CN110807955B - Real-time driving route switching platform and method based on data capture - Google Patents
Real-time driving route switching platform and method based on data capture Download PDFInfo
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Abstract
The invention relates to a driving route real-time switching platform and a method based on data capture, wherein the platform comprises: the rotary shooting equipment comprises a rotary rod, a cloud platform and a data capturing unit, wherein the rotary rod is arranged at the top end of the unmanned aerial vehicle and executes horizontal rotation operation at a constant speed; the mode switching equipment is used for controlling the unmanned aerial vehicle to enter an avoidance mode when the type of the received aircraft is the type needing to be avoided; and the driving control equipment is used for controlling the unmanned aerial vehicle to be far away from the real-time positioning position based on the real-time positioning position in the avoidance mode. The driving route real-time switching platform and method based on data capture are flexible in evasion and simple and convenient in design. Because the type and the location position of nearby aircraft can be accurately identified, the unmanned aerial vehicle is helped to make an effective evasion strategy so as to avoid the generation of flight accidents.
Description
Technical Field
The invention relates to the field of aircraft detection, in particular to a real-time driving route switching platform and method based on data capture.
Background
The development of modern aircraft has benefited from the enormous leap in science and technology brought by the industrial revolution of the 19 th century. In the 19 th century, attempts to break through the air constraint were made, but all failed. With the invention and wide application of internal combustion engines, flying in the air is becoming increasingly possible. In 1903, the laite brother in the united states was the first to make an airplane in the united states that could fly and realized the dream of flying. Subsequently, aircraft and their related sciences and technologies have gained rapid development.
There has been much research in foreign countries by many scientific research institutions and even individuals on aerodynamic aircraft. However, the flying vehicle is a distant dream in China, some people also have a great deal of ways and methods along with the development of the times, but as for the substantial development, the people do not see, the Martin company in the United states pushes out a single-person aerodynamic vehicle suitable for carrying people at a high level, and the price is as follows: $ 10 million, and is understood to have been equipped with: scientific exploration, oceans, military, etc.
Disclosure of Invention
In order to solve the technical problems in the related field, the invention provides a driving route real-time switching platform based on data capture, which can detect whether an aircraft target needing to be avoided exists around an unmanned aerial vehicle, and automatically execute an avoiding action based on the real-time position of the aircraft target needing to be avoided when the aircraft target is detected; the method comprises the steps of carrying out high-precision identification and analysis on an aircraft target needing to be avoided and a real-time position of the aircraft target on the basis of an image identification mechanism.
According to an aspect of the present invention, there is provided a real-time driving route switching platform based on data capture, the platform comprising:
the rotary shooting equipment comprises a rotary rod, a cloud platform and a data capturing unit, wherein the rotary rod is arranged at the top end of the unmanned aerial vehicle and executes horizontal rotation operation at a constant speed;
the data capturing unit performs continuous shooting and combines the respective live-captured images shot in each rotation of the rotating bar into a live-stitched image;
the mode switching equipment is used for controlling the unmanned aerial vehicle to enter an avoidance mode when the type of the received aircraft is the type needing to be avoided;
the driving control equipment is connected with the mode switching equipment and used for controlling the unmanned aerial vehicle to be far away from the real-time positioning position based on the real-time positioning position in the avoidance mode;
the content processing device is connected with the data capturing unit and used for determining sharpening processing of corresponding intensity performed on each column of pixels based on the definition of each column of pixels in the instant mosaic image so as to obtain a content processing image corresponding to the instant mosaic image;
the type recognition device is connected with the content processing device and used for identifying the type of the aircraft target with the largest area from the content processing image based on the reference contour of each type of aircraft to serve as the aircraft type to be sent to the mode switching device;
and the data detection device is respectively connected with the running control device and the type identification device and is used for determining the position of the aircraft target with the largest area in the content processing image based on the horizontal coordinate and the vertical coordinate of the aircraft target with the largest area in the content processing image and outputting the position as a real-time positioning position.
According to another aspect of the invention, a data capture-based real-time driving route switching method is further provided, and the method comprises the step of using the data capture-based real-time driving route switching platform to determine whether avoidance actions based on real-time positions of the aircraft targets are required to be automatically executed or not based on detection results of whether the aircraft targets needing to be avoided exist around the unmanned aerial vehicle or not.
According to yet another aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed, implements the steps of the data capture-based real-time switching of driving routes method as described above.
The driving route real-time switching platform and method based on data capture are flexible in evasion and simple and convenient in design. Because the type and the location position of nearby aircraft can be accurately identified, the unmanned aerial vehicle is helped to make an effective evasion strategy so as to avoid the generation of flight accidents.
The present invention needs to have at least two important points:
(1) detecting whether an aircraft target needing to be avoided exists around the unmanned aerial vehicle, and automatically executing an avoiding action based on the real-time position of the aircraft target needing to be avoided when the aircraft target needing to be avoided is detected;
(2) and carrying out high-precision identification and analysis on the aircraft target needing to be avoided and the real-time position of the aircraft target on the basis of an image identification mechanism.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a block diagram illustrating a structure of a real-time driving route switching platform based on data capture according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
Embodiments of a data capture-based real-time travel route switching platform and method according to the present invention will be described in detail with reference to the accompanying drawings.
An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer.
Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology.
At present, the design technology and the manufacturing technology of the unmanned aerial vehicle are different day by day, and meet the requirements of people in the fields of aerial photography and the like. Because unmanned aerial vehicle's price is comparatively expensive, and in case the misoperation or meet the incident and take place flight accident or other crash condition again easily, bring not little economic loss for the user, can lose a large amount of data of having taken a photograph simultaneously, consequently, the control of its own flight state and the control of surrounding environment all need the content of key concern during the design.
In order to overcome the defects, the invention builds a driving route real-time switching platform and a driving route real-time switching method based on data capture, and can effectively solve the corresponding technical problems.
Fig. 1 is a block diagram illustrating a structure of a real-time driving route switching platform based on data capture according to an embodiment of the present invention, the platform including:
the rotary shooting equipment comprises a rotary rod, a cloud platform and a data capturing unit, wherein the rotary rod is arranged at the top end of the unmanned aerial vehicle and executes horizontal rotation operation at a constant speed;
the data capturing unit performs continuous shooting and combines the respective live-captured images shot in each rotation of the rotating bar into a live-stitched image;
the mode switching equipment is used for controlling the unmanned aerial vehicle to enter an avoidance mode when the type of the received aircraft is the type needing to be avoided;
the driving control equipment is connected with the mode switching equipment and used for controlling the unmanned aerial vehicle to be far away from the real-time positioning position based on the real-time positioning position in the avoidance mode;
the content processing device is connected with the data capturing unit and used for determining sharpening processing of corresponding intensity performed on each column of pixels based on the definition of each column of pixels in the instant mosaic image so as to obtain a content processing image corresponding to the instant mosaic image;
the type recognition device is connected with the content processing device and used for identifying the type of the aircraft target with the largest area from the content processing image based on the reference contour of each type of aircraft to serve as the aircraft type to be sent to the mode switching device;
the data detection device is respectively connected with the running control device and the type identification device and used for determining the position of the aircraft target with the largest area in the content processing image based on the horizontal coordinate and the vertical coordinate of the aircraft target with the largest area in the content processing image and outputting the position as a real-time positioning position;
wherein determining a sharpening process for each column of pixels in the live-stitched image based on their sharpness comprises: the higher the sharpness of each column of pixels in the live-stitched image, the lower the intensity of the sharpening process performed on that column of pixels.
Next, the specific configuration of the real-time travel route switching platform based on data capture according to the present invention will be further described.
In the data capture-based driving route real-time switching platform:
the types needing to be avoided comprise helicopters, civil aircrafts and transporters, and the unmanned aerial vehicle is based on a running control device in the scale mode.
The real-time driving route switching platform based on data capture can further comprise:
and the clock supply device is arranged near the wired imaging device, is connected with the wired imaging device and is used for providing different clock control signals for each component in the wired imaging device.
In the data capture-based driving route real-time switching platform:
the data capturing unit comprises a CCD sensing subunit, a dynamic range adjusting subunit, a logarithm enhancer unit, a high-pass filtering sharpening subunit and a bilinear interpolation subunit, wherein the CCD sensing subunit is used for executing shooting actions in the front environment to obtain a corresponding current sensing image.
In the data capture-based driving route real-time switching platform:
in the data capturing unit, the dynamic range adjusting subunit is connected to the CCD sensing subunit, and is configured to perform a dynamic range adjusting operation on the received current sensing image to obtain a corresponding dynamic range adjusting image.
In the data capture-based driving route real-time switching platform:
in the data capturing unit, the log enhancement unit is connected to the dynamic range adjustment subunit for performing log transform-based image enhancement processing on the received dynamic range adjustment image to obtain a corresponding log enhanced image.
In the data capture-based driving route real-time switching platform:
in the data capturing unit, the high-pass filtering sharpening subunit is connected to the logarithmic enhancement unit, and is configured to perform a high-pass filtering sharpening process on the received logarithmic enhancement image to obtain a corresponding high-pass filtering sharpened image.
In the data capture-based driving route real-time switching platform:
in the wired imaging device, the bilinear interpolation subunit is connected to the high-pass filtering sharpening subunit, and is configured to perform bilinear interpolation processing on the received high-pass filtering sharpened image to obtain and output a corresponding field capture image.
Meanwhile, in order to overcome the defects, the invention also provides a data capture-based real-time driving route switching method, which comprises the step of using the data capture-based real-time driving route switching platform to determine whether avoidance actions based on the real-time positions of the aircraft targets need to be automatically executed or not based on the detection result of whether the aircraft targets which need to avoid the type exist around the unmanned aerial vehicle or not.
And, in order to overcome the above-mentioned deficiencies, the present invention also builds a computer readable storage medium, which stores thereon a computer program, which when executed implements the steps of the data capture-based real-time switching method of driving route as described above.
Fig. 2 is a schematic diagram illustrating a computer-readable storage medium according to an embodiment of the present invention. As shown in fig. 2, a computer-readable storage medium 20, having non-transitory computer-readable instructions 21 stored thereon, according to an embodiment of the present invention. When executed by the processor, the non-transitory computer readable instructions 21 perform all or part of the steps of the data capture-based real-time travel route switching method of the embodiment of the invention described above.
In addition, the data capture unit may be implemented using a DSP chip. The DSP chip adopts a Harvard structure with separated programs and data, is provided with a special hardware multiplier, widely adopts pipeline operation, provides special DSP instructions, and can be used for quickly realizing various digital signal processing algorithms.
According to the requirements of digital signal processing, a DSP chip generally has some main features as follows: (1) one multiply and one add may be done in one instruction cycle. (2) The program and data spaces are separate and instructions and data may be accessed simultaneously. (3) On-chip with fast RAM, it is usually accessible in two blocks simultaneously via separate data buses. (4) Hardware support with low or no overhead loops and jumps. (5) Fast interrupt handling and hardware I/O support. (6) There are multiple hardware address generators operating in a single cycle. (7) Multiple operations may be performed in parallel. (8) And pipeline operation is supported, so that the operations of fetching, decoding, executing and the like can be executed in an overlapping way.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A real-time routing platform based on data capture, the platform comprising:
the rotary shooting equipment comprises a rotary rod, a cloud platform and a data capturing unit, wherein the rotary rod is arranged at the top end of the unmanned aerial vehicle and executes horizontal rotation operation at a constant speed;
the data capturing unit performs continuous shooting and combines the respective live-captured images shot in each rotation of the rotating bar into a live-stitched image;
the mode switching equipment is used for controlling the unmanned aerial vehicle to enter an avoidance mode when the type of the received aircraft is the type needing to be avoided;
the driving control equipment is connected with the mode switching equipment and used for controlling the unmanned aerial vehicle to be far away from the real-time positioning position based on the real-time positioning position in the avoidance mode;
the content processing device is connected with the data capturing unit and used for determining sharpening processing of corresponding intensity performed on each column of pixels based on the definition of each column of pixels in the instant mosaic image so as to obtain a content processing image corresponding to the instant mosaic image;
the type recognition device is connected with the content processing device and used for identifying the type of the aircraft target with the largest area from the content processing image based on the reference contour of each type of aircraft to serve as the aircraft type to be sent to the mode switching device;
the data detection device is respectively connected with the running control device and the type identification device and used for determining the position of the aircraft target with the largest area in the content processing image based on the horizontal coordinate and the vertical coordinate of the aircraft target with the largest area in the content processing image and outputting the position as a real-time positioning position;
wherein determining a sharpening process for each column of pixels in the live-stitched image based on their sharpness comprises: the higher the definition of each row of pixels in the instant mosaic image is, the lower the intensity of sharpening processing performed on the row of pixels is;
the types needing to be avoided comprise helicopters, civil aircrafts and transporters, and the unmanned aerial vehicle is based on running control equipment in the avoiding mode;
and the clock supply device is arranged near the wired imaging device, is connected with the wired imaging device and is used for providing different clock control signals for each component in the wired imaging device.
2. The data capture-based real-time switching of travel routes platform of claim 1, wherein:
the data capturing unit comprises a CCD sensing subunit, a dynamic range adjusting subunit, a logarithm enhancer unit, a high-pass filtering sharpening subunit and a bilinear interpolation subunit, wherein the CCD sensing subunit is used for executing shooting actions in the front environment to obtain a corresponding current sensing image.
3. The data capture-based real-time switching of travel routes platform of claim 2, wherein:
in the data capturing unit, the dynamic range adjusting subunit is connected to the CCD sensing subunit, and is configured to perform a dynamic range adjusting operation on the received current sensing image to obtain a corresponding dynamic range adjusting image.
4. The data capture-based travel route real-time switching platform of claim 3, wherein:
in the data capturing unit, the log enhancement unit is connected to the dynamic range adjustment subunit for performing log transform-based image enhancement processing on the received dynamic range adjustment image to obtain a corresponding log enhanced image.
5. The data capture-based travel route real-time switching platform of claim 4, wherein:
in the data capturing unit, the high-pass filtering sharpening subunit is connected to the logarithmic enhancement unit, and is configured to perform a high-pass filtering sharpening process on the received logarithmic enhancement image to obtain a corresponding high-pass filtering sharpened image.
6. The data capture-based travel route real-time switching platform of claim 5, wherein:
in the wired imaging device, the bilinear interpolation subunit is connected to the high-pass filtering sharpening subunit, and is configured to perform bilinear interpolation processing on the received high-pass filtering sharpened image to obtain and output a corresponding field capture image.
7. A data capture-based real-time switching method of a travel route, the method comprising using the data capture-based real-time switching platform of any one of claims 1 to 6 to determine whether an avoidance maneuver based on a real-time position of an aircraft target is required to be automatically executed based on a detection result of whether the aircraft target of a type required to be avoided exists around an unmanned aerial vehicle.
8. A computer-readable storage medium, having stored thereon a computer program which, when executed, performs the steps of the method of claim 7.
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