CN111076823B - Positioning method and system of airborne thermal infrared imager - Google Patents

Positioning method and system of airborne thermal infrared imager Download PDF

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Publication number
CN111076823B
CN111076823B CN201911285079.6A CN201911285079A CN111076823B CN 111076823 B CN111076823 B CN 111076823B CN 201911285079 A CN201911285079 A CN 201911285079A CN 111076823 B CN111076823 B CN 111076823B
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ground control
thermal infrared
data link
infrared imager
control terminal
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CN111076823A (en
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蔡敏权
钟谅
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Guangzhou Keii Electro Optics Technology Co ltd
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Guangzhou Keii Electro Optics Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/60—Context-dependent security
    • H04W12/63—Location-dependent; Proximity-dependent
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/60—Context-dependent security
    • H04W12/69—Identity-dependent
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J2005/0077—Imaging

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  • Computer Security & Cryptography (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Image Processing (AREA)

Abstract

The embodiment of the application discloses a positioning method and a system of an airborne thermal infrared imager, wherein the method comprises the following steps: the unmanned aerial vehicle sends downlink data to a ground control end of the unmanned aerial vehicle through a first data link; the ground control end obtains the instant position information of the unmanned aerial vehicle by analyzing the downlink data and sends the instant position information to the thermal infrared imager through a second data link; and the thermal infrared imager determines the position coordinates of the infrared image acquired by the thermal infrared imager according to the instant position information. By implementing the embodiment of the application, the weight of the airborne thermal infrared imager can be reduced.

Description

Positioning method and system of airborne thermal infrared imager
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a positioning method and system of an airborne thermal infrared imager.
Background
The main research on the task load of the unmanned aerial vehicle holder is how to better carry the task load on the unmanned aerial vehicle, so that the unmanned aerial vehicle holder is miniaturized, lightened and modularized. When an unmanned aerial vehicle carrying the thermal infrared imager executes a routing inspection task, the thermal infrared imager generally needs to obtain instant positioning information to mark an infrared picture shot by the thermal infrared imager. In practice, it is found that in order to obtain instant positioning information, a positioning module is usually disposed on an existing thermal infrared imager mounted on an unmanned aerial vehicle, which increases the weight of the thermal infrared imager and is obviously contrary to the light-weight requirement.
Disclosure of Invention
The embodiment of the application discloses a positioning method and a positioning system for an airborne thermal infrared imager, which can reduce the weight of the airborne thermal infrared imager.
The first aspect of the embodiment of the application discloses a positioning method for an airborne thermal infrared imager, which comprises the following steps:
the unmanned aerial vehicle sends downlink data to a ground control end of the unmanned aerial vehicle through a first data link;
the ground control end obtains instant position information of the unmanned aerial vehicle by analyzing the downlink data and sends the instant position information to the thermal infrared imager through a second data link;
and the thermal infrared imager determines the position coordinates of the infrared image acquired by the thermal infrared imager according to the instant position information.
As an optional implementation manner, in the first aspect of the embodiment of the present application, before the ground control end sends the instant location information to the thermal infrared imager through the second data link, the method further includes:
the ground control terminal detects whether an infrared image acquisition instruction is received, and the infrared image acquisition instruction is triggered by a user through operating the ground control terminal or through operating a mobile terminal connected with the ground control terminal;
the ground control end sends the instant position information to the thermal infrared imager through a second data link, and the method comprises the following steps:
and when the ground control terminal detects the infrared image acquisition instruction, the instant position information is sent to the thermal infrared imager through a second data link.
As an optional implementation manner, in the first aspect of the embodiment of the present application, before the ground control end detects whether an infrared image acquisition instruction is received, the method further includes:
the ground control terminal judges whether the area indicated by the instant position information is an infrared picture acquisition area of a preset inspection task;
and when the area indicated by the instant position information is the infrared picture acquisition area, the ground control end outputs prompt information for indicating a user to trigger an infrared picture acquisition instruction.
As an optional implementation manner, in the first aspect of the embodiment of the present application, when the area indicated by the instant location information is the infrared image acquisition area, the method further includes:
the ground control terminal judges whether the current working mode is an artificial mode;
if the current working mode is the manual mode, the ground control end executes the prompt information for instructing a user to trigger an infrared image acquisition instruction;
and if the current working mode is an automatic mode, the ground control end automatically generates the infrared picture acquisition instruction.
As an optional implementation manner, in the first aspect of this embodiment of the present application, the method further includes:
the ground control terminal acquires user identity information;
the ground control terminal sends a task acquisition instruction carrying the user identity information to a background server so that the background server searches a preset routing inspection task matched with the user identity information in a task library;
and the ground control terminal receives a preset routing inspection task matched with the user identity information fed back by the background server.
The second aspect of the embodiment of the present application discloses a positioning system of an airborne thermal infrared imager, including:
the unmanned aerial vehicle is used for sending downlink data to a ground control end of the unmanned aerial vehicle through a first data link;
the ground control end is used for obtaining the instant position information of the unmanned aerial vehicle by analyzing the downlink data and sending the instant position information to the thermal infrared imager through a second data link;
and the thermal infrared imager is used for determining the position coordinates of the infrared image acquired by the thermal infrared imager according to the instant position information.
As an optional implementation manner, in the second aspect of the embodiment of the present application, the ground control end is further configured to detect whether an infrared image acquisition instruction is received before the instant position information is sent to the thermal infrared imager through the second data link, where the infrared image acquisition instruction is triggered by a user by operating the ground control end or by operating a mobile terminal connected to the ground control end;
the mode that the ground control end is used for sending the instant position information to the thermal infrared imager through a second data link specifically comprises the following steps:
and the ground control terminal is used for sending the instant position information to the thermal infrared imager through a second data link when the infrared image acquisition instruction is detected.
As an optional implementation manner, in the second aspect of the embodiment of the present application, the ground control end is further configured to determine whether an area indicated by the instant location information is an infrared image acquisition area of a preset inspection task before detecting whether an infrared image acquisition instruction is received; and when the area indicated by the instant position information is the infrared picture acquisition area, outputting prompt information for indicating a user to trigger an infrared picture acquisition instruction.
As an optional implementation manner, in the second aspect of the embodiment of the present application, the ground control end is further configured to, when the area indicated by the instant location information is the infrared picture acquisition area, determine whether a current working mode is an artificial mode, and when the current working mode is the artificial mode, trigger and execute the output of the prompt information for instructing a user to trigger an infrared picture acquisition instruction; and when the current working mode is an automatic mode, automatically generating the infrared picture acquisition instruction.
As an optional implementation manner, in a second aspect of the embodiment of the present application, the ground control end is further configured to obtain user identity information; sending a task obtaining instruction carrying the user identity information to a background server so that the background server searches a preset routing inspection task matched with the user identity information in a task library; and receiving a preset routing inspection task matched with the user identity information fed back by the background server.
The third aspect of the embodiments of the present application discloses a ground control terminal, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to perform part or all of the steps performed by the ground control terminal in the first aspect of the present application.
A fourth aspect of embodiments of the present application discloses a computer-readable storage medium storing a computer program, where the computer program includes instructions for performing some or all of the steps performed by the ground control terminal in the first aspect of the present application.
A fifth aspect of embodiments of the present application discloses a computer program product, which when run on a computer, causes the computer to perform part or all of the steps performed by the ground control terminal in the first aspect.
A sixth aspect of the present embodiment discloses an application issuing system, where the application issuing system is configured to issue a computer program product, where when the computer program product runs on a computer, the computer is caused to execute some or all of the steps executed by the ground control terminal in the first aspect.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
in the embodiment of the application, the unmanned aerial vehicle sends downlink data to a ground control end of the unmanned aerial vehicle through a first data link; the ground control end obtains the instant position information of the unmanned aerial vehicle by analyzing the downlink data and sends the instant position information to the thermal infrared imager through a second data link; and the thermal infrared imager determines the position coordinates of the infrared image acquired by the thermal infrared imager according to the instant position information. By implementing the method, the ground control end can forward the instant position of the unmanned aerial vehicle to the thermal infrared imager for the thermal infrared imager to use, so that the thermal infrared imager is not required to be provided with an independent positioning module, and the reduction of the weight of the airborne thermal infrared imager is facilitated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without making a creative effort.
FIG. 1 is a schematic flow chart of a positioning method for an airborne thermal infrared imager disclosed in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating another method for positioning an airborne thermal infrared imager according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a positioning system of an airborne thermal infrared imager disclosed in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of another positioning system of an airborne thermal infrared imager disclosed in the embodiments of the present application;
fig. 5 is a schematic structural diagram of a ground control end disclosed in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "comprises," "comprising," and any variations thereof in the embodiments and drawings of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the application discloses a positioning method and a positioning system for an airborne thermal infrared imager, which can reduce the weight of the airborne thermal infrared imager and are explained in detail below.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a positioning method of an airborne thermal infrared imager disclosed in an embodiment of the present application. The positioning method of the airborne thermal infrared imager shown in fig. 1 may specifically include the following steps:
101. the unmanned aerial vehicle sends downlink data to the ground control end of the unmanned aerial vehicle through the first data link.
102. And the ground control end obtains the instant position information of the unmanned aerial vehicle by analyzing the downlink data.
103. And the ground control terminal sends the instant position information to the thermal infrared imager through a second data link.
104. And the thermal infrared imager determines the position coordinates of the infrared image acquired by the thermal infrared imager according to the instant position information.
In this embodiment of the present application, the data communication module of the ground control end may be a software/hardware interface module, the uplink data and the downlink data of the ground control end may both realize data exchange through the data communication module, and the data communication module of the ground control end is divided into a serial communication module and a network communication module, where the serial communication module is mainly used to receive the downlink data, send the uplink data, and receive a control instruction input by a user at the ground control end, and the network communication module is mainly used to transmit the acquired image data to the image processing module. The downlink data can comprise various sensor data such as an accelerometer, a gyroscope, a barometer, a compass and a GPS (global positioning system), the unmanned aerial vehicle sends various sensor data to a serial port communication module of a ground control end through a first data link according to a predefined data format of the sensor data, a data decoding unit of the ground control end reads, checks and decodes the data of a serial port receiving buffer area of the serial port communication module, the instant position information of the unmanned aerial vehicle is obtained from various sensor data, and the instant position information is sent to the thermal infrared imager through the serial port communication module. In addition, the thermal infrared imager can also mark the position coordinates of the infrared image collected by the thermal infrared imager at the preset position of the infrared image after determining the position coordinates of the infrared image according to the instant position information, and send the infrared image marked with the position coordinates to the network communication module of the ground control end, so that the infrared image marked with the position coordinates can be displayed at the ground control end.
In this embodiment of the application, the ground control end may send a test signal for testing the second data link to the thermal infrared imager through the second data link at a preset frequency, and as an optional implementation manner, before the ground control end sends the instant position information to the thermal infrared imager through the second data link, the following steps may be further performed:
the ground control end obtains the latest test result of the test signal;
the ground control end sends the instant position information to the thermal infrared imager through a second data link, and the method comprises the following steps:
and when the latest test result indicates that the second data link is normal, the ground control end sends the instant position information to the thermal infrared imager through the second data link.
Further, when the latest test result indicates that the second data link is normal, the following steps may be further performed:
the ground control terminal acquires a time point corresponding to the latest test result;
the ground control terminal judges whether the time interval between the time point corresponding to the latest test result and the current time point is less than a preset time length or not;
when the recent test result indicates that the second data link is normal, the ground control end sends the instant position information to the thermal infrared imager through the second data link, and the method comprises the following steps:
and when the latest test result indicates that the second data link is normal and the time interval between the time point corresponding to the latest test result and the current time point is less than the preset time length, the ground control terminal sends the instant position information to the thermal infrared imager through the second data link.
By implementing the method, the ground control terminal can judge whether the second data link is normal or not based on the latest test result of the test signal before sending the instant position information to the thermal infrared imager, and when the second data link is judged to be normal, the instant position information is sent to the thermal infrared imager through the second data link, so that the transmission safety of the instant position information can be ensured.
By implementing the method, the weight of the onboard thermal infrared imager is reduced, and the transmission safety of the instant position information can be ensured.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another positioning method for an airborne thermal infrared imager disclosed in the embodiment of the present application. The positioning method of the airborne thermal infrared imager shown in fig. 2 may specifically include the following steps:
201. the unmanned aerial vehicle sends downlink data to the ground control end of the unmanned aerial vehicle through the first data link.
202. And the ground control end obtains the instant position information of the unmanned aerial vehicle by analyzing the downlink data.
203. And the ground control terminal acquires the user identity information.
In this application embodiment, the mode that the ground control end acquireed user identity information can be through gathering realization such as user's fingerprint, voiceprint, image or iris, and is optional, and the ground control end can be connected with mobile terminal, and the collection of user's fingerprint, voiceprint, image or iris etc. can be accomplished by the mobile terminal that the ground control end is connected, and is concrete, and the mode that the ground control end acquireed user identity information can be: when the ground control terminal detects that the ground control terminal is connected with the mobile terminal, an identity acquisition instruction is sent to the mobile terminal connected with the ground control terminal, so that the mobile terminal collects information such as user fingerprints, voiceprints, images or irises and carries out identity recognition based on the collected information such as the user fingerprints, voiceprints, images or irises to obtain user identity information; and the ground control terminal receives the user identity information fed back by the mobile terminal connected with the ground control terminal. According to the implementation mode, a camera or a microphone device does not need to be arranged at the ground control end, and the structural complexity of the ground control end is facilitated to be simplified.
As an optional implementation manner, in this application embodiment, an identity information table may be stored in the local storage space of the ground control end, and a corresponding relationship between the device identifier of the mobile terminal and the user identity information may be recorded in the identity information table, and based on the description, a manner of acquiring the user identity information by the ground control end may be: and the ground control terminal detects whether the connection with the mobile terminal is established, if so, the ground control terminal acquires the target equipment identifier of the mobile terminal and searches the user identity information corresponding to the target equipment identifier in the identity information table. By implementing the method, the ground control terminal can acquire the user identity information based on the identity information table stored locally while establishing connection with the mobile terminal, so that the acquisition efficiency of acquiring the user identity information is improved.
It should be noted that, in this embodiment of the application, the connection mode between the ground control end and the mobile terminal may be bluetooth, Wifi, or a data line, which is not limited in this embodiment of the application.
204. And the ground control terminal sends a task acquisition instruction carrying the user identity information to the background server so that the background server searches a preset routing inspection task matched with the user identity information in a task library.
205. And the ground control terminal receives the preset polling task matched with the user identity information fed back by the background server.
In the embodiment of the application, after receiving the preset routing inspection task matched with the user identity information fed back by the background server 304, the ground control terminal may further obtain a target electric quantity corresponding to the preset routing inspection task matched with the user identity information; judging whether the electric quantity in the downlink data is smaller than a target electric quantity or not; when the electric quantity in the downlink data is less than the target electric quantity, outputting electric quantity early warning information; and outputting qualified electric quantity information when the electric quantity in the downlink data is greater than or equal to the target electric quantity. By implementing the method, the sufficient inspection electric quantity can be ensured, and the condition of inspection interruption caused by insufficient electric quantity is avoided.
206. The ground control end judges whether the area indicated by the instant position information is an infrared picture acquisition area of a preset inspection task, if so, the step 207-step 208 are executed; if not, the flow is ended.
207. And the ground control terminal outputs prompt information for indicating a user to trigger an infrared picture acquisition instruction.
In the embodiment of the application, step 204 to step 207 are executed, the ground control end acquires the preset inspection task matched with the user identity information from the background server, and outputs prompt information for instructing a user to trigger an infrared image acquisition instruction when the area indicated by the instant position information is judged to be an infrared image acquisition area of the preset inspection task, so that the user experience can be improved through intelligent inspection.
As an optional implementation manner, in this embodiment of the application, when the determination result in step 206 is yes, the following steps may also be performed:
the ground control terminal judges whether the current working mode is an artificial mode;
if the current working mode is the manual mode, continue to execute step 207;
if the current working mode is the automatic mode, the ground control end automatically generates an infrared image acquisition instruction, and continues to execute step 209.
In the embodiment of the application, the ground control end realizes automatic inspection in an automatic working mode, so that the user experience can be further improved.
208. The ground control end detects whether an infrared image acquisition instruction is received, the infrared image acquisition instruction is triggered by a user through operating the ground control end or a mobile terminal connected with the ground control end, if yes, step 209-step 210 are executed; if not, the flow is ended.
In this embodiment of the application, the mobile terminal connected to the ground control end may be a smartphone, a smart watch, a tablet, or other various mobile terminals. The operating systems of various mobile terminals may include, but are not limited to, an Android operating system, an IOS operating system, a Symbian operating system, a blackberry operating system, a Windows Phone8 operating system, and the like, which is not limited in the embodiments of the present application.
209. And the ground control terminal sends the instant position information to the thermal infrared imager through a second data link.
210. And the thermal infrared imager determines the position coordinates of the infrared image acquired by the thermal infrared imager according to the instant position information.
In the embodiment of the present application, the detailed description of step 209 to step 210 refers to the description of step 103 to step 104 in the first embodiment, and the description of the embodiment of the present application is not repeated.
By implementing the method, the weight of the airborne thermal infrared imager is favorably reduced, the transmission safety of the instant position information can be ensured, the structural complexity of the ground control end can be simplified, the acquisition efficiency of the user identity information can be improved, and the user experience can be improved by intelligent routing inspection.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a positioning system of an airborne thermal infrared imager disclosed in an embodiment of the present application. As shown in fig. 3, the positioning system of the airborne infrared thermal imager may include:
the drone 301 is configured to send downlink data to a ground control end 302 of the drone 301 through a first data link.
And the ground control end 302 is configured to obtain instant position information of the unmanned aerial vehicle 301 by analyzing the downlink data, and send the instant position information to the thermal infrared imager 303 through a second data link.
And the thermal infrared imager 303 is used for determining the position coordinates of the infrared image acquired by the thermal infrared imager 303 according to the instant position information.
In the embodiment of the present application, please refer to the description in the first embodiment for the description of the data communication module of the ground control terminal 302, which is not repeated herein. The downlink data can comprise various sensor data such as an accelerometer, a gyroscope, a barometer, a compass and a GPS, the unmanned aerial vehicle 301 sends various sensor data to a serial port communication module of the ground control end 302 through a first data link according to a predefined data format of the sensor data, a data decoding unit of the ground control end 302 reads data in a serial port receiving buffer area of the serial port communication module, checks and decodes the data, so that instant position information of the unmanned aerial vehicle is obtained from various sensor data, and the instant position information is sent to the thermal infrared imager 303 through the serial port communication module. In addition, the thermal infrared imager 303 is further configured to mark the position coordinate at the preset position of the infrared image after determining the position coordinate of the infrared image acquired by the thermal infrared imager according to the instant position information, and send the infrared image marked with the position coordinate to the network communication module of the ground control terminal 302, so that the infrared image marked with the position coordinate can be displayed at the ground control terminal 302.
In this embodiment of the application, the ground control end 302 may send a test signal for testing the second data link to the thermal infrared imager 303 through the second data link at a preset frequency, and as an optional implementation, the ground control end 302 is further configured to obtain a latest test result of the test signal before sending the instant position information to the thermal infrared imager 303 through the second data link; based on the description, the manner for the ground control end 302 to send the instant location information to the thermal infrared imager 303 through the second data link is specifically as follows: and the ground control terminal 302 is configured to send the instant location information to the thermal infrared imager 303 through the second data link when the latest test result indicates that the second data link is normal.
Further, the ground control end 302 is further configured to obtain a time point corresponding to the latest test result when the latest test result indicates that the second data link is normal; judging whether the time interval between the time point corresponding to the latest test result and the current time point is less than a preset time length or not; based on the description, the manner for the ground control end 302 to send the instant location information to the thermal infrared imager through the second data link when the latest test result indicates that the second data link is normal may specifically be: and the ground control terminal 302 is configured to send the instant location information to the thermal infrared imager through the second data link when the latest test result indicates that the second data link is normal and a time interval between a time point corresponding to the latest test result and the current time point is less than a preset time length. By implementing the method, before sending the instant location information to the thermal infrared imager 303, the ground control end 302 determines whether the second data link is normal or not based on the latest test result of the test signal, and sends the instant location information to the thermal infrared imager 303 through the second data link when determining that the second data link is normal, so that the transmission safety of the instant location information can be ensured.
By implementing the system, the weight of the onboard thermal infrared imager is favorably reduced, and the transmission safety of the instant position information can be ensured.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of another positioning system of an airborne thermal infrared imager disclosed in the embodiment of the present application. The positioning system of the airborne thermal infrared imager shown in fig. 4 is optimized by the positioning system of the airborne thermal infrared imager shown in fig. 3, and as shown in fig. 4, the positioning system of the airborne thermal infrared imager may further include:
the ground control terminal 302 is further configured to obtain user identity information; sending a task obtaining instruction carrying the user identity information to the background server 304, so that the background server 304 searches a preset routing inspection task matched with the user identity information in a task library; and receiving a preset routing inspection task matched with the user identity information fed back by the background server 304.
In this embodiment of the application, the manner that the ground control end 302 acquires the user identity information may be implemented by collecting a user fingerprint, a voiceprint, an image, or an iris, and optionally, the ground control end 302 may be connected to a mobile terminal, and the collection of the user fingerprint, the voiceprint, the image, or the iris may be completed by the mobile terminal connected to the ground control end 302, specifically, the manner that the ground control end 302 acquires the user identity information may be: when the ground control terminal 302 detects that the ground control terminal is connected with a mobile terminal, an identity acquisition instruction is sent to the mobile terminal connected with the ground control terminal, so that the mobile terminal collects information such as user fingerprints, voiceprints, images or irises and performs identity recognition based on the collected information such as the user fingerprints, voiceprints, images or irises to obtain user identity information; the ground control terminal 302 receives the user identity information fed back by the mobile terminal connected with the ground control terminal. According to the implementation mode, a camera or a microphone device does not need to be arranged at the ground control end, and the structural complexity of the ground control end is facilitated to be simplified.
As an optional implementation manner, in this application embodiment, an identity information table may be stored in the local storage space of the ground control end 302, and a corresponding relationship between the device identifier of the mobile terminal and the user identity information may be recorded in the identity information table, and based on the description, a manner of the ground control end 302 acquiring the user identity information may be: the ground control terminal 302 detects whether to establish connection with the mobile terminal, and if so, the ground control terminal 302 obtains a target device identifier of the mobile terminal and searches the user identity information corresponding to the target device identifier in the identity information table. By implementing the method, the ground control terminal 302 can acquire the user identity information based on the identity information table stored locally while establishing connection with the mobile terminal, thereby improving the acquisition efficiency of acquiring the user identity information.
In this embodiment of the application, the ground control terminal 302 is further configured to, after receiving the preset inspection task matched with the user identity information fed back by the background server 304, obtain a target electric quantity corresponding to the preset inspection task matched with the user identity information; judging whether the electric quantity in the downlink data is smaller than a target electric quantity or not; when the electric quantity in the downlink data is less than the target electric quantity, outputting electric quantity early warning information; and outputting qualified electric quantity information when the electric quantity in the downlink data is greater than or equal to the target electric quantity. Implement this mode, can guarantee the sufficient electric quantity of patrolling and examining, avoid taking place to lead to patrolling and examining the condition of interrupt because of the electric quantity is not enough.
The ground control terminal 302 is further configured to determine whether the area indicated by the instant location information is an infrared image acquisition area of a preset inspection task; when the area indicated by the instant position information is an infrared picture acquisition area, outputting prompt information for indicating a user to trigger an infrared picture acquisition instruction; and detecting whether an infrared image acquisition instruction is received, wherein the infrared image acquisition instruction is triggered by a user through operating the ground control terminal 302 or through operating a mobile terminal 305 connected with the ground control terminal 302.
Based on the above description, the manner for the ground control end 302 to send the instant location information to the thermal infrared imager through the second data link may specifically be:
and the ground control terminal 302 is configured to send the instant position information to the thermal infrared imager 303 through a second data link when detecting an infrared image acquisition instruction.
In the embodiment of the application, step 204 to step 207 are executed, the ground control end acquires the preset inspection task matched with the user identity information from the background server, and outputs prompt information for instructing a user to trigger an infrared image acquisition instruction when the area indicated by the instant position information is judged to be an infrared image acquisition area of the preset inspection task, so that the user experience can be improved through intelligent inspection.
As an optional implementation manner, in this embodiment of the application, the ground control end 302 is further configured to, when the area indicated by the instant location information is an infrared picture acquisition area, determine whether the current working mode is an artificial mode, and when the current working mode is the artificial mode, trigger to execute the output of the prompt information for instructing the user to trigger the infrared picture acquisition instruction; and when the current working mode is the automatic mode, automatically generating an infrared image acquisition instruction. In this way, the ground control end 302 realizes automatic inspection in the automatic working mode, which can further improve the user experience.
Through implementing above-mentioned system, be favorable to alleviateing the weight of machine-mounted thermal infrared imager, can also guarantee above-mentioned instant positional information's transmission security, can also simplify the structural complexity of ground control end, can also improve user's identity information's acquisition efficiency, can also patrol and examine through the intellectuality, improve user experience.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a ground control end according to an embodiment of the present application. As shown in fig. 5, the ground control terminal may include:
a memory 501 in which executable program code is stored;
a processor 502 coupled to a memory 501;
the processor 502 calls the executable program code stored in the memory 501 to execute some or all of the steps executed by any one of the ground control terminals in fig. 1 to 2.
An embodiment of the present application discloses a computer-readable storage medium, which stores a computer program, wherein the computer program enables a computer to execute some or all of the steps executed by any one of the ground control terminals in fig. 1 to 2.
The embodiment of the application discloses a computer program product, which enables a computer to execute part or all of the steps executed by any one of the ground control terminals in fig. 1-2 when the computer program product runs on the computer.
The embodiment of the application publishing system is used for publishing a computer program product, wherein when the computer program product runs on a computer, the computer is enabled to execute part or all of the steps executed by any one of the ground control terminals in fig. 1-2.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The method and the system for positioning an airborne thermal infrared imager disclosed in the embodiment of the present application are described in detail above, specific examples are applied herein to explain the principle and the implementation manner of the present application, and the step numbers in the specific examples do not mean the necessary sequence of the execution sequence, and the execution sequence of each process should be determined by the function and the internal logic thereof, but should not form any limitation on the implementation process of the embodiment of the present application. The units described as separate parts may or may not be physically separate, and some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
The character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship. In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as a stand-alone product, it may be stored in a memory accessible to a computer. Based on such understanding, the technical solution of the present application, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, may be embodied in the form of a software product, stored in a memory, including several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of the embodiments of the present application.
The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (10)

1. A positioning method of an airborne thermal infrared imager is characterized by comprising the following steps:
the unmanned aerial vehicle sends downlink data to a ground control end of the unmanned aerial vehicle through a first data link;
the ground control end obtains instant position information of the unmanned aerial vehicle by analyzing the downlink data, sends a test signal for testing the second data link to the thermal infrared imager through the second data link at a preset frequency, receives a latest test result of the test signal, and sends the instant position information to the thermal infrared imager through the second data link when the latest test result indicates that the second data link is normal;
and the thermal infrared imager determines the position coordinates of the infrared image acquired by the thermal infrared imager according to the instant position information and marks the position coordinates at the preset position of the infrared image.
2. The method of claim 1, wherein before the ground control terminal sends the instant location information to the thermal infrared imager via the second data link, the method further comprises:
the ground control terminal detects whether an infrared image acquisition instruction is received, and the infrared image acquisition instruction is triggered by a user through operating the ground control terminal or through operating a mobile terminal connected with the ground control terminal;
the ground control end sends the instant position information to the thermal infrared imager through a second data link, and the method comprises the following steps:
and when the ground control terminal detects the infrared image acquisition instruction, the instant position information is sent to the thermal infrared imager through a second data link.
3. The method according to claim 2, wherein before the ground control terminal detects whether the infrared image acquisition instruction is received, the method further comprises:
the ground control terminal judges whether the area indicated by the instant position information is an infrared picture acquisition area of a preset inspection task;
and when the area indicated by the instant position information is the infrared picture acquisition area, the ground control end outputs prompt information for indicating a user to trigger an infrared picture acquisition instruction.
4. The method according to claim 3, wherein when the area indicated by the instant location information is the infrared picture capturing area, the method further comprises:
the ground control terminal judges whether the current working mode is an artificial mode;
if the current working mode is the manual mode, the ground control end executes the prompt information for instructing a user to trigger an infrared image acquisition instruction;
and if the current working mode is an automatic mode, the ground control end automatically generates the infrared picture acquisition instruction.
5. The method according to claim 3 or 4, characterized in that the method further comprises:
the ground control terminal acquires user identity information;
the ground control terminal sends a task acquisition instruction carrying the user identity information to a background server so that the background server searches a preset routing inspection task matched with the user identity information in a task library;
and the ground control terminal receives a preset routing inspection task matched with the user identity information fed back by the background server.
6. A positioning system of an airborne thermal infrared imager, comprising:
the unmanned aerial vehicle is used for sending downlink data to a ground control end of the unmanned aerial vehicle through a first data link;
the ground control end is used for obtaining instant position information of the unmanned aerial vehicle by analyzing the downlink data, sending a test signal for testing the second data link to the thermal infrared imager through the second data link at a preset frequency, receiving a latest test result of the test signal, and sending the instant position information to the thermal infrared imager through the second data link when the latest test result indicates that the second data link is normal;
and the thermal infrared imager is used for determining the position coordinates of the infrared image acquired by the thermal infrared imager according to the instant position information and marking the position coordinates at the preset position of the infrared image.
7. The system of claim 6, wherein the ground control terminal is further configured to detect whether an infrared image acquisition instruction is received before the instant location information is sent to the thermal infrared imager via the second data link, the infrared image acquisition instruction being triggered by a user by operating the ground control terminal or by operating a mobile terminal connected to the ground control terminal;
the mode that the ground control end is used for sending the instant position information to the thermal infrared imager through a second data link specifically comprises the following steps:
and the ground control terminal is used for sending the instant position information to the thermal infrared imager through a second data link when the infrared image acquisition instruction is detected.
8. The system according to claim 7, wherein the ground control terminal is further configured to determine whether the area indicated by the instant location information is an infrared image acquisition area of a preset inspection task before detecting whether an infrared image acquisition instruction is received; and when the area indicated by the instant position information is the infrared picture acquisition area, outputting prompt information for indicating a user to trigger an infrared picture acquisition instruction.
9. The system according to claim 8, wherein the ground control end is further configured to determine whether a current working mode is a manual mode when the area indicated by the instant location information is the infrared picture acquisition area, and to trigger execution of the prompt message for instructing a user to trigger an infrared picture acquisition instruction when the current working mode is the manual mode; and when the current working mode is an automatic mode, automatically generating the infrared picture acquisition instruction.
10. The system according to claim 8 or 9, wherein the ground control terminal is further configured to obtain user identity information; sending a task obtaining instruction carrying the user identity information to a background server so that the background server searches a preset routing inspection task matched with the user identity information in a task library; and receiving a preset routing inspection task matched with the user identity information fed back by the background server.
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