WO2017124840A1 - 一种飞行器光学控制方法及系统 - Google Patents

一种飞行器光学控制方法及系统 Download PDF

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Publication number
WO2017124840A1
WO2017124840A1 PCT/CN2016/108203 CN2016108203W WO2017124840A1 WO 2017124840 A1 WO2017124840 A1 WO 2017124840A1 CN 2016108203 W CN2016108203 W CN 2016108203W WO 2017124840 A1 WO2017124840 A1 WO 2017124840A1
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Prior art keywords
aircraft
real
time
point
projection
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PCT/CN2016/108203
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English (en)
French (fr)
Inventor
李传兵
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深圳泰山体育科技股份有限公司
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Publication of WO2017124840A1 publication Critical patent/WO2017124840A1/zh

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    • G—PHYSICS
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • G—PHYSICS
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Definitions

  • the present invention relates to the field of aircraft remote control technology, and in particular, to an aircraft optical control method and system.
  • drones have natural advantages, such as the use of drones in fire rescue, virgin forest patrols, etc., will reduce casualties.
  • the flight path and attitude of the drone in the air are mostly controlled by the user.
  • the user controls the flight direction and speed of the drone through the remote controller in the hand to complete the flight mission.
  • the airborne environment in which the drone is located is complicated, and the flight attitude of the drone is difficult to grasp. Therefore, it is very difficult to control the drone.
  • the user needs to adjust the operation mode of the remote controller in real time according to the airborne attitude and direction of the drone, and a slight accident will cause "machine destruction". Therefore, there is an urgent need for a simple operation mode, which reduces the requirements for users, and makes the drone more widely popularized.
  • the present invention provides an aircraft optical control method and system. details as follows:
  • An aircraft optical control method includes the following steps:
  • the flight controller is a three-dimensional Cartesian coordinate system of the coordinate origin;
  • the analyzing the deflection of the real-time projection graphic on each coordinate plane relative to the reference projection graphic comprises the following steps:
  • Steps S32 to S34 are repeatedly performed on the remaining two coordinate planes.
  • the flight control instruction in the step S4 is an air drag command, and the step S4 include:
  • the flight controller starts to move after receiving the air drag command, thereby driving the origin of the three-dimensional Cartesian coordinate system to move;
  • S420 Acquire the position coordinates of the aircraft in the three-dimensional Cartesian coordinate system at the initial moment of receiving the air drag command as the initial coordinates, and retrieve the current position coordinates of the aircraft in the three-dimensional Cartesian coordinate system as real-time coordinates, and retrieve the current real-time posture of the aircraft. According to the current real-time posture, the flight parameters of the aircraft are adjusted, and the movement of the aircraft to the real-time coordinates is the same as the initial coordinate value.
  • the flight mode instruction in the step S4 is a distance control instruction, and the step S4 includes:
  • S421 Acquire current real-time attitude data of the aircraft, adjust flight parameters of the aircraft according to the real-time attitude data, and control the aircraft to move along the shortest distance trajectory to change a distance between the flight controller and the flight controller.
  • adjusting the flight parameters of the aircraft includes controlling the aircraft to advance, retreat, move left, right, rise, fall, left and/or right.
  • An aircraft optical control system for controlling an aircraft comprising:
  • the photographing device disposed thereon is configured to capture an aircraft reference image when the aircraft is in a reference flight state, and real-time photographing the aircraft in the control process to obtain a real-time image of the aircraft;
  • a marking unit establishing a three-dimensional rectangular coordinate system that always takes the flight controller as a coordinate origin;
  • An attitude calculation unit that extracts graphics surrounded by a plurality of marker points in the reference image of the aircraft Projecting on the three coordinate planes of the three-dimensional Cartesian coordinate system as a reference projection pattern; extracting projections of the plurality of marker points in the real-time image of the aircraft on three coordinate planes as real-time projection graphics , analyzing the deflection of the real-time projection graphic on each coordinate plane relative to the reference projection image, and obtaining the real-time attitude of the aircraft;
  • a position calculation unit configured to calculate a position of the aircraft in the three-dimensional Cartesian coordinate system according to the marker point
  • the control unit adjusts the flight parameters of the aircraft according to the received flight control command, the position and posture calculation unit calculated by the position calculation unit, and adjusts the flight parameters of the aircraft to control the flight of the aircraft.
  • the posture calculation unit comprises:
  • the center of gravity point calculation module is configured to calculate the center of gravity of the reference projection graphic as the reference center of gravity point on each coordinate plane, and calculate the center of gravity point of the real-time projection graphic as the real-time center of gravity point on each coordinate plane;
  • the state line forming module selects a marker point as a representative point; selects a coordinate plane, selects a projection point of the representative point in the reference projection graph on the coordinate plane as a reference projection point, and selects a real-time projection graph on the coordinate plane
  • the projection point of the representative point is used as a real-time projection point, and the reference gravity center point and the real-time gravity center point calculated by the gravity point calculation module are retrieved, and a straight line is formed as a reference state line through the reference gravity center point and the reference projection point, and the The real-time center of gravity point and the real-time projection point form a straight line as a real-time status line; on the other two coordinate planes, the representative point is also respectively selected, and the reference state line and the real-time status line are also formed;
  • the deflection angle calculation module is configured to calculate a deflection angle of the real-time state line on the coordinate plane with respect to the reference state line, and obtain a deflection condition of the real-time projection graphic on the coordinate plane with respect to the reference projection image.
  • the flight control command received by the control unit is an air drag command to The mobile controller of the flight controller moves synchronously, and the control unit includes:
  • the data acquisition module is configured to retrieve the position coordinates of the aircraft in the space rectangular coordinate system at the initial moment of receiving the air drag command as the initial coordinates, and retrieve the current position coordinates of the aircraft in the three-dimensional Cartesian coordinate system as real-time coordinates, and simultaneously retrieve the current real-time attitude of the aircraft;
  • the control module is configured to adjust the flight parameters of the aircraft according to the current real-time posture, and control the movement of the aircraft to the real-time coordinates and the same initial coordinate values.
  • the flight control command received by the control unit is a distance control instruction
  • the control unit includes:
  • the route planning module obtains the position coordinate of the aircraft in the three-dimensional Cartesian coordinate system as the initial coordinate when the distance control command is received, and calculates the shortest distance trajectory from the initial coordinate to the coordinate origin;
  • the control module retrieves current real-time attitude data of the aircraft, adjusts flight parameters of the aircraft according to the real-time attitude data, and controls the aircraft to move along the shortest distance trajectory to change the distance between the flight controller and the flight controller.
  • adjusting the flight parameters of the aircraft includes controlling the aircraft to advance, retreat, move left, right, rise, fall, left and/or right.
  • the optical control method and system for an aircraft acquires the position of the aircraft and the attitude of the air in real time through the optical recognition method, thereby realizing automatic control of the flight controller, and the user does not need to judge the aerial attitude of the aircraft, so that the aircraft is controlled (controlled ) is simpler and easier.
  • FIG. 1 is a flow chart of an optical control method for an aircraft according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the demonstration of an aircraft optical control system according to an embodiment of the present invention.
  • FIG 3 is a schematic view showing the position of a marker point in a reference flight attitude and a real-time flight attitude in the embodiment of the present invention.
  • FIG. 4 is a specific flowchart of analyzing the deflection condition in step S3 of the embodiment of the present invention.
  • FIG. 5 is a schematic structural view of an optical control system for an aircraft according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of an attitude calculation unit according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a control unit according to an embodiment of the present invention.
  • the core idea of the aircraft optical control method and system of the present invention is to use the captured image to perform position and aerial attitude recognition of the aircraft (ie, obtaining the position and aerial attitude of the aircraft through an optical recognition method), thereby facilitating manipulation of the aircraft and reducing the pair. User's request.
  • the aircraft in the embodiment of the present invention includes an aircraft such as a drone, a hot air balloon, a kongming lamp, etc., and the present invention is described with an unmanned aerial vehicle as an embodiment.
  • the photographing in the embodiment of the present invention includes photographing or photographing or a combination of both.
  • FIG. 1 is a flow chart of an optical control method for an aircraft according to an embodiment of the present invention.
  • an optical control method for an aircraft includes the following steps:
  • FIG. 2 is a schematic diagram showing the demonstration of an aircraft optical control system according to an embodiment of the present invention.
  • an aircraft system of an embodiment of the present invention includes an aircraft 2 and a flight controller 1 for transmitting control commands to the aircraft 2.
  • the flight controller 1 is provided with a drag mode button 102, pulling The mode button 103 and the remote mode button 104 are provided.
  • the zoom mode button 103 and the zoom mode button 104 combine to form an air distance control mode button.
  • the flight controller 1 is further provided with a photographing device 101 for photographing the aircraft 2.
  • the embodiment of the present invention preferably has a marker point (not shown) disposed on the aircraft 2, and the marker point may be pasted on the aircraft 2 or may be formed on the aircraft 2 by spraying.
  • the marker point is a reflection point.
  • the flight controller 1 captures the aircraft 2 to obtain an image of the aircraft 2 (the image is also included in the image), and the three-dimensional coordinates (ie, position) of the marker point can be obtained by an image processing algorithm. Therefore, in order to keep the remote control uninterrupted, the setting of the marker point should satisfy the fact that the marker point is always in the captured image during the flight of the aircraft 2.
  • the three-dimensional coordinates of the image processing algorithm for acquiring the marker points are not described in the prior art.
  • the marker points are three points that are not on the same plane, and are respectively a first reflection point, a second reflection point, and a third reflection point.
  • the first reflecting point, the second reflecting point and the third reflecting point are located on an outer surface of the aircraft 2, and the first reflecting point, the second reflecting point and the third reflecting point are not in one plane.
  • the number of the landmarks may not be three, for example, four, five, etc., and each marker point is not on the same plane.
  • the marking point is made into a reflective point mainly to facilitate identification of the target in the image and image processing.
  • the material of the marker point can reflect light of visible light wavelength or light of non-visible wavelength.
  • the present embodiment preferably reflects the light of the marker point to the light of the non-visible wavelength, and further preferably the marker reflects the infrared light (ie, the first reflection point, the second reflection point, and The third reflecting point reflects infrared light), and the photographing device 101 on the flight controller 1 images the infrared rays.
  • a three-dimensional rectangular coordinate system that always uses the flight controller 1 as a coordinate origin is established.
  • a three-dimensional rectangular coordinate system is established with a point at the surface of the imaging device 101 of the flight controller 1 (generally the center of the surface lens of the imaging device 101) as an origin, the coordinate system
  • the X-axis is a horizontal straight line passing through the origin in a plane parallel to the surface of the camera (ie, a horizontal straight line, rightward is an x-axis positive direction), and the Y-axis of the coordinate system is in a plane parallel to the outer surface of the camera.
  • FIG 3 is a schematic view showing the position of a marker point in a reference flight attitude and a real-time flight attitude in the embodiment of the present invention.
  • the first reflecting position of the reference point in the flight attitude as a first point P 10 the position of the reflecting point on the second reference posture of the second flight point P 20, the third reflecting The position of the point in the reference flight attitude is the third point P 30 .
  • P 20, P 30 P 10 point-symmetrically opposite points provided, P 10, P 20, P 30 surrounded by three points of an isosceles triangle pattern.
  • P 10, P 20, P 30 surrounded by three points of an isosceles triangle pattern.
  • Triangular centerline axis flight control of an imaging apparatus 101 is on as a reference flight attitude of the aircraft 2 .
  • the coordinates of the first point P 10 are (x 1 , y 1 , z 1 ), and the coordinates of the second point P 20 are (x 2 , y 2 , z 2 ), the third point The coordinates of P 30 are (x 3 , y 3 , z 3 ).
  • the projection coordinates of the first to third points on the XOY plane are (x 1 , y 1 , 0), (x 2 , y 2 , 0), (x 3 , y 3 , 0), respectively.
  • the projection coordinates of the first to third points on the YOZ plane are (0, y 1 , z 1 ), (0, y 2 , z 2 ), (0, y 3 , z 3 ), respectively.
  • the projection coordinates of the first to third points on the XOZ plane are (x 1 , 0, z 1 ), (x 2 , 0, z 2 ), (x 3 , 0, z 3 ), respectively.
  • S3. Perform real-time shooting on the aircraft, and extract projections of the graphics formed by the plurality of marker points on the three coordinate planes in the real-time image of the captured aircraft as real-time projection graphics, and analyze real-time projections on each coordinate plane.
  • the deflection of the graphic relative to the reference projection image obtains the real-time attitude of the aircraft; and, based on the marker points, the position of the aircraft in the three-dimensional Cartesian coordinate system is calculated.
  • the position of the first reflection point changes to the fourth point P 11
  • the position of the second reflection point changes to the fifth point P 21
  • the position of the third reflection point changes to Six points P 31 .
  • the coordinates of the fourth point P 11 , the fifth point P 21 , and the sixth point P 31 in the real-time shooting are respectively: (x 1n , y 1n , z 1n ) , (x 2n , y 2n , z 2n ), (x 3n , y 3n , z 3n ).
  • the fourth point to a sixth point in the XOY planar projection coordinates are (x 1n, y 1n, 0 ), (x 2n, y 2n, 0), (x 3n, y 3n, 0).
  • the projection coordinates of the fourth to sixth points on the YOZ plane are (0, y 1n , z 1n ), (0, y 2n , z 2n ), (0, y 3n , z 3n ), respectively.
  • the projection coordinates of the fourth to sixth points on the XOZ plane are (x 1n , 0, z 1n ), (x 2n , 0, z 2n ), (x 3n , 0, z 3n ), respectively.
  • the coordinates of the marker point are preferably used as the position of the aircraft in the three-dimensional Cartesian coordinate system.
  • the position of the first reflection point may be used to reflect the coordinates (position) of the aircraft in the three-dimensional Cartesian coordinate system.
  • the coordinates of the aircraft in the three-dimensional Cartesian coordinate system are P 11 point positions (x 1n , y 1n , z 1n ).
  • FIG. 4 is a specific flowchart of analyzing the deflection condition in step S3 of the embodiment of the present invention.
  • analyzing the deflection of the real-time projection graphic on each coordinate plane relative to the reference projection image in step S3 of the embodiment includes the following steps:
  • Steps S32 to S34 are repeatedly performed on the remaining two coordinate planes.
  • the projection of the pattern enclosed by the marker points on all three coordinate planes is a triangle.
  • the first reflection point is selected, that is, the first point P 10 is a representative point
  • the projection point on the coordinate plane is used as a reference projection point.
  • the reference projection figure is a triangle whose center of gravity is the intersection of the three center lines
  • the reference state line of the reference projection figure and the reference projection point of the reference projection point that is, the center line passing through the reference projection point in the reference projection pattern.
  • the real-time status line in the real-time projection graph also conforms to this rule. Based on,
  • the midpoint P 1 of the second point P 20 and the third point P 30 is taken , the coordinates of which are Then, the first straight line L1 is obtained by the first point P 10 and the midpoint P 1 , and the projection of the straight line L1 on each coordinate plane is the reference state line.
  • the deflection angles of the real-time state line relative to the reference state line on the three coordinate planes of XOY, YOZ, and XOZ are respectively used. Said. Deflection angle It is possible to represent the aerial attitude of the aircraft 2.
  • the aerial attitude of the aircraft Expressed as follows:
  • K xy , K yz , K zx are the slopes of the projection line of the first straight line L1 in the XOY, YOZ, XOZ planes; K ⁇ xy , K ⁇ yz , K ⁇ zx are the second straight line L2 The slope of the projected line in the XOY, YOZ, and XOZ planes.
  • the slope of the first straight line L1 projected on the three faces of XOY, YOZ, and XOZ is:
  • the slope of the projection of the second straight line L2 on the three faces of XOY, YOZ, and XOZ is:
  • the flight parameters of the adjustment aircraft include controlling the aircraft to advance, retreat, move left, right, rise, fall, left and/or right.
  • this step includes:
  • the flight controller starts to move after receiving the air drag command, thereby driving the origin of the three-dimensional Cartesian coordinate system to move;
  • S420 Acquire the position coordinates of the aircraft in the three-dimensional Cartesian coordinate system at the initial moment of receiving the air drag command as the initial coordinates, and retrieve the current position coordinates of the aircraft in the three-dimensional Cartesian coordinate system as real-time coordinates, and retrieve the current real-time posture of the aircraft. According to the current real-time posture, the flight parameters of the aircraft are adjusted, and the movement of the aircraft to the real-time coordinates is the same as the initial coordinate value.
  • the aircraft When the aircraft receives the air drag command, it enters the air drag mode, and the aircraft moves correspondingly as the flight controller drags.
  • the position of the aircraft in the three-dimensional Cartesian coordinate system is the initial coordinate at the initial moment when the air drag command is received.
  • the origin of the three-dimensional Cartesian coordinate system changes, and the current real-time coordinates of the aircraft are different from the initial coordinates.
  • the flight parameters of the aircraft are adjusted according to the real-time attitude of the current aircraft, for example, controlling the advancement of the aircraft. , backward, left shift, right shift, ascending, descending, left-handed, and/or right-handed, controlling the aircraft to move to the same position as the initial coordinate value.
  • the aircraft In the air drag command, when the flight controller performs the circular motion, the aircraft can perform a circular flight around a certain point, that is, a function of surrounding flight.
  • the flight controller acquires position information and air attitude at a speed of 20 to 50 frames per second, and transmits control commands for the air attitude information of each frame of the aircraft, adjusting flight parameters of the aircraft, and moving the aircraft to and The position where the initial coordinate values are the same.
  • This embodiment preferably acquires related information at a rate of 30 frames per second.
  • the received flight command is an air distance control command. This step includes:
  • S421 Acquire current real-time attitude data of the aircraft, adjust flight parameters of the aircraft according to the real-time attitude data, and control the aircraft to move along the shortest distance trajectory to change a distance between the flight controller and the flight controller.
  • the aircraft Upon receiving the air distance control command, the aircraft enters the distance control mode: under the control of the flight controller, the aircraft flies or approaches.
  • the position coordinates of the aircraft in the three-dimensional Cartesian coordinate system that is, the initial coordinates are (a, b, c)
  • the distance from the initial coordinate to the coordinate origin the flight controller position
  • the flight parameters of the aircraft are adjusted, for example, controlling the forward, backward, leftward, rightward, ascending, descending, leftward, and/or rightward rotation of the aircraft, and controlling the aircraft to fly according to the orbital equation. Far or near.
  • the attitude data information of the aircraft is preferably acquired at a speed of 30 frames per second, and based on the information, the aircraft parameters are adjusted to fly the aircraft along the orbital equation to achieve distance control.
  • the aircraft parameters are adjusted to fly the aircraft along the orbital equation to achieve distance control.
  • the distance control mode in addition to setting the flight along the shortest trajectory between the aircraft and the origin of the coordinates, it is also possible to set the flight along other trajectory equations to achieve the effect of flying far or flying.
  • FIG. 5 is a schematic structural view of an optical control system for an aircraft according to an embodiment of the present invention.
  • the aircraft optical control system of the present embodiment is used to control an aircraft 2, including a marker point 6, a flight controller 1, a calibration unit 5, a posture calculation unit 4, a position calculation unit 3, and a control unit 7.
  • the present embodiment further preferably, the building unit 5, the position calculating unit 3, the attitude calculating unit 4, and the control unit 7 are integrally designed in the flight controller 1.
  • the plurality of marker points 6 are provided on the aircraft 2 and are not in the same plane.
  • the marker point 6 is preferably three points, which are a first reflection point, a second reflection point, and a third reflection point.
  • the first reflecting point, the second reflecting point and the third reflecting point are located on an outer surface of the aircraft 2, and the first reflecting point, the second reflecting point and the third reflecting point are not in one plane.
  • the number of the marker points 6 may not be three, for example, four, five, and the like.
  • Making the marker point 6 a reflective point is mainly to facilitate recognition of the target in the image, as well as image processing.
  • the material of the marker point 6 can be reflected by light of a visible wavelength or by light of a non-visible wavelength.
  • the material of the marker point 6 is preferably reflected by light of a non-visible wavelength, and further preferably the marker point 6 reflects infrared light (ie, the first reflective point, the second reflective point, and the third reflective point reflection) Infrared light).
  • the flight controller 1 is provided with a photographing device that captures an aircraft reference image when the aircraft is in a reference flight state, and performs real-time image capture of the aircraft in real time during the control process, preferably the photographing
  • the device images the infrared light.
  • the building unit 5 establishes a three-dimensional rectangular coordinate system with the flight controller 1 as the coordinate origin; during the movement of the flight controller 1, the coordinate origin of the three-dimensional rectangular coordinate system also moves. Therefore, even if the object in the space does not move, the coordinates in the three-dimensional Cartesian coordinate system change during the movement of the flight controller 1.
  • the established three-dimensional Cartesian coordinate system is used as a point at a point on the surface of the photographing device 101 of the flight controller 1 (generally the center of the surface lens of the photographing device 101).
  • the three-dimensional Cartesian coordinate system is used as a point at a point on the surface of the photographing device 101 of the flight controller 1 (generally the center of the surface lens of the photographing device 101).
  • the X-axis of the coordinate system is a horizontal straight line passing through the origin in a plane parallel to the surface of the camera (ie, a horizontal straight line, and a rightward x-axis positive direction), and the Y-axis of the coordinate system is parallel to the surface of the camera.
  • a straight line passing through the origin perpendicular to the X-axis in the plane, the Z-axis of the coordinate system being a straight line perpendicular to a plane parallel to the surface of the camera and passing the origin. Therefore, three coordinate planes, that is, an XOY plane, a YOZ plane, and an XOZ plane are obtained in this embodiment.
  • the attitude calculation unit 4 extracts a projection of a plurality of marker points in the aircraft reference image on three coordinate planes of the three-dimensional Cartesian coordinate system as a reference projection pattern; and extracts the real-time image of the aircraft.
  • the projections of the plurality of marker points on the three coordinate planes are respectively used as real-time projection graphics, and the deflection of the real-time projection graphics on the coordinate planes relative to the reference projection graphics is analyzed to obtain the real-time attitude of the aircraft; preferably, please Referring to FIG. 6, the posture calculation unit 4 includes a gravity point calculation module 41, a state line forming module 42, and a deflection angle calculation module 43.
  • the position of the first reflection point in the reference flight attitude is a first point P 10
  • the position of the second reflection point in the reference flight attitude is a second point P 20
  • the third reflection point The position in the reference flight attitude is the third point P 30 .
  • P 20, P 30 P 10 point-symmetrically opposite points provided, P 10, P 20, P 30 surrounded by three points of an isosceles triangle pattern.
  • Triangular centerline axis flight control of an imaging apparatus 101 is on as a reference flight attitude of the aircraft 2 .
  • the coordinates of the first point P 10 are (x 1 , y 1 , z 1 ), and the coordinates of the second point P 20 are (x 2 , y 2 , z 2 ), the third The coordinates of point P 30 are (x 3 , y 3 , z 3 ).
  • the projection coordinates of the first to third points on the XOY plane are (x 1 , y 1 , 0), (x 2 , y 2 , 0), (x 3 , y 3 , 0), respectively.
  • the projection coordinates of the first to third points on the YOZ plane are (0, y 1 , z 1 ), (0, y 2 , z 2 ), (0, y 3 , z 3 ), respectively.
  • the projection coordinates of the first to third points on the XOZ plane are (x 1 , 0, z 1 ), (x 2 , 0, z 2 ), (x 3 , 0, z 3 ), respectively.
  • the position of the first reflecting point changes to the fourth point P 11
  • the position of the second reflecting point changes to the fifth point P 21
  • the position of the third reflecting point changes to the sixth point P 31 .
  • the N-th frame to indicate the current frame
  • the current frame is the fourth point P 11, P 21, and the fifth point coordinate sixth point P 31, respectively: (x 1n, y 1n, z 1n), (x 2n , y 2n , z 2n ), (x 3n , y 3n , z 3n ).
  • the projection coordinates of the fourth to sixth points on the YOZ plane are (0, y 1n , z 1n ), (0, y 2n , z 2n ), (0, y 3n , z 3n ), respectively.
  • the projection coordinates of the fourth to sixth points on the XOZ plane are (x 1n , 0, z 1n ), (x 2n , 0, z 2n ), (x 3n , 0, z 3n ), respectively.
  • the center of gravity point calculation module 41 is configured to calculate a center of gravity point of the reference projection pattern as a reference center of gravity point on each coordinate plane, and calculate a center of gravity point of the real-time projection pattern as a real-time center of gravity point on each coordinate plane.
  • the XOY plane is taken as an example for description, and the other two coordinate planes are used. The calculations are the same and will not be further explained here.
  • the coordinate plane is the XOY plane.
  • the reference projection pattern on this coordinate plane is a triangle.
  • the center of gravity of the reference projection pattern is the intersection of the three lines of the triangle.
  • the real-time projected graphics on this coordinate plane are also triangular.
  • the center of gravity of the real-time projection graphic is also the intersection of the three-line center line of the triangle.
  • the state line forming module 42 first selects a coordinate plane and a marker point as representative points, selects a projection point of the representative point in the reference projection graph on the coordinate plane as a reference projection point, and selects a real-time projection graph on the coordinate plane.
  • the projection point of the representative point is used as a real-time projection point, and the reference gravity point calculated by the gravity point calculation module and the real-time center of gravity point are retrieved, and a straight line is formed as a reference state line through the reference gravity point and the reference projection point.
  • the real-time center of gravity point and the real-time projection point form a straight line as a real-time status line; on the other two coordinate planes, the reference status line and the real-time status line are also formed respectively.
  • the projection of the pattern enclosed by the marker points 6 on all three coordinate planes is a triangle.
  • the first reflection point is selected, that is, the first point P 10 is a representative point
  • the projection point on the coordinate plane is used as a reference projection point.
  • the reference projection figure is a triangle whose center of gravity is the intersection of the three center lines
  • the reference state line of the reference projection figure and the reference projection point that is, the center line passing through the reference projection point in the reference projection pattern.
  • the real-time status line in the real-time projection graph also conforms to this rule. Based on,
  • the midpoint P 1 of the second point P 20 and the third point P 30 is taken , the coordinates of which are Then, the first straight line L1 is obtained by the first point P 10 and the midpoint P 1 , and the projection of the straight line L1 on each coordinate plane is the reference state line.
  • the midpoint P 2 of the line connecting the fifth point P 21 and the sixth point P 31 is taken as the coordinates Then, a straight line L2 is obtained through the fourth point P 11 and the midpoint P 2 , and the projection of the straight line L2 on each coordinate plane is a real-time state line.
  • the deflection angle calculation module 43 is configured to calculate a deflection angle of the real-time state line on the coordinate plane with respect to the reference state line, and obtain a deflection condition of the real-time projection pattern on the coordinate plane with respect to the reference projection pattern.
  • the angle between the second straight line L2 and the projection line of the first straight line L1 in the XOY, YOZ, and XOZ planes is taken as the aerial attitude of the aircraft in real time shooting.
  • the deflection angles of the real-time state line relative to the reference state line on the three coordinate planes of XOY, YOZ, and XOZ are respectively used. Express, therefore, use It is possible to represent the aerial attitude of the aircraft 2.
  • the aerial attitude of the aircraft 2 Expressed as follows:
  • K xy , K yz , K zx are the slopes of the projection line of the first straight line L1 in the XOY, YOZ, XOZ planes; K ⁇ xy , K ⁇ yz , K ⁇ zx are the second straight line L2 The slope of the projected line in the XOY, YOZ, and XOZ planes.
  • the slope of the first straight line L1 projected on the three faces of XOY, YOZ, and XOZ is:
  • the slope of the projection of the second straight line L2 on the three faces of XOY, YOZ, and XOZ is:
  • the position calculation unit 3 is configured to calculate the position of the aircraft 2 in the three-dimensional Cartesian coordinate system based on the marker point 6. Since the aircraft 2 can be approximated as a rigid object, the position of any point on the rigid object in space can be the position of the rigid object. For example, a change in the position (position) of the aircraft 2 in the three-dimensional Cartesian coordinate system may be reflected by a change in the position of the first retroreflective point. In this case, in the image of the Nth frame, the aircraft 2 is in the three-dimensional Cartesian coordinate system. The coordinates are the position of P 11 (x 1n , y 1n , z 1n ).
  • the control unit 7 adjusts the flight parameters of the aircraft 2 based on the received flight control command, the position calculated by the position calculating unit 3 and the real-time posture calculated by the posture calculating unit 4, and controls the flight of the aircraft 2.
  • the flight parameters of the aircraft 2 include controlling the aircraft 2 to move forward, backward, left shift, right shift, ascending, descending, left-handed, and/or right-handed.
  • the control unit 7 includes a data acquisition module 71, a regulation module 72, and a route planning module 73.
  • the data acquisition module 71 is configured to retrieve the position coordinates of the aircraft 2 in the space rectangular coordinate system at the initial moment of receiving the air drag command as the initial coordinates, and retrieve the current position coordinates of the aircraft 2 in the three-dimensional Cartesian coordinate system as real time.
  • the control module 72 is configured to adjust the flight parameters of the aircraft 2 according to the current real-time attitude, for example, controlling the forward, backward, leftward, rightward, ascending, descending, Left-handed and/or right-handed, the aircraft 2 is controlled to move to the same position as the real-time coordinates and the initial coordinate values.
  • the aircraft can be around
  • the point is a circular flight, which realizes the function of flying around.
  • the position calculating unit 3 and the posture calculating unit 4 respectively calculate the position information and the air attitude of the aircraft 2 at a speed of 20 to 50 frames per second, and the control unit 7 transmits the air attitude information of the aircraft 2 for each frame.
  • the control command adjusts the flight parameters of the aircraft 2 to move the aircraft 2 to the same position as the initial coordinate value.
  • This embodiment preferably acquires related information at a rate of 30 frames per second.
  • the route planning module 73 retrieves the position coordinates of the aircraft 2 in the three-dimensional Cartesian coordinate system as the initial coordinates, and calculates the shortest distance from the initial coordinate to the coordinate origin. a trajectory; the control module 72 retrieves current real-time attitude data of the aircraft 2, adjusts flight parameters of the aircraft 2 according to the real-time attitude data, and controls the aircraft 2 to move along the shortest distance trajectory to change between the flight controller 1 and the flight controller 1
  • the distance includes flying far and flying near.
  • the position coordinates of the aircraft 2 in the three-dimensional Cartesian coordinate system that is, the initial coordinates are (a, b, c)
  • the initial coordinates and the origin of the coordinates (the flight controller position)
  • the distance is the shortest distance trajectory between the two
  • the aircraft's attitude data is retrieved in real time, and the flight parameters of the aircraft are adjusted, for example, controlling the aircraft forward, backward, left shift, right shift, ascending, descending, left-handed, and/or right-handed, and controlling the aircraft to fly far according to the orbital equation. Or fly near.
  • the attitude data information of the aircraft is preferably acquired at a speed of 30 frames per second, and based on the information, the aircraft parameters are adjusted to fly the aircraft along the orbital equation to achieve distance control.
  • the aircraft parameters are adjusted to fly the aircraft along the orbital equation to achieve distance control.
  • the distance control mode in addition to setting the flight along the shortest trajectory between the aircraft and the origin of the coordinates, it is also possible to set the flight along other trajectory equations to achieve the effect of flying far or flying.
  • the optical control method and system for an aircraft acquires the position of the aircraft and the attitude of the air in real time through the optical identification method, thereby realizing automatic control of the flight controller, and the user does not need Judging the aerial attitude of the aircraft makes the handling (remote control) of the aircraft easier and easier.

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Abstract

一种飞行器光学控制方法和系统。该飞行器（2）光学控制方法，包括：S1、在飞行器（2）上设置多个标志点（6），建立始终以带有拍摄装置（101）的飞行控制器（1）为原点的三维直角坐标系；S2、在该飞行器（2）处于基准飞行姿态时，对飞行器（2）进行拍摄并提取图像中多个标志点（6）围成的图形在该坐标系的三个坐标面上的投影作为基准投影图形；S3、对该飞行器（2）进行实时拍摄，提取拍摄到的图像中该围成的图形分别在三个坐标面上的投影作为实时投影图形，分析各坐标面上的实时投影图形相对基准投影图形的偏转情况，得到实时姿态；并且根据该标志点（6）计算出飞行器（2）在该坐标系中的位置；S4、在接收到飞行控制指令后，根据飞行器（2）的位置和姿态，调整飞行器（2）的飞行参数，控制飞行器（2）的飞行。

Description

一种飞行器光学控制方法及系统 技术领域
本发明涉及飞行器遥控技术领域，尤其涉及一种飞行器光学控制方法及系统。
背景技术
随着无人机技术的发展，无人机玩家也越来越多。应用无人机于摄像、拍照成为其众多应用中最为重要的应用。在危险环境下进行情况侦查，无人机具有天然的优势，例如，在火灾救援、原始森林巡逻等场合使用无人机，将可以减少人员伤亡。在现阶段，无人机在空中的飞行轨迹和姿态大多是由使用者控制的，使用者通过手中的遥控器，控制无人机的飞行方向和速度等，完成飞行任务。无人机所处的空中环境复杂，无人机的飞行姿态很难把握，因此，对无人机进行操控是难度非常大的。具体来说，使用者需要根据无人机空中姿态和方向，来实时调整对遥控器的操作方式，稍有不慎就会造成“机毁人亡”。因此，迫切需要一种简单的操作方式，降低对使用者的要求，使得无人机得到更广泛的普及。
发明内容
本发明为了解决现有技术中使用者操控难度大的技术问题，提供一种飞行器光学控制方法及系统。具体如下：
一种飞行器光学控制方法，其中，包括如下步骤：
S1、在飞行器上设置多个不在同一平面的标志点，建立始终以带有拍摄装 置的飞行控制器为坐标原点的三维直角坐标系；
S2、在所述飞行器处于基准飞行姿态时，对飞行器进行拍摄并提取拍摄到的飞行器基准图像中多个标志点所围成的图形分别在三维直角坐标系的三个坐标面上的投影作为基准投影图形；
S3、对所述飞行器进行实时拍摄，提取拍摄到的飞行器实时图像中所述多个标志点围成的图形分别在三个坐标面上的投影作为实时投影图形，分析各坐标面上的实时投影图形相对基准投影图形的偏转情况，得到飞行器的实时姿态；并且，根据所述标志点计算出飞行器在三维直角坐标系中的位置；
S4、在接收到飞行控制指令后，根据飞行器的位置和实时姿态，调整飞行器的飞行参数，控制飞行器的飞行。
进一步优选，所述分析各坐标面上的实时投影图形相对基准投影图形的偏转情况包括如下步骤：
S31、选定一标志点作为代表点；
S32、选择一个坐标平面，计算出该坐标平面上的基准投影图形的重心点作为基准重心点，选择基准投影图形中该代表点的投影点作为基准投影点，通过所述基准重心点以及所述基准投影点形成一直线作为基准状态线；
S33、在同一坐标平面上，计算出实时投影图形的重心点作为实时重心点，选择实时投影图形中该代表点的投影点作为实时投影点，通过所述实时重心点以及所述实时投影点形成一直线作为实时状态线；
S34、计算所述实时状态线相对所述基准状态线的偏转角度，得到该坐标平面上所述实时投影图形相对所述基准投影图形的偏转情况；
S35、分别在剩余的两个坐标平面上重复执行步骤S32至S34。
进一步优选，所述步骤S4中的飞行控制指令为空中拖动指令，所述步骤S4 包括：
S410、飞行控制器在接收到空中拖动指令后开始移动从而带动三维直角坐标系的原点随之移动；
S420、调取收到空中拖动指令初始时刻飞行器在三维直角坐标系中的位置坐标作为初始坐标，调取飞行器当前在三维直角坐标系中的位置坐标作为实时坐标，调取飞行器当前的实时姿态，根据当前的实时姿态，调整飞行器的飞行参数，控制飞行器移动至实时坐标与初始坐标数值相同。
进一步优选，所述步骤S4中的飞行模式指令为距离控制指令，所述步骤S4包括：
S411、收到距离控制指令时调取飞行器在三维直角坐标系中的位置坐标作为初始坐标，计算出该初始坐标至坐标原点的最短距离轨迹；
S421、调取飞行器当前的实时姿态数据，根据该实时姿态数据调整飞行器的飞行参数，控制飞行器沿着所述最短距离轨迹移动以变化与所述飞行控制器之间的距离。
进一步优选，所述调整飞行器的飞行参数包括控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋。
一种飞行器光学控制系统，用于控制一飞行器，其中，包括：
多个标志点，设置在所述飞行器上且不处于同一平面；
飞行控制器，其上设置的拍摄装置在飞行器处于基准飞行状态时对所述飞行器进行拍摄得到飞行器基准图像，并在控制过程中对飞行器进行实时拍摄得到飞行器实时图像；
建标单元，建立始终以所述飞行控制器为坐标原点的三维直角坐标系；
姿态计算单元，提取所述飞行器基准图像中多个标志点所围成的图形分别 在所述三维直角坐标系的三个坐标面上的投影作为基准投影图形；提取所述飞行器实时图像中所述多个标志点围成的图形分别在三个坐标面上的投影作为实时投影图形，分析各坐标面上的实时投影图形相对基准投影图形的偏转情况，得到飞行器的实时姿态；
位置计算单元，用于根据所述标志点计算出飞行器在所述三维直角坐标系中的位置；
控制单元，根据接收的飞行控制指令、位置计算单元计算出的位置和姿态计算单元算出的实时姿态，调整飞行器的飞行参数，控制飞行器的飞行。
进一步优选，所述姿态计算单元包括：
重心点计算模块，用于在各坐标平面上分别计算出基准投影图形的重心点作为基准重心点，并在各坐标平面上分别计算出实时投影图形的重心点作为实时重心点；
状态线形成模块，选定一标志点作为代表点；选择一个坐标平面，选择该坐标平面上的基准投影图形中该代表点的投影点作为基准投影点，选择该坐标平面上的实时投影图形中该代表点的投影点作为实时投影点，调取重心点计算模块计算出的基准重心点以及实时重心点，通过所述基准重心点以及所述基准投影点形成一直线作为基准状态线，通过所述实时重心点以及所述实时投影点形成一直线作为实时状态线；在其余两个坐标平面上，也分别选定该代表点，同样形成基准状态线以及实时状态线；
偏转角计算模块，用于计算出各坐标平面上所述实时状态线相对所述基准状态线的偏转角度，得到各坐标平面上所述实时投影图形相对所述基准投影图形的偏转情况。
进一步优选，所述控制单元接收的飞行控制指令为空中拖动指令，以随着 飞行控制器的移动拖动飞行器同步移动，所述控制单元包括：
数据调取模块，用于调取收到空中拖动指令初始时刻飞行器在空间直角坐标系中的位置坐标作为初始坐标，调取飞行器当前在三维直角坐标系中的位置坐标作为实时坐标，并同时调取飞行器当前的实时姿态；
调控模块，用于根据当前的实时姿态，调整飞行器的飞行参数，控制飞行器移动至实时坐标与初始坐标数值相同。
进一步优选，所述控制单元接收的飞行控制指令为距离控制指令，所述控制单元包括：
路线规划模块，收到距离控制指令时调取飞行器在三维直角坐标系中的位置坐标作为初始坐标，计算出该初始坐标至坐标原点的最短距离轨迹；
调控模块，调取飞行器当前的实时姿态数据，根据该实时姿态数据调整飞行器的飞行参数，控制飞行器沿着所述最短距离轨迹移动以变化与所述飞行控制器之间的距离。
进一步优选，所述调整飞行器的飞行参数包括控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋。
有益效果：
本发明实施例的飞行器光学控制方法及系统通过光学识别方法实时准确的获取飞行器的位置以及空中姿态，实现飞行控制器的自动控制，使用者不需要判断飞行器的空中姿态，使飞行器的操控(控制)更为简单、容易。
附图说明
图1是本发明实施例的飞行器光学控制方法流程图。
图2是本发明实施例的飞行器光学控制系统演示示意图。
图3是本发明实施例中标志点在基准飞行姿态和实时飞行姿态中位置示意图。
图4是本发明实施例步骤S3中分析偏转情况的具体流程图。
图5是本发明实施例飞行器光学控制系统结构示意图。
图6是本发明实施例的姿态计算单元结构示意图。
图7是本发明实施例的控制单元结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明的飞行器光学控制方法及系统的核心思想是利用拍摄的图像对飞行器进行位置和空中姿态识别(即通过光学的识别方法获取飞行器的位置和空中姿态)，方便对飞行器进行操控，降低了对使用者的要求。
本发明实施例中的飞行器包括无人机、热气球、孔明灯等飞行器，本发明以无人机作为实施例进行说明。本发明实施例中的拍摄包括拍照或者摄像或者两者的综合。
图1是本发明实施例的飞行器光学控制方法流程图。
请参照图1，本发明实施例的飞行器光学控制方法，包括如下步骤：
S1、在飞行器上设置多个不在同一平面的标志点，建立始终以带有拍摄装置的飞行控制器为坐标原点的三维直角坐标系。
图2是本发明实施例的飞行器光学控制系统演示示意图。
请参照图2，本发明实施例的飞行器系统包括飞行器2和用于向该飞行器2发送控制指令的飞行控制器1。该飞行控制器1上设置有拖动模式按钮102、拉 近模式按钮103和拉远模式按钮104。该拉近模式按钮103和拉远模式按钮104组合形成空中距离控制模式按钮。该飞行控制器1上还设置有拍摄装置101，该拍摄装置101用于对该飞行器2进行拍摄。为了便于识别及计算，本发明实施例优选在该飞行器2上设置有标志点(图中未示出)，该标志点可以粘贴在该飞行器2上，也可以通过喷涂的方式形成在该飞行器2上，优选的，该标志点为反光点。该飞行控制器1对该飞行器2进行拍摄获得一帧具有该飞行器2的图像(图像中也具有该标志点)，通过图像处理算法就可以获得该标志点的三维坐标(即位置)。因此，为了使遥控不间断，该标志点的设置应该满足在该飞行器2飞行的过程中该标志点始终在拍摄的图像中。图像处理算法获取标志点的三维坐标是现有技术在此不再赘述。
本发明实施例优选该标志点为不在同一平面上的三个点，分别为第一反光点、第二反光点以及第三反光点。该第一反光点、第二反光点以及第三反光点位于该飞行器2的外表面上，且该第一反光点、第二反光点以及第三反光点不在一个平面内。当然，该标志点的数量可以不为三个，例如为四个、五个等，各标志点都不在同一平面上。将该标志点做成反光点主要是方便识别图像中的目标以及图像处理。该标志点的材料可以对可见光波长的光反射，也可以对非可见光波长的光反射。为了不使标志点的反光干扰操控者的视线，本实施例优选该标志点的材料对非可见光波长的光反射，进一步优选该标志点反射红外光(即第一反光点、第二反光点以及第三反光点反射红外光)，该飞行控制器1上的拍摄装置101对红外线进行成像。
本实施例中，为了方便计算和控制，建立始终以该飞行控制器1为坐标原点的三维直角坐标系。优选以该飞行控制器1的拍摄装置101表面处的一点(一般为拍摄装置101表面镜头的中心)作为原点建立三维直角坐标系，该坐标系 的X轴为与拍摄装置表面相平行的平面中过原点的水平方向直线(即水平直线，向右为x轴正向)，所述坐标系的Y轴为与拍摄装置外表面相平行的平面中过原点且与所述X轴垂直的直线，所述坐标系的Z轴为垂直于与拍摄装置表面相平行的平面且过原点的直线。因此，本实施例中得到三个坐标面，即XOY平面、YOZ平面以及XOZ平面。
S2、在所述飞行器处于基准飞行姿态时，对飞行器进行拍摄并提取拍摄到的飞行器基准图像中多个标志点所围成的图形分别在三维直角坐标系的三个坐标面上的投影作为基准投影图形。
图3是本发明实施例中标志点在基准飞行姿态和实时飞行姿态中位置示意图。
请参照图3，该第一反光点在该基准飞行姿态中的位置为第一点P10，该第二反光点在所述基准飞行姿态中的位置为第二点P20，该第三反光点在所述基准飞行姿态中的位置为第三点P30。为表述方便，在本实施例中，P20、P30两点相对P10点对称设置，P10、P20、P30三点所围图形为等腰三角形。定义飞行器2上P10、P20、P30三点所围等腰三角形中过P10点的三角形中线与飞行控制器1的拍摄装置101的光轴正对时，为飞行器2的基准飞行姿态。
在基准飞行姿态中，该第一点P10的坐标为(x1,y1,z1),该第二点P20的坐标为(x2,y2,z2)，该第三点P30的坐标为(x3,y3,z3)。该第一点至第三点在XOY平面投影坐标分别为(x1,y1,0)、(x2,y2,0)、(x3,y3,0)。该第一点至第三点在YOZ平面投影坐标分别为(0,y1,z1)、(0,y2,z2)、(0,y3,z3)。该第一点至第三点在XOZ平面投影坐标分别为(x1,0,z1)、(x2,0,z2)、(x3,0,z3)。S3、对所述飞行器进行实时拍摄，提取拍摄到的飞行器实时图像中所述多个标志点围成的图形分别在三个坐标面上的投影作为实时投影图形，分析各坐标面上的实时投影图形相对 基准投影图形的偏转情况，得到飞行器的实时姿态；并且，根据所述标志点计算出飞行器在三维直角坐标系中的位置。
请参照图3，在实时拍摄中，该第一反光点的位置变化为第四点P11、该第二反光点的位置变化为第五点P21、该第三反光点的位置变化为第六点P31。
用第N帧图像来表示实时拍摄的图像，则在实时拍摄中该第四点P11、第五点P21以及第六点P31的坐标分别为：(x1n,y1n,z1n)、(x2n,y2n,z2n)、(x3n,y3n,z3n)。该第四点至第六点在XOY平面投影坐标分别为(x1n,y1n,0)、(x2n,y2n,0)、(x3n,y3n,0)。该第四点至第六点在YOZ平面投影坐标分别为(0,y1n,z1n)、(0,y2n,z2n)、(0,y3n,z3n)。该第四点至第六点在XOZ平面投影坐标分别为(x1n,0,z1n)、(x2n,0,z2n)、(x3n,0,z3n)。
由于飞行器可以近似的认为是个刚性物体，在空间中，该刚性物体上的任意一点的位置都可以是作为该刚性物体的位置。因此，本实施例优选该标志点的坐标作为该飞行器在三维直角坐标系中的位置，例如，可以以第一反光点的位置变化来反映该飞行器在该三维直角坐标系中的坐标(位置)变化，此时，第N帧图像中，飞行器的在该三维直角坐标系中的坐标为P11点位置(x1n,y1n,z1n)。
图4是本发明实施例步骤S3中分析偏转情况的具体流程图。
请参照图4和图3，本实施例的步骤S3中分析各坐标面上的实时投影图形相对基准投影图形的偏转情况包括如下步骤：
S31、选定一标志点作为代表点，例如选定第一反光点为代表点。
S32、选择一个坐标平面，计算出该坐标平面上的基准投影图形的重心点作为基准重心点，选择基准投影图形中该代表点的投影点作为基准投影点，通过所述基准重心点以及所述基准投影点形成一直线作为基准状态线。
S33、在同一坐标平面上，计算出实时投影图形的重心点作为实时重心点，选择实时投影图形中该代表点的投影点作为实时投影点，通过所述实时重心点 以及所述实时投影点形成一直线作为实时状态线；
S34、计算所述实时状态线相对所述基准状态线的偏转角度，得到该坐标平面上所述实时投影图形相对所述基准投影图形的偏转情况；
S35、分别在剩余的两个坐标平面上重复执行步骤S32至S34。
在本实施例中，标志点围成的图形在三个坐标面上的投影均为三角形。在飞行器基准飞行姿态中，选定第一反光点，即第一点P10点为代表点，以其在坐标面上的投影点为基准投影点。由于基准投影图形是三角形，其重心是三条中线的交点，因此，通过基准投影图形重心点以及基准投影点的基准状态线，也即是基准投影图形中通过基准投影点的的中线。同理，实时投影图形中的实时状态线亦符合此规律。基于此，
在飞行器基准飞行姿态中，取第二点P20和第三点P30连线的中点P1，其坐标为
Figure PCTCN2016108203-appb-000001
则通过第一点P10及中点P1得到第一直线L1，该直线L1在各坐标平面上的投影即为基准状态线。
在飞行器实时飞行姿态中，取第五点P21和第六点P31连线的中点P2，其坐标为
Figure PCTCN2016108203-appb-000002
则通过第四点P11及中点P2得到直线L2，该直线L2在各坐标平面上的投影即为实时状态线。
该实时状态线相对基准状态线在XOY、YOZ、XOZ三个坐标平面上的偏转角度分别用
Figure PCTCN2016108203-appb-000003
表示。偏转角度
Figure PCTCN2016108203-appb-000004
就可以表示所述飞行器2的空中姿态。该飞行器的空中姿态用
Figure PCTCN2016108203-appb-000005
表述如下：
Figure PCTCN2016108203-appb-000006
其中，Kxy、Kyz、Kzx为所述第一直线L1在XOY、YOZ、XOZ平面中投影直线的斜率；K`xy、K`yz、K`zx为所述第二直线L2在XOY、YOZ、XOZ平面中投影直线的斜率。
本实施例中，第一直线L1在XOY,YOZ,XOZ三个面投影的斜率为：
Figure PCTCN2016108203-appb-000007
本实施例中，第二直线L2在XOY,YOZ,XOZ三个面投影的斜率为：
Figure PCTCN2016108203-appb-000008
S4、在接收到飞行控制指令后，根据飞行器的位置和实时姿态，调整飞行器的飞行参数，控制飞行器的飞行。
本实施例优选，该调整飞行器的飞行参数包括控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋。
接收的飞行控制指令为空中拖动指令时，本步骤包括：
S410、飞行控制器在接收到空中拖动指令后开始移动从而带动三维直角坐标系的原点随之移动；
S420、调取收到空中拖动指令初始时刻飞行器在三维直角坐标系中的位置坐标作为初始坐标，调取飞行器当前在三维直角坐标系中的位置坐标作为实时坐标，调取飞行器当前的实时姿态，根据当前的实时姿态，调整飞行器的飞行参数，控制飞行器移动至实时坐标与初始坐标数值相同。
飞行器接收到空中拖动指令即进入空中拖动模式，飞行器随着飞行控制器的拖动而发生相应移动。在接收到空中拖动指令初始时刻该飞行器在该三维直角坐标系中的位置为初始坐标。随着飞行控制器的移动，三维直角坐标系的原点发生变化，飞行器当前的实时坐标的数值与初始坐标不同，此时，根据当前飞行器的实时姿态，调整飞行器的飞行参数，例如，控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋，控制该飞行器移动至与初始坐标数值相同的位置。在空中拖动指令中，飞行控制器进行转圈运动时，可以实现飞行器绕着某个点进行圆周飞行，即实现环绕飞行的功能。
进一步优选，所述飞行控制器以每秒20至50帧的速度获取位置信息和空中姿态，并针对每一帧飞行器的空中姿态信息，发送控制指令，调整飞行器的飞行参数，使飞行器移动至与初始坐标数值相同的位置。本实施例优选以每秒30帧的速度获取相关信息。
接收的飞行指令为空中距离控制指令，本步骤包括：
S411、收到距离控制指令时调取飞行器在三维直角坐标系中的位置坐标作为初始坐标，计算出该初始坐标至坐标原点的最短距离轨迹；
S421、调取飞行器当前的实时姿态数据，根据该实时姿态数据调整飞行器的飞行参数，控制飞行器沿着所述最短距离轨迹移动以变化与所述飞行控制器之间的距离。
接收到空中距离控制指令时,飞行器进入距离控制模式：在飞行控制器控制 下，飞行器飞远或飞近。本实施例中，假设接收到距离控制指令时，飞行器在三维直角坐标系统中位置坐标，即初始坐标为(a，b，c)，则该初始坐标至坐标原点(飞行控制器位置)的距离为，两者间最短距离轨迹方程为
Figure PCTCN2016108203-appb-000009
此时，实时调取飞行器当前的姿态数据，调整飞行器的飞行参数，例如控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋，控制该飞行器按照该轨道方程飞远或飞近。本实施例优选以每秒30帧的速度获取飞行器的姿态数据信息，并根据该信息，调整飞行器参数，使飞行器沿轨道方程飞行，实现距离控制。当然，在距离控制模式下，除了设定飞行器沿其与坐标原点间最短轨迹进行飞行外，还可以设定沿其它轨迹方程进行飞行，达到飞远或飞近的效果。
图5是本发明实施例飞行器光学控制系统结构示意图。
请参照图5，本实施例的飞行器光学控制系统，用于控制一飞行器2，包括标志点6、飞行控制器1、建标单元5、姿态计算单元4、位置计算单元3和控制单元7。为设计简便，本实施例进一步优选，该建标单元5、位置计算单元3、姿态计算单元4、控制单元7集成设计在该飞行控制器1中。
该标志点6为多个，设置在该飞行器2上且不处于同一平面。请参照图2和图5，该标志点6优选为三个点，分别为第一反光点、第二反光点以及第三反光点。该第一反光点、第二反光点以及第三反光点位于该飞行器2的外表面上，且该第一反光点、第二反光点以及第三反光点不在一个平面内。当然，该标志点6的数量可以不为三个，例如为四个、五个等。将该标志点6做成反光点主要是方便识别图像中的目标，以及图像处理。该标志点6的材料可以对可见光波长的光反射，也可以对非可见光波长的光反射。为了不使标志点6的反光干 扰操控者的视线，本实施例优选该标志点6的材料对非可见光波长的光反射，进一步优选该标志点6反射红外光(即第一反光点、第二反光点以及第三反光点反射红外光)。
该飞行控制器1上设置有拍摄装置，该拍摄装置在该飞行器处于基准飞行状态时对该飞行器进行拍摄得到飞行器基准图像，并在控制过程中对飞行器进行实时拍摄得到飞行器实时图像，优选该拍摄装置对红外线进行成像。
该建标单元5，建立始终以该飞行控制器1为坐标原点的三维直角坐标系；在该飞行控制器1移动的过程中，该三维直角坐标系的坐标原点也会随着运动。因此，即使空间中的物体不运动，在该飞行控制器1运动的过程中，其在三维直角坐标系中的坐标也是变化的。请结合参照图2，本实施例中，为了方便控制和计算，建立的三维直角坐标系以该飞行控制器1的拍摄装置101表面处的一点(一般为拍摄装置101表面镜头的中心)作为原点的三维直角坐标系。该坐标系的X轴为与拍摄装置表面相平行的平面中过原点的水平方向直线(即水平直线，向右为x轴正向)，所述坐标系的Y轴为与拍摄装置表面相平行的平面中过原点的与所述X轴垂直的直线，所述坐标系的Z轴为垂直于与拍摄装置表面相平行的平面且过原点的直线。因此，本实施例中得到三个坐标面，即XOY平面、YOZ平面以及XOZ平面。
该姿态计算单元4，提取所述飞行器基准图像中多个标志点所围成的图形分别在所述三维直角坐标系的三个坐标面上的投影作为基准投影图形；提取所述飞行器实时图像中所述多个标志点围成的图形分别在三个坐标面上的投影作为实时投影图形，分析各坐标面上的实时投影图形相对基准投影图形的偏转情况，得到飞行器的实时姿态；优选，请参照图6，该姿态计算单元4包括重心点计算模块41、状态线形成模块42和偏转角计算模块43。
请参照图3，该第一反光点在该基准飞行姿态中的位置为第一点P10，该第二反光点在该基准飞行姿态中的位置为第二点P20，该第三反光点在该基准飞行姿态中的位置为第三点P30。为表述方便，在本实施例中，P20、P30两点相对P10点对称设置，P10、P20、P30三点所围图形为等腰三角形。定义飞行器2上P10、P20、P30三点所围等腰三角形中过P10点的三角形中线与飞行控制器1的拍摄装置101的光轴正对时，为飞行器2的基准飞行姿态。
在该基准飞行姿态中，该第一点P10的坐标为(x1,y1,z1),该第二点P20的坐标为(x2,y2,z2)，该第三点P30的坐标为(x3,y3,z3)。该第一点至第三点在XOY平面投影坐标分别为(x1,y1,0)、(x2,y2,0)、(x3,y3,0)。该第一点至第三点在YOZ平面投影坐标分别为(0,y1,z1)、(0,y2,z2)、(0,y3,z3)。该第一点至第三点在XOZ平面投影坐标分别为(x1,0,z1)、(x2,0,z2)、(x3,0,z3)。
在实时拍摄中，该第一反光点的位置变化为第四点P11、该第二反光点的位置变化为第五点P21、该第三反光点的位置变化为第六点P31。用第N帧来表示当前帧，则在当前帧中该第四点P11、第五点P21以及第六点P31的坐标分别为：(x1n,y1n,z1n)、(x2n,y2n,z2n)、(x3n,y3n,z3n)。
用第N帧图像来表示实时拍摄的图像，则在实时拍摄中该第四点P11、第五点P21以及第六点P31的坐标分别为：(x1n,y1n,z1n)、(x2n,y2n,z2n)、(x3n,y3n,z3n)。该第四点至第六点在XOY平面投影坐标分别为(x1n,y1n,0)、(x2n,y2n,0)、(x3n,y3n,0)。该第四点至第六点在YOZ平面投影坐标分别为(0,y1n,z1n)、(0,y2n,z2n)、(0,y3n,z3n)。该第四点至第六点在XOZ平面投影坐标分别为(x1n,0,z1n)、(x2n,0,z2n)、(x3n,0,z3n)。
该重心点计算模块41，用于在各坐标平面上分别计算出基准投影图形的重心点作为基准重心点，并在各坐标平面上分别计算出实时投影图形的重心点作为实时重心点。在本实施例中，以XOY平面为例进行说明，其他两个坐标面的 计算是相同的，在此不再进一步说明。在基准飞行姿态图像中，该坐标平面为XOY平面。该坐标平面上的基准投影图形为三角形。该基准投影图形的重心点为三角形三边中线的交点。在实时飞行图像中，该坐标平面上的实时投影图形也为三角形。该实时投影图形的重心点同样为三角形三边中线的交点。
该状态线形成模块42，先选择一个坐标平面以及一标志点作为代表点，选择该坐标平面上的基准投影图形中该代表点的投影点作为基准投影点，选择该坐标平面上的实时投影图形中该代表点的投影点作为实时投影点，调取重心点计算模块计算出的基准重心点以及实时重心点，通过所述基准重心点以及所述基准投影点形成一直线作为基准状态线，通过所述实时重心点以及所述实时投影点形成一直线作为实时状态线；在其余两个坐标平面上，也分别同样形成所述基准状态线以及实时状态线。在本实施例中，标志点6围成的图形在三个坐标面上的投影均为三角形。在飞行器基准飞行姿态中，选定第一反光点，即第一点P10点为代表点，以其在坐标面上的投影点为基准投影点。由于基准投影图形是三角形，其重心是三条中线的交点，因此，通过基准投影图形重心点以及基准投影点的基准状态线，也即是基准投影图形中通过基准投影点的中线。同理，实时投影图形中的实时状态线亦符合此规律。基于此，
在飞行器基准飞行姿态中，取第二点P20和第三点P30连线的中点P1，其坐标为
Figure PCTCN2016108203-appb-000010
则通过第一点P10及中点P1得到第一直线L1，该直线L1在各坐标平面上的投影即为基准状态线。
在飞行器实时飞行姿态中，取第五点P21和第六点P31连线的中点P2，其坐标为
Figure PCTCN2016108203-appb-000011
则通过第四点P11及中点P2得到直线L2，该直线L2在各坐标平面上的投影即为实时状态线。
该偏转角计算模块43，用于计算出各坐标平面上所述实时状态线相对所述基准状态线的偏转角度，得到各坐标平面上所述实时投影图形相对所述基准投影图形的偏转情况。该第二直线L2与第一直线L1在XOY、YOZ、XOZ平面中投影直线的夹角作为实时拍摄中所述飞行器的空中姿态。
该实时状态线相对基准状态线在XOY、YOZ、XOZ三个坐标平面上的偏转角度分别用
Figure PCTCN2016108203-appb-000012
表示，因此，用
Figure PCTCN2016108203-appb-000013
就可以表示所述飞行器2的空中姿态。该飞行器2的空中姿态用
Figure PCTCN2016108203-appb-000014
表述如下：
Figure PCTCN2016108203-appb-000015
其中，Kxy、Kyz、Kzx为所述第一直线L1在XOY、YOZ、XOZ平面中投影直线的斜率；K`xy、K`yz、K`zx为所述第二直线L2在XOY、YOZ、XOZ平面中投影直线的斜率。
本实施例中，第一直线L1在XOY,YOZ,XOZ三个面投影的斜率为：
Figure PCTCN2016108203-appb-000016
本实施例中，第二直线L2在XOY,YOZ,XOZ三个面投影的斜率为：
Figure PCTCN2016108203-appb-000017
该位置计算单元3，用于根据该标志点6计算出飞行器2在所述三维直角坐标系中的位置。由于飞行器2可以近似的认为是个刚性物体，在空间中，该刚性物体上的任意一点的位置都可以是作为该刚性物体的位置。例如，可以以第一反光点的位置变化来反映该飞行器2在该三维直角坐标系中的坐标(位置)变化，此时，第N帧图像中，飞行器2的在该三维直角坐标系中的坐标为P11点位置(x1n,y1n,z1n)。
控制单元7，根据接收的飞行控制指令、位置计算单元3计算出的位置和姿态计算单元4算出的实时姿态，调整飞行器2的飞行参数，控制飞行器2的飞行。该调整飞行器2的飞行参数包括控制飞行器2前进、后退、左移、右移、上升、下降、左旋和/或右旋。请参照图7，该控制单元7包括数据调取模块71、调控模块72和路线规划模块73。
当该控制单元7接收的飞行控制指令为空中拖动指令时，随着飞行控制器1的移动，飞行器2会发生相应移动。该数据调取模块71，用于调取收到空中拖动指令初始时刻飞行器2在空间直角坐标系中的位置坐标作为初始坐标，调取飞行器2当前在三维直角坐标系中的位置坐标作为实时坐标，并同时调取飞行器2当前的实时姿态；该调控模块72用于根据当前的实时姿态，调整飞行器2的飞行参数，例如，控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋，控制飞行器2移动至实时坐标与初始坐标数值相同的位置。
在空中拖动指令中，飞行控制器进行转圈运动时，可以实现飞行器绕着某 个点进行圆周飞行，即实现环绕飞行的功能。
进一步优选，位置计算单元3和姿态计算单元4均以每秒20至50帧的速度，分别计算出飞行器2的位置信息和空中姿态，控制单元7针对每一帧飞行器2的空中姿态信息，发送控制指令，调整飞行器2的飞行参数，使飞行器2移动至与初始坐标数值相同的位置。本实施例优选以每秒30帧的速度获取相关信息。
当该控制单元7接收的飞行控制指令为距离控制指令时，该路线规划模块73，调取飞行器2在三维直角坐标系中的位置坐标作为初始坐标，计算出该初始坐标至坐标原点的最短距离轨迹；该调控模块72调取飞行器2当前的实时姿态数据，根据该实时姿态数据调整飞行器2的飞行参数，控制飞行器2沿着所述最短距离轨迹移动以变化与所述飞行控制器1之间的距离，包括飞远和飞近。本实施例中，假设接收到距离控制指令时，飞行器2在三维直角坐标系统中位置坐标，即初始坐标为(a，b，c)，则该初始坐标与至坐标原点(飞行控制器位置)的距离为，两者间最短距离轨迹方程为
Figure PCTCN2016108203-appb-000018
此时，实时调取飞行器的姿态数据，调整飞行器的飞行参数，例如控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋，控制该飞行器按照该轨道方程飞远或飞近。本实施例优选以每秒30帧的速度获取飞行器的姿态数据信息，并根据该信息，调整飞行器参数，使飞行器沿轨道方程飞行，实现距离控制。当然，在距离控制模式下，除了设定飞行器沿其与坐标原点间最短轨迹进行飞行外，还可以设定沿其它轨迹方程进行飞行，达到飞远或飞近的效果。
本发明实施例的飞行器光学控制方法及系统通过光学识别方法实时准确的获取飞行器的位置以及空中姿态，实现飞行控制器的自动控制，使用者不需要 判断飞行器的空中姿态，使飞行器的操控(遥控)更为简单、容易。
以上对本发明所提供的飞行器光学控制方法及系统进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种飞行器光学控制方法，其特征在于，包括如下步骤：
    S1、在飞行器上设置多个不在同一平面的标志点，建立始终以带有拍摄装置的飞行控制器为坐标原点的三维直角坐标系；
    S2、在所述飞行器处于基准飞行姿态时，对飞行器进行拍摄并提取拍摄到的飞行器基准图像中多个标志点所围成的图形分别在三维直角坐标系的三个坐标面上的投影作为基准投影图形；
    S3、对所述飞行器进行实时拍摄，提取拍摄到的飞行器实时图像中所述多个标志点围成的图形分别在三个坐标面上的投影作为实时投影图形，分析各坐标面上的实时投影图形相对基准投影图形的偏转情况，得到飞行器的实时姿态；并且，根据所述标志点计算出飞行器在三维直角坐标系中的位置；
    S4、在接收到飞行控制指令后，根据飞行器的位置和实时姿态，调整飞行器的飞行参数，控制飞行器的飞行。
  2. 根据权利要求1所述的飞行器光学控制方法，其特征在于：所述分析各坐标面上的实时投影图形相对基准投影图形的偏转情况包括如下步骤：
    S31、选定一标志点作为代表点；
    S32、选择一个坐标平面，计算出该坐标平面上的基准投影图形的重心点作为基准重心点，选择基准投影图形中该代表点的投影点作为基准投影点，通过所述基准重心点以及所述基准投影点形成一直线作为基准状态线；
    S33、在同一坐标平面上，计算出实时投影图形的重心点作为实时重心点，选择实时投影图形中该代表点的投影点作为实时投影点，通过所述实时重心点以及所述实时投影点形成一直线作为实时状态线；
    S34、计算所述实时状态线相对所述基准状态线的偏转角度，得到该坐标平面上所述实时投影图形相对所述基准投影图形的偏转情况；
    S35、分别在剩余的两个坐标平面上重复执行步骤S32至S34。
  3. 根据权利要求1所述的飞行器光学控制方法，其特征在于：所述步骤S4中的飞行控制指令为空中拖动指令，所述步骤S4包括：
    S410、飞行控制器在接收到空中拖动指令后开始移动从而带动三维直角坐标系的原点随之移动；
    S420、调取收到空中拖动指令初始时刻飞行器在三维直角坐标系中的位置坐标作为初始坐标，调取飞行器当前在三维直角坐标系中的位置坐标作为实时坐标，调取飞行器当前的实时姿态，根据当前的实时姿态，调整飞行器的飞行参数，控制飞行器移动至实时坐标与初始坐标数值相同。
  4. 根据权利要求1所述的飞行器光学控制方法，其特征在于：所述步骤S4中的飞行模式指令为距离控制指令，所述步骤S4包括：
    S411、收到距离控制指令时调取飞行器在三维直角坐标系中的位置坐标作为初始坐标，计算出该初始坐标至坐标原点的最短距离轨迹；
    S421、调取飞行器当前的实时姿态数据，根据该实时姿态数据调整飞行器的飞行参数，控制飞行器沿着所述最短距离轨迹移动以变化与所述飞行控制器之间的距离。
  5. 根据权利要求1至4任意一项所述的飞行器光学控制方法，其特征在于：所述调整飞行器的飞行参数包括控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋。
  6. 一种飞行器光学控制系统，用于控制一飞行器，其特征在于，包括：
    多个标志点，设置在所述飞行器上且不处于同一平面；
    飞行控制器，其上设置的拍摄装置在飞行器处于基准飞行状态时对所述飞行器进行拍摄得到飞行器基准图像，并在控制过程中对飞行器进行实时拍摄得 到飞行器实时图像；
    建标单元，建立始终以所述飞行控制器为坐标原点的三维直角坐标系；
    姿态计算单元，提取所述飞行器基准图像中多个标志点所围成的图形分别在所述三维直角坐标系的三个坐标面上的投影作为基准投影图形；提取所述飞行器实时图像中所述多个标志点围成的图形分别在三个坐标面上的投影作为实时投影图形，分析各坐标面上的实时投影图形相对基准投影图形的偏转情况，得到飞行器的实时姿态；
    位置计算单元，用于根据所述标志点计算出飞行器在所述三维直角坐标系中的位置；
    控制单元，根据接收的飞行控制指令、位置计算单元计算出的位置和姿态计算单元算出的实时姿态，调整飞行器的飞行参数，控制飞行器的飞行。
  7. 根据权利要求6所述的飞行器光学控制系统，其特征在于：所述姿态计算单元包括：
    重心点计算模块，用于在各坐标平面上分别计算出基准投影图形的重心点作为基准重心点，并在各坐标平面上分别计算出实时投影图形的重心点作为实时重心点；
    状态线形成模块，选定一标志点作为代表点；选择一个坐标平面，选择该坐标平面上的基准投影图形中该代表点的投影点作为基准投影点，选择该坐标平面上的实时投影图形中该代表点的投影点作为实时投影点，调取重心点计算模块计算出的基准重心点以及实时重心点，通过所述基准重心点以及所述基准投影点形成一直线作为基准状态线，通过所述实时重心点以及所述实时投影点形成一直线作为实时状态线；在其余两个坐标平面上，也分别选定该代表点，同样形成基准状态线以及实时状态线；
    偏转角计算模块，用于计算出各坐标平面上所述实时状态线相对所述基准状态线的偏转角度，得到各坐标平面上所述实时投影图形相对所述基准投影图形的偏转情况。
  8. 根据权利要求6所述的飞行器光学控制系统，所述控制单元接收的飞行控制指令为空中拖动指令，以随着飞行控制器的移动拖动飞行器同步移动，所述控制单元包括：
    数据调取模块，用于调取收到空中拖动指令初始时刻飞行器在空间直角坐标系中的位置坐标作为初始坐标，调取飞行器当前在三维直角坐标系中的位置坐标作为实时坐标，并同时调取飞行器当前的实时姿态；
    调控模块，用于根据当前的实时姿态，调整飞行器的飞行参数，控制飞行器移动至实时坐标与初始坐标数值相同。
  9. 根据权利要求6所述的飞行器光学控制系统，所述控制单元接收的飞行控制指令为距离控制指令，所述控制单元包括：
    路线规划模块，收到距离控制指令时调取飞行器在三维直角坐标系中的位置坐标作为初始坐标，计算出该初始坐标至坐标原点的最短距离轨迹；
    调控模块，调取飞行器当前的实时姿态数据，根据该实时姿态数据调整飞行器的飞行参数，控制飞行器沿着所述最短距离轨迹移动以变化与所述飞行控制器之间的距离。
  10. 根据权利要求6至9任意一项所述的飞行器光学控制系统，其特征在于，所述调整飞行器的飞行参数包括控制飞行器前进、后退、左移、右移、上升、下降、左旋和/或右旋。
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