CN113050698B - Method and device for searching target object, unmanned aerial vehicle equipment and storage medium - Google Patents

Method and device for searching target object, unmanned aerial vehicle equipment and storage medium Download PDF

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CN113050698B
CN113050698B CN202110336461.6A CN202110336461A CN113050698B CN 113050698 B CN113050698 B CN 113050698B CN 202110336461 A CN202110336461 A CN 202110336461A CN 113050698 B CN113050698 B CN 113050698B
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CN113050698A (en
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朱少龙
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control

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Abstract

The invention discloses a method and a device for searching a target object, unmanned aerial vehicle equipment and a storage medium. The method comprises the steps of constructing a background image library of a target area and storing the background image library of the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one; receiving a searching instruction, executing a flight task according to a preset flight path, shooting an image to be compared of the target area, and obtaining second space coordinates of the image to be compared; and when the first space coordinate is the same as the second space coordinate, comparing the image to be compared with the background image, and determining whether a target object exists in the image to be compared. By the method, lost objects in large open fields can be quickly and effectively searched.

Description

Method and device for searching target object, unmanned aerial vehicle equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for searching a target object, unmanned aerial vehicle equipment and a storage medium.
Background
In recent years, unmanned aerial vehicles are widely applied in various fields, and can realize large-area searching in specific environments and specific occasions, thereby being beneficial to quickly positioning targets.
In the prior art, searching for objects in areas with wide areas, such as playgrounds, sports meetings, grasslands and the like, can only search for specific objects, such as automobiles, people, bicycles and the like, so that the searching objects are too limited and cannot be suitable for searching all objects.
Therefore, it is a current urgent problem to be solved to provide a search method suitable for all targets.
Disclosure of Invention
The embodiment of the invention provides a method and a device for searching target objects, unmanned aerial vehicle equipment and a storage medium, which can realize the searching of any target object.
In a first aspect, an embodiment of the present invention provides a method for searching a target object, including:
constructing a background image library of a target area and storing the background image library in the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one;
receiving a searching instruction, executing a flight task according to a preset flight path, shooting an image to be compared of the target area, and obtaining second space coordinates of the image to be compared;
and when the first space coordinate is the same as the second space coordinate, comparing the image to be compared with the background image, and determining whether a target object exists in the image to be compared.
In a second aspect, an embodiment of the present invention further provides an apparatus for searching for a target object, including:
the construction module is used for constructing a background image library of the target area and storing the unmanned aerial vehicle, and the background image library comprises all the characteristics of the target area and first space coordinates corresponding to the background images one by one;
the acquisition module is used for receiving a search instruction, executing a flight task according to a preset flight path, shooting images to be compared of the target area, and acquiring second space coordinates of the images to be compared;
and the comparison module is used for comparing the image to be compared with the background image when the first space coordinate is the same as the second space coordinate, and determining whether a target object exists in the image to be compared.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle device, including:
one or more processors;
a storage means for storing one or more programs;
the one or more programs are executed by the one or more processors to cause the one or more processors to implement the method for searching for a target according to any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for searching for a target object as provided in any of the embodiments of the present invention.
The embodiment of the invention provides a method, a device, unmanned aerial vehicle equipment and a storage medium for searching a target object, wherein a background image library of a target area is firstly constructed and stored in an unmanned aerial vehicle, and the background image library comprises all features of the target area and first space coordinates corresponding to background images one by one; then receiving a searching instruction, executing a flight task according to a preset flight path, shooting images to be compared of a target area, and obtaining second space coordinates of the images to be compared; and finally, when the first space coordinate is the same as the second space coordinate, comparing the image to be compared with the background image, and determining whether the object exists in the image to be compared. By utilizing the technical scheme, quick and effective searching of lost objects in a large open field can be realized.
Drawings
Fig. 1 is a flowchart of a method for searching a target object according to an embodiment of the invention;
FIG. 2 is a flowchart of a method for searching a target object according to a second embodiment of the present invention;
FIG. 3a is a flowchart illustrating a method for searching a target object according to a second embodiment of the present invention;
FIG. 3b is a flowchart illustrating a searching process according to a method for searching a target object according to a second embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a device for searching a target object according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle device according to a fourth embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.
It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of such messages or information.
Example 1
After losing articles in large open areas such as playgrounds, gymnasiums and squares, a great deal of manpower and material resources and time are consumed if the lost articles are required to be searched in the places where the articles are lost, and the searching result is inaccurate due to human factors in a manual searching mode. Therefore, the method for searching the target object provided by the first embodiment of the invention can effectively search the lost object in the large open field by utilizing the aerial characteristic of the unmanned aerial vehicle and combining the visual technology.
Fig. 1 is a flowchart of a method for searching a target object according to an embodiment of the present invention, where the method is applicable to a case of searching a target object, such as a case of searching a target object in a large open field. The method may be performed by a device for searching for a target object, where the device may be implemented by software and/or hardware and is generally integrated on an unmanned aerial vehicle device, and the unmanned aerial vehicle in this embodiment may be an unmanned aerial vehicle with Real-time kinematic (RTK) carrier phase differential centimeter-level positioning function for positioning centimeter-level position coordinates.
As shown in fig. 1, a method for searching a target object according to an embodiment of the present invention includes the following steps:
s110, constructing a background image library of the target area and storing the background image library in the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one.
The target area can be an area where articles are lost, and the target area can be a large-sized open area such as a grassland, a playground, a football field and the like. The selection of the target area is not particularly limited herein.
In this embodiment, the background image library may be a database of background images, and the background images may be images such as photographs or videos of the target area. Here, the manner of constructing the background image library of the target region is not particularly limited. By way of example, the space coordinates corresponding to all features and background images in the target area can be obtained through the panorama of the target area; preferably, the unmanned aerial vehicle can execute the aerial photography task according to the flight path to acquire all the characteristics, the background images and the space coordinates corresponding to the background images in the target area, and the unmanned aerial vehicle flight path for executing the task of constructing the background image library of the target area can be stored in the unmanned aerial vehicle or in the cloud, so that the unmanned aerial vehicle for executing the search instruction later can acquire. Additionally, all features may include morphological features and positional features of all items within the target area.
The construction of the background image library of the target area needs to be performed without moving people in the target area. For example, when the target area is a golf course, the target area background image library may be constructed at any time before the golf course is not opened to the outside, and constructing the target area background image library at this time may ensure that only the features of the stationary object in the target area are included in the background image library and that no person flows in the acquired background image.
The number of the background images in the background image library of the target area may be a fixed value, and if the background images are photos or videos obtained by aerial photography of the unmanned aerial vehicle in the target area, the number of the background images may be calculated by an application program corresponding to the unmanned aerial vehicle according to the area of the target area. It will be appreciated that the number of background images taken must be sufficient to enable the background images to cover the entire target area.
In this embodiment, the first spatial coordinates may be two-dimensional coordinates or three-dimensional coordinates, and each background image has spatial coordinates corresponding to each background image one by one.
S120, receiving a search instruction, executing a flight task according to a preset flight path, shooting an image to be compared of the target area, and obtaining second space coordinates of the image to be compared.
The search instruction may be an instruction indicating the unmanned aerial vehicle to search for the target object, the search instruction may be sent by a main controller of the unmanned aerial vehicle or an application program corresponding to the unmanned aerial vehicle, the user may trigger the sending of the search instruction through a key on the application program corresponding to the unmanned aerial vehicle, and the user may trigger the sending of the search instruction through the main controller of the unmanned aerial vehicle. In addition, the sending of the search command may be triggered in any other manner, which will not be described herein.
It should be noted that, the search command needs to be sent when no other person flows in the target area or only a stationary object exists in the target area, for example, the search command may be sent after the basketball house is closed.
The preset flight path can be a flight path of the unmanned aerial vehicle in the target area, and the flight path can be automatically calculated by an application program corresponding to the unmanned aerial vehicle according to the area of the target area and the number of images to be compared, which need to be shot. In this embodiment, the preset flight path may be determined by the application program corresponding to the unmanned aerial vehicle before receiving the search instruction.
Further, the preset flight path is determined by an application program corresponding to the unmanned aerial vehicle according to a track area input by a user, and the track area is formed by a track line provided by the user on the application program.
For example, the manner of determining the flight path may include: a user opens an application program corresponding to the unmanned aerial vehicle on the mobile phone, then the user can open a map in the application program, a line segment corresponding to a target area on the map is selected as a track line on the map displayed on a screen of the mobile phone by using a finger, a plurality of track lines are sequentially connected to form an area which is a track area, and the track area represents a corresponding area on the map where the target area is located; after the track area is determined, the application program can automatically calculate the actual area of the track area, namely the area of the target area, and can determine a preset flight path according to the actual area of the track area, the shape of the track area and the number of images to be compared, and the shot images to be compared can be ensured to cover the whole target area by performing flight shooting according to the preset flight path. Of course, the flight path of the unmanned aerial vehicle for executing the task of constructing the background image library of the target area can also be obtained as the preset flight path of the unmanned aerial vehicle for executing the search instruction.
It can be understood that the shape of the track area is the actual shape of the target area, i.e. if the target area is a rectangular playground, the user can pick out the rectangular area as the track area on the map of the application program.
In the present embodiment, the manner of determining the track area is not limited to the above-mentioned manner, and the user may determine the track area in any other possible manner, and is not particularly limited herein.
The flight task may be a task of capturing images to be compared by the unmanned aerial vehicle. The images to be compared can be pictures or videos obtained by the unmanned aerial vehicle after receiving the search instruction and flying according to a preset flight path in a set place, the images to be compared can be the first images to be compared or a plurality of images to be compared, which are shot after receiving the search instruction, and the number of the images to be compared can be the same as that of the background images.
Alternatively, the first spatial coordinate of each background image may be used as the shooting position of each image to be compared, that is, the second spatial coordinate, and the positional relationship thereof corresponds one by one. The second spatial coordinate may be a two-dimensional coordinate or a three-dimensional coordinate, and the manner of acquiring the second spatial coordinate is not particularly limited herein, and the second spatial coordinate may be acquired by a positioning system on the unmanned aerial vehicle.
Further, if the image to be compared is a photograph, the determining manner of the second spatial coordinate of the image to be compared may be: determining the total flight time according to the distance of a preset flight path and a preset flight speed; and determining the time corresponding to the shooting of the images to be compared according to the total flight time and the number of the background images.
Specifically, the determining manner of the second spatial coordinate of the image to be compared may be: determining the ratio of the distance of the preset flight path to the preset flight speed as the total flight time; determining the ratio of the total flight time to the background image as the corresponding time of shooting the images to be compared; and when the time corresponding to the shooting images to be compared arrives, determining the flight position of the unmanned aerial vehicle as a second space coordinate corresponding to most images to be compared.
The distance of the predetermined flight path is understood to be the total length of the predetermined flight path; the total time of flight is understood to be the time required to fly and complete a flight mission according to a preset flight path.
In this embodiment, if the images to be compared are photos and the number of the photos to be compared is multiple, the unmanned aerial vehicle may take photos according to the time corresponding to each photo, and for example, may take one photo to be compared every second, that is, the time for taking the first photo to be compared is 10:01:01 seconds, the time for taking the second comparison photo is 10:01:02 seconds, and so on.
Optionally, if the image to be compared is a video, the determining manner of the second spatial coordinate of the image to be compared may be: and determining a second space coordinate of the images to be compared according to the path of the preset flight path, the preset flight speed, the number of the background images and the time length for shooting the video. It can be understood that the video is shot by the unmanned aerial vehicle hovering in the air, and the duration of the video is the duration of the unmanned aerial vehicle hovering.
Further, the determining manner of the second spatial coordinates of the images to be compared may further be: and determining a distance interval value of shooting two connected images to be compared according to the distance of a preset flight path and the number of the background images, and determining a second space coordinate corresponding to the images to be compared according to the distance interval value and the flight position record. It is understood that the above manner of determining the second spatial coordinates may be applied to a case where the images to be compared are photographs or videos.
Specifically, the determining manner of the second spatial coordinate of the image to be compared may further be: determining the ratio of the distance of the preset flight path to the number of the background images as a distance interval value for shooting two adjacent images to be compared; determining the shooting position of the images to be compared according to the distance interval value and the flight position record; and when the distance interval value is reached, determining the flight position of the unmanned aerial vehicle as a second space coordinate corresponding to the image to be compared.
When the images to be compared are photos and the number of the images to be compared is more than one, the distance interval value can be 1 m apart, that is, the unmanned aerial vehicle shoots one image to be compared every 1 m, and one position coordinate can be obtained every other m on the flight position record to serve as the second space coordinate. It should be noted that, the determination method of the second spatial coordinate in the embodiment of the present invention is not limited to the method of determining the second spatial coordinate, and the second spatial coordinate corresponding to the image to be compared may be determined by any other method, which is not specifically limited herein.
And S130, comparing the image to be compared with the background image when the first space coordinate is the same as the second space coordinate, and determining whether a target object exists in the image to be compared.
The target object may be a lost object, and whether the target object exists in the target area may be determined by comparing the image to be compared with the background image, which has the same coordinates.
Specifically, the method for comparing the image to be compared with the background image to determine whether the object exists in the image to be compared may include:
the first mode is that after a to-be-compared image is obtained through shooting, the compared image can be compared with a background image in real time, and the similarity of the two images is determined. The second space coordinate corresponding to the image to be compared is the same as the first space coordinate corresponding to the background image.
It can be understood that by means of the first method, after the first image to be compared is obtained, the image is compared with the background image corresponding to the first space coordinate which is the same as the second space coordinate corresponding to the image to be compared in the background image library, so as to determine whether the object exists in the image to be compared. According to the method, real-time shooting and real-time comparison are realized, and after a target object is determined through comparison, the unmanned aerial vehicle can be controlled to stop flying and shooting.
And in the second mode, after all the images to be compared are shot, shooting the images to be compared, which are the same in number as the background images, and comparing each image to be compared with the background image to determine whether a target object exists.
The two images can be compared only when the second space coordinates corresponding to the images to be compared are the same as the first space coordinates corresponding to the background images.
The two ways can be used for comparing and determining whether the target object, namely the lost object exists in the target area, and the specific way can be selected according to the actual situation, so that the method is not particularly limited. In addition, when the user wants to stop searching for the target object during the comparison in the first mode, the unmanned aerial vehicle can be controlled to stop executing the task through the remote controller of the unmanned aerial vehicle, and the unmanned aerial vehicle can also be controlled to stop executing the task through the end button in the application program corresponding to the unmanned aerial vehicle.
It should be noted that, in this embodiment, a specific manner of comparing the image to be compared with the background image is not limited, and any manner capable of determining similarity of two images may be used, that is, by this manner, the two images may be effectively compared to determine whether there is a difference between the two images. It will be appreciated that the comparison of the image to be compared with the background image may be performed by a main controller in the drone.
Further, after determining that the target exists, the area where the target is located can be determined according to the shooting position of the image to be compared including the target, namely, the second space coordinate, and the specific position of the target in the target area can be determined by further combining with a global positioning system in the unmanned aerial vehicle.
Further, if it is determined that the target object exists and the specific position of the target object is acquired, the unmanned aerial vehicle can be controlled to fly to the specific position of the target object through the remote controller of the unmanned aerial vehicle, and after the unmanned aerial vehicle flies to the position of the target object, prompt information can be sent through an application program corresponding to the unmanned aerial vehicle, and the content of the prompt information can be, for example, "find the target object, please confirm whether to continue flying and shooting according to the flight path". The reason for setting the prompt information is that the prompt information is sent to the user in a mode of sending the prompt information after the position of the first object is determined corresponding to the condition that a plurality of objects exist, and whether the next object needs to be searched continuously is confirmed according to the indication of the user.
The first embodiment of the invention provides a method for searching a target object, which comprises the steps of firstly, constructing a background image library of a target area and storing the background image library of the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one; then receiving a searching instruction, executing a flight task according to a preset flight path, shooting images to be compared of a target area, and obtaining second space coordinates of the images to be compared; and finally, when the first space coordinate is the same as the second space coordinate, comparing the image to be compared with the background image, and determining whether the object exists in the image to be compared. The method can realize quick and effective searching of lost objects in large open fields.
Example two
Fig. 2 is a flow chart of a method for searching a target object according to a second embodiment of the present invention, which is optimized based on the above embodiments. Specifically, before the target area background image library is constructed and stored in the unmanned aerial vehicle, the method further comprises: acquiring the area of a target area and attribute information of the unmanned aerial vehicle; and determining the number of the background images according to the area and the attribute information. Further, in this embodiment, the comparison between the image to be compared and the background image is further performed to determine whether the object exists in the image to be compared, which is further specifically: determining the structural similarity between the image to be compared and the background image; determining whether a target exists in the images to be compared based on the structural similarity; if the target object is determined to exist, marking the image to be compared of the target object, or/and sending a second space coordinate of the image to be compared of the target object to a ground terminal, and stopping shooting and navigating the unmanned aerial vehicle. For details not yet described in detail in this embodiment, refer to embodiment one.
As shown in fig. 2, a method for searching a target object according to a second embodiment of the present invention includes the following steps:
S210, acquiring the area of a target area and attribute information of the unmanned aerial vehicle;
the method aims at constructing a background image library in an unmanned aerial vehicle aerial photographing mode.
The attribute information of the unmanned aerial vehicle may include inherent attributes of the unmanned aerial vehicle, and may include, for example, a model number of the unmanned aerial vehicle, a size of the unmanned aerial vehicle, a flight speed of the unmanned aerial vehicle, and the like. In this embodiment, the attribute information of the unmanned aerial vehicle may include a preset flight height, a camera focal length, and a camera pixel.
The preset flying height can be preset flying height of the unmanned aerial vehicle, the preset flying height can be set by a user through an application program corresponding to the unmanned aerial vehicle, and the preset flying height can be stored in a main controller of the unmanned aerial vehicle in advance; the camera focal length may be a focal length of a camera on the drone; the camera pixels may be pixels of a camera on the drone.
The area of the target area can be obtained from an application program corresponding to the unmanned aerial vehicle, and the area of the target area can be determined according to a track area checked by a user on a map of the application program.
S220, determining the number of the background images according to the area and the attribute information.
In this step, the unmanned aerial vehicle may calculate the ground resolution according to the preset flight height, the camera focal length and the camera pixels, and then calculate the number of shots of the first group of photos according to the ground resolution and the area. According to the preset flying height, the focal length of the camera and the camera pixels, the area of the region included in the shot image to be compared can be determined.
Specifically, determining the number of the background images according to the area and the attribute information includes: determining ground resolution according to preset flight height, camera focal length and camera pixels, wherein the ground resolution is the actual ground area represented by one pixel on a screen; and determining the quotient of the area and the ground resolution as the number of the background images.
The calculation formula of the ground resolution is as follows:
GSD＝Height*100f*CameralPixel/CameraFocalLength
wherein GSD represents ground resolution, height represents preset flying Height, cameralPixel represents camera pixel, cameraFocalLength represents camera focal length.
It is understood that the larger the number of the photographed background images is, the larger the resolution of the background images is, and the smaller the coverage of the background images is.
S230, constructing a background image library of the target area and storing the background image library in the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one.
S240, receiving a search instruction, executing a flight task according to a preset flight path, shooting an image to be compared of the target area, and obtaining second space coordinates of the image to be compared.
S250, when the first space coordinate is the same as the second space coordinate, determining the structural similarity between the image to be compared and the background image.
The structural similarity can represent the similarity degree of two photos, and the calculation formula of the structural similarity is as follows:
SSIM(x,y)＝[l(x,y)] α [c(x,y)] β [s(x,y)] γ
wherein SSIM (x, y) represents the structural similarity of x, y two photographs, l (x, y) represents the brightness comparison of the two photographs, c (x, y) represents the contrast comparison of the two photographs, s (x, y) represents the structural comparison of the two photographs, and α, β and γ represent constants greater than 0.
Wherein, the mathematical expressions of l (x, y), c (x, y) and s (x, y) are as follows:
wherein u is x And u y Mean value of x and y, sigma respectively x Sum sigma y Respectively represents standard deviation of x and y, sigma xy Representing the covariance of x and y, c 1 、c 2 C 3 Respectively, are constants.
In actual engineering calculation, it is generally set that α=β=γ=1The structural similarity formula can be reduced to the following formula:
the similarity structure of any two photos can be directly calculated by the simplified formula, and in this embodiment, the similarity structure values of the images to be compared and the background images shot each time are respectively calculated by the simplified formula. The second space coordinate corresponding to the image to be compared is the same as the first space coordinate corresponding to the background image.
S260, determining whether a target object exists in the images to be compared based on the structural similarity.
In this step, if the structural similarity of the two images is within a set threshold, it may be determined that the target object exists in the images to be compared, and the set threshold may be [0.6,1], where a larger value of the structural similarity indicates a smaller difference between the two images, and if the structural similarity of the two images is 1, the two images are identical.
If the structural similarity of the to-be-compared image with the second space coordinate and the background image with the first space coordinate is within the set threshold range, it can be determined that the two images are indiscriminate, i.e. no target object exists in the to-be-compared image, and if the structural similarity of the to-be-compared image with the second space coordinate and the background image with the first space coordinate is not within the set threshold range, it can be determined that the two images have a certain degree of difference, i.e. the target object possibly exists in the to-be-compared image.
S270, if the existence of the target object is determined, marking the existence of the target object to be compared image, or/and sending the second space coordinates of the existence of the target object to be compared image to the ground terminal, and stopping shooting and returning the unmanned aerial vehicle.
In this step, after determining that the target exists, the following three operations may be performed:
the first operation is to mark the images to be compared with the targets, and control the unmanned aerial vehicle to stop shooting and return.
The images to be compared, in which the target object exists, can be marked in any way, and an exemplary marking code can be set.
The second operation is to send the second space coordinates corresponding to the images to be compared with the targets to the ground terminal, and control the unmanned aerial vehicle to stop shooting and return.
The ground terminal can be an application program corresponding to the unmanned aerial vehicle, and the main controller of the unmanned aerial vehicle can send the second space coordinates to the ground terminal.
The third operation is to mark the images to be compared with the targets, send the second space coordinates corresponding to the images to be compared with the targets to the ground terminal, and control the unmanned aerial vehicle to stop shooting and return. The three operation modes can be selected according to the requirements of the user, and it can be understood that other operations can be adopted after the existence of the target object is determined, and the operation is not limited herein.
The second embodiment of the invention provides a method for searching a target object, which embodies a process of determining whether the target object exists. According to the method, whether the target exists or not can be determined more efficiently by comparing and screening two images shot in the same space coordinates, and an object identification feature library is not required to be established in advance like the prior art, so that the calculated amount is reduced.
The embodiment of the invention provides a specific implementation mode based on the technical scheme of each embodiment.
As a specific implementation manner, fig. 3a is an exemplary flowchart before searching for a target object according to a method for searching for a target object according to a second embodiment of the present invention, and as shown in fig. 3a, the following steps are required to be performed before searching for a target object, i.e. before receiving a second shooting instruction:
step 1, setting a target area.
Namely, the user picks out the track area on the application program corresponding to the unmanned aerial vehicle.
Step 2, executing the flight task
And 3, photographing and generating a picture set.
And constructing a background image library of the target area.
Fig. 3b is a flowchart illustrating an exemplary searching process of a method for searching a target object according to a second embodiment of the present invention, and as shown in fig. 3b, the process for searching a target object may include the following steps:
step 1, importing a preset flight task.
I.e. to introduce a preset flight path.
And step 2, executing a preset flight task.
Namely, receiving a searching instruction and executing a flight task according to a preset flight path.
And 3, photographing and generating a new picture.
Shooting a to-be-compared image of the target area, and acquiring a second space coordinate of the to-be-compared image.
And 4, comparing and analyzing the new and old pictures.
And comparing the image to be compared with the background image when the first space coordinate is the same as the second space coordinate.
And 5, judging whether the new picture has a target object.
And determining whether the target object exists in the image to be compared.
If not, returning to the execution step 3, namely continuing to fly to the next shooting position to shoot a new image to be compared; if yes, go to step 6.
And 6, flying the unmanned aerial vehicle to a specific position of the target object to hover.
And 7, judging whether to continue the task.
I.e. whether to continue the fly shooting to find the target object.
If yes, returning to the execution step 3; if not, ending the task.
Example III
Fig. 4 is a schematic structural diagram of a device for searching a target object according to a third embodiment of the present invention, where the device may be suitable for searching a target object in a large open field, and the device may be implemented by software and/or hardware and is generally integrated on an unmanned aerial vehicle device.
As shown in fig. 4, the apparatus for searching for a target object includes: a construction module 410, an acquisition module 420, and a comparison module 430.
The construction module 410 is configured to construct a background image library of the target area and store the background image library in the unmanned aerial vehicle, where the background image library includes all features of the target area and first spatial coordinates corresponding to the background images one by one.
The obtaining module 420 is configured to receive a search instruction, execute a flight task according to a preset flight path, capture an image to be compared of the target area, and obtain a second spatial coordinate of the image to be compared.
And the comparison module 430 is configured to compare the image to be compared with the background image when the first spatial coordinate is the same as the second spatial coordinate, and determine whether the object exists in the image to be compared.
In this embodiment, the device firstly constructs a background image library of the target area through a construction module 410 and stores the background image library in the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one; then receiving a searching instruction through an acquisition module 420, executing a flight task according to a preset flight path, shooting images to be compared of a target area, and acquiring second space coordinates of the images to be compared; finally, when the first space coordinate is the same as the second space coordinate, the comparison module 430 compares the image to be compared with the background image, and determines whether the object exists in the image to be compared.
The embodiment provides a device for searching a target object, which can effectively determine whether the target object exists by comparing a first group of photos with a to-be-compared photo. In addition, the device can be suitable for searching any target object, and has a larger application range.
Further, the device for searching the target object further comprises a determining module, wherein the determining module is used for: acquiring the area of a target area and attribute information of the unmanned aerial vehicle; and determining the number of the background images according to the area and the attribute information.
On the basis of the above optimization, the fixed number determination module includes a first determination unit for: determining ground resolution according to the preset flying height, the camera focal length and the camera pixels, wherein the ground resolution is the actual ground area represented by one pixel on a screen; and determining the quotient of the area and the ground resolution as the number of the background images.
Based on the technical scheme, the preset flight path is determined by the application program corresponding to the unmanned aerial vehicle according to the track area input by the user, and the track area is formed by the track line provided by the user on the application program.
Further, the device further comprises a second space coordinate determining module, specifically configured to: determining the ratio of the distance of the preset flight path to the preset flight speed as the total flight time; determining the ratio of the total flight time to the number of the background images as the corresponding time of shooting the images to be compared; and when the time corresponding to the shot images to be compared arrives, determining the flight position of the unmanned aerial vehicle as a second space coordinate corresponding to the images to be compared.
Further, the second spatial coordinate determination module is further configured to: determining the ratio of the distance of the preset flight path to the number of the background images as a distance interval value for shooting two adjacent images to be compared; determining the shooting position of the images to be compared according to the distance interval value and the flight position record; and when the distance interval value is reached, determining the flight position of the unmanned aerial vehicle as a second space coordinate corresponding to the image to be compared.
Further, the comparison module 430 is specifically configured to: determining the structural similarity between the image to be compared and the background image; determining whether a target exists in the images to be compared based on the structural similarity; if the target object is determined to exist, marking the image to be compared of the target object, or/and sending a second space coordinate of the image to be compared of the target object to a ground terminal, and stopping shooting and navigating the unmanned aerial vehicle.
The device for searching the target object can execute the method for searching the target object provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the method.
Example IV
Fig. 5 is a schematic structural diagram of an unmanned aerial vehicle device according to a fourth embodiment of the present invention. As shown in fig. 5, the unmanned aerial vehicle provided in the fourth embodiment of the present invention includes: one or more processors 51 and storage 52; the number of processors 51 in the drone device may be one or more, one processor 51 being taken as an example in fig. 5; the storage device 52 is used for storing one or more programs; the one or more programs are executed by the one or more processors 51 to cause the one or more processors 51 to implement a method of searching for a target object according to any of the embodiments of the present invention.
The unmanned aerial vehicle device may further include: an input device 53 and an output device 54.
The processor 51, the storage means 52, the input means 53 and the output means 54 in the drone device may be connected by a bus or by other means, in fig. 5 by way of example.
The storage device 52 in the unmanned aerial vehicle apparatus is used as a computer readable storage medium, and may be used to store one or more programs, such as a software program, a computer executable program, and a module, such as program instructions/modules corresponding to the method for searching for an object provided in the first or second embodiment of the present invention (for example, the modules in the device for searching for an object shown in fig. 4 include a building module 410, an obtaining module 420, and a comparing module 430). The processor 51 executes various functional applications and data processing of the unmanned aerial vehicle device, that is, implements the method of searching for a target object in the above-described method embodiment, by running software programs, instructions and modules stored in the storage device 52.
Storage device 52 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functionality; the storage data area may store data created from the use of the drone device, etc. In addition, the storage 52 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, storage 52 may further include memory located remotely from processor 51, which may be connected to the device via 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 input means 53 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the drone device. The output device 54 may include a display device such as a display screen.
And, when one or more programs included in the above-described unmanned aerial vehicle device are executed by the one or more processors 51, the programs perform the following operations:
constructing a background image library of a target area and storing the background image library in the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one;
receiving a searching instruction, executing a flight task according to a preset flight path, shooting an image to be compared of the target area, and obtaining second space coordinates of the image to be compared;
and when the first space coordinate is the same as the second space coordinate, comparing the image to be compared with the background image, and determining whether a target object exists in the image to be compared.
Example five
A fifth embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is configured to perform a method of searching for a target object, the method comprising:
Constructing a background image library of a target area and storing the background image library in the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one;
receiving a searching instruction, executing a flight task according to a preset flight path, shooting an image to be compared of the target area, and obtaining second space coordinates of the image to be compared;
and when the first space coordinate is the same as the second space coordinate, comparing the image to be compared with the background image, and determining whether a target object exists in the image to be compared.
Optionally, the program may be further configured to perform a method for searching for a target object according to any of the embodiments of the present invention when executed by a processor.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to: electromagnetic signals, optical signals, or any suitable combination of the preceding. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), and the like, or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (10)

1. A method of searching for a target object, performed by a drone, comprising:
constructing a background image library of a target area and storing the background image library in the unmanned aerial vehicle, wherein the background image library comprises all features of the target area and first space coordinates corresponding to the background images one by one;
receiving a searching instruction, executing a flight task according to a preset flight path, shooting an image to be compared of the target area, and obtaining second space coordinates of the image to be compared;
and when the first space coordinate is the same as the second space coordinate, comparing the image to be compared with the background image, and determining whether a target object exists in the image to be compared.
2. The method of claim 1, further comprising, prior to said constructing a background image library of the target area and storing in the drone:
acquiring the area of a target area and attribute information of the unmanned aerial vehicle;
and determining the number of the background images according to the area and the attribute information.
3. The method of claim 2, wherein the attribute information comprises: preset fly height, camera focal length and camera pixels; correspondingly, the determining the number of the background images according to the area and the attribute information comprises the following steps:
determining ground resolution according to the preset flying height, the camera focal length and the camera pixels, wherein the ground resolution is the actual ground area represented by one pixel on a screen;
and determining the quotient of the area and the ground resolution as the number of the background images.
4. The method of claim 1, wherein the predetermined flight path is determined by the application program corresponding to the unmanned aerial vehicle according to a trajectory region entered by a user, the trajectory region being formed by a trajectory line provided by the user on the application program.
5. The method according to claim 1, wherein the second spatial coordinates of the images to be compared are determined by:
Determining the ratio of the distance of the preset flight path to the preset flight speed as the total flight time;
determining the ratio of the total flight time to the number of the background images as the corresponding time of shooting the images to be compared;
and when the time corresponding to the shot images to be compared arrives, determining the flight position of the unmanned aerial vehicle as a second space coordinate corresponding to the images to be compared.
6. The method according to claim 1, wherein the second spatial coordinates of the images to be compared are determined by:
determining the ratio of the distance of the preset flight path to the number of the background images as a distance interval value for shooting two adjacent images to be compared;
determining the shooting position of the images to be compared according to the distance interval value and the flight position record;
and when the distance interval value is reached, determining the flight position of the unmanned aerial vehicle as a second space coordinate corresponding to the image to be compared.
7. The method of claim 1, wherein the comparing the image to be compared with the background image to determine whether an object is present in the image to be compared comprises:
Determining the structural similarity between the image to be compared and the background image;
determining whether a target exists in the images to be compared based on the structural similarity;
if the target object is determined to exist, marking the image to be compared of the target object, or/and sending a second space coordinate of the image to be compared of the target object to a ground terminal, and stopping shooting and navigating the unmanned aerial vehicle.
8. An apparatus for searching for a target, comprising:
the construction module is used for constructing a background image library of a target area and storing the background image library in the unmanned aerial vehicle, wherein the background image library comprises all the characteristics of the target area and first space coordinates corresponding to the background images one by one;
the acquisition module is used for receiving a search instruction, executing a flight task according to a preset flight path, shooting images to be compared of the target area, and acquiring second space coordinates of the images to be compared;
and the comparison module is used for comparing the image to be compared with the background image when the first space coordinate is the same as the second space coordinate, and determining whether a target object exists in the image to be compared.
9. A drone apparatus, comprising:
One or more processors;
a storage means for storing one or more programs;
the one or more programs being executable by the one or more processors to cause the one or more processors to perform the method of searching for a target of any of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method of searching for a target object according to any of claims 1-7.
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