WO2020014962A1 - Point of interest encircling flight method and control terminal - Google Patents

Point of interest encircling flight method and control terminal Download PDF

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Publication number
WO2020014962A1
WO2020014962A1 PCT/CN2018/096446 CN2018096446W WO2020014962A1 WO 2020014962 A1 WO2020014962 A1 WO 2020014962A1 CN 2018096446 W CN2018096446 W CN 2018096446W WO 2020014962 A1 WO2020014962 A1 WO 2020014962A1
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WIPO (PCT)
Prior art keywords
aircraft
control terminal
target
orbiting
point
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PCT/CN2018/096446
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French (fr)
Chinese (zh)
Inventor
刘雨奇
邬梁爽
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/096446 priority Critical patent/WO2020014962A1/en
Priority to CN201880042185.9A priority patent/CN110799923B/en
Publication of WO2020014962A1 publication Critical patent/WO2020014962A1/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10Simultaneous control of position or course in three dimensions
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Definitions

  • the present invention relates to the field of unmanned aerial vehicles, and in particular, to a method and a control terminal for orbiting flying around points of interest of an unmanned aerial vehicle.
  • UAVs have broad application prospects in aerial photography, aerial surveys, disaster investigation and rescue, transmission line inspections, and military fields.
  • the operator usually requires the drone to monitor some points of interest (such as transmission line failure points, disaster occurrence points, accident occurrence points, etc.) as flying points around the point.
  • some points of interest such as transmission line failure points, disaster occurrence points, accident occurrence points, etc.
  • the operator is required to use the remote control to perform complex operations such as dot operation after the drone flies to the point of interest. Therefore, the operator is required to have good operation skills, which reduces the user experience of the operator.
  • Embodiments of the present invention provide a method for orbiting a point of interest and a control terminal, so as to improve the intelligence of the point of interest orbiting, simplify and facilitate user operations, and improve user experience.
  • a first aspect of an embodiment of the present invention provides a method for orbiting an unattended point of interest, including:
  • a second aspect of the embodiments of the present invention provides a control terminal for orbital flight of points of interest, which includes:
  • the memory is configured to store executable instructions
  • the processor is configured to execute the executable instructions stored in the memory to perform the following operations:
  • a target interest point is determined, a distance between the current position of the aircraft and the target interest point is calculated, and an initial radius of the aircraft orbiting flight is generated according to the distance, and the aircraft is controlled to perform an interest point orbiting flight at the initial radius.
  • a third aspect of the embodiments of the present invention provides a computer-readable storage medium that stores executable instructions.
  • the executable instructions When executed by one or more processors, the one or more processes can be performed.
  • the device performs the method of orbiting a point of interest as described in the first aspect.
  • a fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including a control device for orbital flight of a point of interest according to the second aspect.
  • the target distance when flying around the point of interest, the target distance can be automatically and intelligently calculated through the visual image, and the user does not need to perform complicated operations such as location dots, which makes the user convenient and fast operation and improves the user operation experience.
  • FIG. 1 is a flowchart of a method for flying around a point of interest according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an operation interface for selecting a target interest point according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a conventional position marking method.
  • FIG. 4 is a schematic diagram of intelligently calculating an initial radius of an orbiting flight according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of sliding adjustment parameters on an operation interface of a control terminal according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of adjusting a parameter by using a remote control stick according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a control device for flying around a point of interest according to an embodiment of the present invention.
  • a component when a component is considered to be “connected” to another component, it may be directly connected to another component or a centered component may exist at the same time.
  • the acquisition here may be that a component directly communicates with the other component to obtain data, or that a component obtains data from the other component through other components.
  • an embodiment of the present invention provides a method for orbiting a point of interest to intelligently calculate a target distance, which will be explained in detail below.
  • FIG. 1 is a flowchart of a method for orbiting a point of interest in an embodiment of the present invention. The method for orbiting the point of interest is described in detail below.
  • Step S101 Obtain a visual image of the current position of the drone through visual image recognition, display it on the control terminal interface, and determine a target interest point in the visual image of the current position of the drone.
  • the execution subject of the method may be a control terminal of a drone. Further, the execution subject of the method may be a processor of the control terminal of the drone, wherein the processor may be a general-purpose or special-purpose processor, and the processor may be one or more, the One or more processors work individually or in concert.
  • the control terminal is a mobile phone and / or a remote controller or a dedicated control device.
  • a visual image recognition device is configured on the drone, wherein the imaging device of the visual image recognition device is used to capture an environmental image within the current visual range of the drone, and sends the environmental image to a control terminal of the drone.
  • the control terminal first needs to be connected to the drone. After the connection is successful, the FPV information is displayed on the control terminal interface, and the drone is set to enter the POI (point of interest) mode, and the drone's flight altitude and return flight are set. Altitude and speed are preset.
  • the processing unit of the visual image recognition device automatically recognizes the captured image, classifies various things and people therein, and sends the recognition result to the control of the drone. terminal.
  • the processing unit of the visual image recognition device automatically recognizes the captured image, classifies various things and people therein, and sends the recognition result to the control of the drone. terminal.
  • the control terminal of the drone After receiving the image of the drone's current environment, the control terminal of the drone displays it on the control terminal interface. Specifically, the user may select the target interest point as the center point of the surround at the control terminal.
  • the control terminal when the control terminal only receives image information within the visual range sent by the visual image recognition device, the user may select the range by using direct frame selection or circle drawing on the image displayed on the control terminal interface. This range is determined as the target point of interest as the center point of the orbital flight.
  • the control terminal receives the image information and the automatic recognition result sent by the visual image recognition device, based on the automatic recognition results of the objects in the visual range and their types, The user selects the target object on the control terminal interface to determine the target interest point.
  • the manner of selecting the target object to determine the target interest point includes: clicking the target object for selection, double-clicking the target object for selection, long-pressing the target object, sliding selection, circle selection, and voice instruction selection.
  • the drone is controlled to enable the multi-target tracking mode, to automatically recognize objects in the visual range, to control the terminal to receive image information and automatic recognition results sent by the visual image recognition device, and to display the image on the control terminal On the interface, at the same time, the object on the image automatically displays a recognition frame to mark the type of the identified object.
  • the user can select the target interest point of interest as the center of the orbital flight according to the recognition box. This point can be the point of transmission line failure, frequent disasters, accidents, etc., and the camera device equipped with the drone can shoot around 360 °. Center point object of interest, or.
  • the selection operation can be performed by single-clicking the target object on the control terminal interface, double-clicking the target object to select, long-pressing the target object, sliding selection, etc., or directly selecting the voice command issued by the user.
  • the control terminal gives confirmation information of the target interest point, where the confirmation information of the target interest point includes the position and / or type of the target.
  • the control terminal gives a prompt of the failure state.
  • FIG. 2 (a) -2 (c) are schematic diagrams of an operation interface for selecting a target interest point according to an embodiment of the present invention.
  • Figure 2 (a) -2 (b) first set the drone to enter the point of interest surround mode.
  • the user selects the mode of using the visual image of the drone to dot.
  • the control terminal receives the image sent by the visual image recognition device. Information, and automatically identify the person in the image range.
  • the user selects the target person as the target interest point by sliding the frame on the control terminal interface.
  • the user can select the GO button on the control terminal interface to confirm and control the drone to start orbital flight.
  • Step S102 Calculate a distance between the current position of the drone and the target interest point, and generate an initial radius of the drone orbiting according to the distance, and control the drone to orbit the interest point around the initial radius.
  • the traditional method of determining the point of interest is that after the drone reaches the point of interest, the operator uses the remote control buttons to perform complex operations such as clicking. As shown in Figure 3, the user needs to operate the remote control buttons and the application program interface at the same time. Inconvenient operation.
  • using the visual image calculation of the drone after the target interest point appears in the visual range of the drone, the user selects and confirms the target interest point through the control terminal, and then intelligently calculates and The distance of the target point of interest can start orbiting, so there is no need for the drone to fly to the position of the target point of interest and then click the remote control button to reduce the complexity of the user's operation.
  • the drone when measuring the distance between the current position of the drone and the target interest point, it is necessary to first obtain the current GPS coordinates of the drone as the position of the drone.
  • the drone is equipped with a GPS positioning system, and the current position provided by the GPS positioning system is used to determine the current position of the drone.
  • the UAV may also be configured with other positioning systems, and specific positioning accuracy may be selected as needed.
  • the drone uses the coordinates provided by the positioning system as the current position coordinates of the drone.
  • the relative distance between the drone and the target point of interest needs to be calculated. Specifically, the relative position of the drone and the target interest point is estimated according to the difference of each frame image in the visual image recognition, and the virtual coordinates of the target interest point are further determined according to the current position coordinates of the drone obtained before, As the target position.
  • FIG. 4 is a schematic diagram of intelligently calculating an initial radius of an orbiting flight according to an embodiment of the present invention. As shown in Figure 4, during the flight of the UAV, there may be a certain height difference ⁇ h between the flight height and the selected target interest point, the height difference ⁇ h and the distance D between the two and the horizontal projection of the distance R 0 forms a right triangle.
  • the distance D and the height difference between the drone and the target interest point according to the visual image ⁇ h is calculated, and according to the Pythagorean theorem, the distance R 0 between the projection of the target position on the horizontal plane and the projection of the drone position on the horizontal plane can be calculated.
  • the distance R 0 is used as the initial radius of the drone to start orbiting.
  • a prompt indicating the status of the measurement failure is displayed on the control terminal interface.
  • the status prompt may be that the drone position information acquisition fails or the target position information acquisition fails. After obtaining the failure status information, the user can debug or retry the drone status.
  • the drone begins to orbit around the initial radius, and the user can adjust the parameters of the drone orbit through the operation of the control terminal.
  • the adjusting the drone's orbiting parameters by the operation of the control terminal includes: controlling the drone's orbiting parameters according to the operation of dragging the slider of the control terminal interface, the drone's orbiting parameters It includes at least one of a circle radius, a circle height, a circle direction, and a circle speed.
  • FIG. 5 is a schematic diagram of sliding adjustment parameters on an operation interface of a control terminal according to an embodiment of the present invention.
  • the size of the drone's orbiting parameters can be adjusted by dragging the slider on the control terminal operation interface, including the adjustment of the orbiting radius, altitude, speed, and return altitude.
  • the flight trajectory of the drone is changed, and at the same time, the flight trajectory of the drone is simulated in real time on the control terminal operation interface.
  • it can be understood that in addition to sliding adjustment, it can also be adjusted by other methods such as inputting parameters and controlling increase / decrease buttons.
  • At least one of the orbiting radius, the orbiting height, the orbiting direction, and the orbiting speed can be adjusted by using a remote control stick or a wheel.
  • the dial of the remote control when the dial is used to control the orbit direction, when the dial is set to slide in the first direction, the drone flies clockwise; when the dial is set to slide in the second direction, the drone orbits counterclockwise. flight.
  • FIG. 6 is a schematic diagram of adjusting a parameter by using a remote control stick according to an embodiment of the present invention.
  • the drone can be used to adjust the drone's orbital flight.
  • the control terminal operation interface displays the simulated remote control's shot amount and the drone's flight track. It is convenient for users to control the drone flight trajectory more intuitively.
  • the drone flight altitude and return altitude can be controlled through the control terminal interface. And speed.
  • FIG. 7 is a schematic diagram of a control terminal for orbit flying of points of interest of a drone according to an embodiment of the present invention.
  • the control terminal of the point of interest orbit flying in this embodiment may include a power module, various interface modules, and the like.
  • the control terminal of the point of interest orbit flying includes a remote controller, a smart phone, a desktop computer, a laptop computer, and a wearable device. One or more of them.
  • the control terminal 700 for flying around the point of interest shown further includes a memory 701 and a processor 702.
  • the memory 701 may include volatile memory (for example, random-access memory (RAM) 701; the memory 701 may also include non-volatile memory (for example, flash memory) A memory (flash memory), a hard disk (HDD) or a solid-state drive (SSD); the memory 701 may further include a combination of the above types of memories.
  • volatile memory for example, random-access memory (RAM) 701
  • non-volatile memory for example, flash memory
  • flash memory flash memory
  • HDD hard disk
  • SSD solid-state drive
  • the processor 702 may be a central processing unit (central processing unit, abbreviation: CPU).
  • the processor 702 may further include a hardware chip.
  • the hardware chip may be an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the memory 701 is further configured to store program instructions.
  • the processor 702 may call the program instructions to implement related methods as shown in the corresponding embodiment in FIG. 1.
  • the processor 702 is configured to execute the executable instructions stored in the memory 701 to perform the following operations:
  • the processor 702 determines the target interest point
  • the processor 702 is specifically configured to determine the target interest point according to a click or frame selection operation on the control terminal interface.
  • the processor 702 is further configured to: when the aircraft performs the visual image recognition, enable a multi-target tracking mode, automatically recognize objects and types within the visual range, and display the automatic recognition result on the control terminal interface .
  • the processor 702 when determining the target interest point by the processor 702, the processor 702 is specifically configured to determine the target interest point based on the operation of selecting the target object on the control terminal interface based on the automatic recognition result of the objects in the visual range and their types. .
  • the operation mode of clicking the target object to determine the target interest point includes: clicking the target object to select, double-clicking the target object to select or long-pressing the target object to select, sliding selection, circle selection and voice command selection set.
  • the processor 702 When the processor 702 measures a distance between the current position of the aircraft and the target interest point, and generates an initial radius of the aircraft's orbiting flight based on the distance, the processor 702 is specifically configured to:
  • the distance between the projection of the target position on the horizontal plane and the projection of the aircraft position on the horizontal plane is determined as the initial radius of the circular flight of the aircraft.
  • processor 702 is further configured to:
  • the height difference and distance between the aircraft and the target interest point are calculated by the visual image, and the GPS coordinates of the aircraft are used to determine the virtual GPS coordinates of the target interest point.
  • the processor 702 is further configured to: when the measurement of the distance between the current position of the aircraft and the target interest point fails, display a status prompt of the measurement failure on the control terminal interface.
  • the status prompt includes: the aircraft position information acquisition fails or the target position information acquisition fails.
  • the processor 702 is further configured to: after controlling the aircraft to fly around the point of interest at the initial radius, adjust parameters of the aircraft to fly around according to the operation of the control terminal.
  • the processor 702 adjusts the parameters of the orbiting of the aircraft through the operation of the control terminal, it is specifically used to control the parameters of the orbiting of the aircraft according to the operation of dragging the slider on the interface of the control terminal.
  • the parameters of the orbiting of the aircraft include at least one of a surrounding radius, a surrounding height, a surrounding direction, and a surrounding speed.
  • the processor 702 is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency-link connection with the aircraft, display the FPV information on the control terminal interface after the connection is successful, and set the aircraft to enter POI mode.
  • the processor 702 is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency connection with the aircraft, and after the connection is successful, perform flight control on the aircraft's flight altitude and return home according to the operation of the control terminal interface. Altitude and speed are preset.
  • the processor 702 when the processor 702 adjusts the parameters of the aircraft's orbital flight through the operation of the control terminal, the processor 702 is specifically configured to adjust the orbital radius, orbital height, orbital direction, and orbital speed according to the operation of the remote control stick or dial. At least one of.
  • control terminal for specific principles and explanations of the control terminal provided by the embodiment of the present invention, reference may be made to relevant parts in the point of interest orbiting flight method described in FIG. 1, and details are not described herein again.
  • Another embodiment of the present invention provides a computer-readable storage medium, in which executable instructions are stored, and the executable instructions, when executed by one or more processors, may cause the one or more processes to be processed.
  • the drone executes the flight log processing method of the drone in the embodiment corresponding to FIG. 1.
  • Another embodiment of the present invention provides an unmanned aerial vehicle, which includes a control terminal for flying around a point of interest in the embodiment corresponding to FIG. 5.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

A point of interest encircling flight method, comprising: obtaining a current position visual image of an aircraft by means of visual image identification, displaying the current position visual image on an interface of a control terminal, and determining a target point of interest in the current position visual image of the aircraft (S1); and measuring and calculating the distance between a current position of the aircraft and the target point of interest, generating an initial radius for encircling flight of the aircraft according to the distance, and controlling the aircraft to perform point of interest encircling flight according to the radius (S2).

Description

兴趣点环绕飞行的方法及控制终端Method for orbiting interest points and control terminal 技术领域Technical field
本发明涉及无人机领域,尤其涉及一种无人机兴趣点环绕飞行的方法及控制终端。The present invention relates to the field of unmanned aerial vehicles, and in particular, to a method and a control terminal for orbiting flying around points of interest of an unmanned aerial vehicle.
背景技术Background technique
无人机在航拍、航测、灾情调查和救援、输电线路巡检以及军事领域有着广泛的应用前景。目前在无人机的遥控过程中,操作者通常需要无人机对一些兴趣点(例如输电线路故障点、灾难频发点、事故发生点等)作为绕点飞行监控。现有技术中,需要无人机飞到兴趣点后操作者使用遥控器进行打点等复杂操作,因此要求操作者具备良好的操作技能,降低了操作者的用户体验。UAVs have broad application prospects in aerial photography, aerial surveys, disaster investigation and rescue, transmission line inspections, and military fields. At present, in the process of remote control of a drone, the operator usually requires the drone to monitor some points of interest (such as transmission line failure points, disaster occurrence points, accident occurrence points, etc.) as flying points around the point. In the prior art, the operator is required to use the remote control to perform complex operations such as dot operation after the drone flies to the point of interest. Therefore, the operator is required to have good operation skills, which reduces the user experience of the operator.
发明内容Summary of the invention
本发明实施例提供一种兴趣点环绕飞行的方法及控制终端,以提高兴趣点环绕飞行的智能化程度,简化和方便用户操作,提升用户体验。Embodiments of the present invention provide a method for orbiting a point of interest and a control terminal, so as to improve the intelligence of the point of interest orbiting, simplify and facilitate user operations, and improve user experience.
本发明实施例的第一方面提供了一种无人兴趣点环绕飞行的方法,包括:A first aspect of an embodiment of the present invention provides a method for orbiting an unattended point of interest, including:
通过视觉图像识别获取所述飞行器当前位置视觉图像,并显示在所述控制终端界面;Obtaining a visual image of the current position of the aircraft through visual image recognition, and displaying the visual image on the control terminal interface;
确定所述飞行器当前位置视觉图像中的目标兴趣点,测算飞行器当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述飞行器环绕飞行的初始半径,控制飞行器以所述初始半径进行兴趣点环绕飞行。Determine the target interest point in the visual image of the current position of the aircraft, measure the distance between the current position of the aircraft and the target interest point, and generate an initial radius of the aircraft to fly around according to the distance, and control the aircraft to use the initial radius Perform an orbit of interest flight.
本发明实施例的第二方面提供了一种兴趣点环绕飞行的控制终端,其中,包括:A second aspect of the embodiments of the present invention provides a control terminal for orbital flight of points of interest, which includes:
存储器和处理器,其中,Memory and processor, where
所述存储器,用于存储可执行指令;The memory is configured to store executable instructions;
所述处理器,用于执行所述存储器中存储的所述可执行指令,以执行如下操作:The processor is configured to execute the executable instructions stored in the memory to perform the following operations:
通过视觉图像识别获取所述飞行器当前位置视觉图像,并显示在所述控制终端界面;Obtaining a visual image of the current position of the aircraft through visual image recognition, and displaying the visual image on the control terminal interface;
确定目标兴趣点,测算飞行器当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述飞行器环绕飞行的初始半径,控制飞行器以所述初始半径进行兴趣点环绕飞行。A target interest point is determined, a distance between the current position of the aircraft and the target interest point is calculated, and an initial radius of the aircraft orbiting flight is generated according to the distance, and the aircraft is controlled to perform an interest point orbiting flight at the initial radius.
本发明实施例的第三方面提供了一种计算机可读存储介质,其存储有可执行指令,所述可执行指令在由一个或多个处理器执行时,可以使所述一个或多个处理器执行如第一方面所述的兴趣点环绕飞行的方法。A third aspect of the embodiments of the present invention provides a computer-readable storage medium that stores executable instructions. When the executable instructions are executed by one or more processors, the one or more processes can be performed. The device performs the method of orbiting a point of interest as described in the first aspect.
本发明实施例的第四方面提供了一种无人机,包括如第二方面所述的兴趣点环绕飞行的控制装置。A fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including a control device for orbital flight of a point of interest according to the second aspect.
本发明实施例中,在进行兴趣点环绕飞行时,通过视觉图像可以自动智能测算出目标距离,不需要用户进行位置打点等复杂操作,使得用户操作方便、快捷,提升了用户操作体验。In the embodiment of the present invention, when flying around the point of interest, the target distance can be automatically and intelligently calculated through the visual image, and the user does not need to perform complicated operations such as location dots, which makes the user convenient and fast operation and improves the user operation experience.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
附图是用来提供对本发明的进一步理解,并且构成说明书的一部分,与下面的具体实施方式一起用于解释本发明,但并不构成对本发明的限制。在附图中:The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the following specific embodiments, the drawings are used to explain the present invention, but not to limit the present invention. In the drawings:
图1为本发明实施例兴趣点环绕飞行的方法的流程图。FIG. 1 is a flowchart of a method for flying around a point of interest according to an embodiment of the present invention.
图2为本发明一实施例中选择目标兴趣点的操作界面示意图。FIG. 2 is a schematic diagram of an operation interface for selecting a target interest point according to an embodiment of the present invention.
图3为传统的位置打点方式的示意图。FIG. 3 is a schematic diagram of a conventional position marking method.
图4为本发明实施例智能测算环绕飞行初始半径的示意图。FIG. 4 is a schematic diagram of intelligently calculating an initial radius of an orbiting flight according to an embodiment of the present invention.
图5为本发明一实施例中在控制终端操作界面滑动调节参数示意图。FIG. 5 is a schematic diagram of sliding adjustment parameters on an operation interface of a control terminal according to an embodiment of the present invention.
图6为本发明一实施例中通过遥控器打杆调节参数的示意图。FIG. 6 is a schematic diagram of adjusting a parameter by using a remote control stick according to an embodiment of the present invention.
图7为本发明实施例兴趣点环绕飞行的控制装置的示意图。FIG. 7 is a schematic diagram of a control device for flying around a point of interest according to an embodiment of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
需要说明的是,当一个组件被认为是“连接”另一个组件,它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件从另外 一个组件“获取”数据时,这里的获取可以是一个组件从所述另外一个组件直接通信以获取数据,也可能是一个组件通过其他的组件从所述另外一个组件获取数据。It should be noted that when a component is considered to be “connected” to another component, it may be directly connected to another component or a centered component may exist at the same time. When a component "gets" data from another component, the acquisition here may be that a component directly communicates with the other component to obtain data, or that a component obtains data from the other component through other components.
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
下面结合附图,对本发明的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
目前,无人机进行兴趣点环绕飞行时需要用到遥控器的按钮来进行打点,同时需要边操作摇杆边操作手机上的应用程序界面。为解决上述问题,本发明实施例提供一种兴趣点环绕飞行的方法,可智能测算出目标距离,下面将进行详细解释。At present, the UAV needs to use the buttons of the remote control to perform the point of interest flying around the point of interest. At the same time, it is necessary to operate the application interface on the mobile phone while operating the joystick. In order to solve the above problem, an embodiment of the present invention provides a method for orbiting a point of interest to intelligently calculate a target distance, which will be explained in detail below.
本发明一实施例提供了一种兴趣点环绕飞行的方法,本实施例中环绕飞行的飞行器以无人机为例进行详细说明。图1是本发明实施例兴趣点环绕飞行的方法的流程图。以下对所述兴趣点环绕飞行的方法进行详细的说明。An embodiment of the present invention provides a method for orbiting a point of interest. In this embodiment, a drone is used as an example for detailed description. FIG. 1 is a flowchart of a method for orbiting a point of interest in an embodiment of the present invention. The method for orbiting the point of interest is described in detail below.
步骤S101:通过视觉图像识别获取所述无人机当前位置视觉图像,并显示在所述控制终端界面,确定所述无人机当前位置视觉图像中的目标兴趣点。Step S101: Obtain a visual image of the current position of the drone through visual image recognition, display it on the control terminal interface, and determine a target interest point in the visual image of the current position of the drone.
具体地,所述方法的执行主体可以为无人机的控制终端。进一步地,所述方法的执行主体可以为所述无人机的控制终端的处理器,其中,所述处理器可以为通用或者专用处理器,所述处理器可以为一个或多个,所述一个或多个处理器单独或协同地工作。一般地,所述控制终端为手机和/或遥控器或专用的控制装置。Specifically, the execution subject of the method may be a control terminal of a drone. Further, the execution subject of the method may be a processor of the control terminal of the drone, wherein the processor may be a general-purpose or special-purpose processor, and the processor may be one or more, the One or more processors work individually or in concert. Generally, the control terminal is a mobile phone and / or a remote controller or a dedicated control device.
无人机上配置有视觉图像识别装置,其中,所述视觉图像识别装置的摄像装置用于拍摄无人机当前视觉范围内的环境图像,并将所述环境图像发送至无人机的控制终端。控制终端首先需要与无人机对频连接,连接成功后在控制终端界面显示FPV信息,并设置无人机进入POI(point of  interest,兴趣点)模式,并对无人机的飞行高度、返航高度及速度进行预设。A visual image recognition device is configured on the drone, wherein the imaging device of the visual image recognition device is used to capture an environmental image within the current visual range of the drone, and sends the environmental image to a control terminal of the drone. The control terminal first needs to be connected to the drone. After the connection is successful, the FPV information is displayed on the control terminal interface, and the drone is set to enter the POI (point of interest) mode, and the drone's flight altitude and return flight are set. Altitude and speed are preset.
当无人机处于多目标追踪模式时,所述视觉图像识别装置的处理单元对拍摄的图像进行自动识别,并对其中的各种事物和人进行分类,将识别结果发送至无人机的控制终端。通过视觉图像的自动识别,使得图像中的事物显示更加直观,可以方便用户更快速的选定目标兴趣点。When the drone is in the multi-target tracking mode, the processing unit of the visual image recognition device automatically recognizes the captured image, classifies various things and people therein, and sends the recognition result to the control of the drone. terminal. Through the automatic recognition of visual images, the display of things in the images is more intuitive, and it is convenient for users to select target interest points more quickly.
无人机的控制终端在接收到无人机当前环境图像后,将其显示在控制终端界面上。具体地,用户可以在控制终端选中目标兴趣点作为环绕的中心点。After receiving the image of the drone's current environment, the control terminal of the drone displays it on the control terminal interface. Specifically, the user may select the target interest point as the center point of the surround at the control terminal.
在某些情况中,所述控制终端仅接收视觉图像识别装置发送的视觉范围内的图像信息时,用户可以在控制终端界面显示的图像上采用直接框选或画圈等方式选定以范围,并将该范围确定为目标兴趣点,作为环绕飞行的中心点。In some cases, when the control terminal only receives image information within the visual range sent by the visual image recognition device, the user may select the range by using direct frame selection or circle drawing on the image displayed on the control terminal interface. This range is determined as the target point of interest as the center point of the orbital flight.
可选地,例如当无人机处于多目标追踪模式时,所述控制终端接收视觉图像识别装置发送的图像信息及自动识别结果,基于所述视觉范围内的物体及其类型的自动识别结果,用户在控制终端界面的选中目标物体的操作以确定目标兴趣点。具体地,所述选中目标物体以确定目标兴趣点的方式包括:单击目标物体选定、双击目标物体选定、长按目标物体、滑动选定、画圈选定及语音指令选定等。Optionally, for example, when the drone is in a multi-target tracking mode, the control terminal receives the image information and the automatic recognition result sent by the visual image recognition device, based on the automatic recognition results of the objects in the visual range and their types, The user selects the target object on the control terminal interface to determine the target interest point. Specifically, the manner of selecting the target object to determine the target interest point includes: clicking the target object for selection, double-clicking the target object for selection, long-pressing the target object, sliding selection, circle selection, and voice instruction selection.
在某些情况中,无人机受控开启多目标追踪模式,对视觉范围内的物体进行自动识别,控制终端接收视觉图像识别装置发送的图像信息及自动识别结果,并将图像显示在控制终端界面上,同时图像上的物体自动显示识别框,标注识别出的物体的类型。用户可以根据识别框选中感兴趣的目标兴趣点作为环绕飞行的中心,该点可以输电线路故障点、灾难频发点、事故发生点等,通过无人机配备的摄像装置,可以360°环绕拍摄的兴趣中心点物体,或者。选中操作可以采用在控制终端界面单击目标物体选定、双击目标物体选定、长按目标物体、滑动选定等,或直接通过用户发出的语音指令进行选定。In some cases, the drone is controlled to enable the multi-target tracking mode, to automatically recognize objects in the visual range, to control the terminal to receive image information and automatic recognition results sent by the visual image recognition device, and to display the image on the control terminal On the interface, at the same time, the object on the image automatically displays a recognition frame to mark the type of the identified object. The user can select the target interest point of interest as the center of the orbital flight according to the recognition box. This point can be the point of transmission line failure, frequent disasters, accidents, etc., and the camera device equipped with the drone can shoot around 360 °. Center point object of interest, or. The selection operation can be performed by single-clicking the target object on the control terminal interface, double-clicking the target object to select, long-pressing the target object, sliding selection, etc., or directly selecting the voice command issued by the user.
可选地,在选中目标兴趣点的操作成功后,控制终端给出目标兴趣点的确认信息,所述目标兴趣点的确认信息包括该目标的位置和/或类型。在 上述情况中,如果选中目标兴趣点的操作失败,则控制终端给出失败状态的提示。Optionally, after the operation of selecting the target interest point is successful, the control terminal gives confirmation information of the target interest point, where the confirmation information of the target interest point includes the position and / or type of the target. In the above case, if the operation of selecting the target interest point fails, the control terminal gives a prompt of the failure state.
图2(a)-2(c)为本发明一实施例中选择目标兴趣点的操作界面示意图。如图2(a)-2(b)所示,首先设置无人机进入兴趣点环绕模式,用户选定利用无人机视觉图像打点的模式,此时控制终端接收视觉图像识别装置发送的图像信息,并且自动识别图像范围内的人物,当视觉图像范围内出现目标人物时,用户在控制终端界面滑动框选目标人物,作为目标兴趣点。继续参考图2(c),确认选定成功后,用户可以在控制终端界面选择GO按钮确认,控制无人机开始环绕飞行。2 (a) -2 (c) are schematic diagrams of an operation interface for selecting a target interest point according to an embodiment of the present invention. As shown in Figure 2 (a) -2 (b), first set the drone to enter the point of interest surround mode. The user selects the mode of using the visual image of the drone to dot. At this time, the control terminal receives the image sent by the visual image recognition device. Information, and automatically identify the person in the image range. When the target person appears in the visual image range, the user selects the target person as the target interest point by sliding the frame on the control terminal interface. Continuing to refer to FIG. 2 (c), after confirming that the selection is successful, the user can select the GO button on the control terminal interface to confirm and control the drone to start orbital flight.
步骤S102:测算无人机当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述无人机环绕飞行的初始半径,控制无人机以所述初始半径进行兴趣点环绕飞行。Step S102: Calculate a distance between the current position of the drone and the target interest point, and generate an initial radius of the drone orbiting according to the distance, and control the drone to orbit the interest point around the initial radius. .
传统的确定兴趣点的方法是,无人机飞到兴趣点后操作者使用遥控器按键进行打点等复杂操作,如图3所示,此时用户需要同时操作遥控器按键与应用程序界面,因此带来了操作的不便。但在本实施例中,利用无人机的视觉图像计算,在无人机的视觉范围内出现目标兴趣点后,用户通过控制终端对目标兴趣点进行选中并确认后,根据视觉图像智能测算与目标兴趣点的距离,即可开始环绕飞行,因此无需无人机飞到目标兴趣点的位置再通过遥控器按键打点,降低了用户的操作复杂程度。The traditional method of determining the point of interest is that after the drone reaches the point of interest, the operator uses the remote control buttons to perform complex operations such as clicking. As shown in Figure 3, the user needs to operate the remote control buttons and the application program interface at the same time. Inconvenient operation. However, in this embodiment, using the visual image calculation of the drone, after the target interest point appears in the visual range of the drone, the user selects and confirms the target interest point through the control terminal, and then intelligently calculates and The distance of the target point of interest can start orbiting, so there is no need for the drone to fly to the position of the target point of interest and then click the remote control button to reduce the complexity of the user's operation.
具体地,测算无人机当前位置与所述目标兴趣点之间的距离时,需要先获取无人机当前的GPS坐标,作为无人机位置。无人机上配置有GPS定位系统,通过GPS定位系统提供的当前坐标,确定无人机当前位置。在其他一些实施例中,所述无人机还可以配置其他定位系统,具体的定位精度可以根据需要进行选择。无人机根据定位系统提供的坐标作为无人机当前位置坐标。Specifically, when measuring the distance between the current position of the drone and the target interest point, it is necessary to first obtain the current GPS coordinates of the drone as the position of the drone. The drone is equipped with a GPS positioning system, and the current position provided by the GPS positioning system is used to determine the current position of the drone. In some other embodiments, the UAV may also be configured with other positioning systems, and specific positioning accuracy may be selected as needed. The drone uses the coordinates provided by the positioning system as the current position coordinates of the drone.
确定无人机当前位置坐标后,需要测算无人机与目标兴趣点的相对距离。具体地,根据视觉图像识别中每帧图像的差异对无人机与所述目标兴趣点的相对位置进行估计,进一步根据之前获得的无人机当前位置坐标确定所述目标兴趣点的虚拟坐标,作为目标位置。After determining the current position coordinates of the drone, the relative distance between the drone and the target point of interest needs to be calculated. Specifically, the relative position of the drone and the target interest point is estimated according to the difference of each frame image in the visual image recognition, and the virtual coordinates of the target interest point are further determined according to the current position coordinates of the drone obtained before, As the target position.
图4为本发明实施例智能测算环绕飞行初始半径的示意图。如图4所 示,无人机飞行过程中,其飞行高度与选定的目标兴趣点可能会存在一定的高度差△h,该高度差△h与两者间的距离D以及距离的水平投影R 0构成一直角三角形。进一步地,根据视觉图像识别中每帧图像的差异对无人机与所述目标兴趣点的相对位置进行估计时,根据视觉图像对无人机与所述目标兴趣点的距离D及高度差△h进行计算,并根据勾股定理可以计算得出所述目标位置在水平面投影与无人机位置在水平面投影之间的距离R 0。将该距离R 0作为所述无人机初始半径开始环绕飞行。 FIG. 4 is a schematic diagram of intelligently calculating an initial radius of an orbiting flight according to an embodiment of the present invention. As shown in Figure 4, during the flight of the UAV, there may be a certain height difference Δh between the flight height and the selected target interest point, the height difference Δh and the distance D between the two and the horizontal projection of the distance R 0 forms a right triangle. Further, when the relative position of the drone and the target interest point is estimated according to the difference of each frame image in the visual image recognition, the distance D and the height difference between the drone and the target interest point according to the visual image △ h is calculated, and according to the Pythagorean theorem, the distance R 0 between the projection of the target position on the horizontal plane and the projection of the drone position on the horizontal plane can be calculated. The distance R 0 is used as the initial radius of the drone to start orbiting.
上述情况中,当测算无人机当前位置与所述目标兴趣点之间的距离失败时,将测算失败的状态提示显示在控制终端界面。所述状态提示可以为无人机位置信息获取失败或目标位置信息获取失败。用户在获取失败状态信息后可对无人机状态进行调试或进行再次尝试。In the above case, when the distance measurement between the current position of the drone and the target interest point fails, a prompt indicating the status of the measurement failure is displayed on the control terminal interface. The status prompt may be that the drone position information acquisition fails or the target position information acquisition fails. After obtaining the failure status information, the user can debug or retry the drone status.
若测算成功,则无人机开始以初始半径环绕飞行,用户可以通过控制终端的操作调节无人机环绕飞行的参数。If the calculation is successful, the drone begins to orbit around the initial radius, and the user can adjust the parameters of the drone orbit through the operation of the control terminal.
可选地,所述通过控制终端的操作调节无人机环绕飞行的参数包括:根据拖动控制终端界面的滑条的操作控制无人机环绕飞行的参数,所述无人机环绕飞行的参数包括环绕半径、环绕高度、环绕方向及环绕速度中的至少一种。采用控制终端滑动控制无人机环绕飞行的参数,可以有效地简化用户操作,避免用户在操作应用程序界面的同时,还需要通过遥控器打杆等操作控制无人机的绕飞参数;同时,更加直观地展示了无人机的实时绕飞状态,进一步提升了用户体验。Optionally, the adjusting the drone's orbiting parameters by the operation of the control terminal includes: controlling the drone's orbiting parameters according to the operation of dragging the slider of the control terminal interface, the drone's orbiting parameters It includes at least one of a circle radius, a circle height, a circle direction, and a circle speed. Using the control terminal to slidingly control the drone's orbiting parameters can effectively simplify the user's operation, avoiding the need for the user to control the drone's orbiting parameters through the remote control while operating the application program interface; It shows the real-time flying status of the drone more intuitively, which further improves the user experience.
图5为本发明实施例中在控制终端操作界面滑动调节参数示意图。如图5所示,在无人机绕飞过程中,可以通过在控制终端操作界面拖动滑条调节无人机环绕飞行的参数的大小,包括环绕半径、高度、速度及返航高度的调节,从而改变无人机的飞行轨迹,同时,在控制终端操作界面实时模拟无人机的飞行轨迹。可以理解,除滑动调节外,也可以通过其他如输入参数、控制增/减按钮等方式调节。FIG. 5 is a schematic diagram of sliding adjustment parameters on an operation interface of a control terminal according to an embodiment of the present invention. As shown in Figure 5, during the drone's orbiting process, the size of the drone's orbiting parameters can be adjusted by dragging the slider on the control terminal operation interface, including the adjustment of the orbiting radius, altitude, speed, and return altitude. Thus, the flight trajectory of the drone is changed, and at the same time, the flight trajectory of the drone is simulated in real time on the control terminal operation interface. It can be understood that in addition to sliding adjustment, it can also be adjusted by other methods such as inputting parameters and controlling increase / decrease buttons.
在其他一些实施例中,通过控制终端的操作调节无人机环绕飞行的参数时,还可以采用遥控器打杆或拨轮调节环绕半径、环绕高度、环绕方向及环绕速度中的至少一种。例如,采用遥控器的拨轮进行环绕方向控制时,设置拨轮按照第一方向进行滑动时,无人机顺时针环绕飞行;设置拨轮按 照第二方向进行滑动时,无人机逆时针环绕飞行。In some other embodiments, when the parameters of the drone's orbiting are adjusted by the operation of the control terminal, at least one of the orbiting radius, the orbiting height, the orbiting direction, and the orbiting speed can be adjusted by using a remote control stick or a wheel. For example, when the dial of the remote control is used to control the orbit direction, when the dial is set to slide in the first direction, the drone flies clockwise; when the dial is set to slide in the second direction, the drone orbits counterclockwise. flight.
图6为本发明实施例中通过遥控器打杆调节参数的示意图。如图6所示,在无人机绕飞过程中,可以通过遥控器打杆调节无人机环绕飞行的,同时控制终端操作界面显示模拟的遥控器打杆量和无人机的飞行轨迹,便于用户更直观地控制无人机飞行轨迹。FIG. 6 is a schematic diagram of adjusting a parameter by using a remote control stick according to an embodiment of the present invention. As shown in FIG. 6, during the drone's orbiting process, the drone can be used to adjust the drone's orbital flight. At the same time, the control terminal operation interface displays the simulated remote control's shot amount and the drone's flight track. It is convenient for users to control the drone flight trajectory more intuitively.
特别地,所述无人机通过视觉图像识别获取所述无人机当前位置视觉图像之前,控制终端与无人机对频连接成功后,通过控制终端界面可以对无人机飞行高度、返航高度及速度进行预设。In particular, before the drone obtains a visual image of the current position of the drone through visual image recognition, after the control terminal and the drone are successfully connected to each other through the control terminal interface, the drone flight altitude and return altitude can be controlled through the control terminal interface. And speed.
本发明另一实施例提供了一种兴趣点环绕飞行的控制终端,其中,图7为本发明实施例无人机的兴趣点环绕飞行的控制终端的示意图。本实施例兴趣点环绕飞行的控制终端可以包括电源模块,各种接口模块等,其中,所述兴趣点环绕飞行的控制终端包括遥控器、智能手机、台式电脑、膝上型电脑、穿戴式设备中的一种或多种。如图7所示,本实施例中,所示兴趣点环绕飞行的控制终端700还包括:存储器701及处理器702。Another embodiment of the present invention provides a control terminal for orbit flying of points of interest, wherein FIG. 7 is a schematic diagram of a control terminal for orbit flying of points of interest of a drone according to an embodiment of the present invention. The control terminal of the point of interest orbit flying in this embodiment may include a power module, various interface modules, and the like. The control terminal of the point of interest orbit flying includes a remote controller, a smart phone, a desktop computer, a laptop computer, and a wearable device. One or more of them. As shown in FIG. 7, in this embodiment, the control terminal 700 for flying around the point of interest shown further includes a memory 701 and a processor 702.
所述存储器701可以包括易失性存储器(volatile memory),例如随机存取存储器701(random-access memory,RAM);存储器701也可以包括非易失性存储器(non-volatile memory),例如快闪存储器(flash memory),硬盘(hard disk drive,HDD)或固态硬盘(solid-state drive,SSD);存储器701还可以包括上述种类的存储器的组合。The memory 701 may include volatile memory (for example, random-access memory (RAM) 701; the memory 701 may also include non-volatile memory (for example, flash memory) A memory (flash memory), a hard disk (HDD) or a solid-state drive (SSD); the memory 701 may further include a combination of the above types of memories.
所述处理器702可以是中央处理器(central processing unit,缩写:CPU)。所述处理器702还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(applicationspecific integrated circuit,ASIC),可编程逻辑器件(programmable logic device,PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device,CPLD),现场可编程逻辑门阵列(field-programmable gate array,FPGA),通用阵列逻辑(generic array logic,GAL)或其任意组合。The processor 702 may be a central processing unit (central processing unit, abbreviation: CPU). The processor 702 may further include a hardware chip. The hardware chip may be an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
可选地,所述存储器701还用于存储程序指令。所述处理器702可以调用所述程序指令,实现如图1所对应实施例中所示相关方法。Optionally, the memory 701 is further configured to store program instructions. The processor 702 may call the program instructions to implement related methods as shown in the corresponding embodiment in FIG. 1.
具体地,所述处理器702,用于执行所述存储器701中存储的所述可 执行指令,以执行如下操作:Specifically, the processor 702 is configured to execute the executable instructions stored in the memory 701 to perform the following operations:
通过视觉图像识别获取所述飞行器当前位置视觉图像,并显示在所述控制终端界面,并确定所述飞行器当前位置视觉图像中的目标兴趣点;Obtaining a visual image of the current position of the aircraft through visual image recognition, displaying it on the control terminal interface, and determining a target interest point in the visual image of the current position of the aircraft;
测算飞行器当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述飞行器环绕飞行的初始半径,控制飞行器以所述初始半径进行兴趣点环绕飞行。Measure the distance between the current position of the aircraft and the target interest point, and generate an initial radius of the aircraft's orbiting flight based on the distance, and control the aircraft to perform the point of interest orbiting flight at the initial radius.
进一步地,所述处理器702确定目标兴趣点时,具体用于:根据在所述控制终端界面的点击或框选操作确定目标兴趣点。Further, when the processor 702 determines the target interest point, the processor 702 is specifically configured to determine the target interest point according to a click or frame selection operation on the control terminal interface.
具体地,所述处理器702还用于:在飞行器进行所述视觉图像识别时,启用多目标追踪模式,对视觉范围内的物体及其类型进行自动识别,并显示自动识别结果在控制终端界面。Specifically, the processor 702 is further configured to: when the aircraft performs the visual image recognition, enable a multi-target tracking mode, automatically recognize objects and types within the visual range, and display the automatic recognition result on the control terminal interface .
进一步地,所述处理器702确定目标兴趣点时,具体用于:基于所述视觉范围内的物体及其类型的自动识别结果,根据在控制终端界面的选中目标物体的操作以确定目标兴趣点。Further, when determining the target interest point by the processor 702, the processor 702 is specifically configured to determine the target interest point based on the operation of selecting the target object on the control terminal interface based on the automatic recognition result of the objects in the visual range and their types. .
可选地,所述点击目标物体确定目标兴趣点的操作方式包括:单击目标物体选定、双击目标物体选定或长按目标物体选定、滑动选定、画圈选定及语音指令选定。Optionally, the operation mode of clicking the target object to determine the target interest point includes: clicking the target object to select, double-clicking the target object to select or long-pressing the target object to select, sliding selection, circle selection and voice command selection set.
所述处理器702测算飞行器当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述飞行器环绕飞行的初始半径时,具体用于:When the processor 702 measures a distance between the current position of the aircraft and the target interest point, and generates an initial radius of the aircraft's orbiting flight based on the distance, the processor 702 is specifically configured to:
获取飞行器当前的GPS坐标,作为飞行器位置;Obtain the current GPS coordinates of the aircraft as the aircraft position;
根据视觉图像识别中每帧图像的差异对与所述目标兴趣点的相对位置进行估计,进一步根据飞行器的GPS坐标确定所述目标兴趣点虚拟的GPS坐标,作为目标位置;Estimating the relative position with the target interest point according to the difference of each frame of the image in the visual image recognition, and further determining the virtual GPS coordinates of the target interest point as the target position according to the GPS coordinates of the aircraft;
确定所述目标位置在水平面投影与飞行器位置在水平面投影之间的距离,作为所述飞行器环绕飞行的初始半径。The distance between the projection of the target position on the horizontal plane and the projection of the aircraft position on the horizontal plane is determined as the initial radius of the circular flight of the aircraft.
进一步地,所述处理器702还用于:Further, the processor 702 is further configured to:
通过视觉图像计算飞行器与目标兴趣点之间的高度差及距离,利用飞行器的GPS坐标,确定所述目标兴趣点虚拟的GPS坐标。The height difference and distance between the aircraft and the target interest point are calculated by the visual image, and the GPS coordinates of the aircraft are used to determine the virtual GPS coordinates of the target interest point.
可选地,所述处理器702还用于:当测算飞行器当前位置与所述目标兴趣点之间的距离失败时,将测算失败的状态提示显示在控制终端界面。Optionally, the processor 702 is further configured to: when the measurement of the distance between the current position of the aircraft and the target interest point fails, display a status prompt of the measurement failure on the control terminal interface.
具体地,所述状态提示包括:飞行器位置信息获取失败或目标位置信息获取失败。Specifically, the status prompt includes: the aircraft position information acquisition fails or the target position information acquisition fails.
进一步可选地,所述处理器702还用于:在控制飞行器以所述初始半径进行兴趣点环绕飞行后,根据控制终端的操作调节飞行器环绕飞行的参数。Further optionally, the processor 702 is further configured to: after controlling the aircraft to fly around the point of interest at the initial radius, adjust parameters of the aircraft to fly around according to the operation of the control terminal.
所述处理器702通过控制终端的操作调节飞行器环绕飞行的参数时,具体用于:根据拖动控制终端界面的滑条的操作控制飞行器环绕飞行的参数。When the processor 702 adjusts the parameters of the orbiting of the aircraft through the operation of the control terminal, it is specifically used to control the parameters of the orbiting of the aircraft according to the operation of dragging the slider on the interface of the control terminal.
具体地,所述飞行器环绕飞行的参数包括环绕半径、环绕高度、环绕方向及环绕速度中的至少一种。Specifically, the parameters of the orbiting of the aircraft include at least one of a surrounding radius, a surrounding height, a surrounding direction, and a surrounding speed.
特别地,所述处理器702还用于:在通过视觉图像识别获取所述飞行器当前位置视觉图像之前,与飞行器实现对频连接,连接成功后将FPV信息显示在控制终端界面,并设置飞行器进入POI模式。Specifically, the processor 702 is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency-link connection with the aircraft, display the FPV information on the control terminal interface after the connection is successful, and set the aircraft to enter POI mode.
进一步地,所述处理器702还用于:在通过视觉图像识别获取所述飞行器当前位置视觉图像之前,与飞行器实现对频连接,连接成功后,根据控制终端界面的操作对飞行器飞行高度、返航高度及速度进行预设。Further, the processor 702 is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency connection with the aircraft, and after the connection is successful, perform flight control on the aircraft's flight altitude and return home according to the operation of the control terminal interface. Altitude and speed are preset.
在其他实施例中,所述处理器702通过控制终端的操作调节飞行器环绕飞行的参数时,具体用于:根据遥控器打杆或拨轮的操作调节环绕半径、环绕高度、环绕方向及环绕速度中的至少一种。In other embodiments, when the processor 702 adjusts the parameters of the aircraft's orbital flight through the operation of the control terminal, the processor 702 is specifically configured to adjust the orbital radius, orbital height, orbital direction, and orbital speed according to the operation of the remote control stick or dial. At least one of.
可以理解的是,本发明实施例提供的控制终端的具体原理和解释可以参见如图1所述的兴趣点环绕飞行方法中的相关部分,此处不再赘述。It can be understood that, for specific principles and explanations of the control terminal provided by the embodiment of the present invention, reference may be made to relevant parts in the point of interest orbiting flight method described in FIG. 1, and details are not described herein again.
本发明另一实施例提供了一种计算机可读存储介质,其中,其存储有可执行指令,所述可执行指令在由一个或多个处理器执行时,可以使所述一个或多个处理器执行图1所对应的实施例中的无人机的飞行日志处理方法。Another embodiment of the present invention provides a computer-readable storage medium, in which executable instructions are stored, and the executable instructions, when executed by one or more processors, may cause the one or more processes to be processed. The drone executes the flight log processing method of the drone in the embodiment corresponding to FIG. 1.
本发明又一实施例提供一种无人机,其包括图5所对应的实施例中的兴趣点环绕飞行的控制终端。Another embodiment of the present invention provides an unmanned aerial vehicle, which includes a control terminal for flying around a point of interest in the embodiment corresponding to FIG. 5.
以上对本发明的实施例进行了描述。但是,这些实施例仅仅是为了说明的目的,而并非为了限制本发明的范围。尽管在以上分别描述了各实施例,但是这并不意味着各个实施例中的措施不能有利地结合使用。本发明 的范围由所附权利要求及其等同物限定。不脱离本发明的范围,本领域技术人员可以做出多种替代和修改,这些替代和修改都应落在本发明的范围之内。The embodiments of the present invention have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the invention. Although the embodiments have been described separately above, this does not mean that the measures in the respective embodiments cannot be used in an advantageous combination. The scope of the invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should all fall within the scope of the present invention.

Claims (34)

  1. 一种兴趣点环绕飞行的方法,其特征在于,包括:A method of orbit flying around a point of interest, which comprises:
    通过视觉图像识别获取所述飞行器当前位置视觉图像,显示在所述控制终端界面,并确定所述飞行器当前位置视觉图像中的目标兴趣点;Obtaining a visual image of the current position of the aircraft through visual image recognition, displaying it on the control terminal interface, and determining a target interest point in the visual image of the current position of the aircraft;
    测算飞行器当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述飞行器环绕飞行的初始半径,控制飞行器以所述初始半径进行兴趣点环绕飞行。Measure the distance between the current position of the aircraft and the target interest point, and generate an initial radius of the aircraft's orbiting flight based on the distance, and control the aircraft to perform the point of interest orbiting flight at the initial radius.
  2. 根据权利要求1所述的方法,其特征在于,所述确定目标兴趣点包括:根据在所述控制终端界面的选中操作确定目标兴趣点。The method according to claim 1, wherein determining the target interest point comprises: determining the target interest point according to a selection operation on an interface of the control terminal.
  3. 根据权利要求2所述的方法,其特征在于,所述方法还包括:在飞行器进行所述视觉图像识别时,启用多目标追踪模式,对视觉范围内的物体及其类型进行自动识别,并显示自动识别结果。The method according to claim 2, further comprising: when the aircraft performs the visual image recognition, enabling a multi-target tracking mode, automatically identifying objects and types within the visual range, and displaying Recognize results automatically.
  4. 根据权利要求3所述的方法,其特征在于,所述确定目标兴趣点包括:基于所述视觉范围内的物体及其类型的自动识别结果,根据在控制终端界面的选中目标物体的操作以确定目标兴趣点。The method according to claim 3, wherein determining the target interest point comprises: based on an automatic recognition result of the objects in the visual range and their types, and according to the operation of selecting the target object in the control terminal interface, Target points of interest.
  5. 根据权利要求4所述的方法,其特征在于,所述选中目标物体以确定目标兴趣点的方式至少包括以下中的一种:单击目标物体选定、双击目标物体选定、长按目标物体、滑动选定、画圈选定及语音指令选定。The method according to claim 4, wherein the method of selecting the target object to determine the target interest point comprises at least one of the following: single-clicking the target object to select, double-clicking the target object to select, and long-pressing the target object , Slide selection, circle selection and voice command selection.
  6. 根据权利要求1所述的方法,其特征在于,所述测算飞行器当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述飞行器环绕飞行的初始半径,包括:The method according to claim 1, wherein the measuring the distance between the current position of the aircraft and the target interest point, and generating the initial radius of the aircraft's orbiting flight based on the distance, comprises:
    获取飞行器当前的GPS坐标,作为飞行器位置;Obtain the current GPS coordinates of the aircraft as the aircraft position;
    根据视觉图像识别中每帧图像的差异对与所述目标兴趣点的相对位置进行估计,进一步根据飞行器的GPS坐标确定所述目标兴趣点虚拟的GPS坐标,作为目标位置;Estimating the relative position with the target interest point according to the difference of each frame of the image in the visual image recognition, and further determining the virtual GPS coordinates of the target interest point as the target position according to the GPS coordinates of the aircraft;
    确定所述目标位置在水平面投影与飞行器位置在水平面投影之间的距离,作为所述飞行器环绕飞行的初始半径。The distance between the projection of the target position on the horizontal plane and the projection of the aircraft position on the horizontal plane is determined as the initial radius of the circular flight of the aircraft.
  7. 根据权利要求6所述的方法,其特征在于,所述方法还包括:通过视觉图像计算飞行器与目标兴趣点之间的高度差及距离,利用飞行器的 GPS坐标,确定所述目标兴趣点虚拟的GPS坐标。The method according to claim 6, further comprising: calculating a height difference and a distance between the aircraft and the target interest point through a visual image, and using the GPS coordinates of the aircraft to determine a virtual target interest point. GPS coordinates.
  8. 根据权利要求1所述的方法,其特征在于,所述方法还包括:当测算飞行器当前位置与所述目标兴趣点之间的距离失败时,将测算失败的状态提示显示在控制终端界面。The method according to claim 1, further comprising: when the distance between the current position of the aircraft and the target interest point fails to be measured, displaying a state prompt of the failed calculation on the control terminal interface.
  9. 根据权利要求8所述的方法,其特征在于,所述状态提示包括:飞行器位置信息获取失败或目标位置信息获取失败。The method according to claim 8, wherein the status prompt comprises: acquisition of aircraft position information fails or acquisition of target position information fails.
  10. 根据权利要求1所述的方法,其特征在于,在以所述初始半径进行兴趣点环绕飞行后,还包括:通过控制终端的操作调节飞行器环绕飞行的参数。The method according to claim 1, further comprising: after performing the point-of-interest orbiting flight with the initial radius, adjusting a parameter of the orbiting flight of the aircraft by operating the control terminal.
  11. 根据权利要求10所述的方法,其特征在于,所述通过控制终端的操作调节飞行器环绕飞行的参数包括:根据拖动控制终端界面的滑条的操作控制飞行器环绕飞行的参数。The method according to claim 10, wherein adjusting the parameters of the orbiting of the aircraft by operating the control terminal comprises controlling parameters of the orbiting of the aircraft according to an operation of dragging a slider of an interface of the control terminal.
  12. 根据权利要求10或11所述的方法,其特征在于,所述飞行器环绕飞行的参数包括环绕半径、环绕高度、环绕方向及环绕速度中的至少一种。The method according to claim 10 or 11, wherein the parameters of the orbiting of the aircraft include at least one of a surrounding radius, a surrounding height, a surrounding direction, and a surrounding speed.
  13. 根据权利要求1所述的方法,其特征在于,所述通过视觉图像识别获取所述飞行器当前位置视觉图像之前,还包括:控制终端与飞行器对频连接,连接成功后在控制终端界面显示FPV信息,并设置飞行器进入POI(point of interest,兴趣点)模式。The method according to claim 1, wherein before the obtaining a visual image of the current position of the aircraft through visual image recognition, further comprising: a control terminal is connected to the aircraft in frequency, and the FPV information is displayed on the control terminal interface after the connection is successful , And set the aircraft into POI (point of interest) mode.
  14. 根据权利要求1所述的方法,其特征在于,所述通过视觉图像识别获取所述飞行器当前位置视觉图像之前,还包括:控制终端与飞行器对频连接,连接成功后,通过控制终端界面对飞行器飞行高度、返航高度及速度进行预设。The method according to claim 1, characterized in that before the obtaining a visual image of the current position of the aircraft through visual image recognition, further comprising: a control terminal is connected to the aircraft in frequency, and after the connection is successful, the aircraft is controlled through the interface of the control terminal. Flight altitude, return altitude and speed are preset.
  15. 根据权利要求10所述的方法,其特征在于,通过控制终端的操作调节飞行器环绕飞行的参数还包括:通过遥控器打杆或拨轮调节环绕半径、环绕高度、环绕方向及环绕速度中的至少一种。The method according to claim 10, wherein adjusting the parameters of the orbiting of the aircraft by the operation of the control terminal further comprises: adjusting at least one of the orbiting radius, orbiting height, orbiting direction, and orbiting speed by using a remote control stick or a dial. One.
  16. 根据权利要求1所述的方法,其特征在于,所述控制终端为手机和/或遥控器。The method according to claim 1, wherein the control terminal is a mobile phone and / or a remote controller.
  17. 一种兴趣点环绕飞行的控制终端,其中,包括:存储器和处理器,其中,A control terminal for flying around a point of interest, which includes: a memory and a processor, wherein:
    所述存储器,用于存储可执行指令;The memory is configured to store executable instructions;
    所述处理器,用于执行所述存储器中存储的所述可执行指令,以执行如下操作:The processor is configured to execute the executable instructions stored in the memory to perform the following operations:
    通过视觉图像识别获取所述飞行器当前位置视觉图像,显示在所述控制终端界面,并确定所述飞行器当前位置视觉图像中的目标兴趣点;Obtaining a visual image of the current position of the aircraft through visual image recognition, displaying it on the control terminal interface, and determining a target interest point in the visual image of the current position of the aircraft;
    测算飞行器当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述飞行器环绕飞行的初始半径,控制飞行器以所述初始半径进行兴趣点环绕飞行。Measure the distance between the current position of the aircraft and the target interest point, and generate an initial radius of the aircraft's orbiting flight based on the distance, and control the aircraft to perform the point of interest orbiting flight at the initial radius.
  18. 根据权利要求17所述的控制终端,其特征在于,所述处理器确定目标兴趣点时,具体用于:根据在所述控制终端界面的点击或框选操作确定目标兴趣点。The control terminal according to claim 17, wherein when the processor determines the target interest point, the processor is specifically configured to determine the target interest point according to a click or frame selection operation on the interface of the control terminal.
  19. 根据权利要求18所述的控制终端,其特征在于,所述处理器还用于:在飞行器进行所述视觉图像识别时,启用多目标追踪模式,对视觉范围内的物体及其类型进行自动识别,并显示自动识别结果在控制终端界面。The control terminal according to claim 18, wherein the processor is further configured to: when the aircraft performs the visual image recognition, enable a multi-target tracking mode to automatically recognize objects and types within the visual range. And display the automatic recognition result in the control terminal interface.
  20. 根据权利要求19所述的控制终端,其特征在于,所述处理器确定目标兴趣点时,具体用于:基于所述视觉范围内的物体及其类型的自动识别结果,根据在控制终端界面的选中目标物体的操作以确定目标兴趣点。The control terminal according to claim 19, wherein when the processor determines a target interest point, the processor is specifically configured to: based on an automatic recognition result of an object in the visual range and its type, according to Select the operation of the target object to determine the target point of interest.
  21. 根据权利要求20所述的控制终端,其特征在于,所述点击目标物体确定目标兴趣点的操作方式至少包括以下中的一种:单击目标物体选定、双击目标物体选定或长按目标物体选定、滑动选定、画圈选定及语音指令选定。The control terminal according to claim 20, wherein the operation mode of clicking the target object to determine the target interest point comprises at least one of the following: single-clicking the target object to select, double-clicking the target object to select, or long-pressing the target Object selection, sliding selection, circle selection and voice command selection.
  22. 根据权利要求17所述的控制终端,其特征在于,所述处理器测算飞行器当前位置与所述目标兴趣点之间的距离,并根据该距离生成所述飞行器环绕飞行的初始半径时,具体用于:The control terminal according to claim 17, wherein the processor calculates a distance between the current position of the aircraft and the target point of interest, and uses the distance to generate an initial radius for the aircraft to fly around, specifically using to:
    获取飞行器当前的GPS坐标,作为飞行器位置;Obtain the current GPS coordinates of the aircraft as the aircraft position;
    根据视觉图像识别中每帧图像的差异对与所述目标兴趣点的相对位置进行估计,进一步根据飞行器的GPS坐标确定所述目标兴趣点虚拟的GPS坐标,作为目标位置;Estimating the relative position with the target interest point according to the difference of each frame of the image in the visual image recognition, and further determining the virtual GPS coordinates of the target interest point as the target position according to the GPS coordinates of the aircraft;
    确定所述目标位置在水平面投影与飞行器位置在水平面投影之间的 距离,作为所述飞行器环绕飞行的初始半径。The distance between the projection of the target position on the horizontal plane and the projection of the aircraft position on the horizontal plane is determined as the initial radius of the circular flight of the aircraft.
  23. 根据权利要求22所述的控制终端,其特征在于,所述处理器还用于:The control terminal according to claim 22, wherein the processor is further configured to:
    通过视觉图像计算飞行器与目标兴趣点之间的高度差及距离,利用飞行器的GPS坐标,确定所述目标兴趣点虚拟的GPS坐标。The height difference and distance between the aircraft and the target interest point are calculated by the visual image, and the GPS coordinates of the aircraft are used to determine the virtual GPS coordinates of the target interest point.
  24. 根据权利要求17所述的控制终端,其特征在于,所述处理器还用于:当测算飞行器当前位置与所述目标兴趣点之间的距离失败时,将测算失败的状态提示显示在控制终端界面。The control terminal according to claim 17, wherein the processor is further configured to: when the measurement of the distance between the current position of the aircraft and the target interest point fails, display a status prompt of the measurement failure on the control terminal interface.
  25. 根据权利要求24所述的控制终端,其特征在于,所述状态提示包括:飞行器位置信息获取失败或目标位置信息获取失败。The control terminal according to claim 24, wherein the status prompt comprises: a failure in obtaining aircraft position information or a failure in obtaining target position information.
  26. 根据权利要求17所述的控制终端,其特征在于,所述处理器还用于:在控制飞行器以所述初始半径进行兴趣点环绕飞行后,根据控制终端的操作调节飞行器环绕飞行的参数。The control terminal according to claim 17, wherein the processor is further configured to: after controlling the aircraft to fly around the point of interest at the initial radius, adjust the parameters of the aircraft to fly around according to the operation of the control terminal.
  27. 根据权利要求26所述的控制终端,其特征在于,所述处理器通过控制终端的操作调节飞行器环绕飞行的参数时,具体用于:根据拖动控制终端界面的滑条的操作控制飞行器环绕飞行的参数。The control terminal according to claim 26, wherein when the processor adjusts the parameters of the orbiting flight of the aircraft through the operation of the control terminal, the processor is specifically configured to control the orbiting flight of the aircraft according to an operation of dragging a slider on the interface of the control terminal. Parameters.
  28. 根据权利要求26或27所述的控制终端,其特征在于,所述飞行器环绕飞行的参数包括环绕半径、环绕高度、环绕方向及环绕速度中的至少一种。The control terminal according to claim 26 or 27, wherein the parameters of the orbiting of the aircraft include at least one of a surrounding radius, a surrounding height, a surrounding direction, and a surrounding speed.
  29. 根据权利要求17所述的控制终端,其特征在于,所述处理器还用于:在通过视觉图像识别获取所述飞行器当前位置视觉图像之前,与飞行器实现对频连接,连接成功后将FPV信息显示在控制终端界面,并设置飞行器进入POI模式。The control terminal according to claim 17, wherein the processor is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency-link connection with the aircraft, and connect the FPV information after the connection is successful Display on the control terminal interface and set the aircraft to enter the POI mode.
  30. 根据权利要求17所述的控制终端,其特征在于,所述处理器还用于:在通过视觉图像识别获取所述飞行器当前位置视觉图像之前,与飞行器实现对频连接,连接成功后,根据控制终端界面的操作对飞行器飞行高度、返航高度及速度进行预设。The control terminal according to claim 17, wherein the processor is further configured to: before obtaining a visual image of the current position of the aircraft through visual image recognition, implement a frequency connection with the aircraft, and after the connection is successful, according to the control, The operation of the terminal interface presets the aircraft's flight altitude, return altitude and speed.
  31. 根据权利要求26所述的方法,其特征在于,所述处理器通过控制终端的操作调节飞行器环绕飞行的参数时,具体用于:根据遥控器打杆或拨轮的操作调节环绕半径、环绕高度、环绕方向及环绕速度中的至少一 种。The method according to claim 26, wherein when the processor adjusts the parameters of the orbiting of the aircraft through the operation of the control terminal, the processor is specifically configured to adjust the orbiting radius and orbiting height according to the operation of the remote control stick or the dial At least one of the orbiting direction and the orbiting speed.
  32. 根据权利要求17所述的控制装置,其特征在于,所述控制终端采用手机和/或遥控器。The control device according to claim 17, wherein the control terminal uses a mobile phone and / or a remote controller.
  33. 一种计算机可读存储介质,其特征在于,其存储有可执行指令,所述可执行指令在由一个或多个处理器执行时,可以使所述一个或多个处理器执行如权利要求1-16任一项所述的方法。A computer-readable storage medium, characterized in that it stores executable instructions, and when the executable instructions are executed by one or more processors, the one or more processors can execute the instructions according to claim 1 The method of any of -16.
  34. 一种无人机,其特征在于,包括如权利要求17-32所述的兴趣点环绕飞行的控制终端。An unmanned aerial vehicle, comprising a control terminal for orbital flight of points of interest according to claims 17-32.
PCT/CN2018/096446 2018-07-20 2018-07-20 Point of interest encircling flight method and control terminal WO2020014962A1 (en)

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