CN106485200A - The water surface object identifying system of environmental protection unmanned plane and its recognition methods - Google Patents
The water surface object identifying system of environmental protection unmanned plane and its recognition methods Download PDFInfo
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- CN106485200A CN106485200A CN201610812161.XA CN201610812161A CN106485200A CN 106485200 A CN106485200 A CN 106485200A CN 201610812161 A CN201610812161 A CN 201610812161A CN 106485200 A CN106485200 A CN 106485200A
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- G—PHYSICS
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/48—Matching video sequences
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The invention provides a kind of water surface object recognition methods of environmental protection unmanned plane, comprises the following steps：S1, control unmanned plane are in height hiAfter hovering, control video camera shoots video Mi；Control unmanned plane is in height hjAfter hovering, control video camera shoots video Mj；S2, from video MiOne two field picture of middle extraction is simultaneously analyzed to this image, obtains the border O of doubtful object in this imagei；From video MjOne two field picture of middle extraction is simultaneously analyzed to this image, obtains the border O of doubtful object in this imagej；The water surface object recognition methods of this environmental protection unmanned plane adopts area computation method, discriminate whether as doubtful object, using height and the proportionate relationship at visual angle, recognize whether as same barrier, computational methods are simple, can meet the quick on-line operation under low-performance equipment, and the method is not high to image definition requirements, microminiature camera can be used, mitigate unmanned plane load-carrying.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of water surface object identifying system of environmental protection unmanned plane and
Its recognition methods.
Background technology
At present environmental protection surface water water sampling is generally gathered using artificial, and gatherer process is complicated, with certain danger.
Only a few is using unmanned plane or machine assisted acquisition, but simply simple loading legacy equipment, lack special equipment, it is impossible to the company of realization
Continuous property collection.
In order to realize continuity collection, unmanned plane needs to be identified the object on the water surface, so needing to be related to one kind
The device being arranged on unmanned plane, is identified to the object on the water surface, determines that can unmanned plane region be acquired.
Content of the invention
The technical problem to be solved in the present invention is：In order to realize the continuous water sampling of unmanned plane, the invention provides one
Kind of environmental protection unmanned plane with water surface object identifying system and its recognition methods being identified to the object on the water surface, be formulate from
The strategy of dynamic continuous acquisition water sample provides foundation.
The technical solution adopted for the present invention to solve the technical problems is：A kind of water surface object identification of environmental protection unmanned plane
Method, comprises the following steps：
S1, control unmanned plane are in height hiAfter hovering, control video camera shoots video Mi；Control unmanned plane is in height hjControl after hovering
Video camera processed shoots video Mj；
S2, from video MiOne two field picture of middle extraction is simultaneously analyzed to this image, obtains the border O of doubtful object in this imagei；
From video MjOne two field picture of middle extraction is simultaneously analyzed to this image, obtains the border O of doubtful object in this imagej；
S3, computed altitude hiAnd hjSimilarity Sij, then the border O of doubtful objectjWith respect to height hiCounterpart boundary Oj'=
Sij*Oj；
S4, compare border OiWith Oj', if their similarities are more than threshold values Z, then it is assumed that doubtful object is actual object.
Preferably, also including step S5, selecting with reference to border Ox, calculate border OiWith border OxThe distance between Li, meter
Calculate border OjWith border OxThe distance between Lj, unmanned plane shooting video MiWhen moment be designated as Ti, unmanned plane shooting video MjWhen
Moment be designated as Tj, then translational speed V=of actual object（Lj*Sij-Li）/(Tj-Ti).
Preferably, in step sl, unmanned plane in the vertical direction motion when shooting height is adjusted.
Present invention also offers a kind of water surface object identifying system of environmental protection unmanned plane, including：
Height adjusting part, is configured to control unmanned plane respectively in height hiWith height hjHovering；
Coordinate control portion, is configured to control unmanned plane in the vertical direction to adjust shooting height；
Image pickup part, is configured in height height hiShoot video Mi, and in height height hjShoot video Mj；
Image acquiring unit, is configured to from video MiExtract a two field picture Pi, and from video MjExtract a two field picture Pj；
Analysis unit, is configured to from image PiIn parse the border O of doubtful objecti, and from image PjIn parse doubtful thing
The border O of bodyj；
Boundary transition portion, is configured to computed altitude hiAnd hjSimilarity Sij, then the border O of doubtful objectjWith respect to height hi
Counterpart boundary Oj'=Sij*Oj；
Judging part, is configured to compare border OiWith Oj', if their similarities are more than threshold values Z, then it is assumed that doubtful object is real
Border object；
Storage part, is configured to store video data, view data, data boundary, similarity, threshold values and judged result.
Preferably, also including velocity analysis portion, it is configured to select with reference to border Ox, calculate border OiWith border OxIt
Between apart from Li, calculate border OjWith border OxThe distance between Lj, unmanned plane shooting video MiWhen moment be designated as Ti, unmanned plane
Shoot video MjWhen moment be designated as Tj, then translational speed V=of actual object（Lj*Sij-Li）/(Tj-Ti)；
The storage part is additionally configured to store the result of calculation in range data, time data and velocity analysis portion.
The invention has the beneficial effects as follows, the water surface object recognition methods of this environmental protection unmanned plane adopts areal calculation side
Method, discriminates whether as doubtful object, using height and the proportionate relationship at visual angle, recognizes whether as same barrier, computational methods
Simply, the quick on-line operation under low-performance equipment can be met, the method is not high to image definition requirements, it is possible to use
Microminiature camera, mitigates unmanned plane load-carrying.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the flow chart of the optimum embodiment of the water surface object recognition methods of the environmental protection unmanned plane of the present invention.
Fig. 2 is the frame diagram of the optimum embodiment of the water surface object identifying system of the environmental protection unmanned plane of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.Conversely, this
Inventive embodiment includes the spirit for falling into attached claims and all changes in the range of intension, modification and equivalent
Thing.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " axial direction ",
" radially ", the orientation of the instruction such as " circumference " or position relationship be based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than indicate or the hint device of indication or element must with specific orientation, with
Specific azimuth configuration and operation, are therefore not considered as limiting the invention.
Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property.In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " being connected ", " connection " answer
It is interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or is integrally connected；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.For the common of this area
For technical staff, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.Additionally, in description of the invention
In, unless otherwise stated, " multiple " are meant that two or more.
In flow chart or here any process described otherwise above or method description are construed as, expression includes
One or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by the suitable of shown or discussion
Sequence, including according to involved function by basic and meanwhile in the way of or in the opposite order, carry out perform function, this should be by the present invention
Embodiment person of ordinary skill in the field understood.
The entity hardware for realizing the water surface object recognition methods of this environmental protection unmanned plane includes CPU, ROM, RAM, serial
Interface, parallel interface and video camera, ROM video data, view data, data boundary, similarity, threshold values, judged result, distance
Data, time data, the result of calculation in velocity analysis portion, for configuring the computer program of CPU, various settings, initial value etc.,
RAM is used as the storage region for loading the working region of various computer programs or temporary transient storage identification number；
CPU divides for height adjusting part, image pickup part, image acquiring unit, analysis unit, boundary transition portion, judging part, storage part and speed
The disposal subject in analysis portion, each part of control system, while storage is according to from the ROM or outside calculating that reads in RAM
Machine program data.
As shown in figure 1, the invention provides a kind of water surface object recognition methods of environmental protection unmanned plane, including following step
Suddenly：
Unmanned plane is first adjusted to height h by S1, control unmanned plane in the vertical direction adjustment shooting heightiControl after hovering
Video camera shoots video Mi；Then control unmanned plane is in height hjAfter hovering, control video camera shoots video Mj；
S2, from video MiOne two field picture of middle extraction is simultaneously analyzed to this image, obtains the border O of doubtful object in this imagei；
From video MjOne two field picture of middle extraction is simultaneously analyzed to this image, obtains the border O of doubtful object in this imagej；
S3, computed altitude hiAnd hjSimilarity Sij, then the border O of doubtful objectjWith respect to height hiCounterpart boundary Oj'=
Sij*Oj；
S4, compare border OiWith Oj', if their similarities are more than threshold values Z, then it is assumed that doubtful object is actual object；
S5, select with reference to border Ox, calculate border OiWith border OxThe distance between Li, calculate border OjWith border OxBetween away from
From Lj, unmanned plane shooting video MiWhen moment be designated as Ti, unmanned plane shooting video MjWhen moment be designated as Tj, then actual object
Translational speed V=（Lj*Sij-Li）/(Tj-Ti).
As shown in Fig. 2 present invention also offers a kind of water surface object identifying system of environmental protection unmanned plane, including：
Height adjusting part, is configured to control unmanned plane respectively in height hiWith height hjHovering；
Coordinate control portion, is configured to control unmanned plane in the vertical direction to adjust shooting height；
Image pickup part, is configured in height height hiShoot video Mi, and in height height hjShoot video Mj；
Image acquiring unit, is configured to from video MiExtract a two field picture Pi, and from video MjExtract a two field picture Pj；
Analysis unit, is configured to from image PiIn parse the border O of doubtful objecti, and from image PjIn parse doubtful thing
The border O of bodyj；
Boundary transition portion, is configured to computed altitude hiAnd hjSimilarity Sij, then the border O of doubtful objectjWith respect to height hi
Counterpart boundary Oj'=Sij*Oj；
Judging part, is configured to compare border OiWith Oj', if their similarities are more than threshold values Z, then it is assumed that doubtful object is real
Border object；
Storage part, is configured to store video data, view data, data boundary, similarity, threshold values and judged result；
Velocity analysis portion, is configured to select with reference to border Ox, calculate border OiWith border OxThe distance between Li, calculate border
OjWith border OxThe distance between Lj, unmanned plane shooting video MiWhen moment be designated as Ti, unmanned plane shooting video MjWhen moment
It is designated as Tj, then translational speed V=of actual object（Lj*Sij-Li）/(Tj-Ti)；
Storage part is additionally configured to store the result of calculation in range data, time data and velocity analysis portion.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy described with reference to the embodiment or example
Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of the term not
Identical embodiment or example are necessarily referred to.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
With the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various change and modification can be carried out entirely in the range of without departing from this invention technological thought.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determine its technical scope according to right.
Claims (5)
1. a kind of water surface object recognition methods of environmental protection unmanned plane, it is characterised in that comprise the following steps：
S1, control unmanned plane are in height hiAfter hovering, control video camera shoots video Mi；Control unmanned plane is in height hjControl after hovering
Video camera processed shoots video Mj；
S2, from video MiOne two field picture of middle extraction is simultaneously analyzed to this image, obtains the border O of doubtful object in this imagei；
From video MjOne two field picture of middle extraction is simultaneously analyzed to this image, obtains the border O of doubtful object in this imagej；
S3, computed altitude hiAnd hjSimilarity Sij, then the border O of doubtful objectjWith respect to height hiCounterpart boundary Oj'=
Sij*Oj；
S4, compare border OiWith Oj', if their similarities are more than threshold values Z, then it is assumed that doubtful object is actual object.
2. the water surface object recognition methods of environmental protection unmanned plane as claimed in claim 1, it is characterised in that：Also include step
S5, select with reference to border Ox, calculate border OiWith border OxThe distance between Li, calculate border OjWith border OxThe distance between
Lj, unmanned plane shooting video MiWhen moment be designated as Ti, unmanned plane shooting video MjWhen moment be designated as Tj, then the shifting of actual object
Dynamic speed V=（Lj*Sij-Li）/(Tj-Ti).
3. the water surface object recognition methods of environmental protection unmanned plane as claimed in claim 1 or 2, it is characterised in that：In step S1
In, unmanned plane in the vertical direction motion when shooting height is adjusted.
4. a kind of water surface object identifying system of environmental protection unmanned plane, it is characterised in that include：
Height adjusting part, is configured to control unmanned plane respectively in height hiWith height hjHovering；
Coordinate control portion, is configured to control unmanned plane in the vertical direction to adjust shooting height；
Image pickup part, is configured in height height hiShoot video Mi, and in height height hjShoot video Mj；
Image acquiring unit, is configured to from video MiExtract a two field picture Pi, and from video MjExtract a two field picture Pj；
Analysis unit, is configured to from image PiIn parse the border O of doubtful objecti, and from image PjIn parse doubtful thing
The border O of bodyj；
Boundary transition portion, is configured to computed altitude hiAnd hjSimilarity Sij, then the border O of doubtful objectjWith respect to height hi
Counterpart boundary Oj'=Sij*Oj；
Judging part, is configured to compare border OiWith Oj', if their similarities are more than threshold values Z, then it is assumed that doubtful object is real
Border object；
Storage part, is configured to store video data, view data, data boundary, similarity, threshold values and judged result.
5. the water surface object identifying system of environmental protection unmanned plane as claimed in claim 4, it is characterised in that：Also include that speed is divided
Analysis portion, is configured to select with reference to border Ox, calculate border OiWith border OxThe distance between Li, calculate border OjWith border OxIt
Between apart from Lj, unmanned plane shooting video MiWhen moment be designated as Ti, unmanned plane shooting video MjWhen moment be designated as Tj, then actual
Translational speed V=of object（Lj*Sij-Li）/(Tj-Ti)；
The storage part is additionally configured to store the result of calculation in range data, time data and velocity analysis portion.
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Cited By (2)
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| WO2019144287A1 (en) * | 2018-01-23 | 2019-08-01 | SZ DJI Technology Co., Ltd. | Systems and methods for automatic water surface and sky detection |
| CN112767470A (en) * | 2020-12-29 | 2021-05-07 | 黑龙江惠达科技发展有限公司 | Agricultural machinery parallel operation area calculation method based on image recognition |
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Cited By (3)
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