CN109765936A - The positioning and control method of mobile terminal, device and unmanned plane - Google Patents
The positioning and control method of mobile terminal, device and unmanned plane Download PDFInfo
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- CN109765936A CN109765936A CN201910215982.9A CN201910215982A CN109765936A CN 109765936 A CN109765936 A CN 109765936A CN 201910215982 A CN201910215982 A CN 201910215982A CN 109765936 A CN109765936 A CN 109765936A
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- mobile terminal
- predetermined pattern
- coordinate system
- world coordinate
- image information
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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
- G05D1/12—Target-seeking control
Abstract
The present invention relates to a kind of positioning of mobile terminal and control method, device and unmanned plane, wherein the localization method of mobile terminal includes: to obtain image information from the image capture device of mobile terminal；Predetermined pattern is obtained from described image information；Position of the mobile terminal described in current time in the world coordinate system is determined in the acquisition parameters of coordinate and described image acquisition equipment in described image information according to coordinate of the predetermined pattern in world coordinate system, the predetermined pattern.
Description
The application is divisional application, original bill application No. is 2016109193441, the applying date is on October 21st, 2016,
Entitled " positioning and control method of mobile terminal, device and unmanned plane ".
Technical field
The present invention relates to positioning and control technology field, the in particular to positioning and control method, dress of a kind of mobile terminal
It sets and unmanned plane.
Background technique
In the related art, mobile terminal positioning technology is broadly divided into three kinds: location technology based on GPS, based on movement
The location technology of capture system, the vision positioning technology based on color lump.Wherein,
Location technology based on GPS applies in general to outdoor environment, but due to lower (only 3 meters of civilian GPS accuracy
Precision), and exist and block and the problems such as multipath effect, fly in mobile terminal so the location technology based on GPS is difficult to meet
The requirement of row device precise positioning and formation flight.In order to improve the positioning accuracy of GPS, it is necessary to Differential GPS Positioning System is used, it should
System utilizes the differential GPS standard station of known accurate three-dimensional coordinate, sends revise signal in real time to user/mobile terminal, thus
Realize the positioning of degree of precision.But differential GPS devices cost is higher, and still cannot eliminate user/mobile terminal GPS receiver
The constant error of machine itself.
Location technology based on motion capture system needs that anchor point is arranged on by positioning object/mobile terminal, passes through
Multiple cameras shoot anchor point from different positions, and according to the camera position and camera demarcated, inherently parameter is counted in real time
It calculates by the real-time spatial position and posture of positioning object.Motion capture system positioning accuracy is high, but price and its valuableness, and makes
With needing to demarcate whole system before, use and its inconvenience.
In conclusion being badly in need of proposing a kind of new mobile terminal positioning technology, solve in the case where input cost is not high
The technical issues of mobile terminal location precision, while realizing being precisely controlled for mobile terminal.
Summary of the invention
The main purpose of the embodiment of the present invention be to propose a kind of mobile terminal positioning and control method, device and nobody
Machine, the range of precise positioning is expanded in the case where input cost is not high, and realizes that a kind of new control mobile terminal is outstanding
Stop the interactive mode with movement, while improving the precise control of mobile terminal.
To achieve the above object, the present invention provides a kind of localization methods of mobile terminal, comprising:
Image information is obtained from the image capture device of mobile terminal；
Predetermined pattern is obtained from described image information；
According to coordinate, predetermined pattern seat in described image information of the predetermined pattern in world coordinate system
It is marked with and the acquisition parameters of described image acquisition equipment determines mobile terminal described in current time in the world coordinate system
Position.
Optionally, in an embodiment of the present invention, determine mobile terminal described in current time in the world coordinate system
Position the step of include:
According to the predetermined pattern in the world coordinate system coordinate, the predetermined pattern is in described image information
Coordinate and described image acquisition equipment internal reference matrix, obtain the world coordinate system of the predetermined pattern to video camera
The rotational translation matrix of coordinate system, wherein the internal reference matrix is the matrix for the acquisition parameters composition that described image acquires equipment；
Obtain the world coordinate system to camera coordinate system rotational translation matrix inverse matrix, obtain the default figure
Rotational translation matrix of the camera coordinate system of case to world coordinate system；Rotation of the camera coordinate system to world coordinate system
Translation matrix is position of the mobile terminal described in current time in world coordinate system.
Optionally, in an embodiment of the present invention, mobile terminal described in the determining current time is in the world coordinates
After position in system, comprising:
Compare whether position of the mobile terminal described in current time in the world coordinate system connects with the mobile terminal
The target position of receipts is consistent, and the target position includes predeterminated position or the received control position of the mobile terminal；
Under unanimous circumstances, the mobile terminal is stopped at the target position；
In the case of inconsistencies, the mobile terminal moves to the target position.
Optionally, in an embodiment of the present invention, mobile terminal described in the determining current time is in the world coordinates
After position in system, comprising:
Compare mobile terminal described in the current time in the world coordinate system position and last moment described in shifting
Whether dynamic position of the terminal in the world coordinate system changes；
In the case that position of the mobile terminal in the world coordinate system changes, then the mobile terminal moves
To position of the mobile terminal in the world coordinate system described in the last moment.
Optionally, in an embodiment of the present invention, mobile terminal described in the determining current time is in the world coordinates
After position in system, further includes:
According to mobile terminal described in position of the mobile terminal described in the current time in world coordinate system, last moment
Position and the time difference at the current time and the last moment in world coordinate system, obtain the mobile terminal
Movement speed.
Optionally, in an embodiment of the present invention, after the movement speed for obtaining the mobile terminal, further includes:
Whether movement speed and the target velocity for comparing the mobile terminal are consistent, control the movement according to comparison result
Moving velocity of terminal is consistent with the target velocity.
Optionally, in an embodiment of the present invention, the predetermined pattern includes at least two colors, and two of them color
Between color difference need to be greater than preset value；By image recognition algorithm, obtained from described image information using the color difference default
Pattern.
Optionally, in an embodiment of the present invention, the predetermined pattern is non-centrosymmetry pattern.
Optionally, in an embodiment of the present invention, the predetermined pattern is Marker pattern.
Optionally, in an embodiment of the present invention, the predetermined pattern includes: basic symbol and block encoding symbol, institute
Block encoding symbol is stated to be located at around basic symbol.
Optionally, in an embodiment of the present invention, the basic symbol is made of the dot matrix of N*N, the block encoding symbol
It number is made of the dot matrix of M*K, K, M, N are the positive integer greater than 1.
Accordingly, to achieve the above object, the present invention also provides a kind of mobile terminal location devices, comprising:
Image acquisition unit, for obtaining image information from the image capture device of mobile terminal；
Predetermined pattern recognition unit, for obtaining predetermined pattern from described image information；
Positioning unit, for according to coordinate of the predetermined pattern in world coordinate system, the predetermined pattern described
The acquisition parameters of coordinate and described image acquisition equipment in image information determine that mobile terminal is described described in current time
Position in world coordinate system.
Optionally, in an embodiment of the present invention, the positioning unit includes:
Computing module, for being existed according to coordinate of the predetermined pattern in the world coordinate system, the predetermined pattern
The internal reference matrix of coordinate and described image acquisition equipment in described image information, obtains the world of the predetermined pattern
Rotational translation matrix of the coordinate system to camera coordinate system, wherein the internal reference matrix is the shooting that described image acquires equipment
The matrix of parameter composition；
Invert module, for obtain the world coordinate system to camera coordinate system rotational translation matrix inverse matrix,
The camera coordinate system of the predetermined pattern is obtained to the rotational translation matrix of world coordinate system；The camera coordinate system is to generation
The rotational translation matrix of boundary's coordinate system is position of the mobile terminal described in current time in world coordinate system.
Optionally, in an embodiment of the present invention, the mobile terminal location device further include:
Judging unit, for compare position of the mobile terminal described in current time in the world coordinate system whether with institute
It is consistent to state the received target position of mobile terminal, the target position includes predeterminated position or the received control of the mobile terminal
Position；
Hovering control unit, under unanimous circumstances, the mobile terminal to be stopped at the target position；Inconsistent
In the case where, the mobile terminal moves to the target position.
Optionally, in an embodiment of the present invention, the mobile terminal location device further include:
Comparing unit, for position of the mobile terminal described in the current time in the world coordinate system with
Whether position of the mobile terminal described in one moment in the world coordinate system changes；
First movement control unit, for the changed feelings in position of the mobile terminal in the world coordinate system
Under condition, then the mobile terminal moves to position of the mobile terminal described in the last moment in the world coordinate system.
Optionally, in an embodiment of the present invention, the mobile terminal location device further include:
Practical movement speed acquiring unit, for the mobile terminal according to the current time in world coordinate system
Position and the current time and the last moment of the mobile terminal described in position, last moment in world coordinate system
Time difference obtains the movement speed of the mobile terminal.
Optionally, in an embodiment of the present invention, the mobile terminal location device further include:
Second mobile control unit compares institute for the practical flight speed and target velocity of the mobile terminal
Whether movement speed and the target velocity for stating mobile terminal consistent, according to comparison result control the mobile terminal movement speed with
The target velocity is consistent.
Optionally, in an embodiment of the present invention, the predetermined pattern that the predetermined pattern recognition unit obtains includes at least
Two kinds of colors, and the color difference between two of them color need to be greater than preset value；The predetermined pattern recognition unit is known by image
Other algorithm obtains predetermined pattern from described image information using the color difference.
Optionally, in an embodiment of the present invention, the predetermined pattern that the predetermined pattern recognition unit obtains is non-central
Symmetrical pattern.
Optionally, in an embodiment of the present invention, the predetermined pattern that the predetermined pattern recognition unit obtains is Marker
Pattern.
Optionally, in an embodiment of the present invention, the predetermined pattern includes: basic symbol and block encoding symbol, institute
Block encoding symbol is stated to be located at around basic symbol.
Optionally, in an embodiment of the present invention, the basic symbol is made of the dot matrix of N*N, the block encoding symbol
It number is made of and to form the dot matrix of M*K, M, K, N are the positive integer greater than 1.
Accordingly, to achieve the above object, the invention also provides a kind of unmanned planes, including above-mentioned mobile terminal location to fill
The each functional module set.
Accordingly, to achieve the above object, the invention also provides a kind of localization method based on above-mentioned mobile terminal into
The method of row mobile terminal control, comprising:
The position data of mobile terminal is received, the position data obtains in the following way: from the image of mobile terminal
Image information is obtained in acquisition equipment, obtains predetermined pattern from described image information, is sat according to the predetermined pattern in the world
The acquisition parameters of the coordinate and described image acquisition equipment of coordinate, the predetermined pattern in described image information in mark system
Determine position of the mobile terminal described in current time in the world coordinate system；
Obtain the pre-set flight layout data of the mobile terminal；
It is generated according to the pre-set flight layout data and the position data and controls flying for the mobile terminal flight
Row control command.
Optionally, in an embodiment of the present invention, the pre-set flight layout data is script file data.
Optionally, in an embodiment of the present invention, the pre-set flight layout data includes: that the multiframe that executes in order is pre-
If flight program data, every frame pre-set flight layout data includes the predeterminated position data of mobile terminal, described to obtain the shifting
The pre-set flight layout data of dynamic terminal includes: successively to obtain every frame pre-set flight layout data；
Described generated according to the pre-set flight layout data and the position data controls the mobile terminal flight
Flight control command include:
To the present frame pre-set flight layout data of acquisition calculate the predeterminated position data and received position data it
Between difference；
The control command of the current control mobile terminal flight is generated according to the difference.
Accordingly, to achieve the above object, the invention also provides a kind of mobile terminal control devices, comprising:
Receiving unit, for receiving the position data of mobile terminal, the position data obtains in the following way: from shifting
Image information is obtained in the image capture device of dynamic terminal, obtains predetermined pattern from described image information, according to described default
Coordinate and described image acquisition of coordinate, the predetermined pattern of the pattern in world coordinate system in described image information are set
Standby acquisition parameters determine position of the mobile terminal described in current time in the world coordinate system；
Acquiring unit, for obtaining the pre-set flight layout data of the mobile terminal；
Flight control units, for being generated described in control according to the pre-set flight layout data and the position data
The flight control command of mobile terminal flight.
Accordingly, to achieve the above object, the invention also provides a kind of unmanned planes, control including above-mentioned mobile terminal
Device.
Above-mentioned technical proposal has the following beneficial effects:
1, existing mobile terminal location mode is compared, the technical program does not need the expensive equipment of investment, and can incite somebody to action
The positioning accuracy of mobile terminal is promoted to inferior centimeter order, meets aircraft in mobile terminal for precisely hovering and formation flight
Required precision.
2, the technical program can effectively expand the range of mobile terminal precise positioning, especially meet the flight in mobile terminal
Requirement of the device formation flight to space.
3, compared to other pattern detection technologies, Marker pattern detection technology has calculation amount small, and accuracy is high, to light
According to it is insensitive the advantages that.
4, it while meeting accurate positioning, by mobile Marker pattern, realizes the control to mobile terminal, provides
A kind of new mobile terminal control mode.
5, due to using above-mentioned positioning method that can obtain the position data of pinpoint accuracy, the position based on the pinpoint accuracy
Data control mobile terminal, and precise control has been effectively ensured.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is camera shooting imaging geometry schematic diagram；
Fig. 2 is a kind of localization method flow chart of mobile terminal proposed by the present invention；
Fig. 3 is a kind of one of the flow chart of mobile terminal location application proposed by the present invention；
Fig. 4 is the two of the flow chart of a kind of mobile terminal location application proposed by the present invention；
Fig. 5 is the three of the flow chart of a kind of mobile terminal location application proposed by the present invention；
Fig. 6 is a kind of mobile terminal location device block diagram provided by the invention；
Fig. 7 is the functional block diagram of positioning unit in the present apparatus；
Fig. 8 is a kind of one of mobile terminal location device application block diagram provided by the invention；
Fig. 9 is the two of a kind of mobile terminal location device application block diagram provided by the invention；
Figure 10 is the three of a kind of mobile terminal location device application block diagram provided by the invention；
Figure 11 is a kind of unmanned plane block diagram provided by the invention；
Figure 12 is that the world coordinate system of the present embodiment establishes schematic diagram；
Figure 13 is the Marker pattern schematic diagram identified of the present embodiment；
Figure 14 is the positioning flow figure of the present embodiment；
Figure 15 is the flow chart of the control method of the mobile terminal of the present embodiment；
Figure 16 is the block diagram of the control device of the mobile terminal of the present embodiment；
Figure 17 is the basic schematic symbol diagram in the predetermined pattern of the present embodiment；
Figure 18 is the predetermined pattern schematic diagram of the present embodiment；
Figure 19 is the sprocket bit schematic diagram of the present embodiment；
Figure 20 is the present embodiment to the schematic diagram after the grouping extension of schematic diagram shown in Figure 19；
Figure 21 is the present embodiment registration pattern schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
One skilled in the art will appreciate that embodiments of the present invention can be implemented as a kind of system, device, equipment, method
Or computer program product.Therefore, the present disclosure may be embodied in the following forms, it may be assumed that complete hardware, complete software
The form that (including firmware, resident software, microcode etc.) or hardware and software combine.
Embodiment according to the present invention, propose the localization method of mobile terminal a kind of, mobile terminal location device and
Unmanned plane.
Herein, it is to be understood that in related term:
1, world coordinate system: since image capture device can place any position in the environment, one is selected in the environment
A frame of reference describes the position of image capture device, and describes the position of any object in environment with the frame of reference,
The frame of reference is world coordinate system.
2, image coordinate system: the digital picture of image capture device acquisition is can store in computer as array, array
Each of element (pixel, pixel) value be picture point brightness (gray scale).Rectangular coordinate system u- is defined on the image
V, the coordinate (u, v) of each pixel are columns and line number of the pixel in array respectively.Therefore (u, v) is as unit of pixel
Image coordinate system coordinate.
3, camera coordinate system: video camera imaging geometrical relationship can by Fig. 1 shows, wherein O point is known as camera optical center,
The optical axis and the plane of delineation of video camera are vertical, and the optical axis of video camera is parallel with the x-axis of imaging plane coordinate system and y-axis.Optical axis with
The intersection point of the plane of delineation is image principal point O', is known as camera coordinate system by the rectangular coordinate system that point O and axis form.OO' is to take the photograph
Camera focal length.
4, it hovers: the state of flight that aircraft keeps spatial position to be basically unchanged on certain altitude.
In addition, any number of elements in attached drawing is used to example rather than limitation and any name are only used for distinguishing,
Without any restrictions meaning.
Below with reference to several representative embodiments of the invention, the principle and spirit of the present invention are explained in detail.
Summary of the invention
Conventionally, the technology of existing mobile terminal location otherwise dependent on expensive positioning device improve positioning accurate
Spending or being affected by the external environment reduces positioning accuracy.
For these situations, the present invention provides a kind of new mobile terminal location mechanism.The technical solution is set on ground
Predetermined pattern is set, world coordinate system is established based on predetermined pattern, the image obtained from the image capture device on mobile terminal
In identify predetermined pattern, while obtaining coordinate and predetermined pattern of the predetermined pattern in world coordinate system in image information
Coordinate determines mobile terminal using coordinate and predetermined pattern coordinate in image information of the predetermined pattern in world coordinate system
Position in world coordinate system.Using position of the mobile terminal in world coordinate system, in real time to the position of mobile terminal and
Towards being modified, reach target position or target velocity.
In the technical scheme, the coordinate in image information is determined according to image coordinate system.
In the present specification, image capture device, which refers to, has the system and/or equipment for acquiring extraneous image in real time, unlimited
In light stream camera over the ground, binocular camera, main camera of unmanned plane etc..
In the present specification, the technical program is not only limited to unmanned plane, as long as the mobile terminals such as aircraft
It is applicable in the technical program.
After introduced the basic principles of the present invention, lower mask body introduces various non-limiting embodiment party of the invention
Formula.
Application scenarios overview
The first application scenarios: regardless of which kind of operating status mobile terminal is in, the predetermined pattern of ground setting is in quiet
Only state.
Mobile terminal acquires image information by image capture device, is obtained from image information according to image recognition algorithm
Predetermined pattern.World coordinate system is established using predetermined pattern, passes through coordinate of the predetermined pattern in world coordinate system and default figure
Coordinate of the case in image information determines position of the mobile terminal in world coordinate system.Once mobile terminal receives Hovering control
Order, control mobile terminal hovering.In Hovering control order, including preset hovering position, i.e. target position.The target position
It can be artificial setting position, be also possible to mobile terminal and receive position corresponding when Hovering control order.
Since mobile terminal obtains the position in world coordinate system in real time, compare mobile terminal in world coordinate system
Real time position and target position judge whether mobile terminal occurs deviating, once it deviates, Ke Yigen
Controlled according to position of the current mobile terminal in world coordinate system unmanned plane speed or opposite direction tune from acceleration to offset
It is whole, mobile terminal is moved into target position.
By this application scene it is found that the positioning accuracy of mobile terminal is promoted to inferior centimeter order by the technical program, and true
It protects mobile terminal and is in hovering in corresponding target position.
Second of application scenarios: regardless of mobile terminal is in which kind of operating status, the operation of the predetermined pattern of ground setting
State changes.It is established due to world coordinate system based on predetermined pattern, the position of world coordinate system is with predetermined pattern
Operating status changes and accordingly changes, so that coordinate of the predetermined pattern in world coordinate system is constant.
If mobile terminal does not make the change of corresponding motion state, position of the mobile terminal in world coordinate system
It can change, also become then mobile terminal acquires position of the predetermined pattern obtained when image information in image information
Change.Determine that mobile terminal exists using coordinate and predetermined pattern coordinate in image information of the predetermined pattern in world coordinate system
Position in world coordinate system.
In order to achieve the purpose that control mobile terminal by predetermined pattern, mobile terminal described in the current time exists
Whether position of the mobile terminal in the world coordinate system described in the position and last moment in the world coordinate system has change
Change；The case where position of the mobile terminal in the world coordinate system changes, illustrates mobile terminal and predetermined pattern
It in relative motion state, needs to adjust running of mobile terminal speed, reaches position of the mobile terminal in world coordinate system not
It is changing.
By this application scene it is found that the technical program can not only accurately control mobile terminal in predeterminated position hovering, also
The move mode that mobile terminal can be controlled by control predetermined pattern provides a kind of new manipulation side to mobile terminal
Formula.
The third application scenarios: establishing world coordinate system based on predetermined pattern, regardless of predetermined pattern remains static also
It is to be kept in motion, position of the predetermined pattern in world coordinate system is constant.Give mobile terminal one control command, it is expected that moving
Dynamic terminal reaches goal-selling speed.According to control command, mobile terminal is responded, change the current speed of mobile terminal or
Acceleration.
In practical applications, there is a strong possibility that property does not reach goal-selling speed for mobile terminal.In this case, it utilizes
Coordinate and predetermined pattern coordinate in image information of the predetermined pattern in world coordinate system determines that mobile terminal is sat in the world
Position in mark system.According to position of the current time mobile terminal in world coordinate system and last moment mobile terminal in the world
Position and the time difference at the current time and the last moment in coordinate system obtain the practical mobile speed of mobile terminal
Degree.
The practical movement speed and goal-selling speed for comparing mobile terminal control the speed of mobile terminal to the anti-of offset
Direction is adjusted, and realizes that the current practical movement speed of mobile terminal is consistent with the target speed in control command.
Illustrative methods
Below with reference to above-mentioned three kinds of application scenarios, with reference to Fig. 2, Fig. 3, Fig. 4, Fig. 5 to mobile terminal location side of the invention
Method is introduced.
It should be noted which is shown only for the purpose of facilitating an understanding of the spirit and principles of the present invention for above-mentioned application scenarios, this
The embodiment of invention is unrestricted in this regard.On the contrary, embodiments of the present invention can be applied to it is applicable any
Scene.
As shown in Fig. 2, being a kind of localization method flow chart of mobile terminal proposed by the present invention.Include:
Step 201): image information is obtained from the image capture device of mobile terminal；
Step 202): predetermined pattern is obtained from described image information；
By obtaining predetermined pattern in image information in image recognition algorithm.
Step 203): according to coordinate of the predetermined pattern in world coordinate system, the predetermined pattern in described image
The acquisition parameters of coordinate and described image acquisition equipment in information determine mobile terminal described in current time in the world
Position in coordinate system.
In step 203, the seat of the coordinate according to predetermined pattern in world coordinate system, predetermined pattern in image information
It is marked with and the internal reference matrix of image capture device, the rotation for obtaining world coordinate system to the camera coordinate system of predetermined pattern translates
Matrix.It inverts to the rotational translation matrix of world coordinate system to the camera coordinate system of predetermined pattern, obtains taking the photograph for predetermined pattern
Rotational translation matrix of the camera coordinate system to world coordinate system；The rotational translation matrix of camera coordinate system to world coordinate system is
For position of the current time mobile terminal in world coordinate system.Wherein, the internal reference matrix of image capture device is Image Acquisition
The matrix of the acquisition parameters composition of equipment.
For the first above-mentioned application scenarios, as shown in figure 3, being a kind of mobile terminal location application proposed by the present invention
One of flow chart.On the basis of Fig. 2, further includes:
Step 204): compare position of the mobile terminal described in current time in the world coordinate system whether with the shifting
The dynamic received target position of terminal is consistent, and the target position includes predeterminated position or the received control bit of the mobile terminal
It sets；
Step 205): under unanimous circumstances, the mobile terminal is stopped at the target position；In inconsistent situation
Under, the mobile terminal moves to the target position.
This method can accurately control the hovering of mobile terminal, and monitor whether mobile terminal goes out in the process in hovering in real time
It now drifts about, corresponding measure is used according to drift situation, it is ensured that mobile terminal is constantly in floating state in target position.
For above-mentioned second of application scenarios, as shown in figure 4, being a kind of mobile terminal location application proposed by the present invention
The two of flow chart.On the basis of Fig. 2, further includes:
Step 204 '): position of the mobile terminal described in the current time in the world coordinate system and upper one
Whether position of the mobile terminal described in the moment in the world coordinate system changes；
Step 205 '): it is in the case that position of the mobile terminal in the world coordinate system changes, then described
Mobile terminal moves to position of the mobile terminal described in the last moment in the world coordinate system.
This method can not have to through controlling terminal, and only moving predetermined pattern can allow mobile terminal to make corresponding movement.
On the basis of realizing positioning, a kind of pair of new control mode of mobile terminal is provided.
For the third above-mentioned application scenarios, as shown in figure 5, being a kind of mobile terminal location application proposed by the present invention
The three of flow chart.On the basis of Fig. 2, further includes:
Step 204 "): according to position of the mobile terminal described in the current time in world coordinate system, last moment institute
Position and the time difference at the current time and the last moment of the mobile terminal in world coordinate system are stated, described in acquisition
The movement speed of mobile terminal；
Step 205 "): whether the movement speed of the mobile terminal is consistent with target velocity, according to comparison result control
It is consistent with the target velocity to make the mobile terminal movement speed.
This method being capable of real-time detection mobile terminal actual movement speed when executing control command, and it was found that mobile
Corresponding adjustment can be made when the unreachable position of terminal, so that mobile terminal finally strictly carries out corresponding control command.This technology
Aircraft formation can be used in in-flight, improve the efficiency of formation flight.
It should be noted that although describing the operation of the method for the present invention in the accompanying drawings with particular order, this is not required that
Or hint must execute these operations in this particular order, or have to carry out operation shown in whole and be just able to achieve the phase
The result of prestige.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or will
One step is decomposed into execution of multiple steps.
Exemplary means
After describing the method for exemplary embodiment of the invention, next, with reference to Fig. 6 to the exemplary reality of the present invention
The device for applying mode is introduced.
As shown in fig. 6, being a kind of mobile terminal location device block diagram provided by the invention.Include:
Image acquisition unit 601, for obtaining image information from the image capture device of mobile terminal；
Predetermined pattern recognition unit 602, for obtaining predetermined pattern from described image information；
In the present embodiment, the predetermined pattern that predetermined pattern recognition unit 602 obtains includes at least two colors, and wherein
Color difference between two kinds of colors need to be greater than preset value；Predetermined pattern recognition unit 602 utilizes the color by image recognition algorithm
Difference obtains predetermined pattern from described image information.
Positioning unit 603, for according to coordinate of the predetermined pattern in world coordinate system, the predetermined pattern in institute
The acquisition parameters for stating coordinate and described image the acquisition equipment in image information determine mobile terminal described in current time in institute
State the position in world coordinate system.
As shown in fig. 7, for the functional block diagram of positioning unit in the present apparatus.Include:
Computing module 6031, for coordinate, the default figure according to the predetermined pattern in the world coordinate system
The internal reference matrix of coordinate and described image acquisition equipment of the case in described image information, obtains the described of the predetermined pattern
Rotational translation matrix of the world coordinate system to camera coordinate system, wherein the internal reference matrix is that described image acquires equipment
The matrix of acquisition parameters composition；
Module of inverting 6032, the rotary flat for the world coordinate system to the predetermined pattern to camera coordinate system
Matrix inversion is moved, obtains the camera coordinate system of the predetermined pattern to the rotational translation matrix of world coordinate system；The camera shooting
The rotational translation matrix of machine coordinate system to world coordinate system is position of the mobile terminal described in current time in world coordinate system
It sets.
As shown in figure 8, being a kind of one of mobile terminal location device application block diagram provided by the invention.It is answered in execution first
When with scene, on the basis of Fig. 6, the mobile terminal location device further include:
Judging unit 604, for whether comparing position of the mobile terminal described in current time in the world coordinate system
Consistent with the received target position of the mobile terminal, the target position includes that predeterminated position or the mobile terminal are received
Control position；
Hovering control unit 605, under unanimous circumstances, the mobile terminal to be stopped at the target position；Not
Under unanimous circumstances, the mobile terminal moves to the target position.
The present apparatus can accurately control the hovering of mobile terminal, and monitor whether mobile terminal goes out in the process in hovering in real time
It now drifts about, corresponding measure is used according to drift situation, it is ensured that mobile terminal is constantly in floating state in target position.
As shown in figure 9, being the two of a kind of mobile terminal location device application block diagram provided by the invention.It is answered in execution second
When with scene, on the basis of Fig. 6, the mobile terminal location device further include:
Comparing unit 604 ', for position of the mobile terminal described in the current time in the world coordinate system
Whether changed with position of the mobile terminal described in last moment in the world coordinate system；
First movement control unit 605 ' changes for position of the mobile terminal in the world coordinate system
In the case where, then the mobile terminal moves to position of the mobile terminal described in the last moment in the world coordinate system.
The present apparatus can not have to through controlling terminal, and only moving predetermined pattern can allow mobile terminal to make corresponding movement.
On the basis of realizing positioning, a kind of pair of new control mode of mobile terminal is provided.
It as shown in Figure 10, is the three of a kind of mobile terminal location device application block diagram provided by the invention.Executing third
When application scenarios, on the basis of Fig. 6, the mobile terminal location device further include:
Practical movement speed acquiring unit 604 ", for the mobile terminal according to the current time in world coordinate system
In position, position and the current time and described upper a period of time of the mobile terminal in world coordinate system described in last moment
The time difference at quarter obtains the movement speed of the mobile terminal；
Second mobile control unit 605 ", for the practical flight speed and target velocity of the mobile terminal, than
Whether the movement speed of the mobile terminal is consistent with target velocity, controls the mobile speed of the mobile terminal according to comparison result
It spends consistent with the target velocity.
The present apparatus can control command in terms of real-time detection mobile terminal execution speed or acceleration the case where, and
And discovery mobile terminal execution is not in place, control mobile terminal makes corresponding adjustment, so that mobile terminal finally strictly carries out phase
Answer control command.
In addition, although being referred to several units of mobile terminal location device in the above detailed description, this stroke
Divide only not enforceable.In fact, embodiment according to the present invention, the feature of two or more above-described units
It can be embodied in a unit with function.Equally, the feature and function of an above-described unit can also be further
It is divided by multiple units and embodies.
Example devices
Based on above-mentioned example device and method, the present embodiment also proposes a kind of unmanned plane, as shown in figure 11.The unmanned plane
For being gone to execute positioning application program according to various request instructions, comprising:
Memory a, for storing request instruction；
Processor b is coupled with the memory, which is configured as executing storage asking in the memory
Ask instruction, wherein the application program that the processor is configured is used for:
The real-time image acquisition information from image capture device；
Predetermined pattern is obtained from described image information；
According to coordinate, predetermined pattern seat in described image information of the predetermined pattern in world coordinate system
It is marked with and the acquisition parameters of described image acquisition equipment determines position of the unmanned plane described in current time in the world coordinate system
It sets.
Processor b is also configured for realizing the application program of Fig. 3, Fig. 4, workflow shown in fig. 5.
The embodiment of the present invention also provides a kind of computer-readable program, wherein when executing described program in the electronic device
When, described program makes computer execute the mobile terminal location side as described in Fig. 2, Fig. 3, Fig. 4 and Fig. 5 in the terminal
Method.
The embodiment of the present invention also provides a kind of storage medium for being stored with computer-readable program, wherein the computer can
Reader makes computer execute the mobile terminal locating method as described in Fig. 2, Fig. 3, Fig. 4 and Fig. 5 in the terminal.
Embodiment
In order to the more intuitive description features of the present invention and working principle, below in conjunction with a practice field
Scape describes.
In the present embodiment, mobile terminal is selected as unmanned plane.In practice, image capture device is arranged in unmanned plane
On, it is exactly position of the unmanned plane in world coordinate system that the position in world coordinate system, which is arranged in, in image capture device.
Scene description: being arranged a width predetermined pattern or several predetermined patterns on the ground, which is non-central right
Claim image.It include at least two colors in predetermined pattern, and the color difference of two of them color need to be greater than preset value.Purpose is energy
It is enough very easily to identify that predetermined pattern is come from Image Acquisition setting.
In the present embodiment, predetermined pattern is selected as Marker pattern.Using Marker pattern because of Marker pattern
It detects more convenient and stablizes.
For the technical scheme, the world coordinate system being related to is based on predetermined pattern (for the present embodiment just
It is Marker pattern) it establishes.As shown in figure 12.Using several Marker patterns by certain regularly arranged, by horizontal and vertical
Respectively it is separated by 40cm and places a width Marker pattern, a world coordinate system is established based on certain width Marker pattern, as shown in Figure 12,
In the horizontal plane, the Z axis positive direction of world coordinate system is downward perpendicular to the ground for the X-axis and Y-axis of world coordinate system.
In practical applications, the shape of Marker pattern be square, rectangle, be also possible to other shapes.Specifically,
The size no requirement (NR) of Marker pattern, it is related with operating distance and the angle of view, but unmanned plane it is to be understood that Maker pattern ruler
It is very little, in order to obtain the coordinate information of Marker pattern.For this implementation, if it is known that the reality of every width Marker pattern
The distance between physical size and adjacent Marker pattern, then we can represent 4 tops of every width Marker pattern
Coordinate of the point under world coordinate system.In Figure 12, there are 10 width Marker patterns, then available 40 apex coordinates.It should
Coordinate is coordinate of the Marker pattern in world coordinate system.If there was only a width Marker pattern in Figure 12, equally may be used
To establish world coordinate system, coordinate of 4 vertex under world coordinate system is obtained.
In a further advantageous embodiment, predetermined pattern is made of basic symbol and block encoding symbol.Each basis symbol
Number by 7*7 point matrix representation, as shown in figure 17.Each basis symbol must distinguish between in other basic symbols, while basis symbol
Number have directionality.The block encoding symbol being made of around basic symbol a circle black and white grid (being equivalent to dot matrix), such as
Shown in Figure 18.
Block encoding symbol is not limited to the form of black and white grid, can also be other patterns, character, picture etc.,
In actual application, base word symbol is only used only and is limited as the coding of predetermined pattern, is set on one group of basis symbol
The same block encoding symbol is counted, extension is facilitated.
It as shown in figure 19, is the present embodiment sprocket bit schematic diagram.In Figure 19, be made of 5 predetermined patterns one group
Sprocket bit, one group five different basic symbols share a block encoding symbol, it should be noted that two of them letter b is two
Different basic symbols.
In an embodiment of the present invention, using the block encoding symbol around basic symbol, to finger URL shown in Figure 19
It number is extended, as shown in figure 20.Extension pattern combined result is exactly to utilize basic symbol DOB1B2What Y was extended, tool
Body is 10 block encoding characters to basic character DOB1B2Y is extended.
In addition, each basis symbol has a coordinate in one group of sprocket bit, it is subject to the point in the upper left corner, unit is base
Plinth symbol side length.It is possible thereby to define basic symbol and their correlation, preset for example, several are laid in target area
Pattern.Once predetermined pattern laying finishes, the world coordinates of each predetermined pattern is also determined.Each width predetermined pattern is one corresponding
Coordinate, with the coordinate representation of point corresponding to the first row in the dot matrix of symbol basic in predetermined pattern, first row.Each default figure
Case is stored using binary file, and storage form is (ID, x, y, size).Wherein, ID indicates that the grouping of each predetermined pattern is compiled
Code sign information.(x, y) indicates the coordinate of the point in the upper left corner of basic symbol in every width predetermined pattern.Size indicates basic symbol
Size.
It in practical applications, as shown in figure 21, is the present embodiment registration pattern schematic diagram.When laying Marker pattern,
Spacing between basic symbol is identical as the basic size of symbol, and world coordinate system foundation finishes.The side of Marker pattern
A length of 10cm.In Figure 21, the Marker pattern in the upper left corner is the pattern " D " that ID is encoded to 2.In the x-axis side of world coordinate system
Upwards, the distance of the point in the upper left corner of pattern " D " to origin is the size of 10 times of basic symbols；In the y-axis side of world coordinate system
Upwards, the distance of the point in the upper left corner of pattern " D " to origin is the size of 4 times of basic symbols.So the upper left corner of pattern " D "
Point coordinate be (- 10, -4).When storage, the storage information to pattern " D " is (2, -10, -4,10).Due to each basis symbol
Number size be 10cm.Then the world coordinates of the point in the upper left corner of pattern " D " is (- 100, -40,0).
As shown in figure 13, in the present embodiment, there is id information on Marker pattern.Purpose is in practical application, ground
One width Marker pattern of upper more than setting, it is possible to several Marker patterns.There is corresponding ID to believe on each width Marker pattern
Breath, it is convenient that each corresponding coordinate information of width Marker pattern can be obtained according to id information, and more convenient record and storage are pre-
If all coordinate informations of pattern, accurately identifying for multiple predetermined patterns is realized, and accurately realize for the algorithm in later period and lay base
Plinth.
Marker pattern and correspondence are identified from the image information that image capture device acquires using image processing method
Id information, and coordinate of four vertex of Marker pattern in image information is obtained simultaneously, according to id information, Marker figure
The coordinate of coordinate of the case in image information and Marker pattern in world coordinate system corresponds.
We have had the Marker image 40 coordinate (X in world coordinate system nowi,Yi,Zi) and 40
Coordinate (u in image informationi,vi).If K is the internal reference matrix of image collecting device, internal reference matrix is the bat of image capture device
Take the photograph the matrix of parameter composition.In addition, defining World2CamRT is rotational translation matrix of the world coordinate system to camera coordinate system,
Defining Cam2WorldRT is rotational translation matrix of the camera coordinate system to world coordinate system, and two rotational translation matrixs meet
Following relationships:
PnP problem is solved to above-mentioned formula 1, World2CamRT can be calculated, and Cam2WorldRT may be expressed as:
Cam2WorldRT=World2CamRT'(2)
In formula, Cam2WorldRT can indicate position of the image collecting device in world coordinate system.Image capture device
Position in world coordinate system is position of the unmanned plane under world coordinate system.
It as shown in figure 14, is the positioning flow figure of the present embodiment.As shown in Figure 14, it is obtained according to image recognition algorithm from camera
Marker pattern is identified in the image taken.According to the shape, size and positional relationship of Marker pattern, each width is obtained
Coordinate information of 4 vertex of Marker pattern in world coordinate system and the accordingly coordinate information in image information.
Position of the unmanned plane in world coordinate system is obtained using above formula (1) and above formula (2), according to unmanned plane in world coordinate system
The speed or acceleration of position control unmanned plane are adjusted to the opposite direction of offset.
Embodiment 1: when unmanned plane executes hovering order, unmanned plane obtains nobody according to above formula (1) and above formula (2) in real time
Real time position of the unmanned plane in world coordinate system is compared with default hovering position to judge in position of the machine in world coordinate system
Whether unmanned plane occurs deviating, once it deviates, it can be according to current unmanned plane in world coordinate system
Position come control unmanned plane speed or acceleration to the opposite direction of offset adjust, unmanned plane is moved into default hovering position.
It hovers to realize that unmanned plane is being preset always on hovering position.
Embodiment 2: control Marker pattern be kept in motion, the origin of world coordinate system on Marker pattern,
The origin of Marker pattern movement, world coordinate system moves therewith, then world coordinate system also moves therewith.Regardless of Marker schemes
Whether case moves, apex coordinate of the Marker pattern in constructed world coordinate system is constant.If unmanned plane is not made
Corresponding movement changes, and position of the unmanned plane in world coordinate system also changes, while Marker pattern is in image information
In position also change.Unmanned plane obtains position of the unmanned plane in world coordinate system according to above formula (1) and above formula (2).
In order to reach by Marker pattern control unmanned plane operating status, such as: need that unmanned plane is allowed to fly to the right
When, unmanned plane is controlled by the Marker pattern that moves right and is flown to the right.Unmanned plane must follow Marker pattern movement, finally
So that position of the unmanned plane in world coordinate system is not changing.Compare position of the current time unmanned plane in world coordinate system
With position of the last moment unmanned plane in world coordinate system, the speed of unmanned plane is adjusted according to comparison result, so that unmanned plane
Speed it is equal with the movement velocity of Marker pattern, position of such unmanned plane in world coordinate system is no longer changed.
Embodiment 3: it is in motion state regardless of Marker pattern remains static, Marker pattern is sat in the world
Position in mark system is constant.Give unmanned plane one control command, it is expected that unmanned plane reaches goal-selling speed.It is ordered according to control
It enables, unmanned plane responds, and changes unmanned plane current speed or acceleration.Position of the Marker pattern in image information in this way
It sets and also changes.In practical applications, there is a strong possibility that property does not reach goal-selling speed for unmanned plane.In this case,
Unmanned plane obtains position of the unmanned plane in world coordinate system according to above formula (1) and above formula (2) in real time, according to current time nobody
Position of the machine in world coordinate system and position and current time and upper one of the last moment unmanned plane in world coordinate system
The time difference at moment obtains the practical flight speed of unmanned plane；Compare the practical flight speed and goal-selling speed of unmanned plane,
The speed of unmanned plane is adjusted, so that practical flight speed and the target speed in control command that unmanned plane is current
Unanimously.
The embodiment of the present invention also provides a kind of side of localization method progress mobile terminal control based on above-mentioned mobile terminal
Method, is the method flow chart as shown in Figure 15, and this method mainly includes the following steps:
Step 1501, the position data for receiving mobile terminal.
The acquisition modes of the position data are mainly comprised the following processes with described in above example: from mobile terminal
Image capture device in obtain image information, obtain predetermined pattern from described image information, existed according to the predetermined pattern
The bat of the coordinate and described image acquisition equipment of coordinate, the predetermined pattern in described image information in world coordinate system
It takes the photograph parameter and determines position of the mobile terminal described in current time in the world coordinate system.Detail is detailed in above example
Described in, details are not described herein again.
Step 1502, the pre-set flight layout data for obtaining the mobile terminal.
The pre-set flight layout data is script file data, which can pre-save in movement
Terminal local.
The pre-set flight layout data includes: the multiframe pre-set flight layout data executed in order, and every frame is default to fly
Professional etiquette draws the predeterminated position data that data include mobile terminal.The pre-set flight layout data packet for obtaining the mobile terminal
It includes: successively obtaining every frame pre-set flight layout data.
Mobile terminal can obtain pre-set flight layout data described in frequency acquisition with predetermined, i.e., every preset interval time
Obtain a frame data.For example, the predetermined frequency that obtains is 20fps, then mobile terminal 20 frame pre-set flights of acquisition per second plan number
According to the acquisition interval time per adjacent two frames pre-set flight layout data is 50ms.
The predetermined rate that obtains can realize that the time interval for setting timer obtains rate pair to be predetermined by timer
The preset interval time answered reads a frame pre-set flight layout data every preset interval time to realize.
The present embodiment to the frequency of acquisition for mobile terminal pre-set flight layout data with no restrictions.
Step 1503 generates the control mobile terminal according to the pre-set flight layout data and the position data
The flight control command of flight.
Described generated according to the pre-set flight layout data and the position data controls the mobile terminal flight
Flight control command include:
To the present frame pre-set flight layout data of acquisition calculate the predeterminated position data and received position data it
Between difference；The control command of the current control mobile terminal flight is generated according to the difference later.According to the difference
The control command for generating control mobile terminal flight can be and carry out PID arithmetic to difference, right by difference multiplied by scale factor K
The integral term of difference to the differential term of difference multiplied by D, then by three Xiang Qiuhe, obtains the master control to aircraft 110 multiplied by I
Amount.In the total control amount, difference is multiplied by scale factor K as flight position control amount, and integral term is multiplied by I as flying speed control
Amount processed, differential term is multiplied by D as Flight Acceleration control amount.Certainly, in the present embodiment, the specific value of K, I, D are by user
It sets according to actual needs, is not intended as limiting in the present embodiment.
The embodiment of the present invention also provides a kind of mobile terminal control device, is as shown in Figure 16 described device block diagram, should
Device mainly includes such as lower unit:
Receiving unit 1601, for receiving the position data of mobile terminal, the position data obtains in the following way:
Image information is obtained from the image capture device of mobile terminal, predetermined pattern is obtained from described image information, according to described
Coordinate and described image of coordinate, the predetermined pattern of the predetermined pattern in world coordinate system in described image information are adopted
The acquisition parameters of collection equipment determine position of the mobile terminal described in current time in the world coordinate system；
Acquiring unit 1602, for obtaining the pre-set flight layout data of the mobile terminal；
Flight control units 1603, for generating control according to the pre-set flight layout data and the position data
The flight control command of the mobile terminal flight.
The embodiment of the present invention also provides a kind of unmanned plane, including mobile terminal control device described in above example.
The above specific embodiment has carried out further specifically the purpose of the present invention, technical scheme and beneficial effects
It is bright, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (10)
1. a kind of localization method of mobile terminal characterized by comprising
Image information is obtained from the image capture device of mobile terminal；
Predetermined pattern is obtained from described image information, the predetermined pattern is Marker pattern；
According to coordinate of the predetermined pattern in world coordinate system, coordinate of the predetermined pattern in described image information with
And the acquisition parameters of described image acquisition equipment determine position of the mobile terminal described in current time in the world coordinate system.
2. the method as described in claim 1, which is characterized in that the predetermined pattern includes at least two colors, and wherein two
Color difference between kind color need to be greater than preset value；By image recognition algorithm, obtained from described image information using the color difference
Obtain predetermined pattern.
3. method according to claim 2, which is characterized in that the predetermined pattern is non-centrosymmetry pattern.
4. a kind of mobile terminal location device characterized by comprising
Image acquisition unit, for obtaining image information from the image capture device of mobile terminal；
Predetermined pattern recognition unit, for obtaining predetermined pattern from described image information, the predetermined pattern is Marker figure
Case；
Positioning unit, for according to coordinate of the predetermined pattern in world coordinate system, the predetermined pattern in described image
The acquisition parameters of coordinate and described image acquisition equipment in information determine mobile terminal described in current time in the world
Position in coordinate system.
5. a kind of unmanned plane, which is characterized in that including device as claimed in claim 4.
6. the side that a kind of localization method based on mobile terminal of any of claims 1-3 carries out mobile terminal control
Method characterized by comprising
The position data of mobile terminal is received, the position data obtains in the following way: from the Image Acquisition of mobile terminal
Image information is obtained in equipment, and predetermined pattern is obtained from described image information, the predetermined pattern is Marker pattern, according to
Coordinate and the figure of coordinate, the predetermined pattern of the predetermined pattern in world coordinate system in described image information
As the acquisition parameters of acquisition equipment determine position of the mobile terminal described in current time in the world coordinate system；
Obtain the pre-set flight layout data of the mobile terminal；
The flight control for controlling the mobile terminal flight is generated according to the pre-set flight layout data and the position data
System order.
7. according to the method described in claim 6, it is characterized in that, the pre-set flight layout data is script file data.
8. the method according to the description of claim 7 is characterized in that the pre-set flight layout data includes: to execute in order
Multiframe pre-set flight layout data, every frame pre-set flight layout data includes the predeterminated position data of mobile terminal, described to obtain
The pre-set flight layout data for taking the mobile terminal includes: successively to obtain every frame pre-set flight layout data；
Described generated according to the pre-set flight layout data and the position data controls flying for the mobile terminal flight
Row control command includes:
The present frame pre-set flight layout data of acquisition is calculated between the predeterminated position data and received position data
Difference；
The control command of the current control mobile terminal flight is generated according to the difference.
9. a kind of mobile terminal control device characterized by comprising
Receiving unit, for receiving the position data of mobile terminal, the position data obtains in the following way: eventually from movement
Image information is obtained in the image capture device at end, obtains predetermined pattern from described image information, according to the predetermined pattern
The coordinate and described image of coordinate, the predetermined pattern in described image information in world coordinate system acquires equipment
Acquisition parameters determine position of the mobile terminal described in current time in the world coordinate system；
Acquiring unit, for obtaining the pre-set flight layout data of the mobile terminal；
Flight control units control the movement for generating according to the pre-set flight layout data and the position data
The flight control command of terminal flight.
10. a kind of unmanned plane, which is characterized in that including mobile terminal control device as claimed in claim 9.
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| KR102403122B1 (en) * | 2017-10-25 | 2022-05-30 | 삼성전자주식회사 | Electronic device and control method thereof |
| CN107907131B (en) * | 2017-11-10 | 2019-12-13 | 珊口（上海）智能科技有限公司 | positioning system, method and applicable robot |
| US10436590B2 (en) | 2017-11-10 | 2019-10-08 | Ankobot (Shanghai) Smart Technologies Co., Ltd. | Localization system and method, and robot using the same |
| CN107993252A (en) * | 2017-11-29 | 2018-05-04 | 天津聚飞创新科技有限公司 | Subscriber tracing system, method and device |
| WO2019165613A1 (en) * | 2018-02-28 | 2019-09-06 | 深圳市大疆创新科技有限公司 | Control method for mobile device, device, and storage device |
| WO2019183789A1 (en) * | 2018-03-27 | 2019-10-03 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling unmanned aerial vehicle, and unmanned aerial vehicle |
| CN109405821B (en) * | 2018-09-21 | 2020-01-03 | 北京三快在线科技有限公司 | Method and device for positioning and target equipment |
| CN112446916A (en) * | 2019-09-02 | 2021-03-05 | 北京京东乾石科技有限公司 | Method and device for determining parking position of unmanned vehicle |
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Application publication date: 20190517 |