WO2017024975A1 - 一种无人机便携式地面站处理方法及系统 - Google Patents
一种无人机便携式地面站处理方法及系统 Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- the invention relates to a method and system for processing a portable ground station of a drone.
- the drone can be equipped with remote sensing image equipment to obtain high-definition video images of the ground objects and transmit them back to the ground end in real time through the image transmission equipment.
- the ground station is an essential component of the UAV system, and mainly performs functions such as track planning, flight control, load control, and integrated display.
- the portable ground station is limited by the processing capability, and generally only displays the video images returned by the drone, such as the ground station system described in the patent document of the UAV singular portable ground control station system disclosed in CN 203117728U. .
- image processing requirements such as panoramic stitching and 3D reconstruction
- the video image captured by the drone is first stored on the airborne. End or ground station, after the execution of the shooting task, combined with the flight parameters for image analysis and processing.
- the airborne end large-capacity memory is used.
- the ground station can quickly browse and splicing the module. Perform panoramic stitching.
- the patent document used in CN 103941745A for mobile substation and working method for UAV transmission line inspection uses the ground station memory.
- the mobile substation combines the flight log for image analysis and processing. Find the defect of the inspection line, get the flight report, and send the flight report to the centralized monitoring subsystem.
- the present invention provides a method for processing a portable ground station of a drone, which comprises Including the following steps:
- the ground station receives a video taken and transmitted by the drone
- the ground station detects a transmission rate of a communication link between the ground station and an image processing center end;
- the ground station extracts an image from the video according to an image processing overlap requirement sent by the image processing center, and sends the image to the Said image processing center.
- step S3 the ground station extracts an image from the video at equal intervals, and the image processing overlap requirement is larger, and the interval is smaller.
- the ground station If the ground station receives a command to retransmit the specified image sent by the image processing center, the ground station re-extracts the substitute image in the video and the adjacent position of the specified image, and substitutes the substitute The image is sent to the image processing center.
- Step S1 further includes the following steps:
- the ground station stores the video segment as a plurality of video segments
- the ground station After the ground station receives the command to retransmit the specified image sent by the image processing center, the ground station determines the video segment where the specified image is located according to the serial number of the specified image, and specifies The location of the specified image is determined within the video segment in which the image is located.
- step S2 the ground station detects and acquires all available communication links between the ground station and the image processing center, and selects a communication link with the highest transmission rate among all available communication links;
- step S2 The following steps are further included between step S2 and step S3:
- the ground station If the transmission rate satisfies the real-time transmission video, the ground station transmits a video to the image processing center.
- the ground station If the transmission rate is less than the second set transmission rate, the ground station performs a resolution reduction process on the image, and transmits the reduced resolution image to the image processing center end.
- the ground station transmits an image without reducing the resolution to the image processing center.
- the ground station may include a plurality of different communication modules. When several parallel image processing center terminals require video or images transmitted by the drone, the ground station may be sent to the corresponding image processing center through different communication modules. end.
- the invention also provides a UAV portable ground station processing system, comprising a video acquisition module, a communication module and an image preprocessing module;
- the video collection module is configured to receive a video captured and transmitted by the drone
- the communication module is configured to detect a transmission rate of a communication link between the ground station and an image processing center end;
- the image pre-processing module is configured to extract an image from the video according to an image processing overlap requirement sent by the image processing center, and the communication module The image is sent to the image processing center.
- the UAV portable ground station processing method can extract an image from the video according to the transmission rate of the communication link between the ground station and the center end, according to the image processing overlap requirement at the center end, and send the image to the location Said image processing center.
- the ground station can smoothly transmit the picture to the center end, and the center end can also complete the image processing analysis work, and obtain the general situation of the shooting scene as much as possible, so that a reasonable processing decision can be made.
- the unmanned aerial vehicle portable ground station processing method of the invention has the image management and intelligent push function, and can satisfy the side flight, the side processing, the side push, and the side analysis.
- the existing ground station portable computer can meet the computing needs of the image management and intelligent push function, and can not add or upgrade the computer of the current portable ground station.
- the ground station intelligently judges the data transmission capability of the communication link.
- the transmission capacity of the communication link is sufficient, the real-time video is directly transmitted to the center end to maximize the image processing capability of the center end; in the case where the transmission capability of the communication link is insufficient, Automatically complete the work of converting video into image, adjust the resolution of the image according to the transmission rate, and send the image only to the center end, which not only shares the preliminary tasks of image processing, improves the efficiency of image analysis processing, but also greatly reduces the amount of data transmitted.
- the existing mobile communication network is capable of ensuring that the communication process is not stuck and real-time analysis processing can be realized.
- the central end can be any location in any city, such as the emergency office command hall, which can make full use of various treatments.
- the center end can adjust the task according to the real-time feedback of the completion of the ground station task, and the ground station can adjust the flight task in time, reduce the flight operation time and improve the flight efficiency.
- FIG. 1 is a system diagram of a drone, a ground station, and a center end according to an embodiment of the present invention
- FIG. 2 is a flow chart of a method for processing a portable ground station of a drone according to an embodiment of the present invention.
- FIG. 1 a system diagram of a drone, a ground station, and an image processing center end (or a command center, hereinafter referred to as a center end) of an embodiment.
- the drone can be equipped with low-altitude remote sensing imagery equipment to capture high-definition video images of ground objects and transmit high-definition video to portable ground stations in real time.
- the ground station carries out field operations with the drone, performs flight control on the drone, and receives video in real time.
- the ground station sends a video or image to the center for processing and analysis at the center.
- the central end is usually a fixed location, such as a government emergency command center, and the distance between the ground station and the center end is not limited.
- the portable ground station stores the video stream in segments according to the requirements of the image analysis processing in the application field, and the segmentation duration can be arbitrarily designated, and the directory and the retrieval information are established according to time, space information, flight parameters, shooting parameters, and the like.
- the unmanned aerial vehicle ground station processing method of an embodiment includes the following steps:
- the portable ground station judges the communication link between the ground station and the center end.
- the ground station directly pushes the high-definition video stream to the center end in real time.
- the center end After receiving the video, the center end performs image analysis processing according to the task requirements, such as extracting a sequence of video frames, performing panoramic stitching, three-dimensional reconstruction, target tracking, etc., and acquiring target object information of the drone operation site.
- the center finds that the quality of a certain video transmitted by the ground station cannot satisfy the image processing analysis, it can send a command to the ground station that the drone needs to re-shoot the video.
- the ground station controls the drone according to the command. Shoot back again at the corresponding position. This can prevent the drone from re-taking the video of the relevant position after performing the complete shooting flight path, thereby improving the efficiency of the flight.
- the ground station automatically starts the image pre-processing program. If the video is still being transmitted at this time, the center end cannot see the scene at the shooting scene in real time, and the corresponding processing decision cannot be made at the first time.
- the center end transmits the image processing overlap requirement to the ground station according to the image processing overlap requirement of the current image analysis processing work, and the so-called image processing overlap degree refers to the percentage of the coincidence degree between adjacent images.
- the image processing overlap degree should not be less than 30%. Otherwise, the panoramic stitching cannot be completed, or the stitching effect is poor.
- 3D reconstruction also has a minimum image processing overlap requirement.
- the ground station extracts an image from the video according to an image processing overlap requirement sent by the image processing center, and transmits the image to the image processing center. After receiving these images, the center end can complete the corresponding image processing analysis work. In this way, the ground station can smoothly transmit the picture to the center end, and the center end can also complete the image processing analysis work, and obtain the general situation of the shooting scene as much as possible, so that a reasonable processing decision can be made.
- the ground station When the flight speed of the drone is constant, the ground station extracts images from the video at equal intervals, and an image sequence with the same image processing overlap degree can be obtained. When the flight speed of the drone changes, the ground station may need to adjust the interval between the extracted images to ensure that the image overlap requirement reaches the central end requirement.
- the center end is doing different kinds of image processing analysis, and the requirements for image processing overlap are usually different.
- the image processing overlap degree required by the center end is larger, the interval at which the ground station extracts the image is smaller, and conversely, if the image processing overlap degree is smaller, the interval at which the ground station extracts the image is larger.
- the ground station can extract the effective video frame sequence, convert the video into an image, perform pre-processing such as screening, correction, compression, and then send the image to the center.
- the center end can judge that the image does not meet the requirements, and can send a command to retransmit the specified image to the ground station.
- the ground station can be adjacent to the specified image in the video (for example, an image of the number of frames before and after the specified image, such as the previous frame image or the next frame image, as long as the substitute image satisfies the image processing overlap requirement. Extracting the substitute image and sending the substitute image to the image processing center. In this way, a clear image can be sent to the image processing center for the center to make a reasonable decision.
- the center end judges that it cannot be taken from the video captured by the current drone. If the image corresponding to the quality requirement is extracted, the ground station may send a command that requires the drone to re-shoot the video. The ground station controls the drone to return to the corresponding position and shoot again according to the command. This can prevent the drone from re-taking the video of the relevant position after performing the complete shooting flight path, thereby improving the efficiency of the flight.
- the ground station can also store the video while receiving the video sent by the drone.
- the ground station can segment the video to obtain multiple video segments, and name each video segment.
- the segmentation duration can be arbitrarily specified, and the directory and retrieval information can be established according to time, space information, flight parameters, shooting parameters, and the like. .
- the ground station may first determine the video segment in which the specified image is located, and then determine the specified image in the video segment. By segmenting the video, you can make the images needed for retrieval faster.
- the ground station when the communication link signal transmission rate is further decreased, and the current resolution of the picture transmission cannot be supported (less than the second set transmission rate), the ground station performs information extraction according to the tile pyramid model, reduces the picture resolution, and preferentially transmits the resolution.
- the rate is suitable for the current transmission rate of the picture to the center. In this way, the center can still obtain the situation on the spot as much as possible in real time.
- the ground station may send a command to retransmit the image of the specified position, and after receiving the command, the ground station transmits the designation to the center end. image.
- the ground station may first determine the video segment in which the specified image is located, and then determine the specified image in the video segment.
- the ground station dynamically monitors the transmission rate of the communication link. Once the transmission rate returns to a higher level, it can be processed according to a corresponding policy, such as transmitting an image that has not been subjected to reduced resolution processing, or transmitting video.
- the ground station may include a plurality of different communication modules.
- the ground stations may be sent to the corresponding image processing center through different communication modules, for example, The video or image is sent to the first image processing center through the first communication module, and the video or image is sent to the second image processing center through the second communication module.
- the strategy for selecting a communication link is similar to the previous one. For example, if there are currently N parallel image processing centers that require video or images, the ground station selects the communication link whose transmission rate is ranked in the top N position, and then the video is transmitted through the corresponding communication module. Or the image is sent to the corresponding image processing center.
- the ground station can also supplement the information required by the center end according to the indication of the center end. For example, it provides a higher-resolution image of the local area; uploads the complete video image to the center; uploads the video directory and search information to the center, and so on.
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Abstract
本发明公开了一种无人机便携式地面站处理方法及系统，方法包括如下步骤：地面站接收无人机拍摄并发送的视频；所述地面站检测所述地面站与图像处理中心端之间的通讯链路的传输速率；若所述传输速率小于第一设定传输速率，所述地面站根据所述图像处理中心端发送的图像处理重叠度需求，从所述视频中提取图像，并将所述图像发送给所述图像处理中心端。本发明的无人机便携式地面站处理方法具有影像管理和智能推送功能，可以满足边飞行、边处理、边推送、边分析。
Description
本发明涉及一种无人机便携式地面站处理方法及系统。
无人机可以搭载遥感影像设备，获取地物高清视频影像，并通过图传设备实时传回地面端。地面站是无人机系统的必要组成，主要完成航迹规划、飞行控制、载荷控制、综合显示等功能。
便携式地面站受处理能力的限制，一般只对无人机回传的视频影像进行显示，比如公开号为CN 203117728U的《无人机单兵便携地面控制站系统》专利文献所描述的地面站系统。当遇到有全景拼接、三维重建等图像处理需求时，则需要增加机载或地面站存储模块，通过先拍摄，后处理的方式来完成，先将无人机拍摄的视频影像存储在机载端或者地面站，等拍摄任务执行完后，再结合飞行参数进行图像分析处理工作。公开号为CN 103942273A的《一种空中快速响应动态监测系统及其动态监测方法》专利文献中，采用的是机载端大容量存储器，等飞行任务执行完毕后，地面站快速浏览与拼接模块才能执行全景拼接。公开号为CN 103941745A的《用于无人机输电线路巡检的移动子站及工作方法》专利文献采用的是地面站存储器，等飞行任务执行完后，移动子站结合飞行日志进行图像分析处理，寻找巡检线路缺陷，得到飞行报告，再将飞行报告发送到集中监控子系统。
然而某些应用领域对实时获得图像分析结果的需求非常迫切，比如抢险救灾时刻，时间就是生命。这一方面对图像处理服务端提出了很高的要求，尤其是需要三维快速重建的应用领域，往往需要后台集群并行处理，这使得图像处理服务端规模较大，不能与地面站集成，也不便随无人机作业地点而迁移；另一方面对地面站与图像处理服务端之间的通信链路提出了很高的要求，既要不受地域和距离限制，又要保证高清影像信息的顺畅传输；同时还需要地面站与图像处理服务端之间相互协作，实现任务的分解与并行处理。
【发明内容】
现有技术中，地面站向图像处理中心端发送高清视频时，如果遇到地面站与图像处理中心端之间的通信链路传输速率较低时，图像处理中心端无法实时接收到视频，影响了中心端的处理分析。
为了克服现有技术的不足，本发明提供了一种无人机便携式地面站处理方法，包
括如下步骤：
S1，地面站接收无人机拍摄并发送的视频；
S2，所述地面站检测所述地面站与图像处理中心端之间的通讯链路的传输速率；
S3，若所述传输速率小于第一设定传输速率，所述地面站根据所述图像处理中心端发送的图像处理重叠度需求，从所述视频中提取图像，并将所述图像发送给所述图像处理中心端。
在一个实施例中，
在步骤S3中，所述地面站等间隔从所述视频中提取图像，所述图像处理重叠度需求越大，所述间隔越小。
在一个实施例中，
若所述地面站接收到所述图像处理中心端发送的重传指定图像的命令，所述地面站在所述视频中与所述指定图像的相邻位置重新提取替代图像，并将所述替代图像发送给所述图像处理中心端。
在一个实施例中，
步骤S1还包括如下步骤：
所述地面站将所述视频分段存储为多个视频段；
在所述地面站接收到所述图像处理中心端发送的重传指定图像的命令后，所述地面站根据所述指定图像的序号，确定所述指定图像所在的视频段，并在所述指定图像所在的视频段内确定所述指定图像的位置。
在一个实施例中，
在步骤S2中，所述地面站检测获取所述地面站与图像处理中心端之间所有可用的通讯链路，并在所有可用的通讯链路中选择传输速率最大的通讯链路；
在步骤S2和步骤S3之间还包括如下步骤：
若所述传输速率满足实时传输视频，则所述地面站向所述图像处理中心端发送视频。
在一个实施例中，
若所述传输速率小于第二设定传输速率，则所述地面站对所述图像进行降低分辨率处理，并将降低分辨率后的图像发送给所述图像处理中心端。
在一个实施例中，
若某张降低分辨率后的图像无法满足所述图像处理中心端的要求，则所述地面站将未降低分辨率前的图像发送给所述图像处理中心端。
在一个实施例中，
所述地面站可以包括多个不同的通讯模块，当几个并行的图像处理中心端需要无人机传输的视频或图像时，所述地面站可以通过不同的通讯模块发送给对应的图像处理中心端。
本发明还提供了一种无人机便携式地面站处理系统，包括视频采集模块、通讯模块和图像预处理模块；
所述视频采集模块用于接收无人机拍摄并发送的视频；
所述通讯模块用于检测所述地面站与图像处理中心端之间的通讯链路的传输速率；
若所述传输速率小于第一设定传输速率，所述图像预处理模块用于根据所述图像处理中心端发送的图像处理重叠度需求，从所述视频中提取图像，所述通讯模块将所述图像发送给所述图像处理中心端。
本无人机便携式地面站处理方法可以根据地面站与中心端之间通讯链路的传输速率，根据中心端的图像处理重叠度需求，从所述视频中提取图像，并将所述图像发送给所述图像处理中心端。这样，地面站既能够将图片顺利地传输到中心端，中心端也能够完成图像处理分析工作，尽可能地获得拍摄现场的大致情况，从而可以作出合理的处理决定。
本发明的无人机便携式地面站处理方法具有影像管理和智能推送功能，可以满足边飞行、边处理、边推送、边分析。
现有地面站便携式计算机就能满足影像管理与智能推送功能的运算需要，可不额外增加或者升级目前便携式地面站的计算机。
地面站智能判断通讯链路数据传输能力，在通讯链路传输能力足够的情况下，直接发送实时视频至中心端，最大限度发挥中心端图像处理能力；在通讯链路传输能力不够的情况下，自动完成将视频转换为图片的工作，根据传输速率调整图片分辨率，仅向中心端发送图片，不仅分担了图像处理的前期任务，提高了图像分析处理效率，还大大减少了传输数据量，使得现有的移动通信网络就能够胜任，确保通信过程不会卡顿，能够实现实时分析处理。
中心端可以是任意城市任意地点，比如应急办指挥大厅，可以充分利用各种处理
中心的能力，满足复杂多样的图像分析处理需求。不需要为了实现集群并行处理配备车载，或者是移动的中心端。
中心端可以根据地面站任务完成情况的实时反馈进行任务调整，地面站及时调整飞行任务，减少飞行作业时间，提升飞行效率。
图1是本发明一种实施例的无人机、地面站和中心端的系统图；
图2是本发明一种实施例的无人机便携式地面站处理方法流程图。
以下对发明的较佳实施例作进一步详细说明。
如图1所示，一种实施例的无人机、地面站和图像处理中心端(或指挥中心，以下简称中心端)组成的系统图。
无人机可以搭载低空遥感影像设备，拍摄地物高清视频影像，实时向便携式地面站传回高清视频。
地面站随无人机进行野外作业，对无人机进行飞行控制，并实时接收视频。地面站向中心端发送视频或图像，以供中心端进行处理分析。中心端通常是固定地点，比如政府应急指挥中心，地面站与中心端之间不受距离限制。
便携式地面站根据应用领域对图像分析处理的需求，对视频流进行分段存储，分段时长可任意指定，并根据时间、空间信息、飞行参数、拍摄参数等建立目录和检索信息。
如图2所示，一个实施例的无人机便携式地面站处理方法，包括如下步骤：
S1，便携式地面站判断地面站与中心端之间的通讯链路情况。
S2，判断所有可用的通讯链路，例如判断专网、4G、3G、WiFi等通迅网络哪些可用。
S3，选择并切换至可用的传输速率最高的通讯链路。
S4，判断该通讯链路信号传输速率是否满足高清视频实时传输。当通讯链路信号传输速率满足高清视频实时传输需求时，地面站直接将高清视频流实时推送至中心端。中心端接收到视频后，根据任务需求执行图像分析处理工作，比如提取视频帧序列，执行全景拼接、三维重建、目标追踪等，获取无人机作业地点目标地物信息。
如果中心端发现地面站传输的某段视频的质量无法满足图像处理分析，则可以向地面站发送需要无人机重新拍摄该段视频的命令，地面站根据该命令，控制无人机返
回对应位置再次拍摄。这样可以避免无人机已经执行完整条拍摄飞行路径后，再次补拍相关位置的视频，从而提高了飞机飞行的效率。
S5，当通讯链路信号传输速率不满足高清视频实时传输需求时(即传输速率小于第一设定传输速率)，地面站自动启动图像预处理程序。如果此时仍传输视频，中心端无法实时看到拍摄现场的情况，而无法第一时间作出相应的处理决定。
中心端根据当前图像分析处理工作的图像处理重叠度需求，向地面站发送图像处理重叠度需求，所谓图像处理重叠度，是指相邻的图像之间的重合度的百分比。例如，在某一个全景拼接任务中，图像处理重叠度不能少于30％，否则，无法完成全景拼接，或者拼接得到的效果较差。同样，三维重建也有一个最低的图像处理重叠度需求。
地面站根据所述图像处理中心端发送的图像处理重叠度需求，从所述视频中提取图像，并将所述图像发送给所述图像处理中心端。中心端接收到这些图像后，即可以完成相对应的图像处理分析工作。这样，地面站既能够将图片顺利地传输到中心端，中心端也能够完成图像处理分析工作，尽可能地获得拍摄现场的大致情况，从而可以作出合理的处理决定。
当无人机的飞行速度一定时，地面站等间隔地从视频中提取图像，则可以获得图像处理重叠度相同的图像序列。而当无人机的飞行速度变化时，地面站要则可能需要调整提取图像之间的间隔，从而保证图像重叠度的需求达到中心端的要求。
中心端在作不同种类的图像处理分析，对图像处理重叠度的要求通常是不同的。当中心端要求的图像处理重叠度越大时，地面站提取图像的间隔越小，反之，如果图像处理重叠度越小，地面站提取图像的间隔越大。
为了进一步提高图像的传输效率和质量，地面站可以提取有效视频帧序列，将视频转化为图像，执行筛选、矫正、压缩等预处理，再将图片发送至中心端。
在某些情况下，无人机在拍摄时，可能会受到某些突然的干扰，例如地面的局部位置反光、某些稀疏的云朵的遮挡等等，导致某些图片(例如恰好是关键位置的图像)不清晰，如果地面站恰好提取到这些不清晰的图像时，从而影响中心端作出合理的处理决定，中心端判断该图像不符合要求时，可以向地面站发送重新传送指定图像的命令。地面站根据该命令，可以在视频中与指定图像相邻位置(例如指定图像的前后设定帧数的图像，如前一帧图像或后一帧图像等，只要替代图像满足图像处理重叠度需求)提取替代图像，并将替代图像发送给图像处理中心端。这样，可以将清晰的图像发送到图像处理中心端，供中心端作出合理的处理决定。
如果经过多次重新传送替代图像后，中心端判断无法从当前无人机拍摄的视频中
提取对应位置的满足质量要求的图像，则可以向地面站发送需要无人机重新拍摄该段视频的命令，地面站根据该命令，控制无人机返回对应位置再次拍摄。这样可以避免无人机已经执行完整条拍摄飞行路径后，再次补拍相关位置的视频，从而提高了飞机飞行的效率。
地面站在接收无人机发送的视频的同时，也可以对视频进行存储。地面站可以对视频进行分段存储，得到多个视频段，并对每个视频段进行命名，分段时长可任意指定，并根据时间、空间信息、飞行参数、拍摄参数等建立目录和检索信息。当中心端向地面站发送需要重传指定图像的序号，地面站即可以首先确定指定图像所在的视频段，然后再在该视频段中确定所述指定图像。通过对视频分段存储，可以使检索需要的图像更加迅速。
S6，当通讯链路信号传输速率进一步下降，不能支持当前分辨率的图片传输时(小于第二设定传输速率)，地面站根据瓦片金字塔模型进行信息提取，降低图片分辨率，优先传送分辨率适合当前传输速率的图片给中心端。这样，中心端还是可以尽可能地实时获得现场的情况。
而如果中心端认为某些关键位置的图像在当前的分辨率下无法看清，可以向地面站发送重新传输该指定位置的图像的命令，地面站收到该命令后，向中心端传输该指定图像。地面站可以首先确定指定图像所在的视频段，然后再在该视频段中确定所述指定图像。
地面站动态监测通讯链路的传输速率，一旦传输速率恢复到较高的水平，则可以按照对应的策略进行处理，例如传输没有经过降低分辨率处理的图像，或者传输视频。
地面站可以包括多个不同的通讯模块，当几个并行的图像处理中心端需要地面站传输的视频或图像时，地面站可以通过不同的通讯模块发送给对应的图像处理中心端，例如，可以通过第一种通讯模块将视频或图像发送给第一图像处理中心端，通过第二种通讯模块将视频或图像发送给第二图像处理中心端。选择通讯链路的策略与前面相似，例如当前有N个并行的图像处理中心端需要视频或图像，则地面站选择传输速率排在前N位置的通讯链路，然后通过对应的通讯模块将视频或图像发送给对应的图像处理中心端。
S7，无人机作业完成后，地面站还可以根据中心端指示，补充中心端所需的信息。比如补充提供局部区域更高分辨率图片；将完整视频影像上传中心端；将视频目录和检索信息上传中心端等等。
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明由所提交的权利要求书确定的专利保护范围。
Claims (10)
- 一种无人机便携式地面站处理方法，其特征是，包括如下步骤：S1，地面站接收无人机拍摄并发送的视频；S2，所述地面站检测所述地面站与图像处理中心端之间的通讯链路的传输速率；S3，若所述传输速率小于第一设定传输速率，所述地面站根据所述图像处理中心端发送的图像处理重叠度需求，从所述视频中提取图像，并将所述图像发送给所述图像处理中心端。
- 如权利要求1所述的无人机便携式地面站处理方法，其特征是，在步骤S3中，所述地面站等间隔从所述视频中提取图像，所述图像处理重叠度需求越大，所述间隔越小。
- 如权利要求1所述的无人机便携式地面站处理方法，其特征是，若所述地面站接收到所述图像处理中心端发送的重传指定图像的命令，所述地面站在所述视频中与所述指定图像的相邻位置重新提取替代图像，并将所述替代图像发送给所述图像处理中心端。
- 如权利要求3所述的无人机便携式地面站处理方法，其特征是，步骤S1还包括如下步骤：所述地面站将所述视频分段存储为多个视频段；在所述地面站接收到所述图像处理中心端发送的重传指定图像的命令后，所述地面站根据所述指定图像的序号，确定所述指定图像所在的视频段，并在所述指定图像所在的视频段内确定所述指定图像的位置。
- 如权利要求3所述的无人机便携式地面站处理方法，其特征是，若所述地面站多次向所述图像处理中心端发送所述指定图像的替代图像后，所述图像处理中心端判断所述无人机当前拍摄的视频无法满足图像处理要求，所述地面站在接收所述图像处理中心端发送的需要所述无人机返回对应位置重新拍摄的命令后，控制所述无人机返回对应位置重新拍摄视频。
- 如权利要求1所述的无人机便携式地面站处理方法，其特征是，在步骤S2中，所述地面站检测获取所述地面站与图像处理中心端之间所有可用的通讯链路，并在所有可用的通讯链路中选择传输速率最大的通讯链路；在步骤S2和步骤S3之间还包括如下步骤：若所述传输速率满足实时传输视频，则所述地面站向所述图像处理中心端发送视频。
- 如权利要求1所述的无人机便携式地面站处理方法，其特征是，若所述传输速率小于第二设定传输速率，则所述地面站对所述图像进行降低分辨率处理，并将降低分辨率后的图像发送给所述图像处理中心端。
- 如权利要求7所述的无人机便携式地面站处理方法，其特征是，若某张降低分辨率后的图像无法满足所述图像处理中心端的要求，则所述地面站将未降低分辨率前的图像发送给所述图像处理中心端。
- 如权利要求1所述的无人机便携式地面站处理方法，其特征是，所述地面站可以包括多个不同的通讯模块，当几个并行的图像处理中心端需要无人机传输的视频或图像时，所述地面站可以通过不同的通讯模块发送给对应的图像处理中心端。
- 一种无人机便携式地面站处理系统，其特征是，包括视频采集模块、通讯模块和图像预处理模块；所述视频采集模块用于接收无人机拍摄并发送的视频；所述通讯模块用于检测所述地面站与图像处理中心端之间的通讯链路的传输速率；若所述传输速率小于第一设定传输速率，所述图像预处理模块用于根据所述图像处理中心端发送的图像处理重叠度需求，从所述视频中提取图像，所述通讯模块将所述图像发送给所述图像处理中心端。
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| CN114035606A (zh) * | 2021-11-05 | 2022-02-11 | 中国南方电网有限责任公司超高压输电公司广州局 | 杆塔巡检系统、杆塔巡检方法、控制装置和存储介质 |
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| CN105049812A (zh) | 2015-11-11 |
| CN105049812B (zh) | 2018-06-15 |
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