane.
Based on same inventive concept, second aspect of the present invention provides the following device of unmanned plane, comprising:
Control module controls unmanned plane during flying to the navigation signal for a navigation signal according to target object
The position of instruction；
Module is obtained, for obtaining the image of preset range corresponding with the position of the instruction；
Judgment module, for judging whether comprising the target object in described image, if it is, obtaining the target
Current display position of the object in described image, if it is not, then the position of adjustment unmanned plane, obtains until the unmanned plane
Include the target object in present image, then obtains current display position of the target object in the present image
It sets；
Module is adjusted, for when the current display position and default display position are distinct, then working as described in acquisition
The relative position information of preceding display position and default display position, and information adjusts the unmanned plane depending on that relative position
Control parameter, so that the display position of the target object is maintained at the default display position；
Generation module, for judge in described image whether include the non-target object remaining objects interfered, if
It is then to obtain current display position of the objects interfered in described image, and generate alarm signal.
Optionally, the judgment module is also used to:
The corresponding relationship of characteristics of image and object according to the pre-stored data, determines the target object；
Described image is parsed, current display position of the target object in described image is obtained.
Optionally, the adjustment module is also used to:
Information depending on that relative position obtains the opposite offset of the unmanned plane and the target object；
According to the height of the opposite offset and unmanned plane, the control parameter of the unmanned plane is adjusted.
Optionally, the control parameter includes: the flying speed and flight attitude of unmanned plane.
Based on same inventive concept, third aspect present invention provides a kind of computer readable storage medium, deposits thereon
Computer program is contained, which performs the steps of when being executed by processor
According to target object navigation signal, the position that unmanned plane during flying is indicated to the navigation signal is controlled；
Obtain the image of preset range corresponding with the position of the instruction；
Judge whether comprising the target object in described image, if it is, obtaining the target object in the figure
Current display position as in；
When the current display position and default display position are distinct, then the current display position and pre- is obtained
If the relative position information of display position, and information adjusts the control parameter of the unmanned plane depending on that relative position, so that
The display position of the target object is maintained at the default display position.
Based on same inventive concept, fourth aspect present invention provides a kind of computer equipment, including memory, processing
On a memory and the computer program that can run on a processor, when processor execution described program, is realized for device and storage
Following steps:
According to target object navigation signal, the position that unmanned plane during flying is indicated to the navigation signal is controlled；
Obtain the image of preset range corresponding with the position of the instruction；
Judge whether comprising the target object in described image, if it is, obtaining the target object in the figure
Current display position as in；
When the current display position and default display position are distinct, then the current display position and pre- is obtained
If the relative position information of display position, and information adjusts the control parameter of the unmanned plane depending on that relative position, so that
The display position of the target object is maintained at the default display position.
Said one or multiple technical solutions in the embodiment of the present application at least have following one or more technology effects
Fruit:
In the technical solution of the embodiment of the present invention, nobody can be guided by a navigation signal of target object first
The position that machine is indicated to navigation signal that is, near target object, and obtains the image of position indicated by navigation signal, then
Determine that the position if not including by adjusting unmanned plane makes in image comprising target pair whether comprising target object in image
As improving the accuracy of target object positioning that is, by way of navigation signal and computer vision, and then can be with
According to the relative positional relationship of target object display position in the picture and default display position, the control ginseng of unmanned plane is adjusted
Number, the problem of can disappearing to avoid the inaccuracy due to target object position so as to cause target object, so that target object position
It is always positioned at the default display position in image, precisely following to target object is realized, solves and deposit in the prior art
In the not high technical problem of the accuracy that target follows.
Detailed description of the invention
Fig. 1 is in the embodiment of the present invention for controlling the flow chart of the method for unmanned plane during flying；
Fig. 2 is the structural block diagram for the control device that unmanned plane follows in the embodiment of the present invention；
Fig. 3 is a kind of structural block diagram of computer readable storage medium in the embodiment of the present invention；
Fig. 4 is a kind of structural block diagram of computer equipment in the embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides the method and devices for controlling unmanned plane during flying, unmanned plane, existing for solving
The not high technical problem of the accuracy followed in technology there are target.
In order to solve the above-mentioned technical problem, the technical solution general thought that one embodiment of the invention provides is as follows:
It can be made near unmanned plane during flying to target object according to a navigation signal of target object first, and obtained
The image of preset range corresponding with the position of navigation signal instruction, when not including target object in image, by adjusting nothing
Man-machine position makes in image comprising target object, it can is realized by computer vision and accurately determine to target object
Then position obtains the current display position of target object in the picture, and according to current display position and default display position
Relative position information, adjusts the control parameter of the unmanned plane, to avoid the inaccuracy due to target object position to lead
The problem of causing target object to disappear, so that the display position of target object is consistent with default display position, realizes to mesh
Mark object precisely follows, and solves and the not high technical problem of accuracy that target follows exists in the prior art.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that the application
Specific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniques
The restriction of scheme, in the absence of conflict, the technical characteristic in the embodiment of the present application and embodiment can be combined with each other.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Embodiment one
First aspect of the embodiment of the present invention provides the method for controlling unmanned plane during flying, referring to FIG. 1, for the present invention
For controlling the flow chart of the method for unmanned plane during flying in embodiment.This method comprises:
Step S101 is first carried out: according to target object navigation signal, controlling unmanned plane during flying to described primary
The position of navigation signal instruction.
It should be noted that " navigation signal " here refers to the navigation signal of the target object obtained for the first time.
Basic target object described below, which refers to, not to be made to determine whether also to need the real target object followed, standard mesh
Mark object is to have determined that it is the real target object for needing to follow.In order to accurately track to target object, it is excluded
The influence of his non-real target object (objects interfered) feedback location information, the embodiment of the present invention is before executing step S101
It can also include the following steps:
Obtain the base class information of basic target object；
Specifically, the base class information of the basic target object includes following information: the base of basic target object
The basic type information of plinth information (such as unmanned plane, vehicle, ship), basic target object；For example, working as basic target pair
When as unmanned plane, then the basic model information of basic target object includes: multi-rotor unmanned aerial vehicle, fixed-wing unmanned plane, nobody
Helicopter；When basic target object is vehicle, then the basic model information of basic target object includes: the manned car of 2 people seat,
The manned car of 5 people seat, the manned car of 7 people seat, small-sized loading lorry, medium-sized loading lorry, large-scale loading lorry, train；Work as mesh
When mark object is ship, then the basic model information of basic target object includes: passenger boat, freighter, yacht.
Base class information according to the basic target object identifies basic target object, judges the target
Whether object is the standard target object for needing to follow；
Specifically, the base class information of the basic target object can be preset with UAV Flight Control System
The standard category information of target object in database compares, and the standard category information includes: the standard of target object
The standard type information of information, target object.For example, when the target object for needing to follow is fixed-wing unmanned plane, then
The standard information of the target object stored in the presetting database is unmanned plane, the standard type information of target object
For fixed-wing unmanned plane.
If so, marking the basic target object is standard target object, and continue to execute step S101: according to standard
Navigation signal of target object, the position that control unmanned plane during flying is indicated to the navigation signal；
Standard target object can be unmanned plane, vehicle, ship etc., and above-mentioned navigation signal is GPS navigation signal, Ke Yiyou
The navigation equipment of standard target object provides, and flight control system, flight control system and standard target pair are arranged on unmanned plane
As that can be communicated wirelessly, the positioning signal of target object can be received by flight control system first, so
Navigation circuit is formed according to the current location of the positioning signal and unmanned plane afterwards, generates navigation signal, and refer to according to navigation signal
The generation flight control instruction of the position that shows and unmanned plane current location is indicated to navigation signal controlling unmanned plane during flying
Position.I.e. near target object.
It if it is not, then generating alarm signal, and is the objects interfered for distinguishing target object by the basic target object definition；
A navigation signal of the objects interfered is sent to background control center simultaneously, and assigned again by background control center with
The objects interfered is tracked with unmanned plane.It should be noted that the above process is that circulation executes, when the basic mesh
Mark object is not required to the target object followed, after generating alarm signal alarm signal, continues to obtain remaining basic target pair
A navigation signal for elephant then starts to execute step until judging that remaining basic target object is the target object for needing to follow
S101。
Then it executes step S102: obtaining the image of preset range corresponding with the position of the instruction.
Specifically, image can be shot by equipment such as the camera, the sensors that are arranged on unmanned plane, preset range can
To be configured according to the actual situation, such as can be configured according to size, the parameter of capture apparatus etc. of target object, on
It states image and refers to scene image around target object.
Then it executes step S103: judging whether comprising the target object in described image, if it is, described in obtaining
Current display position of the target object in described image；
Specifically, since the precision of navigation signal is limited, it is possible to so that the relative position of unmanned plane and target object
There is deviation, therefore the image obtained does not include target object, then it is new to reacquire to need the position by adjusting unmanned plane
Image, the above process are that circulation executes, and unmanned plane continuously shoots image, until including target pair in the image of current shooting
As position.For example, figure can be re-shoot by the position of the angle of the capture apparatus on unmanned plane or unmanned plane
Picture.Obtaining current display position of the target object in described image can be realized by being parsed to image, specifically may be used
Using the method for image procossing and image analysis.Through the above steps, can to avoid as navigation signal difference and caused by mesh
The problem of marking object position inaccurate.
It should be noted that can also include: whether to judge in described image comprising the non-mesh in step S103
Remaining objects interfered of object is marked, if it is, obtaining current display position of the objects interfered in described image, and raw
It is sent to background control center at alarm signal, while by a navigation signal of the objects interfered, and by Background control
The heart is assigned again follows unmanned plane to track the objects interfered.It should be noted that the above process is that circulation executes,
After judging to include remaining objects interfered of the non-target object in described image and generate alarm signal, continue described in judgement
In image whether comprising remaining non-targeted object remaining objects interfered navigation signal.
In addition, because the region area of image is determining, but in the actual process over time, target pair
As and objects interfered be all it is mobile, have possibly be present at execute step 101 obtain target object navigation model when
Wait, target object be in described image, but unmanned plane shoot image frame when, target object has sailed out of image district
Domain does not include the target object even in described image yet, then the position for adjusting unmanned plane re-shoots image, and new
Judge whether in image comprising the target object.The settable time T of this process (such as 1 minute or 1 minute), if in time T
Do not include the target object in interior judgement image, then illustrates that target object has sailed out of image-region.
At this point, can control unmanned plane during flying to the secondary navigation by the secondary navigation signal according to target object and believe
Number instruction position.
Explanation is also needed, " secondary navigation signal " here refers to the navigation letter of the target object of second of acquisition
Number.For the purposes of accurately tracking to target object, the feedback positioning of other non-real target objects (objects interfered) is excluded
The influence of information, the embodiment of the present invention is judged in time T after not including the target object in image, by according to mesh
The secondary navigation signal of object is marked, can also include before control unmanned plane during flying to the position of the secondary navigation signal instruction
Following steps:
Obtain the base class information of basic target object；
Specifically, the base class information of the basic target object includes following information: the base of basic target object
The basic type information of plinth information (such as unmanned plane, vehicle, ship), basic target object；For example, working as basic target pair
When as unmanned plane, then the basic model information of basic target object includes: multi-rotor unmanned aerial vehicle, fixed-wing unmanned plane, nobody
Helicopter；When basic target object is vehicle, then the basic model information of basic target object includes: the manned car of 2 people seat,
The manned car of 5 people seat, the manned car of 7 people seat, small-sized loading lorry, medium-sized loading lorry, large-scale loading lorry, train；Work as mesh
When mark object is ship, then the basic model information of basic target object includes: passenger boat, freighter, yacht.
Base class information according to the basic target object identifies basic target object, judges the target
Whether object is the standard target object for needing to follow；
Specifically, the base class information of the basic target object can be preset with UAV Flight Control System
The standard category information of target object in database compares, and the standard category information includes: the standard of target object
The standard type information of information, target object.For example, when the target object for needing to follow is fixed-wing unmanned plane, then
The standard information of the target object stored in the presetting database is unmanned plane, the standard type information of target object
For fixed-wing unmanned plane.
If so, marking the basic target object is standard target object, and execute step: according to standard target object
Secondary navigation signal, control unmanned plane during flying to the position of the secondary navigation signal instruction；
Standard target object can be unmanned plane, vehicle, ship etc., and above-mentioned navigation signal is GPS navigation signal, Ke Yiyou
The navigation equipment of standard target object provides, and flight control system, flight control system and standard target pair are arranged on unmanned plane
As that can be communicated wirelessly, the positioning signal of target object can be received by flight control system first, so
Navigation circuit is formed according to the current location of the positioning signal and unmanned plane afterwards, generates navigation signal, and refer to according to navigation signal
The generation flight control instruction of the position that shows and unmanned plane current location is indicated to navigation signal controlling unmanned plane during flying
Position.I.e. near target object.
It if it is not, then generating alarm signal, and is the objects interfered for distinguishing target object by the basic target object definition；
The navigation signal of the objects interfered is sent to background control center simultaneously, and is assigned again by background control center and follows nothing
It is man-machine that the objects interfered is tracked.It should be noted that the above process is that circulation executes, when the basic target pair
As being not required to the target object followed, after generating alarm signal alarm signal, continue to obtain remaining basic target object
Navigation signal then starts execution step and passes through basis until judging that remaining basic target object is the target object for needing to follow
The secondary navigation signal of target object, control unmanned plane during flying to the position of the secondary navigation signal instruction.
Likewise, not finding its in described image comprising the non-target object also even in time T in time T
Remaining objects interfered then generates safety signal, while the safety signal is sent to background control center.
As a kind of optional embodiment, in step s 103, the current display position of target object in the picture is obtained
It can be realized by following manner:
The corresponding relationship of characteristics of image and object according to the pre-stored data, determines the target object；
Described image is parsed, current display position of the target object in described image is obtained.
Specifically, characteristics of image is stored in the flight control system of unmanned plane in advance and is closed with the corresponding of object is followed
System, then identifies target object according to above-mentioned corresponding relationship, and specific recognition methods can be known using common image
Other algorithm.
Step S104 is executed again: when the current display position and default display position are distinct, then described in acquisition
The relative position information of current display position and default display position, and information adjusts the unmanned plane depending on that relative position
Control parameter so that the display position of the target object is maintained at the default display position.
Specifically, display position is preset as preferable display position of the target object in present image, such as image
Left, right and center etc..Generally in the specific implementation process, preferable display position is the center of image, opposite position
Confidence breath includes offset direction and offset distance.
The above method provided through the embodiment of the present invention regards on the basis of navigation information further combined with computer
Feel technology carries out vision positioning to target object, the accuracy to target object positioning can be improved, and exist according to target object
Display position in image adjusts the control parameter of unmanned plane, so that the display position of the target object is maintained at described pre-
If display position, so as to realize precisely following to target object, due to that can be adjusted automatically, intelligence also may be implemented
It can follow, not need manually to be operated manually, save manpower, improve control efficiency.
As a kind of optional embodiment, in step S104, the control of information adjustment unmanned plane depending on that relative position
Parameter processed can be realized by following manner:
Information depending on that relative position obtains the opposite offset of the unmanned plane and the target object；
According to the height of the opposite offset and unmanned plane, the control parameter of the unmanned plane is adjusted.
Specifically, above-mentioned opposite offset includes that direction deviates, and then can use the true of opposite offset and unmanned plane
Height carries out fusion calculation and coordinate transform, obtains the actual distance of unmanned plane and target object in ground shafting, and root in turn
Countermeasures are set according to actual distance, i.e. setting control parameter so that unmanned plane and target object remain one it is opposite away from
From to realize precisely following to target object.
Specifically, the control parameter in the present embodiment includes: the flying speed and flight attitude of unmanned plane, wherein flight appearance
State includes flight angle and flying height etc..When target object is to travel at the uniform speed, unmanned plane can also remain a constant speed and follow.
Embodiment two
Based on inventive concept same as being used to control the method for unmanned plane during flying in aforementioned first aspect, the present invention is implemented
Example two additionally provides the control device that unmanned plane follows, as shown in Figure 2, comprising:
Control module 201 controls unmanned plane during flying to the navigation and believes for a navigation signal according to target object
Number instruction position；
Module 202 is obtained, for obtaining the image of preset range corresponding with the position of the instruction；
Judgment module 203, for judging whether comprising the target object in described image, if it is, described in obtaining
Current display position of the target object in described image；
Module 204 is adjusted, described in when the current display position and default display position are distinct, then obtaining
The relative position information of current display position and default display position, and information adjusts the unmanned plane depending on that relative position
Control parameter so that the display position of the target object is maintained at the default display position.
Optionally, the judgment module 203 is also used to:
The corresponding relationship of characteristics of image and object according to the pre-stored data, determines the target object；
Described image is parsed, current display position of the target object in described image is obtained.
Optionally, the adjustment module 204 is also used to:
Information depending on that relative position obtains the opposite offset of the unmanned plane and the target object；
According to the height of the opposite offset and unmanned plane, the control parameter of the unmanned plane is adjusted.
Optionally, the control parameter includes: the flying speed and flight attitude of unmanned plane.
The various change mode and specific example of the method for controlling unmanned plane during flying in 1 embodiment of earlier figures are same
The control device that unmanned plane suitable for the present embodiment follows passes through the detailed of the aforementioned method to for controlling unmanned plane during flying
Description, those skilled in the art are clear that the implementation method for the control device that unmanned plane follows in the present embodiment, institute
With succinct for specification, this will not be detailed here.
Embodiment three
Based on inventive concept same as being used to control the method for unmanned plane during flying in previous embodiment one, the present invention is implemented
Example three additionally provides a kind of computer readable storage medium, as shown in figure 3, being stored thereon with computer program, which is located
Reason device performs the steps of when executing
According to target object navigation signal, the position that unmanned plane during flying is indicated to the navigation signal is controlled；
Obtain the image of preset range corresponding with the position of the instruction；
Judge whether comprising the target object in described image, if it is, obtaining the target object in the figure
Current display position as in；
When the current display position and default display position are distinct, then the current display position and pre- is obtained
If the relative position information of display position, and information adjusts the control parameter of the unmanned plane depending on that relative position, so that
The display position of the target object is maintained at the default display position.
The various change mode and specific example of the method for controlling unmanned plane during flying in 1 embodiment of earlier figures are same
Suitable for the computer readable storage medium of the present embodiment, pass through retouching in detail for the aforementioned method to for controlling unmanned plane during flying
It states, those skilled in the art are clear that the implementation method of computer readable storage medium in the present embodiment, so being
Specification it is succinct, this will not be detailed here.
Example IV
Based on inventive concept same as being used to control the method for unmanned plane during flying in previous embodiment one, the present invention is implemented
Example four additionally provides a kind of computer equipment, including memory 401, processor 402 and storage on a memory and can handled
The computer program 403 run on device, the processor perform the steps of when executing described program
According to target object navigation signal, the position that unmanned plane during flying is indicated to the navigation signal is controlled；
Obtain the image of preset range corresponding with the position of the instruction；
Judge whether comprising the target object in described image, if it is, obtaining the target object in the figure
Current display position as in；
When the current display position and default display position are distinct, then the current display position and pre- is obtained
If the relative position information of display position, and information adjusts the control parameter of the unmanned plane depending on that relative position, so that
The display position of the target object is maintained at the default display position.For ease of description, it illustrates only and present invention reality
The relevant part of example is applied, it is disclosed by specific technical details, please refer to present invention method part.Memory 401 can be used
In storage computer program 403, above-mentioned computer program includes software program, module and data, and processor 402 is held by operation
Row is stored in the computer program 403 of memory 401, thereby executing the various function application and data processing of electronic equipment.
In the specific implementation process, memory 401 can be used for storing software program and module, and processor 402 passes through
Operation is stored in the software program and module of memory 401, thereby executing the various function application and data of electronic equipment
Processing.Memory 401 can mainly include storing program area and storage data area, wherein storing program area can storage program area,
Application program needed at least one function etc.；Storage data area, which can be stored, uses created data according to electronic equipment
Deng.In addition, memory 401 may include high-speed random access memory, it can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other volatile solid-state parts.Processor 802 is the control of electronic equipment
Center is stored in memory by running or executing using the various pieces of various interfaces and the entire electronic equipment of connection
Software program and/or module in 401, and the data being stored in memory 401 are called, execute the various function of electronic equipment
Data can and be handled, to carry out integral monitoring to electronic equipment.Optionally, processor 402 may include one or more processing
Unit；Preferably, processor 402 can integrate application processor, wherein the main processing operation system of application processor, Yong Hujie
Face and application program etc..
The various change mode and specific example of the method for controlling unmanned plane during flying in 1 embodiment of earlier figures are same
Suitable for the unmanned plane of the present embodiment, pass through the aforementioned detailed description to the method for controlling unmanned plane during flying, this field skill
Art personnel are clear that the implementation method of unmanned plane in the present embodiment, so in order to illustrate the succinct of book, herein no longer
It is described in detail.
Said one or multiple technical solutions in the embodiment of the present application at least have following one or more technology effects
Fruit:
In the technical solution of the embodiment of the present invention, nobody can be guided by a navigation signal of target object first
The position that machine is indicated to navigation signal that is, near target object, and obtains the image of position indicated by navigation signal, then
Determine that the position if not including by adjusting unmanned plane makes in image comprising target pair whether comprising target object in image
As improving the accuracy of target object positioning that is, by way of navigation signal and computer vision, and then can be with
According to the relative positional relationship of target object display position in the picture and default display position, the control ginseng of unmanned plane is adjusted
Number, the problem of can disappearing to avoid the inaccuracy due to target object position so as to cause target object, so that target object position
It is always positioned at the default display position in image, precisely following to target object is realized, solves and deposit in the prior art
In the not high technical problem of the accuracy that target follows.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method for controlling unmanned plane during flying characterized by comprising
According to target object navigation signal, the position that unmanned plane during flying is indicated to the navigation signal is controlled；
Obtain the image of preset range corresponding with the position of the instruction；
Judge whether comprising the target object in described image, if it is, obtaining the target object in described image
Current display position；
When the current display position and default display position are distinct, then obtain the current display position and preset aobvious
Show the relative position information of position, and information adjusts the control parameter of the unmanned plane depending on that relative position, so that described
The display position of target object is maintained at the default display position；
Judge in described image whether include the non-target object remaining objects interfered, if it is, obtaining the interference
Current display position of the object in described image, and generate alarm signal.
2. the method as described in claim 1, which is characterized in that the acquisition target object is current in described image
Display position, comprising:
The corresponding relationship of characteristics of image and object according to the pre-stored data, determines the target object；
Described image is parsed, current display position of the target object in described image is obtained.
3. the method as described in claim 1, which is characterized in that the control of the adjustment of the information depending on that relative position unmanned plane
Parameter processed, comprising:
Information depending on that relative position obtains the opposite offset of the unmanned plane and the target object；
According to the height of the opposite offset and unmanned plane, the control parameter of the unmanned plane is adjusted.
4. the method as described in claim 1, which is characterized in that the control parameter includes: the flying speed of unmanned plane and flies
Row posture.
5. the device for controlling unmanned plane during flying characterized by comprising
Control module controls unmanned plane during flying to the navigation signal and indicates for a navigation signal according to target object
Position；
Module is obtained, for obtaining the image of preset range corresponding with the position of the instruction；
Judgment module, for judging whether comprising the target object in described image, if it is, obtaining the target object
Current display position in described image；
Module is adjusted, it is described current aobvious for when the current display position and default display position are distinct, then obtaining
Show the relative position information of position Yu default display position, and information adjusts the control of the unmanned plane depending on that relative position
Parameter, so that the display position of the target object is maintained at the default display position；
Generation module judges whether include remaining objects interfered of the non-target object in described image, if it is, obtaining
Current display position of the objects interfered in described image, and generate alarm signal.
6. device as claimed in claim 5, which is characterized in that the judgment module is also used to:
The corresponding relationship of characteristics of image and object according to the pre-stored data, determines the target object；
Described image is parsed, current display position of the target object in described image is obtained.
7. device as claimed in claim 5, which is characterized in that the adjustment module is also used to:
Information depending on that relative position obtains the opposite offset of the unmanned plane and the target object；
According to the height of the opposite offset and unmanned plane, the control parameter of the unmanned plane is adjusted.
8. device as claimed in claim 5, which is characterized in that the control parameter includes: the flying speed of unmanned plane and flies
Row posture.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
It is performed the steps of when row
According to target object navigation signal, the position that unmanned plane during flying is indicated to the navigation signal is controlled；
Obtain the image of preset range corresponding with the position of the instruction；
Judge whether comprising the target object in described image, if it is, obtaining the target object in described image
Current display position；
When the current display position and default display position are distinct, then obtain the current display position and preset aobvious
Show the relative position information of position, and information adjusts the control parameter of the unmanned plane depending on that relative position, so that described
The display position of target object is maintained at the default display position；
Judge in described image whether include the non-target object remaining objects interfered, if it is, obtaining the interference
Current display position of the object in described image, and generate alarm signal.
10. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor performs the steps of when executing described program
According to target object navigation signal, the position that unmanned plane during flying is indicated to the navigation signal is controlled；
Obtain the image of preset range corresponding with the position of the instruction；
Judge whether comprising the target object in described image, if it is, obtaining the target object in described image
Current display position；
When the current display position and default display position are distinct, then obtain the current display position and preset aobvious
Show the relative position information of position, and information adjusts the control parameter of the unmanned plane depending on that relative position, so that described
The display position of target object is maintained at the default display position；
Judge in described image whether include the non-target object remaining objects interfered, if it is, obtaining the interference
Current display position of the object in described image, and generate alarm signal.
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| CN201811128638.8A CN109240318A (en) | 2018-09-27 | 2018-09-27 | For controlling the method and device of unmanned plane during flying |
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| CN201811128638.8A CN109240318A (en) | 2018-09-27 | 2018-09-27 | For controlling the method and device of unmanned plane during flying |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021056409A1 (en) * | 2019-09-27 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Spraying control method for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598071A (en) * | 2016-12-20 | 2017-04-26 | 北京小米移动软件有限公司 | Following-type flight control method, following-type flight control device, and unmanned aerial vehicle |
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2018
- 2018-09-27 CN CN201811128638.8A patent/CN109240318A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598071A (en) * | 2016-12-20 | 2017-04-26 | 北京小米移动软件有限公司 | Following-type flight control method, following-type flight control device, and unmanned aerial vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021056409A1 (en) * | 2019-09-27 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Spraying control method for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium |
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Application publication date: 20190118 |