WO2020133387A1 - Unmanned control platform management method and device - Google Patents

Abstract

An unmanned control platform management method and a device, the method comprising: acquiring environment sensing data collected by an environment sensor, and detecting an unmanned control platform in the environment according to the sensing data (101); when the unmanned control platform is detected, controlling an identifier display apparatus to display a traffic indication identifier, so as to cause the unmanned control platform to determine a traffic mode for the unmanned control platform by means of recognizing the traffic indication identifier (102). By realizing traffic management of an unmanned control platform by means of displaying a traffic indication signal, it is not necessary to create a complicated communications system, ensuring control reliability as well as lowering computational power requirements of an unmanned control platform management device, effectively lowering costs.

Description

Management method and equipment of unmanned control platform Technical field

The embodiments of the present invention relate to the field of control, and in particular, to an unmanned control platform management method and device.

Background technique

In the prior art, unmanned control platforms (such as unmanned ground robots, unmanned aerial vehicles, etc.) are often scheduled by a central processing module (such as a central server, etc.) to implement path planning and automatic control of the unmanned control platform.

However, this centralized management and control method has higher requirements on the computing power of the central processing module, which will increase the control cost of the unmanned control platform. In addition, this centralized management and control method has very high requirements for the reliability of the communication between the unmanned control platform and the central processing module, resulting in the cost of highly reliable communication between the unmanned control platform and the central processing module It is very high. In some scenarios, high-reliability communication between the unmanned control platform and the central processing module cannot be achieved, resulting in unreliable management of the unmanned control platform.

Summary of the invention

Embodiments of the present invention provide a management method and equipment for an unmanned control platform, so as to improve the flexibility and reliability of unmanned control platform management.

A second aspect of the embodiments of the present invention is to provide an unmanned control platform management method, including:

Acquire environmental sensor data collected by an environmental sensor, and detect an unmanned control platform in the environment based on the sensor data;

When an unmanned control platform is detected, the control sign display device displays a pass indicator so that the unmanned control platform can identify the pass mode of the unmanned control platform by identifying the pass indicator.

A second aspect of an embodiment of the present invention is to provide a management device for an unmanned control platform, including: an environmental sensor, a control identification display device, and a processor,

The processor is used to perform the following operations:

Acquire environmental sensor data collected by an environmental sensor, and detect an unmanned control platform in the environment based on the sensor data;

When an unmanned control platform is detected, the control sign display device displays a pass indicator so that the unmanned control platform can identify the pass mode of the unmanned control platform by identifying the pass indicator.

In the management method and device of the unmanned control platform provided in this embodiment, the unmanned control platform in the environment is detected based on the sensing data, and when the unmanned control platform is detected, the control indicator display device displays a pass indicator , So that the unmanned control platform can determine the passing mode of the unmanned control platform by identifying the access indication. By displaying the communication indicator, the management of the unmanned control platform can be achieved without establishing a complicated communication system to ensure the reliability of the control. In addition, the computing power of the management equipment of the unmanned control platform is reduced, which effectively reduces the cost.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.

1 is a flowchart of a management method provided by an embodiment of the present invention;

2 is a scene diagram of management of an unmanned control platform provided by an embodiment of the present invention;

3 is a schematic diagram of managing a first unmanned control platform and a second unmanned control platform provided by an embodiment of the present invention;

4 is a schematic diagram of an unmanned control platform in a detection target area provided by an embodiment of the present invention;

5 is a schematic diagram of detecting an unmanned control platform in multiple target areas provided by an embodiment of the present invention;

6 is a structural diagram of a management device provided by an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the 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 work fall within the protection scope of the present invention.

It should be noted that when a component is said to be "fixed" to another component, it can be directly on another component or there can also be a centered component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terminology used in the description of the present invention herein is for the purpose of describing specific embodiments, and is not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

An embodiment of the present invention provides a management method for an unmanned control platform. FIG. 1 is a flowchart of a method for managing an unmanned control platform provided by an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:

Step S101: Acquire environmental sensor data collected by an environmental sensor, and detect an unmanned control platform in the environment based on the sensor data.

Specifically, as shown in FIG. 2, the unmanned control platform 201 may be any unmanned control device. For example, the unmanned control platform may be an unmanned vehicle, an unmanned aerial vehicle, a drone ship, etc. The unmanned control platform is a schematic illustration for an unmanned aerial vehicle. The management device of the unmanned control platform may include an environmental sensor 202 and a processor (not shown), wherein the processor may include one or more, and the one or more processors work individually or cooperatively. The environment sensor 201 can sense the environment around the sensor 201 and output sensor data, and the processor can obtain the sensor data output by the sensor 202, wherein the sensor data can include images, depth data, and point cloud data One or more of them. The processor may detect the unmanned control platform in the measurement range of the sensor 202 according to the sensing data, that is, detect whether there is an unmanned control platform in the measurement range.

Further, the detecting the unmanned control platform in the environment based on the sensor data includes: detecting the unmanned control platform within a preset distance from the sensor in the environment according to the sensor data, namely Detecting whether there is an unmanned control platform within a preset distance from the sensor in the environment according to the sensing data. The preset distance may be fixed in the program code of the processor. In some cases, the management device of the unmanned control platform may receive user input and set the preset distance according to the user input .

It can be understood that a person skilled in the art can set the installation position of the environmental sensor 202 according to requirements, for example, the environmental sensor 202 can be set in the air through a carrying device (such as a mounting rod), and in some cases, the environmental sensor 202 may be set on the ground, and the environmental sensor 202 may output the sensing data above the ground, which is not specifically limited here.

Step S102: When an unmanned control platform is detected, the control indicator display device displays a pass indicator so that the unmanned control platform can identify the pass mode of the unmanned control platform by identifying the pass indicator.

Specifically, with continued reference to FIG. 2, the management device further includes an identification display device 203, wherein the identification display device 203 may be any device that implements a display function, and the identification information device 203 may be an electronic display (liquid crystal display, LED displays, etc.) may also be non-electronic displays (signage boards, etc.). When the processor determines that an unmanned control platform has been detected based on the sensor data, the processor may control the sign display device 203 to display a pass indication sign. After displaying the pass sign, the unmanned control platform may use its own configuration Sensors (for example, photographing equipment) recognize the pass indication signs, wherein the different pass indication signs indicate different pass modes of the unmanned control platform, and the pass indication signs displayed by the unmanned control platform through the identification sign display device 203 To determine the pass mode corresponding to the pass indication and move according to the determined pass mode. Wherein, the traffic indication sign may be an identification that can be recognized by any unmanned control platform. For example, the traffic indication sign may include one or more of a random point sign, a bar code sign, a two-dimensional code sign, and a road traffic sign.

Further, the pass indicator includes a pass permit, and the control indicator display device displays the pass indicator so that the unmanned control platform can identify the pass mode by identifying the pass indicator, including: controlling the indicator display device to display Allowed access signs, so that the unmanned control platform identifies the allowed access modes by identifying the allowed access signs. Specifically, the pass indication sign includes a pass allowed sign. When the unmanned control platform detects the pass allowed sign, the unmanned control platform determines a pass allowed mode, then the unmanned control platform may pass directly.

Further, the pass sign includes a restricted pass sign, and the control sign display device displays a pass sign, so that the unmanned control platform recognizes the pass sign by determining the pass mode includes: controlling the sign display device to display the limit The pass sign, so that the unmanned control platform identifies the restricted pass pattern by identifying the restricted pass sign. Specifically, the access indication sign includes a restricted access sign. When the unmanned control platform recognizes the restricted access sign, the unmanned control platform determines the restricted access mode, then the unmanned control platform may control its own in accordance with the restricted mode mobile. Wherein, the restricted communication mode may include a deceleration pass mode or a prohibited pass sign, and when the unmanned control platform recognizes the decelerate pass mode sign or a prohibited communication sign, the unmanned control platform determines a deceleration pass mode or a prohibited pass mode, Then, the unmanned control platform can slow down the passage or stop moving, and wait for the display device to display the allowed passage sign.

Further, the pass sign includes a left turn pass sign or a right turn pass sign, and the control sign display device displays a pass indication sign so that the unmanned control platform identifies the pass sign by identifying the pass indication sign includes: The control sign display device displays a left-turn pass sign or a right-turn pass sign, so that the unmanned control platform determines the left-turn or right-turn pass mode by identifying the left-turn or right-turn pass sign.

In the management method and device of the unmanned control platform provided in this embodiment, the unmanned control platform in the environment is detected based on the sensing data, and when the unmanned control platform is detected, the control indicator display device displays a pass indicator , So that the unmanned control platform can determine the passing mode of the unmanned control platform by identifying the access indication. The management of the unmanned control platform through the display of communication indicators does not require the establishment of a complicated communication system to ensure the reliability of the control. In addition, the computing power of the management equipment of the unmanned control platform is reduced, effectively reducing costs.

In some embodiments, the pass indicator is associated with location information, and the processor may control the sign display device to display the pass indicator so that the unmanned control platform can identify itself by identifying the pass indicator Location information. Specifically, the local storage device in the unmanned control platform can store the correspondence between different traffic indication identifiers and location information. When the unmanned control platform recognizes the traffic indication identifier, it can query and The location information corresponding to the traffic indication identifier, and determine its own location information through the queried location information, for example, determine the location information as its own location information.

In some embodiments, the environment includes a first channel and a second channel that intersects the first channel, and the unmanned control platform includes: a first channel that moves toward the target position in the first channel An unmanned control platform and a second unmanned control platform moving in a direction close to the target position in the second channel, the target position is the intersection of the first channel and the second channel, the identification display device includes a first A sign display device and a second sign display device, the control sign display device displaying a traffic indication sign so that the unmanned control platform identifies the traffic sign of the unmanned control platform by identifying the traffic indication sign includes: controlling The first sign display device displays the allowed pass sign so that the first unmanned control platform determines the allowed pass mode by identifying the allowed pass sign, and controls the second sign display device to display the restricted pass sign so that the second unattended sign The control platform determines the restricted access mode by identifying the prohibited access signs.

Specifically, the environment may include a first channel 301 and a second channel 302, where the first channel 301 and the second channel 302 intersect, and the intersection of the first channel 301 and the second channel 302 may be referred to as a target position. The first unmanned control platform 303 moves to the target position in the first channel 301, and the second unmanned control platform 304 moves to the target position in the second channel 302, then the first unmanned control platform 303 and the second unmanned control The platform 304 has a possibility of collision. In order to prevent the collision between the first unmanned control platform 303 and the second unmanned control platform 304, the processor may control the first sign display device to display the allowed access sign, and the first unmanned control platform 303 identifies the allowed pass sign to After determining the allowed passage mode, the first unmanned control platform 303 continues to move to the target position. The processor controls the second sign display device to display the restricted access sign. The second unmanned control platform 304 determines the restricted access mode by identifying the restricted access sign, and the second unmanned control platform 304 can slow down or stop moving.

Optionally, with continued reference to FIG. 3, the environmental sensor may be disposed on the ground at the target location, for example, as shown at position 305, and the environmental sensor may face the first channel and the second channel from the ground The unmanned control platform is tested. In some embodiments, the environmental sensor may also be set at the position 306 as shown in the figure, which is not specifically limited herein.

Further, the controlling the first sign display device to display the allowed sign and controlling the second sign display device to display the restricted sign include: controlling the first sign display device to display according to preset priorities of the first channel and the second channel Allow the pass sign and control the second sign display device to display the restricted pass sign.

Specifically, the first channel and the second channel may be preset with priorities, and the traffic between the first and second logo display devices may be determined according to the level between the priorities of the first and second channels. Logo. For example, if the preset priority of the first channel is higher than the preset priority of the second channel, the processor may preferentially let the first unmanned control platform in the first channel pass first, and the processor may control the first identification The display device displays the permitted access sign and controls the second sign display device to display the restricted access sign.

In some embodiments, the acquiring environmental sensor collects sensory data of the environment, and detecting the unmanned control platform in the environment based on the sensory data includes: acquiring sensor data of the target area in the environment collected by the environmental sensor, The unmanned control platform of the target area in the environment is detected according to the sensing data in the target area.

Specifically, in some cases, the processor only cares whether there is an unmanned control platform in the target area in the environment, and the processor may acquire the sensory data of the target area in the environment collected by the environmental sensor. Referring to FIG. 4, the target area may be a rectangular parallelepiped area in the figure, acquiring sensor data of the target area in the environment collected by the environmental sensor, and detecting the absence of the target area in the environment based on the sensor data in the target area People control the platform. Further, referring to FIG. 5, the number of the target area may include multiple, such as 2, 3, 4, or 5, which is not specifically limited herein. In this way, you can effectively reduce the amount of data processing and save computing resources.

In some embodiments, the sensor data includes image and depth data, and detecting the unmanned control platform in the environment based on the sensor data includes: running a color-based foreground extraction algorithm based on the image to obtain The detection result of the first foreground in the environment; running a depth-based foreground extraction algorithm based on the depth data to determine the detection result of the second foreground in the environment; the detection result of the first foreground and the second foreground The two detection results are fused to detect the UAV control platform in the environment.

Specifically, the sensory data may include images and depth data, wherein the depth data may include depth images or point clouds. For example, the sensor may include an RGB camera and a TOF camera, the RGB camera may output an image, and the TOF camera may output a depth image. Optionally, the depth image may be determined according to the parallax calculated from the image. The processor may run a color-based foreground extraction algorithm according to the image to obtain the detection result of the first foreground in the environment, where the detection result of the first foreground may be used to indicate whether the first foreground exists in the environment, wherein the first A foreground includes an unmanned control platform, that is, the processor can determine whether there is an unmanned control platform in the environment from the dimension of color. Further, the processor may run a depth-based foreground extraction algorithm according to the depth data to obtain the detection result of the second foreground in the environment, where the detection result of the second foreground may be used to indicate whether the second foreground exists in the environment, where The first foreground includes an unmanned control platform, that is, the processor can determine whether there is an unmanned control platform in the environment from the depth dimension. The processor may perform fusion calculation according to the detection result of the first foreground and the detection result of the second foreground, and detect the unmanned control platform in the environment through the result of the fusion calculation. For example, when both the detection result of the first foreground and the detection result of the second foreground indicate that there is an unmanned control platform in the environment, it is determined that the unmanned control platform in the environment is detected, that is, the unmanned control is detected platform. Among them, the method of fusion calculation can also adopt other methods, such as weighted calculation, etc., which is not specifically limited here. By detecting the unmanned control platform in the environment from two dimensions of color and depth, the accuracy of detection can be effectively improved.

Further, the running a color-based foreground extraction algorithm based on the image to obtain the detection result of the first foreground in the image includes: acquiring a background color model corresponding to the image; and comparing the image with the background color The model is matched to obtain the detection result of the first foreground in the environment.

Specifically, the processor may acquire a background color model corresponding to the image, where the color model is used to indicate the color characteristics of the background in the image. The processor may match the image with the background color model, that is, determine whether any pixels in the image match the background color model. When there are pixels in the image that do not match the background color model, it can be determined that the pixels are pixels corresponding to the first foreground, and then it can be determined that there is a first foreground in the environment, when all pixels in the image When all match the background color model, it can be determined that there is no first foreground in the environment. Further, the background color model includes a color model corresponding to each pixel of the background in the image, and each pixel in the image can be matched with a color model corresponding to each pixel in the background color model. When the pixel does not match the color model corresponding to the pixel, it can be determined that the pixel is the pixel corresponding to the first foreground, and it can be determined that the first foreground exists in the environment, and when all the pixels in the image match In the color model corresponding to the pixel, it can be determined that the first foreground does not exist in the environment.

In some embodiments, the background color model is a mixed Gaussian model, wherein the mixed Gaussian model includes a mixed Gaussian distribution corresponding to each pixel in the image, and the image and the background The matching of the color model to obtain the detection result of the first foreground in the environment includes: matching each pixel of the image with the mixed Gaussian distribution corresponding to each pixel in the background color model to obtain the environment The detection result of the first foreground.

Specifically, the background color model is a mixed Gaussian model, that is, a mixed Gaussian model is used to model the background, wherein the mixed Gaussian model includes a mixed Gaussian distribution corresponding to each pixel in the image. The basic idea of modeling the background with a mixed Gaussian distribution is to represent the color information of a pixel in the background with the superposition of K Gaussian distributions, usually K takes between 3-5, that is, the mixed Gaussian distribution of each pixel for:

j x _j represents the pixel value at time t, if the three-channel RGB pixels, the vector x _{j, x j = [x jR,} x jG, x jB],

Represents the estimate of the weight coefficient of the ith Gaussian distribution in the mixed Gaussian model at time t,

with

Respectively represent the mean vector and covariance matrix of the ith Gaussian distribution in the mixed Gaussian model at time t (this assumes that the red, green, and blue components of the pixels are independent of each other), and η represents the probability density function of the Gaussian distribution.

If the pixel value of the pixel matches at least one Gaussian distribution among the K Gaussian distributions corresponding to the pixel, the pixel is the pixel corresponding to the background, otherwise the pixel is classified as the foreground. Further, if the distance between the pixel value of the pixel and the mean value of at least one of the Gaussian distributions corresponding to the pixel is less than 2.5 times the standard deviation, it can be determined that the pixel value of the pixel corresponds to the color of the pixel Model matching.

In some embodiments, the running a depth-based foreground extraction algorithm based on the depth data to determine the detection result of the second foreground in the environment includes: acquiring a background depth model corresponding to the depth data, wherein The background depth model is used to indicate the depth range of the background in the environment; matching the depth data and the background depth model to obtain the detection result of the second foreground in the environment.

Specifically, the processor may acquire a background depth model corresponding to the depth data, where the background depth model is used to indicate a depth range of the background in the environment, and the depth data may include a point cloud or a depth image. For example, the depth data includes a depth image, and the background depth model includes a depth range of each pixel of the background in the depth image, that is, the depth range is a depth range when the pixel is a background pixel. Matching the depth data with the background depth model to obtain the detection result of the second foreground in the environment, further, when there is depth data in the depth data that matches the background depth model, the environment There is a second foreground in, and when there is no depth data matching the background depth model in the depth data, the second foreground does not exist in the environment.

Further, the depth data includes a depth image, the background depth model is used to indicate a depth range corresponding to each pixel of the background in the depth image, and the depth data and the background depth model are matched to obtain The detection result of the second foreground in the environment includes: matching the depth of each pixel in the depth image with the depth range corresponding to each pixel in the background depth model to obtain the detection of the second foreground in the environment result.

Specifically, the processor matches the depth corresponding to each pixel in the depth image with the depth range of each pixel to determine the detection result in the environment. Further, when the depth of a pixel in the depth image When it is in the depth range corresponding to the pixel, it can be determined that the pixel is a pixel of the second background, and there is a second foreground in the environment. When the depth of all pixels in the depth image is not at the depth corresponding to the pixel In the range, the pixel corresponding to the second foreground does not exist in the depth image, and the second foreground does not exist in the environment.

The depth data of the environment may be directly output by an environment sensor. For example, the environment sensor may include a TOF camera or a radar, and the environment sensor may directly output depth data. In some embodiments, the depth data is calculated based on sensor data. For example, the sensor data includes an image, and the depth data may be calculated based on the image.

An embodiment of the present invention provides a management device for an unmanned control platform. FIG. 6 is a structural diagram of a management device for an unmanned control platform provided by an embodiment of the present invention. As shown in FIG. 6, the management device for an unmanned control platform includes an environmental sensor 601, an identification display device 602, and a processor 603, where,

The processor 603 is configured to perform the following operations:

Acquiring environmental sensor 601 to collect sensory data of the environment, and detecting an unmanned control platform in the environment based on the sensory data;

When an unmanned control platform is detected, the control sign display device 603 displays a pass indication sign, so that the unmanned control platform recognizes the pass indication sign to determine the pass mode of the unmanned control platform.

In some embodiments, the pass sign includes a pass allowed sign, and the processor controls the sign display device to display a pass sign so that the unmanned control platform can identify the pass mode by identifying the pass sign Specifically used for:

The control sign display device displays a pass allowed sign so that the unmanned control platform can identify the pass allowed mode by identifying the pass allowed sign.

In some embodiments, the pass sign includes a restricted pass sign, and the processor controls the sign display device to display a pass sign so that the unmanned control platform can identify the pass mode by identifying the pass sign. Specifically used for:

The control sign display device displays the restricted access sign so that the unmanned control platform can identify the restricted access mode by identifying the restricted access sign.

In some embodiments, the environment includes a first channel and a second channel that intersects the first channel, and the unmanned control platform includes: a first channel that moves toward the target position in the first channel An unmanned control platform and a second unmanned control platform moving in a direction close to the target position in the second channel, the target position is the intersection of the first channel and the second channel, the identification display device includes a first Logo display device and second logo display device,

When the processor controls the sign display device to display the pass indication sign, so that the unmanned control platform recognizes the pass indication sign to determine the pass mode of the unmanned control platform, it is specifically used for:

Controlling the first sign display device to display the allowed access sign, so that the first unmanned control platform determines the allowed access mode by identifying the allowed sign, and controls the second sign display device to display the restricted access sign, so that the second no sign The human control platform determines the restricted access mode by identifying the restricted access identifier.

In some embodiments, when the processor controls the first sign display device to display the allowed access sign and controls the second sign display device to display the restricted access sign, it is specifically used to:

According to the preset priority of the first channel and the second channel, the first sign display device is controlled to display the allowed pass sign and the second sign display device is displayed to display the restricted pass sign.

In some embodiments, the pass indicator is associated with location information, and the processor is further configured to:

The control sign display device displays the pass indication sign, so that the unmanned control platform identifies the pass indication sign to determine its own position information.

In some embodiments, the restricted traffic mode includes a decelerated traffic mode or a prohibited traffic mode.

In some embodiments, when the processor acquires the environmental sensor to collect the sensory data of the environment, and detects the unmanned control platform in the environment based on the sensory data, it is specifically used to:

Acquiring sensor data in the target area in the environment collected by the environmental sensor, and detecting the unmanned control platform of the target area according to the sensor data in the target area;

When the unmanned control platform is detected, the control sign display device displaying the pass indication sign includes:

When an unmanned control platform is detected in the target area, the control sign display device displays a pass indication sign.

In some embodiments, the sensory data includes image and depth data,

When the processor detects the unmanned control platform in the environment based on the sensing data, it is specifically used to:

Running a color-based foreground extraction algorithm according to the image to obtain the detection result of the first foreground in the environment;

Running a depth-based foreground extraction algorithm according to the depth data to determine the detection result of the second foreground in the environment;

The detection result of the first foreground and the second detection result of the second foreground are fused to detect the drone control platform in the environment.

In some embodiments, when the processor runs a color-based foreground extraction algorithm according to the image to obtain the detection result of the first foreground in the image, it is specifically used to:

Acquiring a background color model corresponding to the image;

Matching the image with the background color model to obtain the detection result of the first foreground in the environment.

In some embodiments, the background color model is a mixed Gaussian model;

When the processor matches the image with the background color model to obtain the detection result of the first foreground in the environment, it is specifically used to:

Matching each pixel of the image with the mixed Gaussian distribution corresponding to each pixel in the background color model to obtain the detection result of the first foreground in the environment.

In some embodiments, when the processor runs the foreground extraction algorithm according to the depth image to determine the detection result of the second foreground in the environment, it is specifically used to:

Acquiring a background depth model corresponding to the depth data, wherein the background depth model is used to indicate the depth range of the background in the environment;

Matching the depth data with the background depth model to obtain the detection result of the second foreground in the environment.

It can be understood that, for the specific principle and explanation part of the method, reference may be made to the aforementioned related parts, which will not be repeated here.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical, or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The above software functional unit is stored in a storage medium, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform the methods described in the various embodiments of the present invention Partial steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that, for convenience and conciseness of description, only the above-mentioned division of each functional module is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated by different functional modules according to needs, that is, the device The internal structure of is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims (25)

1. An unmanned control platform management method, which is characterized by including:

   Acquire environmental sensor data collected by an environmental sensor, and detect an unmanned control platform in the environment based on the sensor data;

   When an unmanned control platform is detected, the control sign display device displays a pass indicator so that the unmanned control platform can identify the pass mode of the unmanned control platform by identifying the pass indicator.
2. The method according to claim 1, wherein the pass sign includes a pass allowed sign, and the control sign display device displays a pass sign so that an unmanned control platform can identify the pass sign by determining Access modes include:

   The control sign display device displays a pass allowed sign so that the unmanned control platform can identify the pass allowed mode by identifying the pass allowed sign.
3. The method according to claim 1 or 2, wherein the pass sign includes a restricted pass sign, and the control sign display device displays a pass sign so that an unmanned control platform can identify the pass sign To determine the access mode includes:

   The control sign display device displays the restricted access sign so that the unmanned control platform can identify the restricted access mode by identifying the restricted access sign.
4. The method according to any one of claims 1-3, wherein the environment includes a first channel and a second channel intersecting the first channel, and the unmanned control platform includes: A first unmanned control platform moving in the direction close to the target position in the channel and a second unmanned control platform moving in the direction close to the target position in the second channel, the target position being the first channel and the second channel At the intersection, the logo display device includes a first logo display device and a second logo display device,

   The control sign display device displays a pass indication sign so that the unmanned control platform identifies the pass mode of the unmanned control platform by identifying the pass indication sign includes:

   Controlling the first sign display device to display the allowed access sign so that the first unmanned control platform determines the allowed access mode by identifying the allowed sign, and controls the second sign display device to display the restricted access sign so that the second no sign The human control platform determines the restricted access mode by identifying the restricted access identifier.
5. The method according to claim 4, wherein the controlling the first sign display device to display the allowed access sign and controlling the second sign display device to display the restricted access sign include:

   According to the preset priority of the first channel and the second channel, the first sign display device is controlled to display the permission sign and the second sign display device is displayed to display the limited sign.
6. The method according to claim 1, wherein the pass indicator is associated with location information, and the method further comprises:

   The control sign display device displays the pass indication sign, so that the unmanned control platform identifies the pass indication sign to determine its own position information.
7. The method according to claim 4 or 5, wherein the restricted traffic mode includes a decelerated traffic mode or a prohibited traffic mode.
8. The method according to any one of claims 1-7, wherein the acquiring environmental sensors collects sensory data of the environment, and detecting the unmanned control platform in the environment based on the sensory data includes:

   Acquiring sensor data in the target area in the environment collected by the environmental sensor, and detecting the unmanned control platform of the target area according to the sensor data in the target area;

   When the unmanned control platform is detected, the control sign display device displaying the pass indication sign includes:

   When an unmanned control platform is detected in the target area, the control sign display device displays a pass indication sign.
9. The method according to any one of claims 1-8, wherein the sensory data includes image and depth data,

   The detecting the unmanned control platform in the environment based on the sensor data includes:

   Running a color-based foreground extraction algorithm according to the image to obtain the detection result of the first foreground in the environment;

   Running a depth-based foreground extraction algorithm according to the depth data to determine the detection result of the second foreground in the environment;

   The detection result of the first foreground and the second detection result of the second foreground are fused to detect the drone control platform in the environment.
10. The method according to claim 9, wherein the running a color-based foreground extraction algorithm according to the image to obtain the detection result of the first foreground in the image comprises:

    Acquiring a background color model corresponding to the image;

    Matching the image with the background color model to obtain the detection result of the first foreground in the environment.
11. The method according to claim 10, wherein the background color model is a mixed Gaussian model, wherein the mixed Gaussian model includes a mixed Gaussian distribution corresponding to each pixel in the image,

    The matching the image with the background color model to obtain the detection result of the first foreground in the environment includes:

    Matching each pixel of the image with the mixed Gaussian distribution corresponding to each pixel in the background color model to obtain the detection result of the first foreground in the environment.
12. The method according to any one of claims 9-11, wherein the running a depth-based foreground extraction algorithm according to the depth data to determine the detection result of the second foreground in the environment includes:

    Acquiring a background depth model corresponding to the depth data, wherein the background depth model is used to indicate the depth range of the background in the environment;

    Matching the depth data with the background depth model to obtain the detection result of the second foreground in the environment.
13. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.
14. A management device for an unmanned control platform, which is characterized by comprising: an environmental sensor, a control identification display device and a processor,

    The processor is used to perform the following operations:

    Acquiring environmental sensor to collect sensory data of the environment, and detecting an unmanned control platform in the environment based on the sensory data;

    When an unmanned control platform is detected, the control sign display device displays a pass indicator so that the unmanned control platform can identify the pass mode of the unmanned control platform by identifying the pass indicator.
15. The apparatus according to claim 14, wherein the pass sign includes a pass allowed sign, and the processor controls the sign display device to display a pass sign so that the unmanned control platform can identify the pass sign When determining the access mode, it is specifically used for:

    The control sign display device displays a pass allowed sign so that the unmanned control platform can identify the pass allowed mode by identifying the pass allowed sign.
16. The device according to claim 14 or 15, wherein the pass sign includes a restricted pass sign, and the processor controls the sign display device to display a pass sign so that the unmanned control platform can pass the pass sign When identifying to determine the access mode, it is specifically used to:

    The control sign display device displays the restricted access sign so that the unmanned control platform can identify the restricted access mode by identifying the restricted access sign.
17. The device according to any one of claims 14 to 16, wherein the environment includes a first channel and a second channel intersecting the first channel, and the unmanned control platform includes: A first unmanned control platform moving in the direction close to the target position in the channel and a second unmanned control platform moving in the direction close to the target position in the second channel, the target position being the first channel and the second channel At the intersection, the logo display device includes a first logo display device and a second logo display device,

    When the processor controls the sign display device to display the pass indication sign, so that the unmanned control platform recognizes the pass indication sign to determine the pass mode of the unmanned control platform, it is specifically used for:

    Controlling the first sign display device to display the allowed access sign, so that the first unmanned control platform determines the allowed access mode by identifying the allowed sign, and controls the second sign display device to display the restricted access sign, so that the second no sign The human control platform determines the restricted access mode by identifying the restricted access identifier.
18. The apparatus according to claim 17, wherein the processor is specifically configured to: when the first sign display device controls the allowed sign and the second sign display device displays the restricted sign:

    According to the preset priority of the first channel and the second channel, the first sign display device is controlled to display the permission sign and the second sign display device is displayed to display the limited sign.
19. The device according to claim 14, wherein the pass indicator is associated with location information, and the processor is further configured to:

    The control sign display device displays the pass indication sign, so that the unmanned control platform identifies the pass indication sign to determine its own position information.
20. The apparatus according to claim 17 or 18, wherein the restricted traffic mode includes a decelerated traffic mode or a prohibited traffic mode.
21. The device according to any one of claims 14 to 20, wherein the processor acquires environmental sensor data collected by an environmental sensor, and detects an unmanned control platform in the environment based on the sensor data, Specifically used for:

    Acquiring sensor data in the target area in the environment collected by the environmental sensor, and detecting the unmanned control platform of the target area according to the sensor data in the target area;

    When the unmanned control platform is detected, the control sign display device displaying the pass indication sign includes:

    When an unmanned control platform is detected in the target area, the control sign display device displays a pass indication sign.
22. The device according to any one of claims 14-21, wherein the sensory data includes image and depth data,

    When the processor detects the unmanned control platform in the environment based on the sensing data, it is specifically used to:

    Running a color-based foreground extraction algorithm according to the image to obtain the detection result of the first foreground in the environment;

    Running a depth-based foreground extraction algorithm according to the depth data to determine the detection result of the second foreground in the environment;

    The detection result of the first foreground and the second detection result of the second foreground are fused to detect the UAV control platform in the environment.
23. The device according to claim 22, wherein when the processor runs a color-based foreground extraction algorithm according to the image to obtain the detection result of the first foreground in the image, it is specifically used to:

    Acquiring a background color model corresponding to the image;

    Matching the image with the background color model to obtain the detection result of the first foreground in the environment.
24. The device according to claim 23, wherein the background color model is a mixed Gaussian model, wherein the mixed Gaussian model includes a mixed Gaussian distribution corresponding to each pixel in the image,

    When the processor matches the image with the background color model to obtain the detection result of the first foreground in the environment, it is specifically used to:

    Matching each pixel of the image with the mixed Gaussian distribution corresponding to each pixel in the background color model to obtain the detection result of the first foreground in the environment.
25. The device according to any one of claims 22-24, wherein the processor uses a depth-based foreground extraction algorithm to determine the detection result of the second foreground in the environment according to the depth data, specifically in:

    Acquiring a background depth model corresponding to the depth data, wherein the background depth model is used to indicate the depth range of the background in the environment;

    Matching the depth data with the background depth model to obtain the detection result of the second foreground in the environment.

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