CN114877862A - Unmanned aerial vehicle equipment and height detection method, device and equipment thereof - Google Patents
Unmanned aerial vehicle equipment and height detection method, device and equipment thereof Download PDFInfo
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- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
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- G—PHYSICS
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Abstract
The invention discloses a method, a device and equipment for detecting the height of unmanned aerial vehicle equipment and the unmanned aerial vehicle equipment, which are applied to the technical field of unmanned aerial vehicles, and the method comprises the following steps: acquiring a light projection image of a preset projection direction acquired by a preset camera of the unmanned aerial vehicle device; the unmanned aerial vehicle equipment is provided with a grating generating component, and the grating generating component is used for generating a grating projected towards a preset projection direction below the unmanned aerial vehicle equipment so as to form corresponding light projection by projection on a projection surface; obtaining the flight height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image; the invention utilizes the preset camera on the unmanned aerial vehicle equipment to collect the light projection formed by the projection of the grating generated by the grating generating component on the projection plane, obtains the flight height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image collected by the preset camera, realizes the high-precision detection of the flight height, and thus provides guarantee for the safe flight of the indoor unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a height detection method, device and equipment for unmanned aerial vehicle equipment and the unmanned aerial vehicle equipment.
Background
Along with the improvement of people's safety protection consciousness, security protection product kind is also more and more on the market, and indoor control unmanned aerial vehicle also gets into people's field of vision, has improved people's safety in life. In order to better meet the aesthetic feeling of users and the application requirements of places, the indoor unmanned aerial vehicle product is designed to be compact and small as much as possible. The landing range of the unmanned aerial vehicle is reduced by the aid of a small product design, more severe requirements are provided for automatic landing control precision of the unmanned aerial vehicle, and the landing precision is improved by the aid of a more accurate landing positioning method.
At present, the method is limited by the accuracy of a barometer and the limitation of indoor height, and the traditional method for using the barometer to carry out fixed-height control flight cannot meet the application of an indoor unmanned aerial vehicle. Therefore, how can realize the high accuracy detection to the flying height of unmanned aerial vehicle equipment, compensate because of the not enough problem of the indoor unmanned aerial vehicle of deciding the high accuracy and the unable effective adjustment flying height of multi-floor shuttle that leads to of barometer sensitivity to keep away the obstacle and fly safely for indoor unmanned aerial vehicle and provide the guarantee basis, be the problem that needs the solution now urgently.
Disclosure of Invention
The invention aims to provide a method, a device and equipment for detecting the height of unmanned aerial vehicle equipment and the unmanned aerial vehicle equipment, so as to realize high-precision detection of the flying height of the unmanned aerial vehicle equipment.
In order to solve the technical problem, the invention provides a height detection method of unmanned aerial vehicle equipment, which comprises the following steps:
acquiring a light projection image of a preset projection direction acquired by a preset camera of the unmanned aerial vehicle device; the unmanned aerial vehicle equipment is provided with a grating generating component, and the grating generating component is used for generating a grating projected towards the preset projection direction below the unmanned aerial vehicle equipment so as to form corresponding light projection by projection on a projection plane;
and obtaining the flight height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image.
Optionally, the light projection area comprises a spot area and/or a grid area.
Optionally, the light projection image of the preset projection direction that acquires the preset camera of unmanned aerial vehicle equipment includes:
controlling the grating generation component to generate a grating projected towards the preset projection direction below the unmanned aerial vehicle device;
and controlling the preset camera to collect the light projection image in the preset projection direction.
Optionally, obtaining the flying height of the unmanned aerial vehicle device according to the light projection pattern in the light projection image includes:
and obtaining the flight height of the unmanned aerial vehicle equipment according to the area size and the flight angle of the unmanned aerial vehicle equipment.
Optionally, after obtaining the light projection image of the preset projection direction that the preset camera of unmanned aerial vehicle equipment gathered, still include:
and detecting the flight terrain of the unmanned aerial vehicle equipment according to the light projection area.
Optionally, the detecting the flight terrain of the drone device according to the light projection area includes:
determining the flight terrain according to the preset light projection patterns corresponding to the light projection areas and the preset terrains respectively; the flight topography is any of the preset topography, and the preset topography comprises a plane topography and/or an unmanned aerial vehicle base topography.
The invention also provides a height detection device of the unmanned aerial vehicle equipment, which comprises:
the image acquisition module is used for acquiring a light projection image in a preset projection direction, which is acquired by a preset camera of the unmanned aerial vehicle equipment; the unmanned aerial vehicle equipment is provided with a grating generating component, and the grating generating component is used for generating a grating projected towards the preset projection direction below the unmanned aerial vehicle equipment so as to form corresponding light projection by projection on a projection plane;
and the height detection module is used for obtaining the flight height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image.
The invention also provides an unmanned aerial vehicle device, comprising:
the grating generation component is used for generating a grating projected towards a preset projection direction below the unmanned aerial vehicle so as to form a corresponding light projection by projection on a projection surface;
and the preset camera is used for collecting the light projection image in the preset projection direction.
Optionally, the grating generating component includes: an optical path generator and a grating plate;
wherein the optical path generator is used for generating a divergent optical path; the grating plate comprises a shading area and a light transmitting area, and the light path projects a grating in a preset shape through the light transmitting area of the grating plate.
In addition, the invention also provides a height detection device of the unmanned aerial vehicle device, which comprises:
a memory for storing a computer program;
a processor for implementing the steps of the method of height detection of a drone device as described above when executing said computer program.
The invention provides a height detection method of unmanned aerial vehicle equipment, which comprises the following steps: acquiring a light projection image of a preset projection direction acquired by a preset camera of the unmanned aerial vehicle device; the unmanned aerial vehicle equipment is provided with a grating generating component, and the grating generating component is used for generating a grating projected towards a preset projection direction below the unmanned aerial vehicle equipment so as to form corresponding light projection by projection on a projection surface; obtaining the flight height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image;
according to the invention, through the arrangement of the grating generation component and the preset camera on the unmanned aerial vehicle device, the preset camera is used for collecting the light projection formed by the projection of the grating generated by the grating generation component on the projection surface; through the regional size of light projection region in the light projection image according to predetermineeing the camera and gather, obtain unmanned aerial vehicle equipment's flying height, realize detecting the high accuracy of flying height of unmanned aerial vehicle equipment, compensatied because of the not enough problem of the indoor unmanned aerial vehicle of deciding the not enough and the unable effective adjustment flying height of multi-floor shuttle of high accuracy that leads to of barometer sensitivity to keep away the obstacle and fly safely for indoor unmanned aerial vehicle and provide the guarantee basis. In addition, the invention also provides a height detection device and equipment of the unmanned aerial vehicle equipment and the unmanned aerial vehicle equipment, and the unmanned aerial vehicle equipment also has the beneficial effects.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for detecting the height of an unmanned aerial vehicle device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle device according to an embodiment of the present invention;
fig. 3 is a schematic view of a landing position of an unmanned aerial vehicle device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a grating generation component of an unmanned aerial vehicle device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a light projection area of an unmanned aerial vehicle device according to an embodiment of the present invention;
fig. 6 is a schematic view of a light projection area of another drone device provided by an embodiment of the present invention;
fig. 7 is a schematic view of a flight terrain of a drone device provided by an embodiment of the present invention;
fig. 8 is a schematic view of the light projection area of the drone device on the flight terrain shown in fig. 7;
fig. 9 is a schematic view of the flight terrain of another drone apparatus provided by an embodiment of the present invention;
fig. 10 is a schematic view of the light projection area of the drone device on the flight terrain shown in fig. 9;
fig. 11 is a block diagram of a structure of a height detection apparatus of an unmanned aerial vehicle device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a method for detecting the height of an unmanned aerial vehicle device according to an embodiment of the present invention. The method can comprise the following steps:
step 101: acquiring a light projection image of a preset projection direction acquired by a preset camera of the unmanned aerial vehicle device; the unmanned aerial vehicle device is provided with a grating generation component, and the grating generation component is used for generating a grating projected towards a preset projection direction below the unmanned aerial vehicle device so as to form a corresponding light projection by projection on a projection surface.
It can be understood that the unmanned aerial vehicle device in this embodiment may be provided with a preset camera and a grating generation component; the optical grating generating component can be used for generating an optical grating which projects towards a preset projection direction below the unmanned aerial vehicle device so as to form a corresponding light projection such as a light spot and/or a light grid on a projection surface; the preset camera may capture an image of a preset projection direction (i.e., a light projection image), i.e., the light projection image may include an area of the light projection (i.e., a light projection area) formed by the projection of the grating on the projection surface.
Specifically, to the specific device position of predetermineeing camera and grating generation part on the unmanned aerial vehicle equipment in this embodiment, can be set up by oneself according to practical scene and user's demand by the designer, as shown in fig. 2, grating generation part and predetermine the camera (be the camera) all can set up in the bottom of unmanned aerial vehicle equipment to the collection of the light projection image of the below of conveniently throwing grating and unmanned aerial vehicle equipment to unmanned aerial vehicle equipment's below. Grating generation part and/or predetermine the camera and also can set up the side at unmanned aerial vehicle equipment, as long as guarantee that grating generation part can throw the grating to unmanned aerial vehicle equipment's below and predetermine the camera and can gather the light projection image that the light projection that the grating projection of unmanned aerial vehicle equipment below formed corresponds, this embodiment does not do any restriction to this.
Correspondingly, the specific direction setting of the preset projection direction, namely the specific grating projection angle setting of the grating generation component, can be set by a designer according to a practical scene and user requirements, for example, the preset projection direction can be a projection direction perpendicular to the bottom of the unmanned aerial vehicle device, so that the grating generated by the grating generation component can be projected vertically downwards; the preset projection direction can also be other downward projection directions, as long as it is ensured that the grating generated by the grating generation component is projected towards the lower part of the unmanned aerial vehicle device, that is, the grating generated by the grating generation component can form light projection on the projection surface below the unmanned aerial vehicle device when the unmanned aerial vehicle device flies, and this embodiment does not limit this.
The specific device types of the grating generation component and the preset camera in this embodiment may be set by a designer, for example, the grating generation component may specifically be a visible light grating generation component, that is, the grating generation component may project a visible light grating; in order to reduce the influence of the external environment on the visible light grating projection, the brightness of the visible light grating projected by the visible light grating generating component may be greater than a brightness threshold. The grating generation component can also be specifically an infrared grating generation component, namely the grating generation component can project an infrared grating so as to reduce the influence of the external environment on the grating projection; correspondingly, the preset camera can be specifically an infrared camera, so that the infrared projection image formed by the infrared grating projection can be conveniently acquired.
Specifically, as for the specific structure of the grating generation component in this embodiment, the specific structure may be set by a designer, as shown in fig. 4, the grating generation component may include an optical path generator and a grating plate; the light path generator is used for generating a divergent light path; the grating plate comprises a shading area and a light transmitting area, and the light path projects a grating with a preset shape through the light transmitting area of the grating plate. The light-shielding area of the grating plate can be an area covered by a low-light-transmission material or an opaque material, and the light-transmission area of the grating plate can be an area covered by a high-light-transmission material or a hollow area, so that the light path generated by the light path generator can project a grating with a preset shape through the light-transmission area of the grating plate. For example, when the grating generation component is specifically an infrared grating generation component, the grating generation component may include an infrared optical path generator and a grating plate; the infrared light path generator may be specifically an infrared lamp or a combination of an infrared lamp and a light guide plate to generate a divergent infrared light path, for example, the infrared light path generator may be composed of a single infrared lamp or a plurality of infrared lamps and a light guide plate; the grating plate may be a light shielding plate (i.e., a light shielding region) made of a material that has low transmittance of infrared light or does not transmit infrared light, and the grating plate may include a hollow hole (i.e., a light transmitting region) with a predetermined shape (e.g., a rectangle or a triangle) so that the infrared light path passes through the grating plate and then projects an infrared grating or a grating group with a predetermined shape.
Correspondingly, the specific number and shape of the light-transmitting areas on the grating plate, namely the number and shape of the gratings projected by the grating plate, can be set by a designer according to a practical scene and user requirements, for example, the light-transmitting areas can include light spot light-transmitting areas, so that the projected gratings can be projected on a projection surface to form corresponding light spots (namely light projection); for example, the light spot transmission area may be a rectangular area, so that the light path generated by the light path generator passes through the grating plate to project a grating of a rectangular (i.e., a preset shape, such as a square) light spot; the spot transmission area may be a triangular area or an area of other shape (e.g., circular). The light-transmitting regions may also include grid light-transmitting regions, so that the projected grating can be projected on the projection surface to form a corresponding light grid (i.e., light projection), such as a solid line grid or a dashed line grid. The number of the light-transmitting areas can be 1, for example, when the light-transmitting areas are light spot light-transmitting areas, the light path generated by the light path generator can project a rectangular grating after passing through the grating plate so as to form rectangular light spots on the projection surface; when the light transmission area is a grid light transmission area, a light path generated by the light path generator can project a corresponding grid-shaped grating after passing through the grating plate so as to form a light grid on a projection surface; for convenience in subsequent terrain identification, when the light-transmitting areas include light spot light-transmitting areas, the number of the light-transmitting areas can also be greater than or equal to 2, for example, light spot light-transmitting areas corresponding to four front, rear, left and right flying directions of the unmanned aerial vehicle equipment can be arranged on a grating plate, that is, the number of the light-transmitting areas can be greater than or equal to 4; for example, the grating plate can be provided with 16 light spot light-transmitting areas in 4 rows and 4 columns; as shown in fig. 5, the number of the light-transmitting areas may be 4, so that the grating generation component may form 4 light spots (i.e., light spot areas) in projection on the projection surface below the unmanned aerial vehicle device, that is, 1 light spot area that four forward, backward, leftward, rightward, leftward, and rightward flight directions of the unmanned aerial vehicle device may correspond to each other.
It should be noted that the height detection method for the unmanned aerial vehicle device provided by this embodiment may be applied to an unmanned aerial vehicle device (e.g., an indoor unmanned aerial vehicle), that is, a processor of the unmanned aerial vehicle device may execute the method provided by this embodiment, so as to implement high-precision detection of the flying height of the unmanned aerial vehicle device itself; the height detection method for the unmanned aerial vehicle device provided by the embodiment may also be applied to a height detection device in communication connection with the unmanned aerial vehicle device, such as a server or a user terminal (e.g., a mobile phone device), that is, a processor of the height detection device may execute the method provided by the embodiment, so as to realize high-precision detection of the flying height of the unmanned aerial vehicle device.
Correspondingly, for the specific mode that the processor acquires the light projection image in the preset projection direction acquired by the preset camera of the unmanned aerial vehicle device in the step, the specific mode can be set by a designer according to a practical scene and user requirements, for example, the processor can control the grating generation component to generate a grating projecting towards the preset projection direction below the unmanned aerial vehicle device; controlling a preset camera to collect a light projection image in a preset projection direction; for example, the processor of the unmanned aerial vehicle device controls the grating generation component to generate a grating projected in a preset projection direction below the unmanned aerial vehicle device, and then controls the preset camera to collect a light projection image in the preset projection direction, so as to obtain an image (i.e., a light projection image) including the light projection formed by the grating projection, thereby enabling the detection of the flying height of the unmanned aerial vehicle device by using the image. The processor can also directly receive a light projection image sent by the unmanned aerial vehicle device; for example, the processor of the server may receive the light projection image sent by the drone device, so that the server detects the flying height of the drone device, and the calculation amount of the drone device is reduced.
Specifically, in this step, the light projection image may be a light projection image of a preset projection direction acquired by a preset camera when the unmanned aerial vehicle device is in a flight state; for example, the processor may detect whether the drone device is in a flight state before controlling the grating generation component to generate a grating projecting in a preset projection direction below the drone device; if so, controlling the grating generation component to generate a grating projected towards a preset projection direction below the unmanned aerial vehicle device; if not, then can directly end this flow or wait for the flight state detection of next time to reduce unmanned aerial vehicle equipment's electric quantity loss.
Step 102: and obtaining the flying height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image.
It can be understood that, as shown in fig. 5 and fig. 6, when the drone device is closer to the lower projection surface (e.g., the ground), the size of the light projection area formed by the projection of the grating is smaller (e.g., the light spot area in fig. 5), that is, the occupied pixels of the light projection area in the light projection image are fewer; and when unmanned aerial vehicle equipment is far away from below projection plane, the size in the light projection region that the grating projection formed is great (like the facula region in fig. 6), and the regional pixel that occupies of light projection in the light projection image is more promptly, consequently, the regional size in light projection region in the light projection image that this step medium treater can gather according to predetermineeing the camera determines unmanned aerial vehicle equipment's altitude of flight to make things convenient for subsequent unmanned aerial vehicle equipment's fixed height flight control.
Specifically, for the specific manner in which the processor obtains the flight height of the unmanned aerial vehicle device according to the area size of the light projection area in the light projection image in this embodiment, the specific manner may be set by a designer, for example, the processor may determine the flight height of the unmanned aerial vehicle device by comparing the area size of the light projection area with preset sizes corresponding to preset heights; the processor can also calculate the flying height of the unmanned aerial vehicle equipment according to the area size of the light projection area and the corresponding relation between the preset size and the height; the preset corresponding relation between the size and the height may be a relation obtained by fitting a quadratic curve (or a cubic curve). As long as the processor can obtain the flying height of the drone device according to the area size of the light projection area in the light projection image, this embodiment does not set any limit to this.
Correspondingly, in the embodiment, the processor can obtain the flight height of the unmanned aerial vehicle device according to the area size of the target light projection area in the light projection image; wherein the target light projection area may be a partial area in the light projection image; for example, when the light projection formed by the grating generated by the grating generating component on the projection plane is a light spot, that is, the light projection area includes a light spot area, the target light projection area may be any light spot area conforming to a preset light spot shape in each light spot area; when the light projected by the grating generated by the grating generating component on the projection plane is projected as a light grid, that is, the light projection area includes a grid area, the target light projection area may be a partial grid area in the grid area that conforms to a preset grid shape (such as a square grid or a grid in a shape of a Chinese character tian).
It should be noted that, when the projection direction of the grating generation component in the unmanned aerial vehicle device is fixed, due to different flight angles of the unmanned aerial vehicle device at the same flight altitude, a light projection area formed by gratings projected onto the same projection plane by the grating generation component in the unmanned aerial vehicle device may change, and in this step, the processor may obtain the flight altitude of the unmanned aerial vehicle device according to the area size and the flight angle of the unmanned aerial vehicle device; for example, when preset sizes of the heights corresponding to the horizontal flight angle are preset, the processor in this step may determine that the flight height of the unmanned aerial vehicle device is the height corresponding to the matched preset size through comparison and matching of the area size of the target light projection area and the preset sizes when the flight angle of the unmanned aerial vehicle device is the horizontal flight angle.
Furthermore, when the unmanned aerial vehicle device flies through various terrains, the light projection area shot by the preset camera also changes correspondingly; if the drone device is flying through a planar terrain, the shape of the light projection area may be as shown in fig. 5 and 6; when the unmanned aerial vehicle device flies through the stair terrain shown in fig. 7, the shape of the light projection area shot by the preset camera may be as shown in fig. 8; when the drone device flies through the drone base terrain shown in fig. 9, the shape of the light projection area that is shot by the preset camera may be as shown in fig. 10. Therefore, the treater can utilize the light projection region in the light projection image of predetermineeing the camera and gathering in this step, realize the accurate discernment of unmanned aerial vehicle equipment's below topography, make things convenient for subsequent automatic cruise control (like flight path planning) and the automatic descending of unmanned aerial vehicle equipment, improve unmanned aerial vehicle equipment's descending precision, thereby effectively reduce unmanned aerial vehicle base size, make the product design of unmanned aerial vehicle equipment (like the unmanned aerial vehicle main part in fig. 3) and unmanned aerial vehicle base can be more small and exquisite compacter, promote product competitiveness.
That is to say, after the light projection image of the preset projection direction that the treater was gathered at the preset camera of acquireing unmanned aerial vehicle equipment in this embodiment, can also detect unmanned aerial vehicle equipment's flight topography according to the light projection area in the light projection image. As in some embodiments, the processor may determine the flight topography of the drone device from the light projection area and respective predetermined light projection patterns (e.g., spot patterns or grid patterns) corresponding to the respective predetermined topographies; wherein, the flight topography is arbitrary and predetermines the topography, predetermines the topography and include plane topography and/or unmanned aerial vehicle base topography. In other embodiments, when the light projection area includes a mesh area, the processor may identify the flight terrain of the unmanned aerial vehicle device according to the curvature of each mesh line in the mesh area, for example, compare and match the curvature of each mesh line with the respective curvature feature corresponding to each preset terrain, and identify the preset terrain corresponding to the curvature feature matched to the flight terrain of the unmanned aerial vehicle device.
Correspondingly, for the specific mode of detecting the flight terrain of the unmanned aerial vehicle device according to the light projection area in the light projection image, the specific mode can be set by a designer according to a use scene and user requirements, and if the specific mode is the same as or similar to an image matching method in the prior art, the matching process of the light projection area and a preset light projection pattern is realized; the curvature detection and feature matching process of the grid lines can also be realized in the same or similar mode as the curvature detection and matching method in the prior art. As long as the processor can detect the flight terrain of the drone device according to the light projection area in the light projection image, this embodiment does not impose any limitation on this.
Specifically, when the projection direction of the grating generation component in the unmanned aerial vehicle device is fixed, because the unmanned aerial vehicle device is at different flight angles, a light projection area formed by a grating projected onto the same terrain by the grating generation component in the unmanned aerial vehicle device changes, in this embodiment, the processor may determine the flight terrain of the unmanned aerial vehicle device according to the light projection area, a preset light projection pattern, and the flight angle of the unmanned aerial vehicle device; for example, when the preset light projection patterns of the preset terrains corresponding to the horizontal flight angle are preset, the processor in this step may determine that the flight terrains of the unmanned aerial vehicle device are the preset terrains corresponding to the matched preset light projection patterns through comparison and matching of the light projection regions and the preset light projection patterns when the flight angle of the unmanned aerial vehicle device is the horizontal flight angle. Further, the processor can also determine the flight terrain of the unmanned aerial vehicle device according to the light projection area, the preset light projection pattern, the flight angle and the flight height of the unmanned aerial vehicle device, and the embodiment does not limit the flight terrain.
In the embodiment of the invention, through the arrangement of the grating generation component and the preset camera on the unmanned aerial vehicle device, the preset camera is used for collecting light projection formed by the projection of the grating generated by the grating generation component on the projection surface; through the regional size of light projection region in the light projection image according to predetermineeing the camera and gather, obtain unmanned aerial vehicle equipment's flying height, realize detecting the high accuracy of flying height of unmanned aerial vehicle equipment, compensatied because of the not enough problem of the indoor unmanned aerial vehicle of deciding the not enough and the unable effective adjustment flying height of multi-floor shuttle of high accuracy that leads to of barometer sensitivity to keep away the obstacle and fly safely for indoor unmanned aerial vehicle and provide the guarantee basis.
Corresponding to the above method embodiment, the embodiment of the present invention further provides a height detection device of an unmanned aerial vehicle device, and the height detection device of an unmanned aerial vehicle device described below and the height detection method of an unmanned aerial vehicle device described above may be referred to in correspondence with each other.
Referring to fig. 11, fig. 11 is a block diagram of a height detection apparatus of an unmanned aerial vehicle device according to an embodiment of the present invention. The apparatus may include:
the image acquisition module 10 is configured to acquire a light projection image of a preset projection direction acquired by a preset camera of the unmanned aerial vehicle device; the unmanned aerial vehicle equipment is provided with a grating generating component, and the grating generating component is used for generating a grating projected towards a preset projection direction below the unmanned aerial vehicle equipment so as to form corresponding light projection by projection on a projection surface;
and the height detection module 20 is used for obtaining the flying height of the unmanned aerial vehicle device according to the area size of the light projection area in the light projection image.
Optionally, the light projection area comprises a spot area and/or a grid area.
Optionally, the image acquiring module 10 may include:
the grating control submodule is used for controlling the grating generation component to generate a grating which projects towards the preset projection direction below the unmanned aerial vehicle device;
and the camera shooting control submodule is used for controlling a preset camera to collect a light projection image in a preset projection direction.
Optionally, the height detection module 20 may be specifically configured to obtain the flight height of the drone device according to the area size and the flight angle of the drone device.
Optionally, the apparatus may further include:
and the terrain identification module is used for detecting the flight terrain of the unmanned aerial vehicle equipment according to the light projection area.
Optionally, the terrain identification module may be specifically configured to determine the flight terrain according to the light projection area and a preset light projection pattern corresponding to each preset terrain; the flight topography is any of the preset topography, and the preset topography comprises a plane topography and/or an unmanned aerial vehicle base topography.
In the embodiment of the invention, through the arrangement of the grating generation component and the preset camera on the unmanned aerial vehicle device, the preset camera is used for collecting light projection formed by the projection of the grating generated by the grating generation component on the projection surface; through the regional size of light projection region in the light projection image that height detection module 20 was gathered according to predetermineeing the camera, obtain unmanned aerial vehicle equipment's flying height, the high accuracy that realizes unmanned aerial vehicle equipment's flying height detects, has compensatied because of the not enough problem of the unable effective adjustment flying height of indoor unmanned aerial vehicle high accuracy of deciding and the multiroom shuttle of leading to of barometer sensitivity to keep away the barrier and fly safely for indoor unmanned aerial vehicle and provide the guarantee basis.
Corresponding to the above method embodiment, the embodiment of the present invention further provides an unmanned aerial vehicle device, and the unmanned aerial vehicle device described below and the above height detection method for the unmanned aerial vehicle device described above may be referred to in correspondence.
An unmanned aerial vehicle device comprising:
the optical grating generating component is used for generating an optical grating which projects towards a preset projection direction below the unmanned aerial vehicle so as to form a corresponding light projection by projecting on a projection surface;
and the preset camera is used for acquiring a light projection image in a preset projection direction.
Specifically, the grating generation section may include: an optical path generator and a grating plate;
the light path generator is used for generating a divergent light path; the grating plate comprises a shading area and a light transmitting area, and the light path projects a grating with a preset shape through the light transmitting area of the grating plate.
Specifically, the unmanned aerial vehicle equipment that this embodiment provided can also include:
a memory for storing a computer program;
a processor for implementing the steps of the method for height detection of a drone device as provided by the above method embodiments when executing a computer program.
Corresponding to the above method embodiment, the embodiment of the present invention further provides a height detection device of an unmanned aerial vehicle device, and the height detection device of an unmanned aerial vehicle device described below and the height detection method of an unmanned aerial vehicle device described above may be referred to in a corresponding manner.
An altitude detection apparatus of an unmanned aerial vehicle apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method for height detection of a drone device as provided by the above method embodiments when executing a computer program.
Specifically, the height detection device of the unmanned aerial vehicle device provided by the embodiment may specifically be an unmanned aerial vehicle device, such as an indoor unmanned aerial vehicle; and may be embodied as devices such as a drone device, such as a server and a user terminal (e.g., a cell phone device), that are communicatively coupled.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a computer-readable storage medium, and a computer-readable storage medium described below and the above-described height detection method for the drone device may be referred to in correspondence with each other.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for height detection of a drone device provided by the above-described method embodiments.
The computer readable storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various computer readable storage media capable of storing program codes.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The height detection device, the unmanned aerial vehicle device and the computer-readable storage medium disclosed in the embodiments correspond to the height detection method disclosed in the embodiments, so that the description is simple, and the relevant points can be referred to the description of the method part.
The height detection method, the height detection device, the height detection equipment and the unmanned aerial vehicle equipment provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A method for detecting the height of unmanned aerial vehicle equipment is characterized by comprising the following steps:
acquiring a light projection image of a preset projection direction acquired by a preset camera of the unmanned aerial vehicle device; the unmanned aerial vehicle equipment is provided with a grating generating component, and the grating generating component is used for generating a grating projected towards the preset projection direction below the unmanned aerial vehicle equipment so as to form corresponding light projection by projection on a projection plane;
and obtaining the flight height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image.
2. The method of claim 1, wherein the light projection area comprises a spot area and/or a grid area.
3. The method for detecting the height of the unmanned aerial vehicle device according to claim 1, wherein the acquiring of the light projection image of the preset projection direction acquired by the preset camera of the unmanned aerial vehicle device comprises:
controlling the grating generation component to generate a grating projected towards the preset projection direction below the unmanned aerial vehicle device;
and controlling the preset camera to collect the light projection image in the preset projection direction.
4. The method of claim 1, wherein obtaining the flying height of the drone device according to the light projection pattern in the light projection image comprises:
and obtaining the flight height of the unmanned aerial vehicle equipment according to the area size and the flight angle of the unmanned aerial vehicle equipment.
5. The method for detecting the height of the unmanned aerial vehicle device according to any one of claims 1 to 4, wherein after acquiring the light projection image of the preset projection direction acquired by the preset camera of the unmanned aerial vehicle device, the method further comprises:
and detecting the flight terrain of the unmanned aerial vehicle equipment according to the light projection area.
6. The method of claim 5, wherein the detecting the flight topography of the drone device according to the light projection area comprises:
determining the flight terrain according to the preset light projection patterns corresponding to the light projection areas and the preset terrains respectively; the flight topography is any of the preset topography, and the preset topography comprises a plane topography and/or an unmanned aerial vehicle base topography.
7. A height detection device of unmanned aerial vehicle equipment, comprising:
the image acquisition module is used for acquiring a light projection image in a preset projection direction, which is acquired by a preset camera of the unmanned aerial vehicle equipment; the unmanned aerial vehicle equipment is provided with a grating generating component, and the grating generating component is used for generating a grating projected towards the preset projection direction below the unmanned aerial vehicle equipment so as to form corresponding light projection by projection on a projection plane;
and the height detection module is used for obtaining the flight height of the unmanned aerial vehicle equipment according to the area size of the light projection area in the light projection image.
8. An unmanned aerial vehicle device, comprising:
the grating generation component is used for generating a grating projected towards a preset projection direction below the unmanned aerial vehicle so as to form a corresponding light projection by projection on a projection surface;
and the preset camera is used for collecting the light projection image in the preset projection direction.
9. The drone apparatus of claim 8, wherein the grating generation component includes: an optical path generator and a grating plate;
wherein the light path generator is used for generating a divergent light path; the grating plate comprises a shading area and a light transmitting area, and the light path projects a grating in a preset shape through the light transmitting area of the grating plate.
10. An altitude detection device of unmanned aerial vehicle equipment, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of height detection of a drone device according to any one of claims 1 to 6 when executing said computer program.
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