CN112562289A - Anti-loss method, device, equipment and storage medium of image collector - Google Patents
Anti-loss method, device, equipment and storage medium of image collector Download PDFInfo
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Abstract
The invention discloses an anti-loss method, device, equipment and storage medium of an image collector. The method comprises the following steps: and acquiring state information of the image collector, wherein the state information comprises a dismounting state and an access state, and when the state information of the image collector is changed from the access state to the dismounting state, sending pickup reminding information to the user terminal to remind a user to pick up the image collector. When the image collector is separated from the unmanned operation equipment, the user is reminded of picking up the image collector in time, the image collector is prevented from being lost due to the fact that the user forgets to pick up the image collector, and further unnecessary loss of the user is avoided.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned operation, in particular to an anti-loss method, device, equipment and storage medium of an image collector.
Background
With the continuous improvement of agricultural mechanization level, unmanned operation equipment (such as plant protection unmanned vehicles and unmanned aerial vehicles) gradually becomes the main mode of agricultural production links of farming, irrigation, intertillage, plant protection, harvesting and the like of crops in various regions at present.
The unmanned aerial vehicle is generally mounted with an image pickup device and a work box. The work box stores the contents required by the work, such as pesticides, expenses, plant seeds and the like, and the contents are sprayed out through a nozzle on the unmanned operation equipment during the traveling of the unmanned operation equipment. The image collector is used for collecting images of the operation area in the process of moving the unmanned operation equipment so as to analyze the growth condition of crops and the like according to the images of the operation area.
However, in the case of the unmanned aerial vehicle in which the image collector and the work box are mounted at the same time, it is generally necessary to detach the image collector from the unmanned aerial vehicle in order to prevent the image collector from being contaminated by the contents sprayed from the unmanned aerial vehicle during work. However, after the image collector is detached, the user often forgets to pick up the image collector after the operation is completed, so that the image collector is lost, and the user is lost.
Disclosure of Invention
The invention provides an anti-loss method, an anti-loss device, anti-loss equipment and an anti-loss storage medium for an image collector, which are used for reminding a user of picking up the image collector in time, avoiding the situation that the image collector is lost due to the fact that the user forgets to pick up the image collector, and further avoiding unnecessary loss of the user.
In a first aspect, an embodiment of the present invention provides an anti-loss method for an image collector, which is applied to an unmanned operation device loaded with an image collector, and the method includes:
acquiring state information of an image collector, wherein the state information comprises a dismounting state and an access state;
and when the state information of the image collector is changed from the access state to the removal state, sending pickup reminding information to a user terminal to remind a user of picking up the image collector.
Optionally, when the state information of the image collector changes from the access state to the removal state, sending a pickup prompting message to the user terminal, including:
when the state information of the image collector is changed from an access state to a removal state, recording first position information of current unmanned operation equipment as position information of the image collector;
and sending pickup reminding information to a user terminal to remind a user of picking up the image collector, wherein the pickup information comprises the position information of the image collector.
Optionally, before sending the pickup reminding information to the user terminal, the method further includes:
acquiring position information of the user terminal and second position information of the unmanned operation equipment;
calculating a first distance between the user terminal and the unmanned operation equipment based on the position information and the second position information of the user terminal;
calculating a second distance between the unmanned operation equipment and the image collector based on the second position information and the position information of the image collector;
and when the first distance and the second distance are both greater than a preset safety distance, determining to send pickup reminding information to the user terminal.
Optionally, after sending the pickup reminding information to the user terminal, the method further includes:
after the operation task of the unmanned operation equipment is completed, if the picked-up information fed back by the user terminal is not received yet, the unmanned operation equipment is controlled to return to the position of the image collector, wherein the picked-up information is information fed back to the unmanned operation equipment by the user terminal after the image collector is picked up by the user;
and when the unmanned operation equipment returns to the position of the image collector, sending recovery reminding information to the user terminal to remind a user of recovering the unmanned operation equipment and the image collector.
In a second aspect, an embodiment of the present invention further provides an anti-loss method for an image collector, which is applied to a user terminal, where the method includes:
and responding to the picking reminding information sent by the unmanned operation equipment, and sending a picking reminding to remind a user to pick up the image collector.
Optionally, the picking-up reminding information includes position information of the image collector, and after responding to the picking-up reminding information sent by the unmanned working equipment, the method further includes:
and generating a navigation prompt based on the position information of the image collector and the current position information of the user terminal so as to prompt a user to go to the position of the image collector according to a navigation path.
Optionally, generating a navigation prompt based on the position information of the image collector and the current position information of the user terminal, including:
acquiring the orientation of the user terminal;
calculating a third distance between the user terminal and the image collector based on the current position information of the user terminal and the position information of the image collector;
generating a navigation prompt based on the orientation of the user terminal and the third distance.
Optionally, generating a navigation prompt based on the position information of the image collector and the current position information of the user terminal, including:
acquiring boundary information of a working area;
calculating the relative distance of the image collector relative to the boundary of the operation area according to the boundary information and the position information of the image collector;
and generating a navigation prompt based on the relative distance of the image collector relative to the boundary of the working area.
Optionally, the navigation prompt includes a distance prompt tone, and the method further includes:
calculating a third distance between the user terminal and the image collector based on the current position information of the user terminal and the position information of the image collector;
and changing the volume or frequency of the distance prompt tone based on the size of the third distance.
In a third aspect, an embodiment of the present invention further provides an anti-lost device, which is applied to an unmanned aerial vehicle equipped with an image collector, and the device includes:
the image acquisition device comprises a state information acquisition module, a state information acquisition module and a state information acquisition module, wherein the state information acquisition module is used for acquiring the state information of the image acquisition device, and the state information comprises a dismounting state and an access state;
and the reminding information sending module is used for sending picking reminding information to the user terminal to remind a user to pick up the image collector when the state information of the image collector is changed from the access state to the removal state.
In a fourth aspect, an embodiment of the present invention further provides an anti-loss device, which is applied to a user terminal, and the device includes:
and the reminding module is used for responding to the picking reminding information sent by the unmanned operation equipment and sending a picking reminding so as to remind a user of picking the image collector.
In a fifth aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for preventing the image collector from being lost according to the first aspect of the present invention.
In a sixth aspect, an embodiment of the present invention further provides a user terminal, including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for preventing the image collector from being lost according to the second aspect of the present invention.
In a seventh aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for preventing an image capturing device from being lost according to the first aspect of the present invention, or implements the method for preventing an image capturing device from being lost according to the second aspect of the present invention.
The anti-loss method of the image collector provided by the embodiment of the invention is applied to unmanned operation equipment loaded with the image collector, and comprises the following steps: and acquiring state information of the image collector, wherein the state information comprises a dismounting state and an access state, and when the state information of the image collector is changed from the access state to the dismounting state, sending pickup reminding information to the user terminal to remind a user to pick up the image collector. Therefore, when the image collector is separated from the unmanned operation equipment, the user is reminded of picking up the image collector in time, the image collector is prevented from being lost due to the fact that the user forgets to pick up the image collector, and further unnecessary loss of the user is avoided.
Drawings
Fig. 1 is a flowchart of an anti-loss method for an image collector according to an embodiment of the present invention;
fig. 2 is a flowchart of an anti-loss method for an image collector according to a second embodiment of the present invention;
fig. 3A is a flowchart of an anti-loss method for an image collector according to a fourth embodiment of the present invention;
FIG. 3B is a schematic diagram of a navigation interface according to an embodiment of the present invention;
FIG. 3C is a schematic view of another navigation interface provided by the embodiments of the present invention;
FIG. 3D is a schematic diagram of another navigation interface provided by embodiments of the present invention;
fig. 4 is a diagram illustrating an anti-lost device according to a fifth embodiment of the present invention;
fig. 5 is a diagram of an anti-lost device according to a sixth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an unmanned aerial vehicle according to a seventh embodiment of the present invention;
fig. 7 is a schematic structural diagram of a user terminal according to an eighth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an anti-loss method for an image capturing device according to an embodiment of the present invention, where the method is applicable to a situation where an image capturing device is lost, and the method can be executed by an anti-loss device provided in an embodiment of the present invention, and the device can be implemented in a software and/or hardware manner and integrated in an unmanned operating device, as shown in fig. 1, the method specifically includes the following steps:
and S101, acquiring the state information of the image collector.
In the embodiment of the invention, the unmanned operation equipment receives the operation instruction from the user terminal and generates the unloading request when the image collector and the operation box are judged to be in the access state. The unmanned operation equipment can directly execute the unloading operation according to the unloading request, and the image collector is unloaded from the unmanned operation equipment. The unmanned operation equipment can also send the removal request to the user terminal, so that the user can determine whether to remove the image collector. When the user decides to dismount, the mobile terminal responds to the operation of the user and sends a dismounting instruction to the unmanned operation equipment, and the unmanned operation equipment demounts the image acquisition equipment according to the dismounting instruction.
Exemplarily, the unmanned operation device can be a plant protection unmanned aerial vehicle or a plant protection unmanned vehicle, and the unmanned operation device is used for agriculture and forestry plant protection operation. The user terminal may be a personal computer, a tablet computer, a smart phone, or the like, and the embodiment of the present invention is not limited herein. The user terminal can be in communication connection with the unmanned operation equipment so as to carry out information interaction. Illustratively, the user terminal is loaded with an application program for controlling the unmanned aerial vehicle, by which the unmanned aerial vehicle can be controlled. Specifically, the user terminal may be directly connected to the unmanned operation device, or may be indirectly connected to the unmanned operation device through the server, which is not limited in this embodiment of the present invention.
When a user prepares a job using the unmanned aerial vehicle, the user performs an operation on a user terminal, the user terminal generates a job instruction in response to the operation of the user and transmits the job instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle receives the job instruction. Illustratively, a user may generate a job instruction by triggering a "start job" button on the application interface and send the job instruction to the unmanned working device.
The work box stores the contents required by the work, such as pesticides, expenses, plant seeds and the like, and the contents are sprayed out through a nozzle on the unmanned operation equipment during the traveling of the unmanned operation equipment. The image collector is used for collecting images of the operation area in the process of advancing of the unmanned operation equipment so as to analyze the growth condition of crops and the like according to the images of the operation area; of course, the image collector can also be used for mapping the land to be worked before the unmanned working equipment works. In the embodiment of the present invention, the image collector may be a monocular camera, a binocular camera, or a multi-view camera, which is not limited herein. The image capturing device may be used to capture a picture or a video stream, and the embodiment of the present invention is not limited herein.
The state information comprises an access state or a removal state, wherein when the image collector or the operation box is separated from the unmanned operation equipment, the image collector or the operation box is considered to be in the removal state, and when the image collector or the operation box is normally arranged on the unmanned operation equipment, the image collector or the operation box is considered to be in the access state. Specifically, when the image collector or the operation box is normally arranged on the unmanned operation equipment, the image collector or the operation box is directly and electrically connected with the unmanned operation equipment through a pluggable quick connector, and the image collector or the operation box feeds back self state information (namely, access state) in real time through electric contact; when the image collector or the operation box is separated from the unmanned operation equipment, the electric connection between the image collector or the operation box and the unmanned operation equipment is cut off, and the unmanned operation equipment cannot receive the feedback of the image collector or the operation box, namely the image collector or the operation box is in a dismounting state. In another example, information of a position for receiving the image collector or the work box in the unmanned working equipment can be detected in a contact manner by a pressure sensor or the like, so that whether the image collector or the work box is loaded in the unmanned working equipment or not can be determined by the change of the pressure signal. In still another example, whether the image collector or the work box is loaded in the unmanned working equipment can be determined by detecting whether a signal at a position for installing the image collector or the work box in the unmanned working equipment is blocked in a non-contact manner such as a photoelectric sensor. Therefore, the state information of the image collector and the work box can be known through any mode.
S102, when the state information of the image collector is changed from the access state to the removal state, sending picking reminding information to the user terminal.
In the embodiment of the invention, when the state information of the image collector is changed from the access state to the removal state, namely the image collector is removed from the unmanned operation equipment, the picking reminding information is sent to the user terminal. The user terminal responds to the reminding information and sends out a picking reminding to remind the user of picking up the image collector. Illustratively, the pick-up reminder may be a simple sound, light, text, or other prompt, or may include location information of the image collector, and the user may pick up the image collector according to the location information.
The anti-loss method of the image collector provided by the embodiment of the invention is applied to unmanned operation equipment loaded with the image collector, and comprises the following steps: and acquiring state information of the image collector, wherein the state information comprises a dismounting state and an access state, and when the state information of the image collector is changed from the access state to the dismounting state, sending pickup reminding information to the user terminal to remind a user to pick up the image collector. When the image collector is separated from the unmanned operation equipment, the user is reminded of picking up the image collector in time, the image collector is prevented from being lost due to the fact that the user forgets to pick up the image collector, and further unnecessary loss of the user is avoided.
Example two
Fig. 2 is a flowchart of an anti-loss method for an image collector according to a second embodiment of the present invention, which is optimized based on the first embodiment of the present invention, and describes in detail detailed procedures of steps in the embodiment of the present invention, specifically, as shown in fig. 2, the method according to the second embodiment of the present invention may include the following steps:
s201, acquiring state information of the image collector.
In the embodiment of the invention, the unmanned operation equipment receives the operation instruction from the user terminal and generates the unloading request when the image collector and the operation box are judged to be in the access state. The unmanned operation equipment can directly execute the unloading operation according to the unloading request, and the image collector is unloaded from the unmanned operation equipment. The unmanned operation equipment can also send the removal request to the user terminal, so that the user can determine whether to remove the image collector. When the user decides to dismount, the mobile terminal responds to the operation of the user and sends a dismounting instruction to the unmanned operation equipment, and the unmanned operation equipment demounts the image acquisition equipment according to the dismounting instruction.
The state information includes an access state or a tear-down state. When the image collector is normally equipped to be separated from the unmanned operation equipment, the unmanned operation equipment cannot receive the feedback of the image collector, namely, the image collector is in a dismounting state.
S202, when the state information of the image collector is changed from the access state to the removal state, recording first position information of the current unmanned operation equipment as the position information of the image collector.
In the embodiment of the invention, the unmanned operation equipment is provided with a positioning module, and the positioning module is used for acquiring the position information of the unmanned operation equipment in real time. The position information may be real geographical position information of the unmanned aerial vehicle, or may be a relative position of the unmanned aerial vehicle in the working area, which is not limited herein in the embodiment of the present invention. When the state information of the image collector is changed from the access state to the dismounting state, namely the image collector is dismounted from the unmanned operation equipment, recording the first position information of the current unmanned operation equipment as the position information of the image collector, namely the position of the unmanned operation equipment when the image collector is dismounted is taken as the position of the image collector.
And S203, sending pickup reminding information to the user terminal to remind the user of picking up the image collector.
Specifically, the pickup information includes position information of the image pickup device. After receiving the picking reminding information, the user terminal can pick up the image collector according to the position information of the image collector.
In some embodiments of the invention, in order to guarantee the personal safety of the user, the picking reminding information can be sent to the user after the image collector is detached and the unmanned operation equipment takes off and is away from the image collector for a certain distance, so that the user is prevented from being injured when picking up the image collector. Based on this, before the step S203, the method may further include:
and S204, acquiring the position information of the user terminal and the second position information of the unmanned operation equipment.
And acquiring the position information of the user terminal and the second position information of the unmanned operation equipment. At this time, the second position information of the unmanned aerial vehicle is position information after the unmanned aerial vehicle takes off operation.
And S205, calculating a first distance between the user terminal and the unmanned operation equipment based on the position information of the user terminal and the second position information.
Specifically, the position information of the user terminal and the second position information may include coordinate information, and the first distance between the user terminal and the unmanned aerial vehicle is calculated through the coordinate information of the user terminal and the second position information.
And S206, calculating a second distance between the unmanned operation equipment and the image collector based on the second position information and the position information of the image collector.
Specifically, the second position information of the unmanned aerial vehicle and the position information of the image acquirer may include coordinate information, and the second distance between the unmanned aerial vehicle and the image acquirer is calculated according to the coordinate information of the unmanned aerial vehicle and the image acquirer.
And S207, when the first distance and the second distance are both larger than the preset safety distance, determining to send the picking reminding information to the user terminal.
Therefore, when the first distance and the second distance are both larger than the preset safety distance, the picking reminding information is determined to be sent to the user terminal, the current position of the user and the position where the user needs to pick up the image collector can be kept in a safety range with the unmanned operation equipment in a double verification mode, and the user is prevented from being injured by the unmanned operation equipment when returning to the image collector.
In some cases, although the user may be reminded to pick up the image collector by the reminding method, it is inevitable that the user cannot pick up the image collector in time due to some reasons, and in order to solve the problem and reduce the possibility that the image collector is forgotten due to insufficient reminding as much as possible, in an embodiment, the embodiment of the present invention may further include the following steps:
and S208, after the operation task of the unmanned operation equipment is finished, if the picked-up information fed back by the user terminal is not received, controlling the unmanned operation equipment to return to the position of the image collector.
Specifically, after receiving a pickup prompt sent by the user terminal, the user goes to the pickup image collector, and after picking up the image collector, the user terminal feeds back the picked-up information to the unmanned working equipment to inform the unmanned working equipment that the image collector has been picked up.
And if the unmanned operation equipment does not receive the picked information fed back by the user terminal after the operation task is finished, controlling the unmanned operation equipment to return to the position of the image collector. Therefore, when the user recovers the unmanned operation equipment, the user can pick up the image collector at the same time, and the image collector can be better prevented from being forgotten to pick up.
S209, when the unmanned operation equipment returns to the position of the image collector, sending recovery reminding information to the user terminal to remind the user to recover the unmanned operation equipment and the image collector.
And after the unmanned operation equipment returns to the position of the image collector, sending recovery reminding information to the user terminal to remind the user of recovering the unmanned operation equipment and the image collector. Generally, a user cannot forget to recover the unmanned operation equipment easily, so that the unmanned operation equipment is controlled to return to the position of the image collector, and recovery reminding information is sent to the user terminal, so that the user can pick up the image collector when picking up the unmanned operation equipment, and the image collector is prevented from being lost.
EXAMPLE III
The third embodiment of the present invention provides an anti-loss method for an image collector, which is applicable to the situation of preventing the image collector from being lost, and the method can be executed by an anti-loss device provided in the third embodiment of the present invention, the device can be implemented by software and/or hardware, and is integrated in a user terminal, and the method specifically includes the following steps:
and responding to the picking reminding information sent by the unmanned operation equipment, and sending a picking reminding to remind a user to pick up the image collector.
Specifically, the unmanned aerial vehicle acquires state information of the image collector, and sends pickup reminding information to the user terminal to remind a user of picking up the image collector when the state information of the image collector is changed from an access state to a removal state. Specifically, the working process of the unmanned aerial vehicle is described in detail in the foregoing embodiments, and the embodiments of the present invention are not described herein again.
The user terminal responds to the reminding information and sends out a picking reminding to remind the user of picking up the image collector. Illustratively, the pick-up reminder may be a simple sound, light, text, or other prompt, or may include location information of the image collector, and the user may pick up the image collector according to the location information.
The anti-loss method of the image collector provided by the embodiment of the invention is applied to the user terminal, the unmanned operation equipment acquires the state information of the image collector, and when the state information of the image collector is changed from an access state to a removal state, the anti-loss method sends the picking reminding information to the user terminal. The user terminal responds to the reminding information and sends out a picking reminding to remind the user of picking up the image collector. The loss of the image collector caused by forgetting to pick up by the user is avoided, and further unnecessary loss to the user is avoided.
Example four
Fig. 3A is a flowchart of an anti-loss method for an image collector according to a fourth embodiment of the present invention, which is optimized based on the third embodiment of the present invention, and describes in detail a detailed process of each step in the embodiment of the present invention, specifically, as shown in fig. 3A, the method according to the fourth embodiment of the present invention may include the following steps:
s301, generating a navigation prompt based on the position information of the image collector and the current position information of the user terminal.
Specifically, the pickup prompting information includes position information of the image collector, and the user terminal generates the navigation prompt based on the position information of the image collector and the current position information of the user terminal.
In a specific embodiment of the present invention, a specific process of generating the navigation prompt is as follows:
1. the orientation of the user terminal is obtained.
Specifically, the orientation of the user terminal (i.e., the orientation of the user) may be determined by a gyroscope built in the user terminal.
2. And calculating a third distance between the user terminal and the image collector based on the current position information of the user terminal and the position information of the image collector.
Specifically, the current position information of the user terminal and the position information of the image acquirer include coordinate information, and a distance between the current position information and the position information of the image acquirer is calculated as a third distance according to the coordinate information of the current position information and the position information of the image acquirer.
3. And generating a navigation prompt based on the orientation of the user terminal and the third distance.
Specifically, the navigation prompt is generated based on the orientation of the user terminal and the third distance. Fig. 3B is a schematic diagram of a navigation interface according to an embodiment of the present invention, for example, as shown in fig. 3B, a camera icon may be used on the navigation interface of the user terminal to identify a position of an image collector, an arrow may be used to identify a current position of the user (i.e., the user terminal), and a third distance and an azimuth angle between the user and the image collector are identified, for example, "the image collector is located at the front right and is 3m away".
In another embodiment of the present invention, the specific process of generating the navigation prompt is as follows:
1. boundary information of the work area is acquired.
Fig. 3C is a schematic view of another navigation interface provided in the embodiment of the present invention, and fig. 3D is a schematic view of another navigation interface provided in the embodiment of the present invention, as shown in fig. 3C and fig. 3D, the boundary information of the work area is acquired, the boundary of the work area is displayed on the display interface of the user terminal, and the position of the image acquirer is identified by a camera icon.
2. And calculating the relative distance of the image collector relative to the boundary of the operation area according to the boundary information and the position information of the image collector.
Specifically, the relative distance of the image pickup with respect to the boundary of the work area is calculated based on the position information (e.g., coordinate information) and the boundary information of the image pickup. As shown in fig. 3C, the image collector is located outside the boundary of the working area, and is 0.5m away from the right side boundary and 0.4m away from the lower side boundary. As shown in fig. 3D, the image collector is located within the boundary of the working area, and is 0.7m away from the right side boundary and 0.5m away from the upper side boundary.
3. Navigation cues are generated based on the relative distance of the image collector with respect to the boundaries of the work area.
The navigation prompt is generated based on the relative distance of the image collector with respect to the boundary of the work area, and illustratively, as shown in fig. 3D, the navigation prompt may be "the image collector is located within the work area, 0.7m from the right boundary, and 0.5m from the upper boundary". Since the user is generally familiar with the working area in charge of the user, the user can be helped to quickly find the image collector to a certain extent by guiding the position of the image collector by using the boundary of the working area, and the picking efficiency is improved.
On the basis of the above embodiment, the navigation prompt includes a distance prompt tone, and the method further includes:
1. and calculating a third distance between the user terminal and the image collector based on the current position information of the user terminal and the position information of the image collector.
2. The volume or frequency of the distance alert tone is changed based on the magnitude of the third distance.
Illustratively, the alert tone may be a "drop, drop" sound, and in one embodiment of the invention, as the third distance becomes smaller, i.e., the user gets closer to the image collector, the frequency of the alert tone gradually increases to alert the user that the user is approaching the image collector. In an embodiment of the present invention, as the third distance becomes smaller, that is, the user gradually approaches the image collector, the volume of the prompt tone is gradually increased to prompt the user that the user is approaching the image collector.
EXAMPLE five
Fig. 4 is a diagram of an anti-loss device according to a fifth embodiment of the present invention, which is applied to an unmanned aerial vehicle, and an image acquirer is mounted on the unmanned aerial vehicle, including:
a state information obtaining module 401, configured to obtain state information of the image collector, where the state information includes a removal state and an access state;
a reminding information sending module 402, configured to send pickup reminding information to the user terminal when the state information of the image collector changes from the access state to the removal state, so as to remind the user to pick up the image collector.
In some embodiments of the present invention, the reminding information sending module 402 includes:
the position information recording unit is used for recording first position information of current unmanned operation equipment as the position information of the image collector when the state information of the image collector is changed from an access state to a removal state;
and the reminding information sending unit is used for sending picking reminding information to the user terminal so as to remind the user to pick up the image collector, and the picking information comprises the position information of the image collector.
In some embodiments of the present invention, the anti-loss device further comprises:
the position information acquisition module is used for acquiring the position information of the user terminal and the second position information of the unmanned operation equipment before sending the picking reminding information to the user terminal;
the first distance calculation module is used for calculating a first distance between the user terminal and the unmanned operation equipment based on the position information and the second position information of the user terminal;
the second distance calculation module is used for calculating a second distance between the unmanned operation equipment and the image collector based on the second position information and the position information of the image collector;
and the sending determining module is used for determining to send the picking reminding information to the user terminal when the first distance and the second distance are both greater than the preset safety distance.
In some embodiments of the present invention, the anti-loss device further comprises:
the return module is used for controlling the unmanned operation equipment to return to the position of the image collector if the picked-up information fed back by the user terminal is not received after the unmanned operation equipment finishes the operation task after sending the picking-up reminding information to the user terminal, wherein the picked-up information is information fed back to the unmanned operation equipment by the user terminal after the user picks up the image collector;
and the recovery reminding information sending module is used for sending recovery reminding information to the user terminal when the unmanned operation equipment returns to the position of the image collector so as to remind the user of recovering the unmanned operation equipment and the image collector.
The loss prevention device can execute the methods provided by the first and second embodiments of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
Fig. 5 is a diagram of an anti-loss device according to a sixth embodiment of the present invention, which is applied to a user terminal, and includes:
and the reminding module 501 is configured to send a pickup reminder in response to the pickup reminder information sent by the unmanned aerial vehicle, so as to remind a user of picking up the image collector.
In some embodiments of the present invention, the picking reminding information includes position information of the image collector, and the anti-loss device further includes:
and the navigation prompt generation module is used for generating a navigation prompt based on the position information of the image collector and the current position information of the user terminal so as to prompt a user to go to the position of the image collector according to a navigation path.
In some embodiments of the invention, the navigation prompt generation module comprises:
an orientation obtaining unit, configured to obtain an orientation of the user terminal;
a third distance calculating unit, configured to calculate a third distance between the user terminal and the image collector based on the current position information of the user terminal and the position information of the image collector;
a first navigation prompt generation unit, configured to generate a navigation prompt based on the orientation of the user terminal and the third distance.
In some embodiments of the invention, the navigation prompt generation module comprises:
a boundary information acquisition unit for acquiring boundary information of the work area;
the relative distance calculation unit is used for calculating the relative distance of the image collector relative to the boundary of the operation area according to the boundary information and the position information of the image collector;
and the second navigation prompt generation unit is used for generating a navigation prompt based on the relative distance between the image collector and the boundary of the operation area.
In some embodiments of the present invention, the navigation prompt includes a distance prompt tone, and the loss prevention device further includes:
the third distance calculation module is used for calculating a third distance between the user terminal and the image collector based on the current position information of the user terminal and the position information of the image collector;
and the prompt tone transformation module is used for changing the volume or the frequency of the distance prompt tone based on the size of the third distance.
The loss prevention device can execute the methods provided by the third and fourth embodiments of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE seven
Seventh embodiment of the present invention provides an unmanned aerial vehicle, and fig. 6 is a schematic structural diagram of the unmanned aerial vehicle according to seventh embodiment of the present invention, as shown in fig. 6, the unmanned aerial vehicle includes a processor 601, a memory 602, a communication module 603, an input device 604, and an output device 605; the number of processors 601 in the unmanned aerial vehicle may be one or more, and one processor 601 is taken as an example in fig. 6; the processor 601, the memory 602, the communication module 603, the input device 604, and the output device 605 in the unmanned aerial vehicle may be connected by a bus or other means, and fig. 6 illustrates an example of connection by a bus. The processor 601, the memory 602, the communication module 603, the input device 604, and the output device 605 described above may be integrated on the control main board of the unmanned aerial vehicle.
The memory 602 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the anti-lost method of the image capturing device in this embodiment. The processor 601 executes various functional applications and data processing of the unmanned aerial vehicle by running software programs, instructions and modules stored in the memory 602, that is, the anti-loss method of the image collector provided by the above embodiments is implemented.
The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the unmanned aerial vehicle, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 602 may further include memory located remotely from processor 601, which may be connected to the drone over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
A communication module 603, configured to establish a connection with an external device (e.g., a user terminal), and implement data interaction with the external device. The input device 604 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the unmanned aerial vehicle.
The unmanned aerial vehicle provided by this embodiment can execute the anti-loss method of the image collector provided by the first embodiment and the second embodiment of the present invention, and has corresponding functions and beneficial effects.
Example eight
Fig. 7 is a schematic structural diagram of a user terminal according to an eighth embodiment of the present invention, and as shown in fig. 7, the user terminal includes a processor 701, a memory 702, a communication module 703, an input device 704, and an output device 705; the number of the processors 701 in the user terminal may be one or more, and one processor 701 is taken as an example in fig. 7; the processor 701, the memory 702, the communication module 703, the input device 704 and the output device 705 in the user terminal may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus. The processor 701, the memory 702, the communication module 703, the input device 704 and the output device 705 may be integrated on a control board of the user terminal.
The memory 702 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the anti-lost method of the image capturing device in this embodiment. The processor 701 executes various functional applications and data processing of the user terminal by running software programs, instructions and modules stored in the memory 702, that is, implements the anti-loss method of the image collector provided in the above embodiment.
The memory 702 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the user terminal, and the like. Further, the memory 702 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 702 may further include memory located remotely from the processor 701, which may be connected to a user terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication module 703 is configured to establish a connection with an external device (e.g., an unmanned aerial vehicle), and implement data interaction with the external device. The input device 704 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the user terminal.
The user terminal provided in this embodiment can execute the anti-loss methods of the image collector provided in the third and fourth embodiments of the present invention, and has corresponding functions and beneficial effects.
Example nine
An embodiment ninth of the present invention provides a storage medium containing computer-executable instructions, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the method for preventing an image collector from being lost according to the first embodiment and the second embodiment of the present invention is implemented, where the method includes:
acquiring state information of an image collector, wherein the state information comprises a dismounting state and an access state;
and when the state information of the image collector is changed from the access state to the removal state, sending pickup reminding information to a user terminal to remind a user of picking up the image collector.
Or implementing the anti-loss method of the image collector provided by the third and fourth embodiments of the invention, the method includes:
and responding to the picking reminding information sent by the unmanned operation equipment, and sending a picking reminding to remind a user to pick up the image collector.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present invention is not limited to the above-described method operations, and may also perform related operations in the anti-loss method for an image collector provided in the embodiments of the present invention.
It should be noted that, as for the apparatus, the device and the storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and in relevant places, reference may be made to the partial description of the method embodiments.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the method for preventing the image capturing device from being lost according to any embodiment of the present invention.
It should be noted that, in the above apparatus, each module and unit included in the apparatus is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by suitable instruction execution devices. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (14)
1. An anti-loss method of an image collector is characterized by being applied to unmanned operation equipment loaded with the image collector, and the method comprises the following steps:
acquiring state information of an image collector, wherein the state information comprises a dismounting state and an access state;
and when the state information of the image collector is changed from the access state to the removal state, sending pickup reminding information to a user terminal to remind a user of picking up the image collector.
2. The method of claim 1, wherein sending a pick-up reminder to a user terminal when the status information of the image collector changes from an access status to a removal status comprises:
when the state information of the image collector is changed from an access state to a removal state, recording first position information of current unmanned operation equipment as position information of the image collector;
and sending pickup reminding information to a user terminal to remind a user of picking up the image collector, wherein the pickup information comprises the position information of the image collector.
3. The method of claim 1, wherein before sending the pick-up reminding message to the user terminal, the method further comprises:
acquiring position information of the user terminal and second position information of the unmanned operation equipment;
calculating a first distance between the user terminal and the unmanned operation equipment based on the position information and the second position information of the user terminal;
calculating a second distance between the unmanned operation equipment and the image collector based on the second position information and the position information of the image collector;
and when the first distance and the second distance are both greater than a preset safety distance, determining to send pickup reminding information to the user terminal.
4. The method of claim 1, wherein after sending the pick-up reminder to the user terminal, the method further comprises:
after the operation task of the unmanned operation equipment is completed, if the picked-up information fed back by the user terminal is not received yet, the unmanned operation equipment is controlled to return to the position of the image collector, wherein the picked-up information is information fed back to the unmanned operation equipment by the user terminal after the image collector is picked up by the user;
and when the unmanned operation equipment returns to the position of the image collector, sending recovery reminding information to the user terminal to remind a user of recovering the unmanned operation equipment and the image collector.
5. An anti-loss method of an image collector is applied to a user terminal, and the method comprises the following steps:
and responding to the picking reminding information sent by the unmanned operation equipment, and sending a picking reminding to remind a user to pick up the image collector.
6. The method for preventing the image collector from being lost according to claim 5, wherein the picking-up reminding information comprises position information of the image collector, and after responding to the picking-up reminding information sent by the unmanned operation equipment, the method further comprises the following steps:
and generating a navigation prompt based on the position information of the image collector and the current position information of the user terminal so as to prompt a user to go to the position of the image collector according to a navigation path.
7. The method of claim 6, wherein generating a navigation prompt based on the location information of the image collector and the current location information of the user terminal comprises:
acquiring the orientation of the user terminal;
calculating a third distance between the user terminal and the image collector based on the current position information of the user terminal and the position information of the image collector;
generating a navigation prompt based on the orientation of the user terminal and the third distance.
8. The method of claim 6, wherein generating a navigation prompt based on the location information of the image collector and the current location information of the user terminal comprises:
acquiring boundary information of a working area;
calculating the relative distance of the image collector relative to the boundary of the operation area according to the boundary information and the position information of the image collector;
and generating a navigation prompt based on the relative distance of the image collector relative to the boundary of the working area.
9. The anti-loss method of the image collector as claimed in any one of claims 6-8, wherein the navigation prompt comprises a distance prompt tone, and the method further comprises:
calculating a third distance between the user terminal and the image collector based on the current position information of the user terminal and the position information of the image collector;
and changing the volume or frequency of the distance prompt tone based on the size of the third distance.
10. An anti-loss device, which is applied to unmanned operation equipment loaded with an image collector, the device comprises:
the image acquisition device comprises a state information acquisition module, a state information acquisition module and a state information acquisition module, wherein the state information acquisition module is used for acquiring the state information of the image acquisition device, and the state information comprises a dismounting state and an access state;
and the reminding information sending module is used for sending picking reminding information to the user terminal to remind a user to pick up the image collector when the state information of the image collector is changed from the access state to the removal state.
11. An anti-loss device, applied to a user terminal, the device comprising:
and the reminding module is used for responding to the picking reminding information sent by the unmanned operation equipment and sending a picking reminding so as to remind a user of picking the image collector.
12. An unmanned aerial vehicle, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the anti-dropout method of an image collector of any of claims 1-4.
13. A user terminal, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the anti-dropout method of an image collector of any of claims 5-9.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of preventing an image collector from being lost according to any one of claims 1 to 4, or carries out a method of preventing an image collector from being lost according to any one of claims 5 to 9.
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