WO2020220190A1 - 一种无人机的控制方法及相关设备 - Google Patents

一种无人机的控制方法及相关设备 Download PDF

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Publication number
WO2020220190A1
WO2020220190A1 PCT/CN2019/084967 CN2019084967W WO2020220190A1 WO 2020220190 A1 WO2020220190 A1 WO 2020220190A1 CN 2019084967 W CN2019084967 W CN 2019084967W WO 2020220190 A1 WO2020220190 A1 WO 2020220190A1
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WO
WIPO (PCT)
Prior art keywords
feature information
facial feature
drone
target
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/084967
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English (en)
French (fr)
Inventor
陈思聪
葛飞
杨小虎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2019/084967 priority Critical patent/WO2020220190A1/zh
Priority to CN201980007794.5A priority patent/CN111630511A/zh
Publication of WO2020220190A1 publication Critical patent/WO2020220190A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
    • G06F21/31—User authentication
    • G06F21/32—User authentication using biometric data, e.g. fingerprints, iris scans or voiceprints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20—Means to switch the anti-theft system on or off
    • B60R25/25—Means to switch the anti-theft system on or off using biometry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/168—Feature extraction; Face representation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and related equipment of an unmanned aerial vehicle.
  • the safety of UAV has also attracted more and more attention. For example, after the drone is stolen, the pirate controls the drone to fly into a high-risk and confidential area, which will cause social security problems that are difficult to estimate.
  • a control terminal for example, a mobile phone, a tablet computer, etc.
  • the control terminal needs to be unlocked. After the control terminal is successfully unlocked, the user can control the drone through the control terminal.
  • the embodiment of the present application discloses a control method and related equipment of a drone, which is beneficial to improve the safety of the drone.
  • this application provides a method for controlling a drone, which is applied to a drone, and the drone includes a photographing device, including:
  • the flight lock of the drone is released.
  • this application provides a drone, in which:
  • the memory is used to store program instructions
  • the processor calls the program instructions for:
  • the flight lock of the drone is released.
  • the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the same as described in the first aspect. Part or all of the steps described.
  • the flight lock operation is performed on the drone, and the user's facial feature information is obtained according to the user's image taken by the drone's camera.
  • the flight lock of the drone is released. In this way, the identity information of the drone can be verified, which can improve the safety of the drone.
  • FIG. 1 is a schematic diagram of a system architecture provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a method for controlling a drone provided by an embodiment of the present application
  • FIG. 3 is a schematic flowchart of another drone control method provided by an embodiment of the present application.
  • FIG. 4 is a schematic flow chart of another drone control method provided by an embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of a drone provided by an embodiment of the present application.
  • first, second, third, etc. may be used in the present invention to describe various information, the information should not be limited to these terms. These terms are used to distinguish the same type of information from each other.
  • first information may also be referred to as second information, and similarly, the second information may also be referred to as first information.
  • word "if” used can be interpreted as "when", or "when”, or "in response to certainty.”
  • FIG. 1 is a system architecture of an unmanned aerial vehicle system provided by an embodiment of the application.
  • the unmanned aerial vehicle system includes an unmanned aerial vehicle and a control terminal.
  • the unmanned aerial vehicle may refer to an unmanned aerial vehicle, which can be a rotary-wing mobile robot or a fixed-wing mobile robot.
  • Fig. 1 takes a rotary-wing mobile robot as an example for description.
  • the unmanned aerial vehicle may include a power device, which is arranged on the fuselage of the unmanned aerial vehicle to provide mobile power for the unmanned aerial vehicle, and the power device may include one or more of an engine, a propeller, a motor, and an ESC .
  • the drone may also include a pan-tilt and a camera, and the camera is mounted on the main body of the drone through the pan-tilt.
  • the shooting device is used for image or video shooting during the movement of the drone, including but not limited to multispectral imagers, hyperspectral imagers, visible light cameras, infrared cameras, etc.
  • the pan/tilt is a multi-axis transmission and stabilization system.
  • the pan/tilt motor compensates the shooting angle of the imaging device by adjusting the rotation angle of the rotation axis, and prevents or reduces the jitter of the imaging device by setting an appropriate buffer mechanism.
  • the photographing device can be mounted on the flying main body directly or in other ways, which is not limited in the embodiment of the present application.
  • the control terminal can establish a wireless communication connection with the UAV to realize the control of the UAV.
  • the control terminal can control the movement state of the drone (such as position, speed, acceleration, etc.), and/or, control the rotation direction of the drone's gimbal, and/or, control the drone to take images and/or video.
  • the control terminal can be a mobile phone, a tablet computer, a remote control or other wearable devices (watches or bracelets), etc. It is worth mentioning that the control terminal has a display screen.
  • Figure 1 takes the control terminal as a mobile phone as an example.
  • the UAV system may also include a control device arranged in the control terminal body or the UAV fuselage, and the control device is used to control the locking and unlocking of the UAV.
  • a control device arranged in the control terminal body or the UAV fuselage, and the control device is used to control the locking and unlocking of the UAV.
  • FIG. 2 is a schematic flowchart of a control method for a drone disclosed in an embodiment of the application. As shown in Fig. 2, the method may include steps 201-205. among them:
  • the drone performs a flight lock operation on the drone.
  • the flight lock operation is used to lock the drone so that the user cannot operate the drone to fly.
  • the flight lock operation is used to lock the motor or electronic governor of the drone; or the locked drone refuses to receive flight control instructions sent by the control terminal connected to the drone. Or the locked drone does not execute the flight control instruction, etc.
  • step 201 may include the following two implementation manners.
  • the drone when the drone is powered on, the drone performs a flight lock operation on the drone.
  • the drone when the drone establishes a communication connection with the control terminal, the drone performs a flight lock operation on the drone.
  • the above two implementation manners do not constitute a limitation to the embodiments of the present application.
  • other implementation manners may also be used to perform flight lock operations on the drone. For example, after the drone and the control terminal are turned on, the drone establishes a communication connection with the control terminal. After the UAV and the control terminal establish a communication connection, the UAV and the control terminal perform video transmission and frequency matching. After the UAV and the control terminal perform image transmission and frequency matching, the UAV performs a flight lock operation on itself.
  • the drone acquires an image of the user captured by the drone's camera.
  • the user's image can be captured by the camera of the drone, and the captured user image can be obtained.
  • the drone performs a flight lock operation on itself.
  • the user can manually point the drone's camera at his face so that the drone's camera can capture the user's facial image.
  • the drone performs a flight lock operation on itself, it will automatically rotate the camera to aim at the user's face so that the drone's camera can capture the user's facial image.
  • the drone obtains the user's facial feature information according to the user's image.
  • the facial feature information is used to describe the facial features in the image of the user.
  • the face feature information may include the Euclidean distance, curvature, and angle between feature points of the face.
  • the human face is composed of parts such as eyes, nose, mouth, and chin.
  • the facial feature information can be a geometric description of these parts and the structural relationship between them.
  • the drone may run the first feature extraction algorithm to obtain the facial feature information of the user from the image of the user.
  • a drone can use a deep learning framework for face recognition to extract features from a user's face image, and then classify it through a neural network classifier to obtain the user's facial feature information.
  • the drone determines whether the facial feature information of the user matches the facial feature information of the first target.
  • the first target facial feature information is obtained according to the image of the target user. If it matches, go to step 205.
  • the image of the target user can be the image of the target user taken at the historical moment in the drone, or the image of the target user taken at the historical moment by the control terminal currently in communication with the drone, or it can be in the history.
  • the image taken by the drone that is in communication with the control terminal at all times, or the image obtained from the server with the control terminal, is not limited here.
  • the target user can be understood as a legitimate user.
  • the first target facial feature information is the facial feature information of the legal user.
  • the facial feature information of the first target can be stored in the drone or in a control terminal connected to the drone in communication.
  • the first target facial feature information can be stored in the drone or the control terminal in advance, so that the user can use the first target facial feature information to verify the user identity when using the drone.
  • the drone can determine whether the facial feature information of the user matches the first target facial feature information in the following two ways.
  • Manner 1 The drone runs a matching algorithm to perform matching calculation on the user's facial feature information and the first target facial feature information to determine whether the user's facial feature information matches the first target facial feature information. That is to say, in mode 1, the drone itself calculates whether the facial feature information of the user matches the first target facial feature information.
  • the specific implementation principle of the first mode can be referred to the control method of the UAV described in FIG. 3, which will not be described in detail here.
  • Method 2 The drone sends the user's facial feature information to the control terminal that communicates with the drone.
  • the control terminal runs a matching algorithm to perform matching calculation on the user's facial feature information and the first target facial feature information to determine whether the user's facial feature information matches the first target facial feature information. After the control terminal determines the matching result, it will feed back the matching result to the drone. After receiving the matching result from the control terminal, the drone determines whether the facial feature information of the user matches the first target facial feature information according to the matching result. For example, if the matching result indicates that the user's facial feature information matches the first target facial feature information, the drone confirms that the user's facial feature information matches the first target facial feature information.
  • the drone confirms that the facial feature information of the user does not match the first target facial feature information.
  • the first target facial feature information is stored in the control terminal. That is, in the second method, the control terminal calculates whether the user's facial feature information matches the first target facial feature information, and feeds back the matching result to the drone.
  • the drone releases its flight lock.
  • the flight lock of the drone is released, that is, the reverse operation of the flight lock operation is performed.
  • unlock the motor or electronic governor of the drone or, the unlocked drone can receive the flight control instruction sent by the control terminal connected to it in communication. Or, the unlocked drone can execute the flight control instruction and so on.
  • the drone may send a prompt message to release the flight lock to a control terminal that is communicatively connected with the drone.
  • a prompt message for releasing the flight lock is sent to the control terminal communicatively connected with the drone.
  • the control terminal After the control terminal receives the prompt information, it can prompt the user that the drone has been unlocked. In this way, the user can use the drone normally. It can be seen that by sending a prompt message to release the flight lock to the control terminal, it is beneficial to improve the user experience.
  • the drone can send a matching message to the control terminal that is in communication with the drone. Failed prompt message.
  • the facial feature information corresponding to the user's image collected by the drone matches the first target facial feature information, it means that the current drone is not being used by an illegal user. Flight lock. On the contrary, it means that the drone may be used by an illegal user, and at this time, a prompt message indicating that the matching failed can be sent to the control terminal communicating with the drone. After receiving the prompt information, the control terminal may prompt the user that the user identity verification fails. Alternatively, the user can also be prompted to restart the drone for identity verification.
  • the image of the user and/or the location information of the drone are sent to the control terminal to indicate
  • the control terminal sends the image of the user and/or the location information of the drone to the server, where the image of the user and/or the location information of the drone is used for drone tracking.
  • the facial feature information of the user does not match the facial feature information of the first target, it can be confirmed that the user is not a legitimate user of the drone, and the drone can convert the user's image and/or The position information of the man-machine is sent to the control terminal.
  • the control terminal After the control terminal receives the user’s image and/or the position information of the drone, it sends it to the control terminal, which can send the user’s image and/or the position information of the drone. Send to the control terminal and send to the server, so that the server can obtain the user's image and/or the location information of the drone and send it to the control terminal. In this way, the image of the user and/or the location information of the drone is sent to the control terminal, and then the image of the user and/or the location information of the drone can be sent to the control terminal to track the drone to help legality. The user retrieved the drone.
  • the flight lock operation is performed on the drone, and the user's facial feature information is obtained according to the user's image taken by the drone's camera.
  • the user's facial feature information matches the first target facial feature information obtained from the target user's image, the flight lock of the drone is released. Therefore, by implementing the method described in Figure 2, the safety of the drone can be improved.
  • step 304 and step 305 are specific implementations of step 204 above.
  • the method may include steps 301-306. among them:
  • the drone performs a flight lock operation on the drone.
  • the drone acquires an image of the user captured by the drone's camera.
  • the drone obtains facial feature information of the user according to the user's image.
  • steps 301 to 303 can refer to the description of steps 201 to 203, which will not be repeated here.
  • the drone obtains facial feature information of the first target.
  • the first target facial feature information is obtained according to the image of the target user.
  • Target users can be understood as legitimate users.
  • the embodiment of the present application does not limit the method for obtaining the facial feature information of the first target, and may include the following two methods.
  • Manner 1 The local storage device of the drone stores the first target facial feature information, and the drone obtains the first target facial feature information from the local storage device.
  • the image of the target user corresponding to the first target facial feature information is the image of the target user captured by the drone camera at a historical moment.
  • the drone can take an image of the target user.
  • the drone runs the first feature extraction algorithm to obtain the first target facial feature information from the target user's image and store it in the drone.
  • the target user uses the drone for the first time
  • he can use the drone to take an image of the target user.
  • the drone runs the first feature extraction algorithm to obtain the first target facial feature information from the target user's image.
  • the drone sends the target user's image to the control terminal.
  • the control terminal runs a second feature extraction algorithm to obtain the second target facial feature information from the target user's image, and the first feature extraction algorithm is the same as the second feature extraction algorithm.
  • the drone or the control terminal verifies whether the facial feature information of the first target matches the facial feature information of the second target. If so, the drone stores the first target facial feature information, and the control terminal stores the second target facial feature information. After the control terminal stores the facial feature information of the second target, it can also perform identity verification on the user when the target user changes the drone.
  • the matching calculation between the first target facial feature information and the second target facial feature information can be executed by the drone, that is, the drone receives the second target facial feature information sent by the control terminal, and the drone compares the A target face feature information and a second target face feature information are matched and calculated. It can also be executed by the control terminal, that is, the drone sends the first target face feature information to the control terminal, and the control terminal performs matching calculations on the first target face feature information and the second target face feature information, and then the matching calculation The results are sent to the drone.
  • the local storage device of the drone stores the first target facial feature information, which means that the drone stores the identity information of the target user. Therefore, the drone can directly obtain the first target facial feature information from the local storage device. If the user's facial feature information is matched with the first target facial feature information, it can be determined whether the drone is the same as the previously stored identity information. If they are the same, it can be determined that the drone is not used by illegal users, and the user corresponding to the operation control terminal has not changed. Otherwise, it is determined that the drone is used by illegal users.
  • Method 2 The drone obtains the first target facial feature information of the target user from the control terminal currently connected in communication with the drone.
  • the first facial feature information is obtained by the control terminal according to the image of the target user, and the image of the target user includes the image taken by the drone camera that is communicatively connected with the control terminal at the historical moment The image of the target user.
  • the control terminal that establishes a communication connection with the drone stores the first target facial feature information of the target user
  • the control terminal stores the user's identity information.
  • the control terminal can send the first facial feature information to the drone, and the drone can acquire the first target facial feature information. If the facial feature information of the user is matched with the first target facial feature information, it can be determined whether the identity information in the drone and the control terminal are the same. If they are the same, it can be determined that the user corresponding to the operation control terminal has not changed, and it is impossible to determine whether the drone is used by an illegal user. Otherwise, it is determined that the user corresponding to the controlling terminal has changed.
  • the first target facial feature information of the target user stored in the control terminal that establishes a communication connection with the drone may be obtained by the control terminal from the server, for example, through the account information of the target user logging in to the server and/ Or the password information is obtained from the server.
  • the drone performs matching calculation on the user's facial feature information and the first target facial feature information to determine whether the user's facial feature information matches the first target facial feature information.
  • the drone itself calculates whether the user's facial feature information matches the first target facial feature information.
  • the drone unlocks the flight lock of the drone.
  • the specific implementation mode of step 306 may be: when the facial feature information of the user matches the first target facial feature information and matches the When there is the facial feature information of the second target in the control terminal connected to the drone, the flight lock of the drone is released. Wherein, the first target facial feature information matches the second target facial feature information, and the second target facial feature information is acquired based on the image of the target user.
  • the second target facial feature information is acquired by the control terminal communicatively connected with the drone based on the image of the target user received by the drone, or the control terminal may be based on the target user's image.
  • the identity information of is obtained from the server corresponding to the control terminal.
  • the first target facial feature information and the second target facial feature information are both facial feature information of the same legal user. If the facial feature information of the user matches the first target facial feature information. However, there is no second target facial feature information that matches the first target facial feature information in the control terminal connected to the drone, so the control terminal connected to the drone may not be currently used by a legitimate user. Therefore, when the user’s facial feature information matches the first target facial feature information, and the second target facial feature information exists in the control terminal communicatively connected to the drone, the drone will be released.
  • the flight lock can ensure that the legitimate user is using the drone and the control terminal, which is beneficial to improve the safety of the drone and the control terminal.
  • the flight lock operation is performed on the drone, and the user's facial feature information is obtained according to the user's image taken by the drone's camera. Then, the first target facial feature information is acquired, and when the user's facial feature information matches the first target facial feature information, the flight lock of the drone is released. In this way, the identity information of the drone can be verified, which can improve the safety of the drone.
  • FIG. 4 is a schematic flowchart of another drone control method disclosed in an embodiment of the application. As shown in FIG. 4, the method may include steps 401-408. among them:
  • the drone performs a flight lock operation on the drone.
  • the drone acquires an image of the user captured by the drone's camera.
  • the drone obtains facial feature information of the user according to the user's image.
  • steps 401 to 403 please refer to the description of steps 201 to 203, which will not be repeated here.
  • the drone obtains the first target facial feature information from the local storage device.
  • the drone performs a matching calculation between the user's facial feature information and the first target facial feature information to determine whether the user's facial feature information matches the first target facial feature information.
  • the drone unlocks the flight of the drone.
  • steps 404 to 406 please refer to the description of steps 304 to 306, which will not be repeated here.
  • the drone determines the user's facial feature information to communicate with the second target facial feature information in the control terminal connected to the drone. Whether it matches.
  • the first target facial feature information is obtained based on the image of the target user, and the first target facial feature information matches the second target facial feature information.
  • the image of the target user includes the image of the target user captured by the drone camera that is communicatively connected with the control terminal at the historical moment, and the second facial feature information is based on the control terminal according to The image of the target user was acquired.
  • the target user uses the drone for the first time
  • the drone runs the first feature extraction algorithm to obtain the first target facial feature information from the target user's image.
  • the drone sends the target user's image to the control terminal.
  • the control terminal runs a second feature extraction algorithm to obtain the second target facial feature information from the target user's image, and the first feature extraction algorithm is the same as the second feature extraction algorithm.
  • the drone or the control terminal verifies whether the facial feature information of the first target matches the facial feature information of the second target. If so, the drone stores the first target facial feature information, and the control terminal stores the second target facial feature information.
  • the drone can determine whether the facial feature information of the user matches the second target facial feature information in the control terminal communicatively connected to the drone in the following two ways.
  • Manner 1 The drone obtains the facial feature information of the second target from the control terminal that is communicatively connected with the drone.
  • the drone runs a matching algorithm to perform matching calculation on the user's facial feature information and the second target facial feature information to determine whether the user's facial feature information matches the second target facial feature information. That is to say, in mode one, the drone itself calculates whether the user's facial feature information matches the second target facial feature information.
  • Method 2 The drone sends the user's facial feature information to the control terminal that communicates with the drone.
  • the control terminal runs a matching algorithm to perform matching calculation on the user's facial feature information and the second target facial feature information to determine whether the user's facial feature information matches the second target facial feature information. After the control terminal determines the matching result, it will feed back the matching result to the drone. After receiving the matching result from the control terminal, the drone determines whether the user's facial feature information matches the second target facial feature information according to the matching result. For example, if the matching result indicates that the user's facial feature information matches the second target facial feature information, the drone confirms that the user's facial feature information matches the second target facial feature information.
  • the drone confirms that the user's facial feature information does not match the second target facial feature information. That is, in the second method, the control terminal calculates whether the user's facial feature information matches the second target facial feature information, and feeds back the matching result to the drone.
  • the UAV does not store the facial feature information of the first target locally, indicating that the user has replaced the UAV, and the UAV currently used is the UAV used for the first time. Because the facial feature information of the legal user is also pre-stored in the control terminal, that is, the second target facial feature information. Therefore, when the facial feature information of the user matches the facial feature information of the second target, it means that the user currently using the drone is a legitimate user. Therefore, the flight lock of the drone can be released at this time.
  • the drone unlocks the flight of the drone.
  • the second target facial feature information can also be used as the first target facial feature information, which is stored in the computer.
  • the local storage device of the man-machine In the local storage device of the man-machine.
  • control terminal will also store the facial feature information of the legal user, and when the user changes the drone, security authentication can also be performed to ensure that the legal user uses the drone.
  • FIG. 5 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • the drone includes a memory 501, a processor 502, and a camera 503.
  • the memory 501, the processor 502, and the camera 503 may be connected through a bus system 504.
  • the memory 501 is used to store program instructions.
  • the memory 501 may include a volatile memory (volatile memory), such as a random-access memory (random-access memory, RAM); the memory 501 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory). memory), solid-state drive (SSD), etc.; the memory 501 may also include a combination of the foregoing types of memories.
  • the processor 502 may include a central processing unit (CPU).
  • the processor 502 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), etc.
  • the above-mentioned PLD may be a field-programmable gate array (FPGA), a generic array logic (GAL), etc.
  • the processor 502 calls the program instructions in the memory 501 to execute the following steps:
  • the flight lock of the drone is released.
  • the way that the processor 502 determines whether the facial feature information of the user matches the first target facial feature information is specifically:
  • the local storage device of the drone has stored the first target facial feature information
  • the method for the processor 502 to obtain the first target facial feature information is specifically:
  • the image of the target user includes an image of the target user captured by the drone camera at a historical moment.
  • the processor 502 specifically releases the flight lock of the drone as follows:
  • the unmanned The flight lock of the aircraft wherein the first target facial feature information matches the second target facial feature information, and the second target facial feature information is acquired according to the image of the target user.
  • the second target facial feature information is acquired by the control terminal according to the image of the target user received by the drone.
  • processor 502 calling the program instructions is also used to:
  • the first target facial feature information is not stored in the local storage device of the drone, it is determined that the facial feature information of the user is in communication with the second target person in the control terminal connected to the drone. Whether the facial features match, wherein the first target facial feature information matches the second target facial feature information;
  • the flight lock of the drone is released.
  • the image of the target user includes an image of the target user captured by a drone camera that is communicatively connected to the control terminal at a historical moment, and the second facial feature information is that the control terminal has The image of the target user was acquired.
  • the method for the processor 502 to obtain the first target facial feature information is specifically:
  • the image of the target user includes an image of the target user captured by a drone camera that is communicatively connected with the control terminal at a historical moment, and the first facial feature information is the control terminal according to the The image of the target user was acquired.
  • processor 502 calling the program instructions is also used to:
  • a prompt message for releasing the flight lock is sent to the control terminal communicatively connected with the drone.
  • processor 502 calling the program instructions is also used to:
  • a prompt message that the matching fails is sent to the control terminal that is in communication with the drone.
  • processor 502 calling the program instructions is also used to:
  • the step of performing the flight lock operation on the drone is performed.
  • a computer-readable storage medium is also provided, and the computer-readable storage medium stores a computer program.
  • the computer program is executed by a processor, the embodiment of the present invention The control method of the drone described in the embodiment corresponding to FIG. 4 will not be repeated here.
  • the computer-readable storage medium may be the internal storage unit of the test device described in any of the foregoing embodiments, such as the hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the vehicle control device, for example, a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), and a Secure Digital (SD) ) Card, Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the test device.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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Abstract

一种无人机的控制方法及相关设备，该方法包括：对该无人机执行飞行锁定操作；获取该无人机的拍摄装置拍摄的用户的图像；根据该用户的图像获取该用户的人脸特征信息；确定该用户的人脸特征信息与第一目标人脸特征信息是否匹配，其中，该第一目标人脸特征信息是根据目标用户的图像获取的；当该用户的人脸特征信息与该第一目标人脸特征信息匹配时，解除对该无人机的飞行锁定。通过该方法，有利于提高无人机的安全性。

Description

一种无人机的控制方法及相关设备 技术领域
本发明涉及无人机技术领域，尤其涉及一种无人机的控制方法及相关设备。
背景技术
随着无人机技术的大力发展，无人机的安全问题也受到人们越来越多的关注。例如，无人机被盗之后，盗用者控制无人机飞入高危、保密区域，这会造成难以估计的社会安全问题。目前，为提高无人机的安全性，在无人机与控制终端(例如，手机，平板电脑，等等)进行连接之后，需要对控制终端进行解锁。控制终端解锁成功之后，用户才能通过控制终端对无人机进行控制。
然而，在实际应用中，若用户的无人机被他人盗走，偷盗者同样可以对用户的无人机进行控制，无人机的安全性无法得到保障。因此，如何提高无人机的安全性是本专业技术人员亟待解决的问题。
发明内容
本申请实施例公开了一种无人机的控制方法及相关设备，有利于提高无人机的安全性。
第一方面，本申请提供了一种无人机的控制方法，应用于无人机，所述无人机包括拍摄装置，包括：
对所述无人机执行飞行锁定操作；
获取所述无人机的拍摄装置拍摄的用户的图像；
根据所述用户的图像获取所述用户的人脸特征信息；
确定所述用户的人脸特征信息与第一目标人脸特征信息是否匹配，其中，所述第一目标人脸特征信息是根据目标用户的图像获取的；
当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配时，解除对所述无人机的飞行锁定。
第二方面，本申请提供了一种无人机，其中：
所述存储器，用于存储程序指令；
所述处理器，调用所述程序指令以用于：
对所述无人机执行飞行锁定操作；
获取所述无人机的拍摄装置拍摄的用户的图像；
根据所述用户的图像获取所述用户的人脸特征信息；
确定所述用户的人脸特征信息与第一目标人脸特征信息是否匹配，其中，所述第一目标人脸特征信息是根据目标用户的图像获取的；
当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配时，解除对所述无人机的飞行锁定。
第三方面，本申请提供了一种计算机可读存储介质，其中，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如第一方面所述的部分或全部步骤。
可以看出，在本申请实施例中，对无人机执行飞行锁定操作，根据无人机的拍摄装置拍摄的用户的图像获取用户的人脸特征信息。当用户的人脸特征信息与根据目标用户的图像获取的第一目标人脸特征信息匹配时，才解除对无人机的飞行锁定。通过这种方式，对无人机进行身份信息验证，可提高无人机的安全性。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种系统架构的示意图；
图2是本申请实施例提供的一种无人机的控制方法的流程示意图；
图3是本申请实施例提供的另一种无人机的控制方法的流程示意图；
图4是本申请实施例提供的又一种无人机的控制方法的流程示意图；
图5是本申请实施例提供的一种无人机的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，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。另外，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。
本发明使用的术语仅仅是出于描述特定实施例的目的，而非限制本发明。本发明和权利要求书所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其它含义。应当理解的是，本文中使用的术语“和/或”是指包含一个或多个相关联的列出项目的任何或所有可能组合。
尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，此外，所使用的词语“如果”可以被解释成为“在……时”，或者，“当……时”，或者，“响应于确定”。
为了清楚地描述本申请实施例的方案，下面结合附图1对本申请实施例可能应用的系统架构进行说明。
请参见图1，图1为本申请实施例提供的一种无人机系统的系统架构，该无人机系统包括无人机和控制终端。
无人机可以是指无人飞行器，该无人飞行器可以为旋翼型移动机器人，也可以为固定翼型移动机器人。图1以旋翼型移动机器人为例进行说明。其中，无人机可包括动力装置，动力装置设置于无人机的机身，用于为无人机提供移动动力，动力装置可包括发动机、螺旋桨、电机、电调中的一种或多种。
无人机还可以包括云台和拍摄装置，拍摄装置通过云台搭载于无人机的主体上。拍摄装置用于在无人机的移动过程中进行图像或视频拍摄，包括但不限于多光谱成像仪、高光谱成像仪、可见光相机及红外相机等。云台为多轴传动及增稳系统，云台电机通过调整转动轴的转动角度来对成像设备的拍摄角度进行补偿，并通过设置适当的缓冲机构来防止或减小成像设备的抖动。当然，拍摄装置可以直接或通过其他方式搭载于飞行主体上，本申请实施例不做限定。
控制终端可以与无人机建立无线通讯连接，以实现对无人机的控制。例如，控制终端可以控制无人机的移动状态(例如位置、速度或者加速度等)，和\或，控制无人机的云台的旋转方向，和\或，控制无人机拍摄图像和\或视频。该控制终端可以为手机、平板电脑、遥控器或其他穿戴式设备(手表或手环)等。值得一提的是，该控制终端具有显示屏。图1以控制终端为手机为例。
无人机系统还可包括设置于控制终端本体或无人机机身的控制装置，该控制装置用于控制无人机的锁定与解锁，具体实现方式可以参见图2-图4。
可以理解的是，本申请实施例描述的系统架构以及业务场景是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，本领域普通技术人员可知，随着系统架构的演变和新业务场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。
下面对本申请实施例提供的无人机的控制方法的具体流程进行说明。
请参阅图2，图2为本申请实施例公开的一种无人机的控制方法的流程示意图。如图2所示，该方法可包括步骤201～205。其中：
201、无人机对无人机执行飞行锁定操作。
在本申请实施例中，飞行锁定操作用于对无人机进行锁定，使得用户不能操作无人机来飞行。例如，飞行锁定操作用于对无人机的电机或电子调速器进行锁定；或者，锁定的无人机拒绝接收与无人机连接的控制终端发送的飞行控制指令。或者锁定的无人机不执行该飞行控制指令等。
在本申请实施例中，步骤201的执行可包括以下两种实施方式。
第一种实施方式，当无人机上电时，无人机对无人机执行飞行锁定操作。
第二种实施方式，当无人机与控制终端建立通信连接时，无人机对无人机执行飞行锁定操作。
可以理解，当满足以上两种实施方式时，对无人机执行飞行锁定操作，可避免非法用户控制无人机进行飞行操作。
需要说明的是，上述两种实施方式并不构成对本申请实施例的限定，实际应用中，还可以采用其他实施方式对无人机执行飞行锁定操作。例如，在无人机和控制终端开启之后，无人机与控制终端建立通信连接。无人机与控制终端建立通信连接之后，无人机与控制终端进行图传对频。在无人机和控制终端进 行图传对频之后，无人机对自身执行飞行锁定操作。
202、无人机获取无人机的拍摄装置拍摄的用户的图像。
具体地，无人机在执行飞行锁定操作之后，可通过该无人机的拍摄装置拍摄用户的图像，并获取拍摄的用户图像。例如，在用户启动无人机之后，无人机对自身执行飞行锁定操作。无人机对自身执行飞行锁定操作之后，用户可手动将无人机的拍摄装置对准自己的面部，以便无人机的拍摄装置拍摄到用户的面部图像。或者，无人机对自身执行飞行锁定操作之后，会自动旋转摄像头对准用户的面部，以便无人机的拍摄装置拍摄到用户的面部图像。
203、无人机根据用户的图像获取用户的人脸特征信息。
在本申请实施例中，人脸特征信息用于描述该用户的图像中人脸的特征。例如，人脸特征信息可包括人脸的特征点间的欧氏距离、曲率和角度等。人脸由眼睛、鼻子、嘴、下巴等局部构成，人脸特征信息可以是对这些局部和它们之间结构关系的几何描述。
具体地，无人机可运行第一特征提取算法，以从该用户的图像中获取该用户的人脸特征信息。例如，无人机可采用人脸识别的深度学习框架，对用户的图像中的人脸图像进行特征提取，再经过神经网络的分类器进行分类得到该用户的人脸特征信息。
204、无人机确定用户的人脸特征信息与第一目标人脸特征信息是否匹配。
在本申请实施例中，第一目标人脸特征信息是根据目标用户的图像获取的。若匹配，则执行步骤205。
其中，目标用户的图像可以是无人机中在历史时刻拍摄的目标用户的图像，也可以是当前与无人机通信连接的控制终端在历史时刻拍摄的目标用户的图像，还可以是在历史时刻与该控制终端通信连接的无人机拍摄的图像，或者为与该控制终端从服务器中获取的图像，在此不做限定。其中，目标用户可以理解为合法用户。第一目标人脸特征信息为合法用户的人脸特征信息。第一目标人脸特征信息可以存储在无人机或存储在与无人机通信连接的控制终端中。
在本申请实施例中，可以预先在无人机或控制终端存储第一目标人脸特征信息，以便用户后续在使用无人机时可通过第一目标人脸特征信息进行用户身份校验。
其中，无人机可通过以下两种方式确定该用户的人脸特征信息与第一目标人脸特征信息是否匹配。
方式一：无人机运行匹配算法，对该用户的人脸特征信息与第一目标人脸特征信息进行匹配计算，以确定该用户的人脸特征信息与第一目标人脸特征信息是否匹配。也就是说，在方式一中，由无人机自身计算该用户的人脸特征信息与第一目标人脸特征信息是否相匹配。该方式一的具体实现原理可参见图3所描述的无人机的控制方法，在此不再详细描述。
方式二，无人机发送该用户的人脸特征信息至与无人机通信连接的控制终端。由控制终端运行匹配算法，对该用户的人脸特征信息与第一目标人脸特征信息进行匹配计算，以确定该用户的人脸特征信息与第一目标人脸特征信息是否匹配。控制终端确定匹配结果之后，会向无人机反馈匹配结果。无人机从控制终端接收该匹配结果之后，根据该匹配结果确定该用户的人脸特征信息与第一目标人脸特征信息是否匹配。例如，如果该匹配结果指示该用户的人脸特征信息与第一目标人脸特征信息匹配，则无人机确认该用户的人脸特征信息与第一目标人脸特征信息匹配。如果该匹配结果指示该用户的人脸特征信息与第一目标人脸特征信息不相匹配，则无人机确认该用户的人脸特征信息与第一目标人脸特征信息不相匹配。在方式二中，第一目标人脸特征信息存储于控制终端中。也就是说，在方式二中，由控制终端计算该用户的人脸特征信息与第一目标人脸特征信息是否相匹配，并反馈匹配结果给无人机。
205、无人机解除对无人机的飞行锁定。
在本申请实施例中，解除对无人机的飞行锁定，即执行飞行锁定操作的反操作。例如，对无人机的电机或电子调速器进行解锁；或者，解锁的无人机可接收与之通信连接的控制终端发送的飞行控制指令。或者，解锁的无人机可执行该飞行控制指令等。
在一种可能的示例中，在解除对该无人机的飞行锁定之后，无人机可向与该无人机通信连接的控制终端发送解除飞行锁定的提示信息。
可以理解，在解除对无人机的飞行锁定之后，向与该无人机通信连接的控制终端发送解除飞行锁定的提示信息。控制终端接收该提示信息之后，可提示用户无人机已经解锁。这样用户就可正常使用该无人机。可见，通过向与该控 制终端发送解除飞行锁定的提示信息，有利于提高用户体验。
在一种可能的示例中，如果无人机确定该用户的人脸特征信息与第一目标人脸特征信息不相匹配，则无人机可向与该无人机通信连接的控制终端发送匹配失败的提示信息。
可以理解，当无人机采集的用户的图像对应的人脸特征信息与第一目标人脸特征信息匹配时，表示当前无人机未被非法用户使用，此时可解除对该无人机的飞行锁定。反之，表示该无人机可能被非法用户使用，此时可向与该无人机通信连接的控制终端发送匹配失败的提示信息。该控制终端接收该提示信息之后，可向用户提示用户身份校验未通过。或者，还可提示用户重新启动该无人机进行身份验证。
在某些实施例中，当所述用户的人脸特征信息与第一目标人脸特征信息不匹配时，将所述用户的图像和/或无人机的位置信息发送给控制终端以指示所述控制终端将所述用户的图像和/或无人机的位置信息发送给服务器，其中，所述用户的图像和/或无人机的位置信息用于无人机的追踪。当所述用户的人脸特征信息与第一目标人脸特征信息不匹配时，即可以确认所述用户不是该无人机的合法用户，无人机可以将所述用户的图像和/或无人机的位置信息发送给控制终端，控制终端在接收到所述用户的图像和/或无人机的位置信息发送给控制终端，可以将所述用户的图像和/或无人机的位置信息发送给控制终端发送给服务器，这样服务器便可以获取所述用户的图像和/或无人机的位置信息发送给控制终端。这样所述用户的图像和/或无人机的位置信息发送给控制终端便可以根据所述用户的图像和/或无人机的位置信息发送给控制终端对无人机进行追踪，以帮助合法用户找回无人机。
通过实施图2所描述的方法，对无人机执行飞行锁定操作，根据无人机的拍摄装置拍摄的用户的图像获取用户的人脸特征信息。当用户的人脸特征信息与根据目标用户的图像获取的第一目标人脸特征信息匹配时，才解除对无人机的飞行锁定。因此，通过实施图2所描述的方法，有利于提高无人机的安全性。
请参阅图3，图3为本申请实施例公开的另一种无人机的控制方法的流程示意图。其中，步骤304和步骤305为上述步骤204的具体实施方式。如图3所示，该方法可包括步骤301～306。其中：
301、无人机对无人机执行飞行锁定操作。
302、无人机获取无人机的拍摄装置拍摄的用户的图像。
303、无人机根据用户的图像获取用户的人脸特征信息。
其中，步骤301～303可参照步骤201～203的描述，在此不再赘述。
304、无人机获取第一目标人脸特征信息。
其中，该第一目标人脸特征信息是根据目标用户的图像获取的。目标用户可以理解为合法用户。
本申请实施例对于获取第一目标人脸特征信息的方法不做限定，可包括以下两种方式。
方式一：无人机的本地存储装置存储了第一目标人脸特征信息，无人机从该本地存储装置中获取该第一目标人脸特征信息。
可选的，在方式一中，第一目标人脸特征信息对应的目标用户的图像为无人机的拍摄装置在历史时刻拍摄的目标用户的图像。
例如，目标用户在首次使用无人机时，可通过无人机拍摄目标用户的图像。无人机运行第一特征提取算法，从该目标用户的图像中获取第一目标人脸特征信息，并储存在无人机中。
再如，目标用户在首次使用无人机时，可通过无人机拍摄目标用户的图像。无人机运行第一特征提取算法，从该目标用户的图像中获取第一目标人脸特征信息。并且无人机将该目标用户的图像发送至控制终端。控制终端运行第二特征提取算法，从该目标用户的图像中获取第二目标人脸特征信息，该第一特征提取算法与第二特征提取算法相同。无人机或控制终端校验第一目标人脸特征信息和第二目标人脸特征信息是否匹配。若是，则无人机存储第一目标人脸特征信息，控制终端存储第二目标人脸特征信息。控制终端存储第二目标人脸特征信息之后，可在目标用户更换无人机时，也可对用户进行身份验证。
其中，对第一目标人脸特征信息和第二目标人脸特征信息进行匹配计算，可由无人机执行，即无人机接收控制终端发送的第二目标人脸特征信息，无人机对第一目标人脸特征信息和第二目标人脸特征信息进行匹配计算。也可以由控制终端执行，即无人机向控制终端发送第一目标人脸特征信息，该控制终端对第一目标人脸特征信息和第二目标人脸特征信息进行匹配计算，再将匹配计 算的结果发送给无人机。
可以理解，在方式一中，无人机的本地存储装置存储了第一目标人脸特征信息，表示该无人机中存储了目标用户的身份信息。因此，该无人机可直接从本地存储装置中获取该第一目标人脸特征信息。若将该用户的人脸特征信息与该第一目标人脸特征信息进行匹配计算，可确定无人机与之前存储的身份信息是否相同。若相同，可确定该无人机未被非法用户使用，且操作控制终端对应的用户未变。否则，确定该无人机被非法用户使用。
方式二：无人机从当前与无人机通信连接的控制终端中获取目标用户的第一目标人脸特征信息。
可选的，在方式二中，第一人脸特征信息是控制终端根据目标用户的图像获取的，该目标用户的图像包括在历史时刻与该控制终端通信连接的无人机的拍摄装置拍摄的目标用户的图像。
可以理解，在方式二中，当与无人机建立通信连接的控制终端中存储了目标用户的第一目标人脸特征信息时，表示该控制终端中存储了用户的身份信息。该控制终端可将该第一人脸特征信息发送给该无人机，则该无人机可获取该第一目标人脸特征信息。若将该用户的人脸特征信息与该第一目标人脸特征信息进行匹配计算，可确定无人机与控制终端中的身份信息是否相同。若相同，可确定操作控制终端对应的用户未变，而无法确定无人机是否被非法用户使用。否则，确定该控制终端对应的用户已变。其中，所述与无人机建立通信连接的控制终端中存储的目标用户的第一目标人脸特征信息可以是所述控制终端从服务器获取的，例如，通过目标用户登录服务器的账号信息和/或密码信息从服务器获取的。
305、无人机对用户的人脸特征信息与第一目标人脸特征信息进行匹配计算，以确定用户的人脸特征信息与第一目标人脸特征信息是否匹配。
也就是说，由无人机自身计算该用户的人脸特征信息与第一目标人脸特征信息是否相匹配。
306、当用户的人脸特征信息与第一目标人脸特征信息匹配时，无人机解除对无人机的飞行锁定。
在一种可能的示例中，在步骤304描述的方式一的情况下，步骤306的具 体实施方式可以为：当该用户的人脸特征信息与该第一目标人脸特征信息匹配，且与该无人机通信连接的控制终端中存在第二目标人脸特征信息时，解除对该无人机的飞行锁定。其中，该第一目标人脸特征信息与该第二目标人脸特征信息匹配，该第二目标人脸特征信息是根据该目标用户的图像获取的。
在某些实施例中，该第二目标人脸特征信息是与该无人机通信连接的控制终端根据该无人机接收到的目标用户的图像获取的，也可以是该控制终端根据目标用户的身份信息从与该控制终端对应的服务器中获取的。
可以理解，在该可能的示例中，第一目标人脸特征信息和第二目标人脸特征信息都是同一个合法用户的人脸特征信息。如果该用户的人脸特征信息与第一目标人脸特征信息相匹配。但与无人机连接的控制终端中不存在与第一目标人脸特征信息相匹配的第二目标人脸特征信息，那么与无人机连接的控制终端当前可能不是合法用户在使用。因此，当该用户的人脸特征信息与该第一目标人脸特征信息匹配，且与该无人机通信连接的控制终端中存在第二目标人脸特征信息时，才解除对该无人机的飞行锁定，能够保证是合法用户在使用无人机和控制终端，有利于提高无人机和控制终端的安全性。
通过实施图3所描述的方法，对无人机执行飞行锁定操作，根据无人机的拍摄装置拍摄的用户的图像获取用户的人脸特征信息。然后，获取第一目标人脸特征信息，当用户的人脸特征信息与第一目标人脸特征信息匹配时，解除对无人机的飞行锁定。通过这种方式，对无人机进行身份信息验证，可提高无人机的安全性。
请参阅图4，图4为本申请实施例公开的又一种无人机的控制方法的流程示意图。如图4所示，该方法可包括步骤401～408。其中：
401、无人机对无人机执行飞行锁定操作。
402、无人机获取无人机的拍摄装置拍摄的用户的图像。
403、无人机根据用户的图像获取用户的人脸特征信息。
其中，步骤401～403可参照步骤201～203的描述，在此不再赘述。
404、当无人机的本地存储装置中存储有第一目标人脸特征信息时，无人机从本地存储装置中获取第一目标人脸特征信息。
405、无人机对用户的人脸特征信息与第一目标人脸特征信息进行匹配计 算，以确定用户的人脸特征信息与第一目标人脸特征信息是否匹配。
406、当用户的人脸特征信息与第一目标人脸特征信息匹配时，无人机解除对无人机的飞行锁定。
其中，步骤404～406可参照步骤304～306的描述，在此不再赘述。
407、当无人机的本地存储装置中未存储第一目标人脸特征信息时，无人机确定用户的人脸特征信息与无人机通信连接的控制终端中的第二目标人脸特征信息是否匹配。
在本申请实施例中，第一目标人脸特征信息是根据目标用户的图像获取的，该第一目标人脸特征信息与该第二目标人脸特征信息匹配。
在某些实施例中，目标用户的图像包括在历史时刻与所述控制终端通信连接的无人机的拍摄装置拍摄的目标用户的图像，所述第二人脸特征信息是所述控制终端根据所述目标用户的图像获取的。
再如，目标用户在首次使用无人机时，可通过无人机拍摄目标用户的图像。无人机运行第一特征提取算法，从该目标用户的图像中获取第一目标人脸特征信息。并且无人机将该目标用户的图像发送至控制终端。控制终端运行第二特征提取算法，从该目标用户的图像中获取第二目标人脸特征信息，该第一特征提取算法与第二特征提取算法相同。无人机或控制终端校验第一目标人脸特征信息和第二目标人脸特征信息是否匹配。若是，则无人机存储第一目标人脸特征信息，控制终端存储第二目标人脸特征信息。
其中，无人机可通过以下两种方式确定该用户的人脸特征信息与该无人机通信连接的控制终端中的第二目标人脸特征信息是否匹配。
方式一：无人机从与该无人机通信连接的控制终端中获取第二目标人脸特征信息。无人机运行匹配算法，对该用户的人脸特征信息与第二目标人脸特征信息进行匹配计算，以确定该用户的人脸特征信息与第二目标人脸特征信息是否匹配。也就是说，在方式一中，由无人机自身计算该用户的人脸特征信息与第二目标人脸特征信息是否相匹配。
方式二，无人机发送该用户的人脸特征信息至与无人机通信连接的控制终端。由控制终端运行匹配算法，对该用户的人脸特征信息与第二目标人脸特征信息进行匹配计算，以确定该用户的人脸特征信息与第二目标人脸特征信息是 否匹配。控制终端确定匹配结果之后，会向无人机反馈匹配结果。无人机从控制终端接收该匹配结果之后，根据该匹配结果确定该用户的人脸特征信息与第二目标人脸特征信息是否匹配。例如，如果该匹配结果指示该用户的人脸特征信息与第二目标人脸特征信息匹配，则无人机确认该用户的人脸特征信息与第二目标人脸特征信息匹配。如果该匹配结果指示该用户的人脸特征信息与第二目标人脸特征信息不相匹配，则无人机确认该用户的人脸特征信息与第二目标人脸特征信息不相匹配。也就是说，在方式二中，由控制终端计算该用户的人脸特征信息与第二目标人脸特征信息是否相匹配，并反馈匹配结果给无人机。
可以理解，无人机本地未存储第一目标人脸特征信息，表示用户更换了无人机，目前使用的无人机为初次使用的无人机。由于在控制终端中也预先存储的合法用户的人脸特征信息，即第二目标人脸特征信息。因此，在用户的人脸特征信息与第二目标人脸特征信息匹配时，表示当前使用无人机的用户为合法用户。因此，此时可解除对该无人机的飞行锁定。
408、当用户的人脸特征信息与该第二目标人脸特征信息匹配时，无人机解除对无人机的飞行锁定。
可选的，无人机判断该用户的人脸特征信息与该第二目标人脸特征信息匹配时，还可将该第二目标人脸特征信息作为第一目标人脸特征信息，存储于无人机的本地存储装置中。
通过实施图4所描述的方法，控制终端中也会存储合法用户的人脸特征信息，在用户更换无人机时，也可进行安全性认证，保证合法用户使用无人机。
请参阅图5，图5是本申请实施例提供的一种无人机的结构示意图。如图5所示，该无人机包括存储器501、处理器502和拍摄装置503。可选的，存储器501、处理器502和拍摄装置503可通过总线系统504相连。
存储器501，用于存储程序指令。存储器501可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；存储器501也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，固态硬盘(solid-state drive，SSD)等；存储器501还可以包括上述种类的存储器的组合。
处理器502可以包括中央处理器(central processing unit，CPU)。处理器 502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(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)等。上述PLD可以是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)等。其中，处理器502调用存储器501中的程序指令用于执行以下步骤：
对所述无人机执行飞行锁定操作；
获取所述无人机的拍摄装置拍摄的用户的图像；
根据所述用户的图像获取所述用户的人脸特征信息；
确定所述用户的人脸特征信息与第一目标人脸特征信息是否匹配，其中，所述第一目标人脸特征信息是根据目标用户的图像获取的；
当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配时，解除对所述无人机的飞行锁定。
可选的，所述处理器502确定所述用户的人脸特征信息与第一目标人脸特征信息是否匹配的方式具体为：
获取所述第一目标人脸特征信息；
对所述用户的人脸特征信息与所述第一目标人脸特征信息进行匹配计算，以确定所述用户的人脸特征信息与获取的所述第一目标人脸特征信息是否匹配。
可选的，所述无人机的本地存储装置已经存储所述第一目标人脸特征信息，所述处理器502获取所述第一目标人脸特征信息的方式具体为：
从所述本地存储装置中获取所述第一目标人脸特征信息。
可选的，所述目标用户的图像包括所述无人机的拍摄装置在历史时刻拍摄的目标用户的图像。
可选的，所述处理器502当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配时，解除对所述无人机的飞行锁定的方式具体为：
当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配，且与所述无人机通信连接的控制终端中存在第二目标人脸特征信息时，解除对所述无人机的飞行锁定，其中，所述第一目标人脸特征信息与所述第二目标人脸特征信息匹配，所述第二目标人脸特征信息是根据所述目标用户的图像获取的。
可选的，所述第二目标人脸特征信息是所述控制终端根据所述无人机接收到的所述目标用户的图像获取的。
可选的，所述处理器502，调用所述程序指令还用于：
当所述无人机的本地存储装置中未存储所述第一目标人脸特征信息时，确定所述用户的人脸特征信息与所述无人机通信连接的控制终端中的第二目标人脸特征是否匹配，其中，所述第一目标人脸特征信息与所述第二目标人脸特征信息匹配；
当所述用户的人脸特征信息与所述第二目标人脸特征信息匹配时，解除对所述无人机的飞行锁定。
可选的，所述目标用户的图像包括在历史时刻与所述控制终端通信连接的无人机的拍摄装置拍摄的目标用户的图像，所述第二人脸特征信息是所述控制终端根据所述目标用户的图像获取的。
可选的，所述处理器502获取所述第一目标人脸特征信息的方式具体为：
从当前与所述无人机通信连接的控制终端中获取所述目标用户的第一目标人脸特征信息。
可选的，所述目标用户的图像包括在历史时刻与所述控制终端通信连接的无人机的拍摄装置拍摄的目标用户的图像，所述第一人脸特征信息是所述控制终端根据所述目标用户的图像获取的。
可选的，所述处理器502，调用所述程序指令还用于：
在解除对所述无人机的飞行锁定之后，向与所述无人机通信连接的控制终端发送解除飞行锁定的提示信息。
可选的，所述处理器502，调用所述程序指令还用于：
当所述用户的人脸特征信息与所述第一目标人脸特征信息不匹配时，向与所述无人机通信连接的控制终端发送匹配失败的提示信息。
可选的，所述处理器502，调用所述程序指令还用于：
当所述无人机上电时，或者当所述无人机与控制终端建立通信连接时，执行所述对所述无人机执行飞行锁定操作的步骤。
基于同一发明构思，本申请实施例中提供的无人机解决问题的原理与本申请方法实施例相似，因此无人机的实施可以参见方法的实施，无人机的有益效 果可以参见方法的有益效果，为简洁描述，在这里不再赘述。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
本领域技术人员应该可以意识到，在上述一个或多个示例中，本发明所描述的功能可以用硬件、软件、固件或它们的任意组合来实现。
在本发明实施例中还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，实现本发明实施例图2、图3和图4所对应实施例中描述的无人机的控制方法，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的测试设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述车辆控制装置的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述测试设备所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的技术方案的基础之上，所做的任何修改、等同替换、改进等，均应包括在本发明的保护范围之内。

Claims (27)

  1. 一种无人机的控制方法，应用于无人机，所述无人机包括拍摄装置，其特征在于，包括：
    对所述无人机执行飞行锁定操作；
    获取所述无人机的拍摄装置拍摄的用户的图像；
    根据所述用户的图像获取所述用户的人脸特征信息；
    确定所述用户的人脸特征信息与第一目标人脸特征信息是否匹配，其中，所述第一目标人脸特征信息是根据目标用户的图像获取的；
    当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配时，解除对所述无人机的飞行锁定。
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述用户的人脸特征信息与第一目标人脸特征信息是否匹配，包括：
    获取所述第一目标人脸特征信息；
    对所述用户的人脸特征信息与所述第一目标人脸特征信息进行匹配计算，以确定所述用户的人脸特征信息与获取的所述第一目标人脸特征信息是否匹配。
  3. 根据权利要求2所述的方法，其特征在于，所述无人机的本地存储装置已经存储所述第一目标人脸特征信息，
    所述获取所述第一目标人脸特征信息，包括：
    从所述本地存储装置中获取所述第一目标人脸特征信息。
  4. 根据权利要求3所述的方法，其特征在于，所述目标用户的图像包括所述无人机的拍摄装置在历史时刻拍摄的目标用户的图像。
  5. 根据权利要求3或4所述的方法，其特征在于，所述当所述用户的人脸特征信息与第一目标人脸特征信息匹配时，解除对所述无人机的飞行锁定，包括：
    当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配，且与所述无人机通信连接的控制终端中存在第二目标人脸特征信息时，解除对所述无人机的飞行锁定，其中，所述第一目标人脸特征信息与所述第二目标人脸特征信息匹配，所述第二目标人脸特征信息是根据所述目标用户的图像获取的。
  6. 根据权利要求5所述的方法，其特征在于，所述第二目标人脸特征信息是所述控制终端根据所述无人机接收到的所述目标用户的图像获取的。
  7. 根据权利要求3-6任一项所述的方法，其特征在于，所述方法还包括：
    当所述无人机的本地存储装置中未存储所述第一目标人脸特征信息时，确定所述用户的人脸特征信息与所述无人机通信连接的控制终端中的第二目标人脸特征信息是否匹配，其中，所述第一目标人脸特征信息与所述第二目标人脸特征信息匹配；
    当所述用户的人脸特征信息与所述第二目标人脸特征信息匹配时，解除对所述无人机的飞行锁定。
  8. 根据权利要求7所述的方法，其特征在于，所述目标用户的图像包括在历史时刻与所述控制终端通信连接的无人机的拍摄装置拍摄的目标用户的图像，所述第二人脸特征信息是所述控制终端根据所述目标用户的图像获取的。
  9. 根据权利要求2所述的方法，其特征在于，所述获取所述目标用户的第一目标人脸特征信息，包括：
    从当前与所述无人机通信连接的控制终端中获取所述目标用户的第一目标人脸特征信息。
  10. 根据权利要求9所述的方法，其特征在于，所述目标用户的图像包括在历史时刻与所述控制终端通信连接的无人机的拍摄装置拍摄的目标用户的图像，所述第一人脸特征信息是所述控制终端根据所述目标用户的图像获取 的。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述方法还包括：
    在解除对所述无人机的飞行锁定之后，向与所述无人机通信连接的控制终端发送解除飞行锁定的提示信息。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：
    当所述用户的人脸特征信息与第一目标人脸特征信息不匹配时，向与所述无人机通信连接的控制终端发送匹配失败的提示信息。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述方法还包括：
    当所述无人机上电时，或者当所述无人机与控制终端建立通信连接时，执行所述对所述无人机执行飞行锁定操作的步骤。
  14. 一种无人机，其特征在于，所述无人机包括：存储器、处理器、通信装置和拍摄装置，其中：
    所述存储器，用于存储程序指令；
    所述处理器，调用所述程序指令以用于：
    对所述无人机执行飞行锁定操作；
    获取所述无人机的拍摄装置拍摄的用户的图像；
    根据所述用户的图像获取所述用户的人脸特征信息；
    确定所述用户的人脸特征信息与第一目标人脸特征信息是否匹配，其中，所述第一目标人脸特征信息是根据目标用户的图像获取的；
    当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配时，解除对所述无人机的飞行锁定。
  15. 根据权利要求13所述的无人机，其特征在于，所述处理器确定所述用户的人脸特征信息与第一目标人脸特征信息是否匹配的方式具体为：
    获取所述第一目标人脸特征信息；
    对所述用户的人脸特征信息与所述第一目标人脸特征信息进行匹配计算，以确定所述用户的人脸特征信息与获取的所述第一目标人脸特征信息是否匹配。
  16. 根据权利要求15所述的无人机，其特征在于，所述无人机的本地存储装置已经存储所述第一目标人脸特征信息，所述处理器获取所述第一目标人脸特征信息的方式具体为：
    从所述本地存储装置中获取所述第一目标人脸特征信息。
  17. 根据权利要求16所述的无人机，其特征在于，所述目标用户的图像包括所述无人机的拍摄装置在历史时刻拍摄的目标用户的图像。
  18. 根据权利要求16或17所述的无人机，其特征在于，所述处理器当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配时，解除对所述无人机的飞行锁定的方式具体为：
    当所述用户的人脸特征信息与所述第一目标人脸特征信息匹配，且与所述无人机通信连接的控制终端中存在第二目标人脸特征信息时，解除对所述无人机的飞行锁定，其中，所述第一目标人脸特征信息与所述第二目标人脸特征信息匹配，所述第二目标人脸特征信息是根据所述目标用户的图像获取的。
  19. 根据权利要求18所述的无人机，其特征在于，所述第二目标人脸特征信息是所述控制终端根据所述无人机接收到的所述目标用户的图像获取的。
  20. 根据权利要求16-19任一项所述的无人机，其特征在于，所述处理器，调用所述程序指令还用于：
    当所述无人机的本地存储装置中未存储所述第一目标人脸特征信息时，确 定所述用户的人脸特征信息与所述无人机通信连接的控制终端中的第二目标人脸特征是否匹配，其中，所述第一目标人脸特征信息与所述第二目标人脸特征信息匹配；
    当所述用户的人脸特征信息与所述第二目标人脸特征信息匹配时，解除对所述无人机的飞行锁定。
  21. 根据权利要求20所述的无人机，其特征在于，所述目标用户的图像包括在历史时刻与所述控制终端通信连接的无人机的拍摄装置拍摄的目标用户的图像，所述第二人脸特征信息是所述控制终端根据所述目标用户的图像获取的。
  22. 根据权利要求15所述的无人机，其特征在于，所述处理器获取所述第一目标人脸特征信息的方式具体为：
    从当前与所述无人机通信连接的控制终端中获取所述目标用户的第一目标人脸特征信息。
  23. 根据权利要求22所述的无人机，其特征在于，所述目标用户的图像包括在历史时刻与所述控制终端通信连接的无人机的拍摄装置拍摄的目标用户的图像，所述第一人脸特征信息是所述控制终端根据所述目标用户的图像获取的。
  24. 根据权利要求14-23任一项所述的无人机，其特征在于，所述处理器，调用所述程序指令还用于：
    在解除对所述无人机的飞行锁定之后，向与所述无人机通信连接的控制终端发送解除飞行锁定的提示信息。
  25. 根据权利要求14-24任一项所述的无人机，其特征在于，所述处理器，调用所述程序指令还用于：
    当所述用户的人脸特征信息与所述第一目标人脸特征信息不匹配时，向与 所述无人机通信连接的控制终端发送匹配失败的提示信息。
  26. 根据权利要求14-25任一项所述的无人机，其特征在于，所述处理器，调用所述程序指令还用于：
    当所述无人机上电时，或者当所述无人机与控制终端建立通信连接时，执行所述对所述无人机执行飞行锁定操作的步骤。
  27. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现权利要求1-13任一项所述的无人机的控制方法。
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