CN111316185A - Inspection control method of movable platform and movable platform - Google Patents
Inspection control method of movable platform and movable platform Download PDFInfo
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- CN111316185A CN111316185A CN201980005379.6A CN201980005379A CN111316185A CN 111316185 A CN111316185 A CN 111316185A CN 201980005379 A CN201980005379 A CN 201980005379A CN 111316185 A CN111316185 A CN 111316185A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
A method for controlling routing inspection of a movable platform and the movable platform are provided, the method comprises: acquiring a reference patrol inspection parameter of the movable platform at a patrol inspection position point and a patrol inspection reference image corresponding to the reference patrol inspection parameter (S201), and adjusting the current patrol inspection parameter of the movable platform according to the reference patrol inspection parameter (S202), wherein the patrol inspection parameter comprises a position and a shooting posture of a shooting device; acquiring a captured image of the capturing apparatus (S203); the current photographing posture of the photographing apparatus is adjusted based on the photographed image and the patrol reference image (S204). Because the current shooting posture of the shooting device is adjusted according to the shot image and the patrol reference image, the deviation existing when the current patrol parameter is adjusted according to the reference patrol parameter can be reduced, the coincidence degree of the image shot by the shooting device and the patrol reference image is further improved, and the accuracy of detecting the working state of the patrol target is improved, so that fault diagnosis is facilitated.
Description
Technical Field
The embodiment of the invention relates to the technical field of movable platforms, in particular to a movable platform and a routing inspection control method thereof.
Background
Due to the continuous development and progress of the control technology, the movable platform (such as an unmanned aerial vehicle, an unmanned vehicle and the like) can be applied to the field of outdoor inspection operation, such as inspection operation of electric power facilities, petroleum pipelines, gas pipelines and the like. In the inspection process, a specific inspection target needs to be shot by using a movable platform, and then fault diagnosis is performed according to an image obtained by shooting.
The inspection operation is a repetitive operation, the movable platform is expected to move to a preset inspection position point, the shooting device of the movable platform is adjusted to a preset shooting posture, and the shooting device is controlled to shoot so as to obtain an inspection reference image for detecting the working state of the inspection target.
However, control deviations exist when the position of the movable platform and/or the shooting posture of the shooting device are adjusted, and the control deviations can cause that the coincidence degree of the image actually acquired by the movable platform and the reference image is not ideal, so that the fault diagnosis precision of the patrol target by a worker is influenced.
Disclosure of Invention
The embodiment of the invention provides a movable platform and a routing inspection control method thereof, which are used for improving the coincidence degree of an image shot by a shooting device and a routing inspection reference image and improving the accuracy of detecting the working state of a routing inspection target so as to diagnose faults.
In a first aspect, an embodiment of the present invention provides a method for controlling inspection of a movable platform, where the movable platform includes a camera, and the method includes:
acquiring a reference inspection parameter of the movable platform at an inspection position point and an inspection reference image corresponding to the reference inspection parameter;
adjusting the current inspection parameters of the movable platform according to the reference inspection parameters, wherein the inspection parameters comprise positions and shooting postures of shooting devices;
acquiring a shot image of the shooting device;
and adjusting the current shooting attitude of the shooting device according to the shot image and the patrol reference image.
In a second aspect, embodiments of the present invention provide a movable platform, including a processor and a camera;
the shooting device is used for shooting images;
the processor is configured to:
acquiring a reference inspection parameter of the movable platform at an inspection position point and an inspection reference image corresponding to the reference inspection parameter;
adjusting the current inspection parameters of the movable platform according to the reference inspection parameters, wherein the inspection parameters comprise positions and shooting postures of shooting devices;
acquiring a shot image of the shooting device;
and adjusting the current shooting attitude of the shooting device according to the shot image and the patrol reference image.
In a third aspect, an embodiment of the present invention provides a readable storage medium, on which a computer program is stored; when executed, the computer program implements the inspection control method for a movable platform according to the first aspect of the present invention.
In a fourth aspect, an embodiment of the present invention provides a program product, where the program product includes a computer program, where the computer program is stored in a readable storage medium, and the computer program can be read by at least one processor of a movable platform from the readable storage medium, and the at least one processor executes the computer program to make the movable platform implement the patrol control method of the movable platform according to the first aspect.
According to the inspection control method of the movable platform and the movable platform provided by the embodiment of the invention, the current inspection parameter of the movable platform is adjusted according to the reference inspection parameter by acquiring the reference inspection parameter of the movable platform at the inspection position point and the inspection reference image corresponding to the reference inspection parameter, wherein the inspection parameter comprises the position and the shooting posture of the shooting device; acquiring a shot image of the shooting device; and adjusting the current shooting attitude of the shooting device according to the shot image and the patrol reference image. Because according to shoot the picture with patrol and examine the reference image adjustment shoot device's current shooting gesture, can reduce according to the reference is patrolled and examined the parameter adjustment but the deviation that exists when the parameter is patrolled and examined to the present of movable platform, and then improved the image that shoots the device and patrolled and examined the coincidence degree of reference image, improved the accuracy that detects the operating condition of patrolling and examining the target to carry out fault diagnosis.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the invention;
fig. 2 is a flowchart of a method for controlling routing inspection of a movable platform according to an embodiment of the present invention;
fig. 3 is an intention of comparison between a shot image and a patrol inspection reference image according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a plurality of different reference shot focal lengths according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides a movable platform and a routing inspection control method thereof. Wherein the movable platform can be an unmanned aerial vehicle, an unmanned ship, an unmanned automobile, a robot and the like. The drone may, for example, be a rotorcraft (rotorcraft), such as a multi-rotor aircraft propelled through air by a plurality of propulsion devices, to which embodiments of the present invention are not limited. It should be noted that, in the embodiment, an unmanned aerial vehicle is taken as an example for description, but the embodiment of the present invention is not limited to be applied to an unmanned aerial vehicle, and may be applied to other movable platforms, for example: unmanned vehicles, unmanned boats, robots, and the like.
FIG. 1 is a schematic architectural diagram of an unmanned flight system according to an embodiment of the invention. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.
The unmanned flight system 100 can include a drone 110, a display device 130, and a control terminal 140. The drone 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a pan-tilt 120 carried on the frame. The drone 110 may be in wireless communication with the control terminal 140 and the display device 130.
The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.
The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, the motors 152 and the propellers 153 are disposed on the horn of the drone 110; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.
The pan/tilt head 120 may include a motor 122. The pan/tilt head is used to carry the photographing device 123. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the motor 122 may be a dc motor or an ac motor. The motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.
The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The image capturing Device 123 of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 may also be directly fixed to the drone 110, such that the pan/tilt head 120 may be omitted.
The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used for displaying attitude information of the unmanned aerial vehicle 110. In addition, an image photographed by the photographing device may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.
The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110.
It should be understood that the above-mentioned nomenclature for the components of the unmanned flight system is for identification purposes only, and should not be construed as limiting embodiments of the present invention.
In the field of inspection, inspection work is repetitive work, a movable platform is expected to move to a preset inspection position point, a shooting device of the movable platform is adjusted to a preset shooting posture, and the shooting device is controlled to shoot so as to obtain an inspection reference image for detecting the state of an inspection target. In the actual inspection process, firstly, the unmanned aerial vehicle moves to an inspection operation point, then the shooting posture of the shooting device is adjusted, and the shooting device is controlled to shoot to obtain a current image after the adjustment is completed. If the coincidence degree of the current image and the routing inspection reference image is high, the fault diagnosis of the routing inspection target can be conveniently carried out by the working personnel. Because there can be the control deviation when the shooting gesture of the position of adjustment unmanned aerial vehicle and/or shooting device, these deviations can lead to that the image that the movable platform actually gathered and the coincidence degree of reference image are unsatisfactory, and then influence the staff to the fault diagnosis precision of patrolling and examining the target.
To solve the above problem, fig. 2 is a flowchart of an inspection control method for a movable platform according to an embodiment of the present invention, and as shown in fig. 2, the method of the embodiment may be applied to a movable platform including a camera. The movable platform may be, for example, a drone, and the present embodiment is not limited thereto. The method of the embodiment may include:
s201, acquiring reference inspection parameters of the movable platform at the inspection position point and an inspection reference image corresponding to the reference inspection parameters.
In this embodiment, the movable platform can acquire the reference patrol inspection parameter when patrolling the position point and the patrol inspection reference image corresponding to the reference patrol inspection parameter.
In a possible implementation manner, the reference inspection parameter and the inspection reference image corresponding to the reference inspection parameter may be acquired by other movable platforms, and then the movable platform in this embodiment acquires the reference inspection parameter acquired by the other movable platforms at the inspection position point and the inspection reference image corresponding to the reference inspection parameter.
In another possible implementation manner, the movable platform of this embodiment collects a reference patrol inspection parameter of the movable platform at a patrol inspection location point and a patrol inspection reference image corresponding to the reference patrol inspection parameter. For example: when the movable platform of the embodiment controls the movable platform to move to the inspection position point, the inspection parameter of the movable platform is recorded as a reference inspection parameter, the shooting device of the movable platform is controlled to shoot, and an image obtained by shooting is recorded as the inspection reference image. Optionally, the movable platform of this embodiment may perform the recording operation only when receiving a patrol parameter recording instruction sent by a terminal device (if the movable platform is the above-mentioned unmanned aerial vehicle 110, the terminal device may be the control terminal 140) in communication connection therewith. For example: the mobile platform can acquire images acquired by the shooting device and send the acquired images to the terminal equipment, the terminal equipment displays the acquired images through a display device (such as a display screen), when a user determines that the acquired images can be used as polling reference images through the display device, the user executes polling parameter recording operation on an interaction device (such as a touch screen) of the terminal equipment, and correspondingly, when the terminal equipment detects the polling parameter recording operation through the interaction device, a polling parameter recording instruction is sent to the mobile platform. Optionally, the patrol parameter recording instruction may be, for example, a shooting instruction, and the embodiment is not limited thereto.
In another possible implementation manner, the movable platform may obtain the reference patrol inspection parameter at the time of patrolling the location point and the patrol inspection reference image corresponding to the reference patrol inspection parameter from an external device, which may be, for example, a terminal device or a server communicatively connected to the movable platform. Alternatively, the external device may acquire, from the other movable platform, the reference patrol inspection parameter acquired by the other movable platform at the patrol inspection location point and the patrol inspection reference image corresponding to the reference patrol inspection parameter.
The inspection parameters can comprise positions and shooting postures of the shooting device; the shooting attitude includes at least one of: attitude in the roll direction, attitude in the yaw direction, attitude in the pitch direction. Accordingly, the reference patrol parameter may include a reference position and a reference photographing posture of the photographing apparatus, wherein the reference position may be a position of a patrol location point, which may be obtained by a GPS or an RTK device, for example.
Optionally, if the movable platform includes a cradle head, the shooting device is mounted on the cradle head, and the shooting attitude of the shooting device can be determined by the attitude of the cradle head. If the movable platform does not include the pan-tilt, the shooting attitude of the shooting device can be determined by the attitude of the movable platform. Therefore, the shooting attitude of the shooting device of the present embodiment can be determined by the attitude of the pan/tilt head carrying the shooting device and/or the attitude of the movable platform.
S202, adjusting the current inspection parameters of the movable platform according to the reference inspection parameters.
In this embodiment, the movable platform adjusts the current inspection parameter of the movable platform according to the reference inspection parameter. Wherein, the parameter of patrolling and examining corresponds with the reference parameter of patrolling and examining at present, and the parameter of patrolling and examining at present promptly can include: the current position of the movable platform and the current shooting attitude of the shooting device. Optionally, the current inspection parameter of the movable platform may be adjusted to the current inspection parameter.
Optionally, the inspection parameter may further include an imaging parameter of the camera, and accordingly, the reference inspection parameter may further include a reference imaging parameter of the camera, and the current inspection parameter may further include a current imaging parameter of the camera, where the imaging parameter may include an exposure time, an exposure gain, and the like.
Optionally, the adjusting the shooting posture of the shooting device may be: and adjusting the posture of a holder bearing the shooting device and/or the posture of the movable platform so as to adjust the shooting posture of the shooting device. If the movable platform comprises the cradle head for bearing the shooting device, the posture of the cradle head and/or the posture of the movable platform are/is adjusted to adjust the shooting posture of the shooting device. If the movable platform does not comprise a holder for bearing the shooting device, the posture of the movable platform is adjusted to adjust the shooting posture of the shooting device.
And S203, acquiring a shot image of the shooting device.
In this embodiment, the movable platform adjusts the current inspection parameter of the movable platform according to the reference inspection parameter, and then obtains the shot image of the shooting device in the movable platform.
And S204, adjusting the current shooting posture of the shooting device according to the shot image and the inspection reference image.
In this embodiment, since there may be a deviation when adjusting the current patrol inspection parameter of the movable platform, after the movable platform performs S203, the current shooting attitude of the shooting device in the movable platform is also adjusted according to the shot image and the patrol inspection reference image obtained in S203. After the movable platform adjusts the current shooting posture of the shooting device according to the shot image and the inspection reference image, the movable platform acquires the image shot by the shooting device again, and the image obtained at this time can be used for detecting the working state of the inspection target so as to carry out fault diagnosis.
Further, after the current shooting posture of the shooting device is adjusted, the shooting device is controlled to shoot and acquire a shooting image of the shooting device, and the shooting image is used for detecting the working state of the inspection target.
Optionally, the inspection reference image may include an image of the inspection target, so that it is ensured that the image of the inspection target is also included in the image captured by the capturing device after the current capturing posture of the capturing device is adjusted, so as to ensure that the image can be used for detecting the working state of the inspection target.
Optionally, after S204 is executed, the coincidence degree between the image captured by the capturing device and the inspection reference image is acquired to be greater than or equal to the preset coincidence degree. The coincidence degree of the image shot by the shooting device and the patrol inspection reference image after S204 is executed is as high as possible by the embodiment, and the coincidence degree of the image shot by the shooting device and the patrol inspection reference image is as high as possible because the patrol inspection reference image is an image favorable for detecting the working state of the patrol inspection target, so when the coincidence degree of the image shot by the shooting device and the patrol inspection reference image after S204 is executed is as high as possible, the working state of the patrol inspection target can be ensured to be more accurate during actual patrol inspection.
According to the inspection control method for the movable platform, the current inspection parameters of the movable platform are adjusted according to the reference inspection parameters by acquiring the reference inspection parameters of the movable platform at the inspection position point and the inspection reference images corresponding to the reference inspection parameters, wherein the inspection parameters comprise the position and the shooting posture of the shooting device; acquiring a shot image of the shooting device; and adjusting the current shooting attitude of the shooting device according to the shot image and the patrol reference image. Because according to shoot the picture with patrol and examine the reference image adjustment shoot device's current shooting gesture, can reduce according to the reference is patrolled and examined the parameter adjustment but the deviation that exists when the parameter is patrolled and examined to the present of movable platform, and then improved the image that shoots the device and patrolled and examined the coincidence degree of reference image, improved the accuracy that detects the operating condition of patrolling and examining the target to carry out fault diagnosis.
In some embodiments, a possible implementation manner of the foregoing S204 may include S2041 and S2042:
s2041, according to the shot image and the patrol inspection reference image, determining shooting posture deviation of the shooting device.
In this embodiment, the movable platform determines, according to a difference between the inspection reference image and the captured image of the capturing device, a capturing attitude deviation that needs to be adjusted when the capturing device captures the same image as the inspection reference image, where the capturing attitude deviation may include at least one of: attitude deviation in the pitch direction, attitude deviation in the roll direction, and attitude deviation in the yaw direction.
Wherein, one possible implementation manner of the S2041 is: acquiring a first position of a target object in the inspection reference image; and acquiring a second position of the target object in the shot image; then, the shooting attitude deviation of the shooting device is determined according to the deviation between the first position and the second position. In the present embodiment, the movable platform determines the target object in the patrol inspection reference image and acquires the position of the target object in the patrol inspection reference image, which is referred to as a first position, and the movable platform determines the same target object in the captured image and acquires the position of the same target object in the captured image, which is referred to as a second position. The target object may be a specific target, optionally, the target object may be, for example, an inspection target, and it is understood that the target object may also be other objects having specific features, for example, the target object may be a feature point (e.g., a corner point, etc.) in an image. Then, the movable platform determines the deviation between the first position and the second position according to the acquired first position and the acquired second position, as shown in fig. 3, the position of the target object in the inspection reference image is different from the position of the same target object in the captured image, wherein the deviations dx and dy between the two positions. And the movable platform determines the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position, and the elimination of the shooting attitude deviation can ensure that the position of the target object in the patrol inspection reference image is the same as the position of the target object in the shot image.
Optionally, one possible implementation manner of determining the deviation of the shooting attitude of the shooting device according to the deviation between the first position and the second position is as follows: and determining the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position and the field angle of the shooting device.
Wherein, one possible implementation manner of the S2041 is: the method comprises the steps of extracting a first characteristic point in an inspection reference image, finding a second characteristic point corresponding to the first characteristic point in a shot image, and determining shooting posture deviation of a shooting device according to the position of the first characteristic point in the inspection reference image and the position of the second characteristic point in the shot image.
And S2042, adjusting the current shooting attitude of the shooting device according to the shooting attitude deviation.
In this embodiment, after the shooting attitude deviation of the shooting device is determined, the current shooting attitude of the shooting device is adjusted according to the shooting attitude deviation. For example: the attitude of the holder of the shooting device and/or the attitude of the movable platform can be adjusted according to the shooting attitude deviation so as to adjust the current shooting attitude of the shooting device and eliminate the deviation between the shot image of the shooting device and the patrol reference image.
In some embodiments, the inspection parameter further includes a photographing focal length of the photographing device, the reference inspection parameter includes a reference photographing focal length of the photographing device, and the current inspection parameter includes a current photographing focal length of the photographing device. The inspection reference image is a reference image obtained by a camera (the camera may be the camera of the movable platform of the embodiment, or the camera of other movable platforms) at the reference shooting focal length.
Accordingly, one possible implementation manner of the foregoing S202 may further include: and adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length. That is, the movable platform of the present embodiment not only adjusts the current position of the movable platform to the reference position of the patrol location point, and adjusts the photographing posture of the photographing device to the reference photographing posture, but also adjusts the current photographing focal length of the photographing device by the reference photographing focal length. It should be noted that the movable platform of the present embodiment is not limited to adjusting these parameters, and may also adjust exposure parameters, for example. One possible implementation manner of S203 described above is: and acquiring a shot image of the shooting device under the reference shooting focal length. The movable platform of the present embodiment acquires a captured image of the photographing device in the movable platform at the reference photographing focal length. The patrol inspection reference image and the shot image of the embodiment are obtained at the same shooting focal length, so that the shooting posture of the adjusted shooting device is more accurate.
In some embodiments, the reference capture focal length of the capture device is one. That is, the reference patrol inspection parameter includes a reference position, a reference photographing attitude of the photographing apparatus, and a reference photographing focal length. The movable platform of this embodiment acquires the reference of movable platform when patrolling and examining the position point and patrols and examines the reference image that the parameter corresponds with the reference is patrolled and examined to according to this reference and patrolling and examining the parameter, control movable platform and remove to this reference position, adjust the present shooting gesture of shooting device to this reference shooting gesture, adjust the present shooting focus of shooting device to this reference shooting focus. It should be noted that, if the shooting focal length of the shooting device before adjustment is equal to the reference shooting focal length, it may not be necessary to adjust the current shooting focal length of the shooting device, such as non-zoom shooting of the shooting device, and the shooting focal lengths at the inspection position points of the movable platform in the inspection process are the same. Then the movable platform obtains the shooting image of the shooting device under the reference shooting focal length, and then the current shooting attitude of the shooting device is adjusted according to the shooting image and the patrol reference image which are obtained under the same focal length. After the current shooting posture of the shooting device is adjusted, the shooting device is controlled to shoot and obtain a shooting image of the shooting device, and the shooting image is used for detecting the working state of the inspection target.
Optionally, the reference polling parameter and the polling reference image may be collected by the movable platform of this embodiment, that is, the movable platform of this embodiment controls the movable platform to move to the polling location point, record the current position of the movable platform as the reference position, record the current shooting attitude of the shooting device as the reference shooting attitude, record the current shooting focal length of the shooting device as the reference shooting focal length, and control the shooting device to shoot, and record the image obtained by shooting under the reference shooting focal length as the polling reference image. It should be noted that the reference of the patrol inspection parameters and the patrol inspection reference image may be performed by other movable platforms.
In some embodiments, the reference shooting focal lengths include a plurality of different reference shooting focal lengths, and the inspection reference image includes a plurality of inspection reference images, where the plurality of inspection reference images are reference images acquired at the plurality of different reference shooting focal lengths, respectively.
Correspondingly, one possible implementation manner of adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length according to the reference shooting focal length is as follows: and respectively adjusting the current shooting focal length of the shooting device of the movable platform to the plurality of different reference shooting focal lengths according to the sequence of the focal lengths from small to large. One possible implementation manner of acquiring the shot image of the shooting device at the reference shooting focal length is as follows: and acquiring the shot images of the shooting device at the plurality of different reference shooting focal lengths respectively. One possible implementation manner of adjusting the current shooting posture of the shooting device according to the shot image and the patrol reference image is as follows: and respectively adjusting the current shooting postures of the shooting device according to the shooting images under the different reference shooting focal lengths and the patrol inspection reference images corresponding to the reference shooting focal lengths. After the current shooting posture of the shooting device is adjusted, the shooting device is controlled to shoot and obtain a shooting image of the shooting device, and the shooting image is used for detecting the working state of the inspection target.
The inspection camera includes a reference position, a reference camera pose of the camera, and a plurality of different reference camera focal lengths, where n is an integer greater than or equal to 2, the plurality of different reference camera focal lengths are f1, f2, …, fn in descending order, and optionally, the focal length difference between adjacent camera focal lengths is the same value △ f, as shown in fig. 4, the inspection camera reference image includes a plurality of inspection camera reference images, i.e., inspection camera reference images 1, f2 obtained under inspection camera focal length f1, inspection camera reference images 2, …, fn obtained under inspection camera reference images n, the movable platform of the present embodiment obtains the reference camera parameters of the movable platform at the inspection camera focal length point and inspection camera reference images corresponding to the reference camera focal length f, and controls the movable platform to move to the reference position according to the reference camera focal length f, and adjusts the current camera pose of the camera to the reference camera focal length of the movable platform according to the inspection camera focal length of the inspection camera focal length f1, the inspection camera focal length of the movable platform 2 to the inspection camera focal length of the inspection camera focal length f, the inspection camera focal length of the inspection camera 2, the movable platform is equal to the camera focal length of the inspection camera focus of the inspection camera 2, the camera focus of the inspection camera focus of the inspection camera, the camera focus of the camera 2, the camera focus of the camera is adjusted to the camera focus of the camera 2, the camera focus of the camera 2, the camera focus of the camera, the camera 2, the camera focus of the camera 2 of the camera is adjusted to focus of the camera 2 of the camera focus of the camera, the camera 2 of the camera focus of the camera, the camera 2 when the camera is adjusted to the camera, the camera focus of the camera 2 of the camera is adjusted to the camera, the camera focus of the camera is adjusted camera, the camera 2 of the camera focus of the camera, the camera focus of the camera 2 of the camera is adjusted camera, the camera 2 of the camera focus of the camera, the camera is adjusted camera, the.
Optionally, the reference patrol inspection parameter and the patrol inspection reference image may be acquired by the movable platform of the embodiment, that is, when the movable platform of the embodiment controls the movable platform to move to the patrol inspection position point, the current position of the movable platform is recorded as the reference position, and the current shooting posture of the shooting device is recorded as the reference shooting posture. Recording the current shooting focal length fn of the shooting device as a reference shooting focal length fn, controlling the shooting device to shoot, and recording an image obtained by shooting under the reference shooting focal length fn as the inspection reference image n, wherein the reference shooting focal length fn is a shooting focal length used for detecting the working state of the inspection target when the movable platform is in an inspection position point. Then, the movable platform adjusts the current shooting focal length of the shooting device from fn to f (n-1), records the current shooting focal length f (n-1) of the shooting device as a reference shooting focal length f (n-1), controls the shooting device to shoot, and records the image under the reference shooting focal length f (n-1) obtained by shooting as the inspection reference image n-1. And so on. And the movable platform adjusts the current shooting focal length of the shooting device from f2 to f1, records the current shooting focal length f1 of the shooting device as a reference shooting focal length f1, controls the shooting device to shoot, and records the shot image under the reference shooting focal length f (n-1) as the patrol inspection reference image 1. Therefore, the movable platform of the present embodiment can acquire different patrol inspection reference images n to patrol inspection reference image 1 obtained by the photographing device at a plurality of different photographing focal lengths fn to f1, respectively, so as to be used for current photographing attitude adjustment of the subsequent photographing device. It should be noted that the scheme of how to record the reference photographing focal distances f1 to fn and the patrol inspection reference images n to patrol inspection reference image 1 may be performed by other movable platforms.
The embodiment of the invention also provides a computer storage medium, wherein the computer storage medium stores program instructions, and when the program is executed, the program can comprise part or all steps of the routing inspection control method of the movable platform as shown in fig. 2 and the corresponding embodiment thereof.
Fig. 5 is a schematic structural diagram of a movable platform according to an embodiment of the present invention, and as shown in fig. 5, the movable platform 500 of the present embodiment may include a processor 501 and a camera 502; the processor 501 and the camera 502 are connected by a bus.
The shooting device 502 is used for shooting images.
The processor 501 is configured to:
acquiring a reference inspection parameter of the movable platform 500 at an inspection position point and an inspection reference image corresponding to the reference inspection parameter;
adjusting the current inspection parameters of the movable platform 500 according to the reference inspection parameters, wherein the inspection parameters comprise positions and shooting postures of shooting devices;
acquiring a shot image of the shooting device 502;
and adjusting the current shooting posture of the shooting device 502 according to the shot image and the patrol inspection reference image.
In some embodiments, the coincidence degree between the image obtained by shooting by the shooting device 502 after the current shooting posture is adjusted and the patrol inspection reference image is greater than or equal to a preset coincidence degree.
In some embodiments, the processor 501 is specifically configured to:
determining the shooting attitude deviation of the shooting device 502 according to the shot image and the patrol inspection reference image;
and adjusting the current shooting attitude of the shooting device 502 according to the shooting attitude deviation.
In some embodiments, the processor 501 is specifically configured to:
acquiring a first position of a target object in the inspection reference image;
acquiring a second position of the target object in the shot image;
and determining the shooting attitude deviation of the shooting device 502 according to the deviation between the first position and the second position.
In some embodiments, the processor 501 is specifically configured to:
the photographing attitude deviation of the photographing device 502 is determined according to the deviation between the first position and the second position and the angle of view of the photographing device 502.
In some embodiments, the inspection parameter further includes a photographing focal length of the photographing device, the reference inspection parameter includes a reference photographing focal length of the photographing device, the inspection reference image is a reference image acquired by the photographing device at the reference photographing focal length, wherein,
the processor 501 is further configured to: adjusting a current photographing focal length of the photographing device 502 of the movable platform 500 to the reference photographing focal length;
when acquiring the captured image of the capturing device 502, the processor 501 is specifically configured to: a captured image of the camera 502 at the reference focal length is acquired.
In some embodiments, the reference capture focal length of the capture device 502 is one.
In some embodiments, the reference photographing focal length includes a plurality of different reference photographing focal lengths, and the patrol inspection reference image includes a plurality of frame patrol inspection reference images, wherein the plurality of frame patrol inspection reference images are respectively reference images acquired at the plurality of different reference photographing focal lengths,
when the current shooting focal length of the shooting device 502 of the movable platform 500 is adjusted to the reference shooting focal length according to the reference shooting focal length, the processor 501 is specifically configured to: respectively adjusting the current shooting focal length of the shooting device 502 of the movable platform 500 to the plurality of different reference shooting focal lengths in the order from small to large;
when the processor 501 acquires the captured image of the capturing device 502 at the reference capturing focal length, it is specifically configured to: acquiring the shot images of the shooting device 502 at the plurality of different reference shooting focal lengths respectively;
when the processor 501 adjusts the current shooting posture of the shooting device 502 according to the shot image and the patrol inspection reference image, the processor is specifically configured to: and respectively adjusting the current shooting postures of the shooting devices 502 according to the shot images under the different reference shooting focal lengths and the patrol inspection reference images corresponding to the reference shooting focal lengths.
In some embodiments, the patrol inspection reference image includes an image of a patrol inspection target.
In some embodiments, when adjusting the shooting pose of the shooting device 502, the processor 501 is specifically configured to: the posture of the movable platform 500 is adjusted to adjust the photographing posture of the photographing device 502.
In some embodiments, the movable platform may further include a cradle head (not shown) for carrying the camera 502, and the cradle head and the processor 501 may be communicatively connected through a bus. When adjusting the shooting posture of the shooting device 502, the processor 501 is specifically configured to:
and adjusting the posture of the holder carrying the shooting device 502 and/or the posture of the movable platform 500 so as to adjust the shooting posture of the shooting device 502.
In some embodiments, the processor 501 is further configured to, before obtaining a reference inspection parameter and an inspection reference image of an inspection position point of the movable platform 500, record the inspection parameter of the movable platform 500 as the reference inspection parameter when the movable platform 500 is controlled to move to the inspection position point, and control the shooting device 502 to shoot, and record a shot image as the inspection reference image.
Optionally, the movable platform 500 of the present embodiment may further include: a memory (not shown) for storing program code, the removable platform 500 being adapted to implement the above-mentioned aspects when the program code is executed.
The movable platform of this embodiment may be used to implement the technical solutions of the movable platform in the above method embodiments of the present invention, and the implementation principles and technical effects are similar, and are not described herein again.
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: various media capable of storing program codes, such as a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
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 (23)
1. A patrol inspection control method for a movable platform, wherein the movable platform comprises a shooting device, is characterized by comprising the following steps:
acquiring a reference inspection parameter of the movable platform at an inspection position point and an inspection reference image corresponding to the reference inspection parameter;
adjusting the current inspection parameters of the movable platform according to the reference inspection parameters, wherein the inspection parameters comprise positions and shooting postures of shooting devices;
acquiring a shot image of the shooting device;
and adjusting the current shooting attitude of the shooting device according to the shot image and the patrol reference image.
2. The method according to claim 1, characterized in that the coincidence degree of the image obtained by shooting by the shooting device after the current shooting posture is adjusted and the patrol inspection reference image is greater than or equal to a preset coincidence degree.
3. The method according to claim 1 or 2, wherein the adjusting the current photographing posture of the photographing apparatus according to the photographed image and the inspection reference image includes:
determining the shooting attitude deviation of the shooting device according to the shot image and the patrol reference image;
and adjusting the current shooting attitude of the shooting device according to the shooting attitude deviation.
4. The method according to claim 3, wherein the determining of the deviation of the photographing posture of the photographing apparatus based on the photographed image and the inspection reference image includes:
acquiring a first position of a target object in the inspection reference image;
acquiring a second position of the target object in the shot image;
and determining the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position.
5. The method of claim 4, wherein determining the photographing attitude deviation of the photographing device according to the deviation between the first position and the second position comprises:
and determining the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position and the field angle of the shooting device.
6. The method according to any one of claims 1 to 5, wherein the inspection parameters further include a photographing focal length of the photographing device, the reference inspection parameters include a reference photographing focal length of the photographing device, the inspection reference image is a reference image acquired by the photographing device at the reference photographing focal length, wherein,
according to the parameter is patrolled and examined in the reference, adjust the current parameter of patrolling and examining of movable platform still includes:
adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length;
the acquiring of the shot image of the shooting device includes:
and acquiring a shot image of the shooting device under the reference shooting focal length.
7. The method of claim 6, wherein the reference capture focal length of the capture device is one.
8. The method according to claim 6, wherein the reference photographing focal length includes a plurality of different reference photographing focal lengths, and the patrol inspection reference image includes a multi-frame patrol inspection reference image, wherein the multi-frame patrol inspection reference images are reference images acquired at the plurality of different reference photographing focal lengths, respectively,
the adjusting a current shooting focal length of a shooting device of the movable platform to the reference shooting focal length according to the reference shooting focal length includes:
respectively adjusting the current shooting focal length of the shooting device of the movable platform to the plurality of different reference shooting focal lengths according to the sequence of the focal lengths from small to large;
the acquiring of the shot image of the shooting device at the reference shooting focal length includes:
respectively acquiring shot images of the shooting device under the plurality of different reference shooting focal lengths;
according to shoot the image with patrol and examine the reference image, adjust shooting device's present shooting gesture includes:
and respectively adjusting the current shooting postures of the shooting device according to the shooting images under the different reference shooting focal lengths and the patrol inspection reference images corresponding to the reference shooting focal lengths.
9. The method according to any one of claims 1 to 8, wherein the inspection reference image includes an image of an inspection target.
10. The method according to any one of claims 1-9, wherein the adjusting the photographing posture of the photographing apparatus comprises:
and adjusting the posture of a holder bearing the shooting device and/or the posture of the movable platform so as to adjust the shooting posture of the shooting device.
11. The method according to any one of claims 1-10, wherein the obtaining the reference inspection parameters of the movable platform at the inspection location point and the inspection reference image further comprises:
and controlling the movable platform to move to the inspection position point, recording the inspection parameters of the movable platform as reference inspection parameters, controlling the shooting device to shoot, and recording the shot images as the inspection reference images.
12. A movable platform, comprising a processor and a camera;
the shooting device is used for shooting images;
the processor is configured to:
acquiring a reference inspection parameter of the movable platform at an inspection position point and an inspection reference image corresponding to the reference inspection parameter;
adjusting the current inspection parameters of the movable platform according to the reference inspection parameters, wherein the inspection parameters comprise positions and shooting postures of shooting devices;
acquiring a shot image of the shooting device;
and adjusting the current shooting attitude of the shooting device according to the shot image and the patrol reference image.
13. The movable platform according to claim 12, wherein the coincidence degree of the image obtained by shooting by the shooting device after the current shooting posture is adjusted and the patrol inspection reference image is greater than or equal to a preset coincidence degree.
14. The movable platform of claim 12 or 13, wherein the processor is specifically configured to:
determining the shooting attitude deviation of the shooting device according to the shot image and the patrol reference image;
and adjusting the current shooting attitude of the shooting device according to the shooting attitude deviation.
15. The movable platform of claim 14, wherein the processor is specifically configured to:
acquiring a first position of a target object in the inspection reference image;
acquiring a second position of the target object in the shot image;
and determining the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position.
16. The movable platform of claim 15, wherein the processor is specifically configured to:
and determining the shooting attitude deviation of the shooting device according to the deviation between the first position and the second position and the field angle of the shooting device.
17. The movable platform according to any one of claims 12-16, wherein the inspection parameters further include a camera focal length of the camera, the reference inspection parameters include a reference camera focal length of the camera, the inspection reference image is a reference image acquired by the camera at the reference camera focal length, wherein,
the processor is further configured to: adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length;
the processor is specifically configured to, when acquiring a captured image of the capturing device: and acquiring a shot image of the shooting device under the reference shooting focal length.
18. The movable platform of claim 17, wherein the camera has a reference camera focal length of one.
19. The movable platform of claim 17, wherein the reference shot focal length includes a plurality of different reference shot focal lengths, the patrol reference images include multi-frame patrol reference images, wherein the multi-frame patrol reference images are respectively reference images acquired at the plurality of different reference shot focal lengths,
the processor is specifically configured to, when adjusting the current shooting focal length of the shooting device of the movable platform to the reference shooting focal length according to the reference shooting focal length: respectively adjusting the current shooting focal length of the shooting device of the movable platform to the plurality of different reference shooting focal lengths according to the sequence of the focal lengths from small to large;
the processor is specifically configured to, when acquiring a captured image of the capturing device at the reference capturing focal length: respectively acquiring shot images of the shooting device under the plurality of different reference shooting focal lengths;
the processor is according to shoot the image with patrol and examine the reference image, when adjusting shooting device's present shooting gesture, specifically be used for: and respectively adjusting the current shooting postures of the shooting device according to the shooting images under the different reference shooting focal lengths and the patrol inspection reference images corresponding to the reference shooting focal lengths.
20. The movable platform of any one of claims 12-19, wherein the inspection reference image includes an image of an inspection target.
21. The movable platform of any one of claims 12-20, wherein the processor, when adjusting the camera pose of the camera, is specifically configured to:
and adjusting the posture of a holder bearing the shooting device and/or the posture of the movable platform so as to adjust the shooting posture of the shooting device.
22. The movable platform according to any one of claims 12-21, wherein the processor is further configured to record the inspection parameters of the movable platform as reference inspection parameters and control the camera to capture an image of the inspection reference image when the movable platform is controlled to move to the inspection location point before the reference inspection parameters and the inspection reference image of the inspection location point are acquired.
23. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program, when executed, implements a method of routing inspection control for a movable platform according to any one of claims 1-11.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/076200 WO2020172800A1 (en) | 2019-02-26 | 2019-02-26 | Patrol control method for movable platform, and movable platform |
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| Publication Number | Publication Date |
|---|---|
| CN111316185A true CN111316185A (en) | 2020-06-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980005379.6A Pending CN111316185A (en) | 2019-02-26 | 2019-02-26 | Inspection control method of movable platform and movable platform |
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| WO (1) | WO2020172800A1 (en) |
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| WO2020172800A1 (en) | 2020-09-03 |
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