CN106828952B - A kind of method and device of assisting in flying device safe flight - Google Patents
A kind of method and device of assisting in flying device safe flight Download PDFInfo
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Classifications
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- 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
- B64D47/00—Equipment not otherwise provided for
-
- 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
-
- 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
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
Abstract
The present invention provides a kind of methods of auxiliary security flight, it applies in aircraft takeoff, when flight and landing, this method mainly utilizes optical sensor to detect brightness value, selection enters ultra-low illumination mode or infrared mode according to testing result, when entering corresponding mode, image is acquired respectively according to different focal lengths, the identical image of focusing carries out image mosaic respectively, spliced image is subjected to image co-registration, and show fused image, the both of which involved in this programme, that is ultra-low illumination mode and infrared mode, mutually switched by both modes, acquire image, it can effectively solve the problem that in rain, snow, mist, under the severe weather conditions such as haze, the unsafe problem of sight difference flight.It is merged in conjunction with identical focal length image mosaic, then by spliced image, obtains big field angle, clearly image, with this assisting in flying, improve the safety of flight.
Description
Technical field
The present invention relates to vehicle technology field more particularly to a kind of method and device of assisting in flying device safe flight,
International classification belongs to B64C or B64F classification.
Background technique
With the appearance that the aircraft such as aircraft are equipped, huge variation is had occurred in the mode of communications and transportation.Air transportation
A large amount of passenger is attract with easily and efficiently advantage.Distance between the world " shortens " therewith, and starting at dawn and arrive at dusk, it is out of question to have become
The fact, however aviation safety is always a great problem that annoying people and select trip.Air transportation development initial stage, due to
Science and technology more falls behind, and the aircraft accident caused by the mechanical breakdown of aircraft itself is high, occupies main cause.
In recent decades, with the continuous development of science and technology, a large amount of uses of new material, aircraft have been high and new technologies
Masterpiece, itself safety coefficient is continuously improved, as natural cause and human factor caused by aviation accident ratio it is big
It is big to increase.Number shows that nearly seventy percent accident is caused by natural cause and artificial origin according to statistics, becomes and restricts aviation safety most
Big obstacle.
Flight, especially landing during, aircraft pilot it should be understood that front and lower section ambient conditions, with safety
Ground flight, landing.However, in the prior art, there is no such equipment on aircraft, so that aircraft pilot observation flight
The scene in device front and lower section.Even if some aircraft have the photographic device in observation front and lower section scene, but due to using
The limitation of condition can not better use, while lack relevant theoretical method more to instruct, so that aircraft security performance
It cannot effectively improve.
Summary of the invention
Based on the above issues, the purpose of the present invention is overcoming above-mentioned the deficiencies in the prior art, providing, there is auxiliary to drive system
The aircraft of system, the landing method of aircraft and the flying method and device that avoid barrier crash make aircraft pilot can be with
More convenient scene environment being clearly viewed in front of aircraft with lower section in time.The present invention is by ultra low illumination camera, infrared
The technologies such as thermal imaging, image processing techniques and elaborate servo control combine in the system of coming together in, and can assist flying well
Office staff completes the demands such as aircraft takeoff, flight, landing in the case where night is dark and the bad weather circumstances such as rain, snow, mist, haze.
It, in specific implementation, can be by being summarized in terms of following four on the basis of inventive concept design
Illustrate and show, it should be noted that this four aspect is mutually indepedent and connects each other, and structures and methods main idea neither constitutes phase
Mutual contradiction, those skilled in the art are after comprehensive read it will be appreciated where spirit of the invention.
(1) aircraft flight DAS (Driver Assistant System)
A kind of aircraft flight DAS (Driver Assistant System), including video acquisition unit and manipulation unit, the manipulation unit packet
Industrial personal computer and display unit are included, wherein the industrial personal computer includes image capture module and image processing module, the video acquisition
Unit includes forward sight unit and overlooks unit two parts, and forward sight unit and vertical view unit absorb aircraft front and aircraft respectively
The image of lower section, and the image of intake is sent into image capture module respectively, the image data hair that image capture module will acquire
Display unit is sent after sending image processing module to be handled to be shown.
It is preferred that the forward sight unit includes imaging lens, visible light lens, it is respectively used to absorb described fly
Graphic images, visible images in front of row device；Overlooking unit includes imaging lens, visible light lens, is respectively used to take the photograph
Take graphic images, the visible images below the aircraft.
It is preferred that the forward sight unit include the first forward sight imaging lens and the second forward sight imaging lens,
And first forward sight ultra-low illumination camera lens and the second forward sight ultra-low illumination camera lens, it is respectively used to absorb the heat in front of the aircraft
Image and visible images, the vertical view unit include first overlook imaging lens and second overlook imaging lens,
And first overlook ultra-low illumination camera lens and second overlook ultra-low illumination camera lens, be respectively used to absorb the heat below the aircraft
Image and visible images.
It is preferred that the forward sight unit and the vertical view unit are by independent or groups of imaging lens, and list
The quantity of only or groups of visible light lens composition, the imaging lens or visible light lens is 1,2 or 4.
It is preferred that two imaging lens of the forward sight unit are same focal length lens, the forward sight unit
Two ultra-low illumination camera lenses are same focal length lens, and two imaging lens for overlooking unit are same focal length lens, described to bow
Two ultra-low illumination camera lenses of unit are regarded as same focal length lens；
Described image processing module includes image mosaic submodule, for two imaging lens to the forward sight unit
The image absorbed is spliced, and the image absorbed to two ultra-low illumination camera lenses of the forward sight unit splices, right
The image that two imaging lens for overlooking unit are absorbed is spliced, to two ultra-low illumination camera lenses for overlooking unit
The image absorbed is spliced.
It is preferred that two imaging lens of the forward sight unit are different focal length camera lens, the forward sight unit
Two ultra-low illumination camera lenses be different focal length camera lens, it is described overlook unit two imaging lens be different focal length camera lens,
Two ultra-low illumination camera lenses for overlooking unit are different focal length camera lens；
Described image processing module includes image co-registration submodule, for two imaging lens to the forward sight unit
The image absorbed is merged, and the image absorbed to two ultra-low illumination camera lenses of the forward sight unit merges, right
The image that two imaging lens for overlooking unit are absorbed is merged, to two ultra-low illuminations for overlooking unit
The image that camera lens is absorbed is merged.
It is preferred that the forward sight unit include two 25mm imaging lens, two 12.3mm imaging lens,
Two 25mm ultra-low illumination camera lenses, two 8mm ultra-low illumination camera lenses, the vertical view unit include two 25mm imaging lens,
Two 12.3mm imaging lens, two 25mm ultra-low illumination camera lenses, two 8mm ultra-low illumination camera lenses, the imaging lens
For absorbing graphic images, the ultra-low illumination camera lens is for absorbing visible images；Described image processing module includes figure
As splicing submodule, image co-registration submodule, described image splices submodule and is used for two 25mm heat to forward sight unit
The image that imaging lens are absorbed is spliced, the image absorbed to two 12.3mm imaging lens of the forward sight unit
Spliced, the image absorbed to two 25mm ultra-low illumination camera lenses of the forward sight unit splices, to the forward sight
The image that two 8mm ultra-low illumination camera lenses of unit are absorbed is spliced, to two 25mm thermal imagings for overlooking unit
The image that camera lens is absorbed is spliced, and the image absorbed to two 12.3mm imaging lens for overlooking unit carries out
Splicing, the image absorbed to two 25mm ultra-low illumination camera lenses for overlooking unit splices, to the vertical view unit
The image that is absorbed of two 8mm ultra-low illumination camera lenses spliced；Described image merges submodule and is used for the forward sight list
Two 12.3mm heat of image and the forward sight unit after the image mosaic absorbed of two 25mm imaging lens of member at
Image after the image mosaic absorbed as camera lens is merged, to two 25mm ultra-low illumination camera lens institutes of the forward sight unit
After the image mosaic that two 8mm ultra-low illumination camera lenses of image and the forward sight unit after the image mosaic of intake are absorbed
Image is merged, to after the image mosaic absorbed of two 25mm imaging lens for overlooking unit image with it is described
Image after the image mosaic that two 12.3mm imaging lens of vertical view unit are absorbed is merged, to the vertical view unit
The image mosaic absorbed of two 25mm ultra-low illumination camera lenses after image and two 8mm ultra-low illuminations for overlooking unit
Image after the image mosaic that camera lens is absorbed is merged.
It is preferred that the video acquisition unit further includes gyroscope, servo platform, for making the bat of forward sight unit
It takes the photograph direction holding level and overlooks the shooting direction holding of unit vertically.
It is preferred that the industrial personal computer further includes memory module, for image processing module treated video
Image carries out real-time storage.
It is preferred that the industrial personal computer further includes playback module, it is aobvious for carrying out playback to the video image of storage
Show and video selection module, for selecting graphic images or visible images to be output to display unit.
(2) device of the auxiliary security flying method in aircraft takeoff, flight and landing and application this method
The auxiliary security flying method the following steps are included:
Brightness value is detected, ultra-low illumination mode is entered according to obtained testing result judgement or enters infrared mode；
When entering the ultra-low illumination mode, several width of the first focal length ultra-low illumination image and the second focal length are acquired respectively
Several width of ultra-low illumination image, the identical ultra-low illumination image of focusing carries out image mosaic respectively, obtains the super of the first focal length
The ultra-low illumination stitching image of low-light (level) stitching image and the second focal length；Then by the ultra-low illumination stitching image of the first focal length and
The ultra-low illumination stitching image of second focal length carries out image co-registration, fused ultra-low illumination image is obtained, after the fusion
Ultra-low illumination image be sent to aircraft driver, show fused ultra-low illumination image, return terminates；
When entering the infrared mode, several width of third focal length infrared image and the 4th focal length infrared image are acquired respectively
Several width, the identical infrared image of focusing carries out image mosaic respectively, obtains trifocal infrared mosaic image and the 4th
The infrared mosaic image of focal length；Then the infrared mosaic image of trifocal infrared mosaic image and the 4th focal length is subjected to figure
As fusion, fused infrared image is obtained, the fused infrared image is sent to aircraft driver, display is melted
Infrared image after conjunction, return terminate.
It is preferred that described acquire the first focal length ultra-low illumination image and the second focal length ultra-low illumination image respectively,
It include: the first focal length ultra-low illumination image before acquiring respectively in apparent direction, the second focal length ultra-low illumination figure in preceding apparent direction
Picture acquires the first focal length ultra-low illumination image in overlook direction, the second focal length ultra-low illumination image in overlook direction；
The identical ultra-low illumination image of the focusing respectively carries out image mosaic, and the ultra-low illumination for obtaining the first focal length is spelled
The ultra-low illumination stitching image of map interlinking picture and the second focal length, comprising: to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs away from identical ultra-low illumination figure
As carrying out image mosaic, second on the ultra-low illumination stitching image and preceding apparent direction of the first focal length before obtaining in apparent direction is burnt
Away from ultra-low illumination stitching image；And image mosaic is carried out to the identical ultra-low illumination image of focal length in the overlook direction,
The ultra-low illumination for obtaining the second focal length on the ultra-low illumination stitching image and overlook direction of the first focal length in overlook direction is spelled
Map interlinking picture；
The ultra-low illumination stitching image by the ultra-low illumination stitching image of first focal length and second focal length
Image co-registration is carried out, obtains fused ultra-low illumination image, comprising: by the ultralow photograph of the first focal length in the preceding apparent direction
The ultra-low illumination stitching image for spending stitching image and the second focal length in the preceding apparent direction carries out image co-registration, obtains forward sight side
Upward fused ultra-low illumination image；By the ultra-low illumination stitching image of the first focal length in the overlook direction and described bow
The ultra-low illumination stitching image of the second focal length in apparent direction carries out image co-registration, obtains fused ultralow photograph in overlook direction
Spend image.
It is preferred that the acquisition third focal length infrared image and the 4th focal length infrared image, comprising: acquire respectively
The 4th focal length infrared image on third focal length infrared image, preceding apparent direction in preceding apparent direction acquires the in overlook direction
The 4th focal length infrared image on three focal length infrared images, overlook direction；
The identical infrared image of focusing respectively carries out image mosaic, obtain trifocal infrared mosaic image and
The infrared mosaic image of 4th focal length, comprising: image mosaic is carried out away from identical infrared image to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs, is obtained
The infrared mosaic image of the 4th focal length on trifocal infrared mosaic image and preceding apparent direction on to preceding apparent direction；To institute
It states the identical infrared image of focal length in overlook direction and carries out image mosaic, obtain the trifocal infrared mosaic in overlook direction
The infrared mosaic image of image and the 4th focal length of overlook direction；
It is described that the infrared mosaic image of the trifocal infrared mosaic image and the 4th focal length is subjected to image
Fusion, obtains fused infrared image, comprising: by trifocal infrared mosaic image in the preceding apparent direction and described
The infrared mosaic image of the 4th focal length in preceding apparent direction carries out image co-registration, fused infrared figure in apparent direction before obtaining
Picture；And by the red of the 4th focal length on the trifocal infrared mosaic image and the overlook direction in the overlook direction
Outer stitching image carries out image co-registration, obtains fused infrared image in overlook direction.
It is preferred that the detection brightness value, according to obtained testing result selection enter ultra-low illumination mode or
Infrared mode, comprising: the current brightness value of the detection enters if obtained testing result meets the first preset condition
Ultra-low illumination mode；Otherwise enter infrared mode.
It is preferred that the method also includes: whether detection forward sight shooting direction is in horizontal, does not locate when detecting
When level, adjustment orientation to level.
In addition, the part further includes disclosing a kind of device of auxiliary security flight, which is characterized in that described device installation
On board the aircraft, image is acquired in the aircraft takeoff, flight and landing, comprising:
Mode selection module, for detecting brightness value, according to obtain testing result selection enter ultra-low illumination mode or
Infrared mode；
Ultra-low illumination image capture module, for it is super to acquire the first focal length respectively when entering the ultra-low illumination mode
Several width of low-light (level) image and second several width of focal length ultra-low illumination image；
Ultra-low illumination image mosaic module carries out image mosaic for distinguishing the identical ultra-low illumination image of focusing, obtains
To the ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length；
Ultra-low illumination image co-registration module, for by the ultra-low illumination stitching image of first focal length and described second burnt
Away from ultra-low illumination stitching image carry out image co-registration, obtain fused ultra-low illumination image, will be described fused ultralow
Illumination image is sent to aircraft driver, shows the fused ultra-low illumination image；
Infrared image acquisition module is used for when entering the infrared mode, if acquiring third focal length infrared image respectively
Dry width and the 4th several width of focal length infrared image；
Infrared image splicing module carries out image mosaic for distinguishing the identical infrared image of focusing, obtains third coke
Away from infrared mosaic image and the 4th focal length infrared mosaic image；
Infrared image Fusion Module, for by the infrared of the trifocal infrared mosaic image and the 4th focal length
Stitching image carries out image co-registration, obtains fused infrared image, the fused infrared image is sent to aircraft
Driver shows the fused infrared image.
(3) device of methods and applications this method of aircraft landing safety is improved based on detection obstacle
A method of landing safety being improved based on detection obstacle, which comprises the following steps: capture apparatus
Itself orientation is adjusted, keeps forward sight shooting direction horizontal；
Current illumination value is detected, whether the testing result judged meets ultra-low illumination treatment conditions；
When the testing result meets ultra-low illumination treatment conditions, then current location is acquired by ultra-low illumination camera
Forward sight image and overhead view image, ultra-low illumination forward sight image and ultra-low illumination overhead view image are obtained after splicing and fusion；
Respectively to fused ultra-low illumination forward sight image and ultra-low illumination overhead view image progress obstacle detection is spliced, work as inspection
It measures in ultra-low illumination forward sight image and/or ultra-low illumination overhead view image there are when obstacle, generates and sends warning information, return
Terminate；
When the testing result does not meet the ultra-low illumination treatment conditions, then acquired by infrared thermal imaging camera
The forward sight image and overhead view image of current location obtain infrared grade forward sight image and infrared grade top view after splicing and fusion
Picture；
Obstacle detection is carried out to splicing and fused infrared grade forward sight image and infrared grade overhead view image respectively, works as detection
Into infrared grade forward sight image and/or infrared grade overhead view image there are when obstacle, warning information is generated and sent, return terminates.
Keep forward sight shooting direction horizontal it is preferred that the capture apparatus adjusts itself orientation, comprising:
Whether the equipment real-time detection forward sight shooting direction is in horizontal, when being not in level, adjusts self-position,
Keep forward sight shooting direction horizontal.
It is preferred that the forward sight image and overhead view image that current location is acquired by ultra-low illumination camera,
Include:
Several width forward sight images and several width overhead view images are acquired by ultra-low illumination camera；
The identical forward sight image of focal length is divided into one group, the identical forward sight image of every group of focal length is spliced into a width figure
Picture obtains the corresponding first splicing forward sight image of the focal length；
Image co-registration is carried out to the first splicing forward sight image of different focal length, piece image is finally fused into, as ultralow
Illumination forward sight image；
The identical overhead view image of focal length is divided into one group, the identical overhead view image of every group of focal length is spliced into a width figure
Picture obtains the corresponding first splicing overhead view image of the focal length；
Image co-registration is carried out to the first splicing overhead view image of different focal length, piece image is finally fused into, as ultralow
Illumination overhead view image.
It is preferred that the forward sight image and top view for acquiring current location by infrared thermal imaging camera
Picture, comprising:
Several width forward sight images and several width overhead view images are acquired by infrared thermal imaging camera；
The identical forward sight image of focal length is divided into one group, the identical forward sight image of every group of focal length is spliced into a width figure
Picture obtains the corresponding second splicing forward sight image of the focal length；
Image co-registration is carried out to the second splicing forward sight image of different focal length, piece image is finally fused into, as infrared
Grade forward sight image；
The identical overhead view image of focal length is divided into one group, the identical overhead view image of every group of focal length is spliced into a width figure
Picture obtains the corresponding second splicing overhead view image of the focal length；
Image co-registration is carried out to the second splicing overhead view image of different focal length, piece image is finally fused into, as infrared
Grade overhead view image.
It is preferred that the forward sight image specifically includes: covering the first predetermined angle range in preceding apparent direction
Image；The overhead view image specifically includes: the image of the second predetermined angle range is covered in overlook direction.
It is preferred that described respectively carry out the ultra-low illumination forward sight image and the ultra-low illumination overhead view image
Obstacle detection specifically includes:
Judge in the ultra-low illumination forward sight image and/or the ultra-low illumination overhead view image with the presence or absence of characteristics of image
Point is to extract described image characteristic point, according to described image feature point-rendering obstacle image, and before corresponding ultra-low illumination
The obstacle image is marked in visible image and/or ultra-low illumination overhead view image, determines that there are obstacles with this；Otherwise determination is not present
Obstacle.
It is preferred that described ought detect the ultra-low illumination forward sight image and/or the ultra-low illumination top view
There are when obstacle, generate and send warning information to include: as in
By the location information of obstacle described in satellite positioning, according to the location information of the obstacle, and it is marked with described
The ultra-low illumination forward sight image and/or ultra-low illumination overhead view image of obstacle image generate warning information, send the alarm
Information.
It is preferred that it is described when the testing result meets ultra-low illumination treatment conditions, then pass through ultra-low illumination
Camera acquires the ultra-low illumination forward sight image and ultra-low illumination overhead view image of current location, specifically includes:
When the testing result meets ultra-low illumination treatment conditions, state of flight is detected,
If acquiring current location by ultra-low illumination camera in takeoff condition or landing state or state of flight
Ultra-low illumination forward sight image and ultra-low illumination overhead view image.
It is preferred that it is described when the testing result does not meet the ultra-low illumination treatment conditions, then by red
The infrared grade forward sight image and infrared grade overhead view image of outer thermal imaging camera acquisition current location, specifically include:
When the testing result does not meet the ultra-low illumination treatment conditions, state of flight is detected,
If acquiring current location by infrared grade camera in takeoff condition or landing state or state of flight
Infrared grade forward sight image and infrared grade overhead view image.
A kind of equipment that landing safety is improved based on detection obstacle characterized by comprising
Orientation adjustment module keeps forward sight shooting direction horizontal for adjusting itself orientation；
Luminance detection module, for detecting current illumination value, whether the testing result judged meets at ultra-low illumination
Manage bar part；
Starlight acquisition module, for when the testing result meets ultra-low illumination treatment conditions, then passing through ultra-low illumination
The ultra-low illumination forward sight image and ultra-low illumination overhead view image of camera acquisition current location simultaneously carry out splicing and fusion treatment；
Starlight obstacle detection module, for respectively to by splicing fused ultra-low illumination forward sight image and ultra-low illumination
Overhead view image carries out obstacle detection, exists when detecting in the ultra-low illumination forward sight image and/or ultra-low illumination overhead view image
When obstacle, warning information is generated and sent；
Infrared collecting module, for when the testing result does not meet the ultra-low illumination treatment conditions, then passing through red
The infrared grade forward sight image and infrared grade overhead view image of outer thermal imaging camera acquisition current location simultaneously carry out at splicing and fusion
Reason；
Infrared obstacle detection module, for respectively to the fused infrared grade forward sight image of splicing and the infrared grade
Overhead view image carries out obstacle detection, when detecting that there are obstacles in the infrared grade forward sight image and/or infrared grade overhead view image
When, generate and send warning information.
(4) aircraft based on the synchronous methods and applications this method for avoiding aircraft from knocking down of data
A method of hindered based on synchronous the avoiding collision of data characterized by comprising
Aircraft obtains current location information, and tissue obtains environmental information request according to the positional information, and by institute
It states acquisition environmental information request and is sent to data center；
When receiving the environmental information response that the data center returns, obstacle is obtained from environmental information response
Information obtains flight parameter from environmental information response, flies and join as history as history complaint message
Number；
Ambient image is acquired according to the state of flight of itself, current complaint message is obtained from the ambient image, according to
The current complaint message, the history complaint message and the history flight parameter, label should in the ambient image
Obstacle shows the ambient image of marked obstacle；
When avoiding the obstacle, the flight parameter avoided in the obstructive process is obtained, is joined as current flight
Number, is sent to data center for the current location information, the current flight parameter and the current complaint message.
It is preferred that the aircraft obtains current location information, comprising:
The aircraft obtains longitude, latitude and height above sea level using global position system, by the longitude, the latitude
Degree and the height above sea level are as current location information.
It is preferred that complaint message is obtained from environmental information response, as history complaint message, packet
It includes:
The location information, dimension information, mobile attribute information that obstacle is obtained from environmental information response, by the barrier
Location information, dimension information and the mobile attribute information hindered is as history complaint message.
It is preferred that described acquire ambient image according to the state of flight of itself, specifically include:
The state of flight for obtaining itself then acquires forward sight image if it is takeoff condition or landing state or state of flight
And overhead view image, using acquired image as ambient image.
It is preferred that described obtain current complaint message from the ambient image, specifically include:
For collected ambient image in the same direction, the ambient image of identical focal length is subjected to image mosaic, is spelled
It is connected into piece image, the spliced image of different focal length in this direction is subjected to image co-registration, obtains fused image, from
Characteristic point is extracted on the fused image, when extracting characteristic point, according to the feature point-rendering obstacle, and marks institute
Obstacle is stated, the location information of the obstacle is obtained by global position system, according to the location information and label of the obstacle
The image of the obstacle calculates dimension information, the mobile attribute information of the obstacle, by the location information of the obstacle, size
Information, mobile attribute information are as current complaint message.
It is preferred that described fly according to the current complaint message, the history complaint message and the history
Row parameter marks obstacle in the ambient image, comprising:
Judge whether the current complaint message and the history complaint message are identical, is then in the ambient image subscript
Remember obstacle, and prompts the history flight parameter；Otherwise it is marked in the ambient image according to the current complaint message
Obstacle.
It is preferred that the method also includes: the motion track of the obstacle is drawn on the image of label obstacle；
The motion track for drawing the obstacle, comprising:
The primary obstacle is positioned every preset time to obtain locating for the obstacle when positioning the obstacle every time
Height above sea level, pitch angle, azimuth, and obtain the displacement for positioning the obstacle when obstacle twice in succession；
According to the displacement of height above sea level locating for the obstacle, pitch angle, azimuth and the obstacle, calculates the obstacle and move
The direction of motion and movement velocity of dynamic trace information and the obstacle；
According to the direction of motion and movement velocity of the obstacle mobile trace information and the obstacle, the obstacle is simulated
The track that will be moved in three dimensions；
The track drawing the mobile trace information of the obstacle and will moving in three dimensions.
It is preferred that the acquisition ambient image, comprising:
Current illumination value is detected, selects corresponding image pickup mode to acquire ambient image according to obtained testing result,
When the testing result meets ultra-low illumination treatment conditions, then environment map is acquired by ultra-low illumination camera
Picture；
When the testing result does not meet the ultra-low illumination treatment conditions, then acquired by infrared thermal imaging camera
Ambient image.
It is preferred that the method also includes:
The data center receives the current location information, the current flight parameter and the current obstacle letter
When breath, flight parameter corresponding with the current location information and complaint message are obtained, is replaced with the current flight parameter
Flight parameter originally replaces original complaint message with the current complaint message.
A kind of aircraft for avoiding collision obstacle synchronous based on data characterized by comprising
Information request module, for obtaining current location information, tissue obtains environmental information according to the positional information
Request, and acquisition environmental information request is sent to data center；
Information receiving module, for when receiving the environmental information response that the data center returns, from the environment
Complaint message is obtained in information response, as history complaint message, obtains flight parameter from environmental information response,
As history flight parameter；
Obstacle detection module is obtained from the ambient image for acquiring ambient image according to the state of flight of itself
Current complaint message, according to the current complaint message, the history complaint message and the history flight parameter, described
The obstacle is marked in ambient image, shows the ambient image of marked obstacle；
Data simultaneous module will for obtaining the flight parameter avoided in the obstructive process when avoiding the obstacle
It sends out the current location information, the current flight parameter and the current complaint message as current flight parameter
It send to data center.
The beneficial effects of the present invention are: aircraft flight DAS (Driver Assistant System) of the invention is single using forward sight unit, vertical view
Member, can absorb in front of aircraft, the video image of lower section sends display unit and is shown to pilot, will appreciate that pilot
The ambient conditions in aircraft front, lower section, improves the safety of flight, landing.
Detailed description of the invention
It will now be described such as preferred but non-limiting embodiment of the invention, these and other features of the invention, side
Face and advantage will become obvious when reference attached drawing reads detailed further below, in which:
Fig. 1 is the structural schematic diagram of DAS (Driver Assistant System) in the content of present invention (one)；
Fig. 2 is another structural schematic diagram of DAS (Driver Assistant System) in the content of present invention (one)；
Fig. 3 is another structural schematic diagram of DAS (Driver Assistant System) in the content of present invention (one)；
Fig. 4 is another structural schematic diagram of DAS (Driver Assistant System) in the content of present invention (one)；
Fig. 5 is the method flow diagram that auxiliary security flies in the content of present invention (two)；
Fig. 6 is the device block diagram that auxiliary security flies in the content of present invention (two)；
Fig. 7 is the method flow diagram for improving landing safety in the content of present invention (three) based on detection obstacle；
Fig. 8 is the equipment block diagram for improving landing safety in the content of present invention (three) based on detection obstacle；
Fig. 9 is in the content of present invention (four) based on the method flow diagram for avoiding collision obstacle that data are synchronous；
Figure 10 is in the content of present invention (four) based on the aircraft device block diagram for avoiding collision obstacle that data are synchronous；
Figure 11 is the structural schematic diagram of obstacle detection module in the content of present invention (four)；
Figure 12 is image acquisition units schematic view of the mounting position in the content of present invention (one)；
Figure 13 is image acquisition units camera arrangement schematic diagram in the content of present invention (one)；
Figure 14 is image acquisition units camera arrangement schematic diagram in the content of present invention (one).
Specific embodiment
The following description is substantially only exemplary and is not intended to the limitation disclosure, application or purposes.It should
Understand, in all the attached drawings, corresponding appended drawing reference indicates identical or corresponding component and feature.
The present invention will be by illustrating substantive content of the invention in terms of following four comprehensively, it should be noted that this four
Aspect connects each other again independently of each other, and structures and methods main idea neither constitutes conflicting, and those skilled in the art are comprehensive
After reading it will be appreciated where spirit of the invention.
One, flight DAS (Driver Assistant System)
According to an aspect of the present invention, a kind of flight DAS (Driver Assistant System) applied to aircraft is disclosed, specifically such as
Under:
Referring to Fig.1 and Figure 12, in one embodiment of the invention, flight DAS (Driver Assistant System) of the invention includes video
Acquisition unit 100 and manipulation unit 200, manipulation unit 200 include industrial personal computer 210 and display unit 240, wherein industrial personal computer 210
Including image capture module 212 and image processing module 211, video acquisition unit 100 is installed to aircraft bottom part down, packet
Include forward sight unit 110 and overlook 140 two parts of unit, forward sight unit 110 and overlook unit 140 absorb respectively in front of aircraft with
Image below aircraft, and the image of intake is sent into image capture module 212 respectively, image capture module 212 will acquire
Image data send image processing module 211 handled after send display unit 240 shown.Before this system has
Depending on, overlook two big image acquisition units, aircraft pilot by display screen (display unit transmission) can clearly observe it is winged
The ambient conditions in row device front, lower section, it is ensured that the safety of flight.Forward sight unit 110 and vertical view unit 140 can be by individually or in groups
Imaging lens and independent or groups of visible light lens composition, the quantity of imaging lens or visible light lens can be 1
It is a, 2 or 4 or more pairs of quantity.
Further, as shown in Fig. 2, forward sight unit 110 includes forward sight imaging lens 111 and forward sight visible light lens
125, the graphic images and visible images being respectively used in front of intake aircraft；Overlooking unit 140 includes overlooking thermal imaging
Camera lens 141 and vertical view visible light lens 155, the graphic images and visible images being respectively used to below intake aircraft.Such as
This realizes thermal imaging camera and is used in combination with visible light camera, realizes thermal imaging camera and visible light camera
Have complementary advantages, video image is acquired using visible light camera on daytime, in the severe weather conditions such as night and rain, snow, mist, haze
It is lower to use thermal imaging camera, can clearly watch in front of aircraft, lower section the case where, to make equipment can not be by environmental factor
It influences, achievees the effect that acquire video image round the clock；In order to preferably keep shooting angle, video camera is made to shoot flight always
The horizontal front of device, video image vertically below, grasped at any time convenient for aircraft pilot in front of aircraft, lower section the case where,
Safely flight and landing, video acquisition unit 100 further include gyroscope 170 and servo platform 180, and the two is used cooperatively, and is made
The shooting direction of forward sight unit 110 keeps shooting direction that is horizontal and overlooking unit 140 to keep vertical.
Further, as shown in figure 3, forward sight unit 110 include the first forward sight imaging lens 112 and the second forward sight heat at
As camera lens 113 and the first forward sight ultra-low illumination camera lens 126 and the second forward sight ultra-low illumination camera lens 127, it is respectively used to intake and flies
Graphic images and visible images in front of row device.
Equally, overlook unit 140 include first overlook imaging lens 142 and second overlook imaging lens 143 and
First overlook ultra-low illumination camera lens 156 and second overlook ultra-low illumination camera lens 157, be respectively used to intake aircraft below heat at
As image and visible images.Using ultra low illumination camera, can make video camera light than it is darker in the case where still be able to
Clearly image is absorbed, the scope of application of this system is expanded.
Wherein, two imaging lens 112 and 113 of forward sight unit 110 can be same focal length lens, forward sight unit 110
Two ultra-low illumination camera lenses 126 and 127 can be same focal length lens, overlook unit 140 two 142 Hes of imaging lens
143 can be same focal length lens, and two ultra-low illumination camera lenses 156 and 157 for overlooking unit 140 can be same focal length lens.
It should be noted that the bigger field angle of focal length is smaller, the distance of shooting is remoter, and the smaller field angle of focal length is bigger, claps
The distance taken the photograph is closer, and the purpose for acquiring the image under different focal length is, by different focal length image co-registration, reaches the big visual angle of image
And remote purpose, with this rich image content, image is apparent.
Based on this, image processing module 211 includes image mosaic submodule 213, for two heat to forward sight unit 110
The image that imaging lens 112 and 113 (the first forward sight imaging lens 112 and the second forward sight imaging lens 113) are absorbed into
Row splicing, to two ultra-low illumination camera lenses 126 and 127 (the first vertical view ultra-low illumination camera lens 126 and second of forward sight unit 110
Overlook ultra-low illumination camera lens 127) image that is absorbed spliced, to two 142 Hes of imaging lens for overlooking unit 140
The image that 143 (the first vertical view imaging lens 142 and the second vertical view imaging lens 143) are absorbed is spliced, to vertical view
(first overlooks ultra-low illumination camera lens 156 and second overlooks ultra-low illumination mirror to two ultra-low illumination camera lenses 156 and 157 of unit 140
The first image 157) absorbed is spliced.
Two imaging lens 112 and 113 or different focal length camera lens of forward sight unit 110, forward sight unit 110
Two ultra-low illumination camera lenses 126 and 127 or different focal length camera lens overlook two 142 Hes of imaging lens of unit 140
143 may be different focal length camera lens, overlook the two ultra-low illumination camera lenses 156 and 157 or different focal length of unit 140
Camera lens.
Image processing module 211 further includes image co-registration submodule 214, for two thermal imagings to forward sight unit 110
The image that camera lens 112 and 113 (the first forward sight imaging lens 112 and the second forward sight imaging lens 113) is absorbed is melted
It closes, to two ultra-low illumination camera lenses 126 and 127 (the first vertical view ultra-low illumination camera lens 126 and the second vertical view of forward sight unit 110
Ultra-low illumination camera lens 127) image that is absorbed merged, to two imaging lens 142 and 143 (for overlooking unit 140
One vertical view imaging lens 142 and the second vertical view imaging lens 143) image that is absorbed merged, to overlooking unit 140
Two ultra-low illumination camera lenses 156 and 157 (first overlook ultra-low illumination camera lens 156 and second overlook ultra-low illumination camera lens 157)
The image absorbed is merged.
Industrial personal computer 210 further includes memory module 215, playback module 216, electronics amplification module 217, video selection module
218.Wherein, memory module 215 is used to carry out real-time storage to treated the video image of image processing module 211；Play back mould
Block 216 is shown for carrying out playback to the video image of storage；Electronics amplification module 217 is having remote target video image
When being unfavorable for eye-observation, electronics enlarging function can be executed to target area in manipulation unit 200, distant object region is carried out
Amplification makes the negligible image in distant place become larger clearly, aircraft pilot is facilitated to observe distant object；Video selection module 218 is used
Display unit 240 is output in selection graphic images or visible images.Alternatively, image co-registration submodule 214 is respectively to preceding
Final graphic images depending on unit 110 are merged with final visible images, to the final heat for overlooking unit 140
Image is merged with final visible images, and display device 240 shows fused video image.
As shown in figure 4, driving to preferably obtain visual aids, in another embodiment, forward sight unit 110 includes
Four imaging lens and four ultra-low illumination camera lenses are respectively two 25mm imaging lens (i.e. the first forward sight 25mm heat
Imaging lens 114 and the second forward sight 25mm imaging lens 115), two 12.3mm imaging lens (i.e. the first forward sight 12.3mm
Imaging lens 116 and the second forward sight 12.3mm imaging lens 117), two 25mm ultra-low illumination camera lens (i.e. the first forward sights
25mm ultra-low illumination camera lens 128 and the second forward sight 25mm ultra-low illumination camera lens 129) and two 8mm ultra-low illumination camera lenses (i.e. first
Forward sight 8mm ultra-low illumination camera lens 130 and the second forward sight 8mm ultra-low illumination camera lens 131).
Towards arrangement, it is vertical specifically to amount to eight cameras point column two rows four for the camera of forward sight unit 110 as shown in figure 13
Arrangement, two of them 25mm imaging lens are located among first row, and two 25mm ultra-low illumination camera lenses divide column first row two sides,
Two 12.3mm imaging lens are located among second row, and two 8mm ultra-low illumination camera lenses divide column second row two sides, such cloth
The mode of setting can maximize the corresponding function of different cameras.It is following overlook units 140 eight camera arrangements with it is upper
State it is identical, reference can be made to Figure 14.
Overlooking unit 140 also includes four imaging lens and four ultra-low illumination camera lenses, is respectively two 25mm heat
Imaging lens (i.e. first, which overlooks 25mm imaging lens 144 and second, overlooks 25mm imaging lens 145), two 12.3mm heat
Imaging lens (i.e. first, which overlooks 12.3mm imaging lens 146 and second, overlooks 12.3mm imaging lens 147), two 25mm
Ultra-low illumination camera lens (i.e. first, which overlooks 25mm ultra-low illumination camera lens 158 and second, overlooks 25mm ultra-low illumination camera lens 159) and two
A 8mm ultra-low illumination camera lens (i.e. first, which overlooks 8mm ultra-low illumination camera lens 160 and second, overlooks 8mm ultra-low illumination camera lens 161),
Imaging lens are for absorbing graphic images, and ultra-low illumination camera lens is for absorbing visible images.
Image processing module 211 includes image mosaic submodule 213 and image co-registration submodule 214, image mosaic submodule
Block 213 is used for imaging lens (imaging lens 114 and 115, thermal imaging mirror to two identical focal lengths of forward sight unit 110
First 116 and the image that 117) is absorbed spliced, it is (super to the ultra-low illumination camera lens of two identical focal lengths of forward sight unit 110
High-aperture lens 128 and 129, ultra-low illumination camera lens 130 and the image 131) absorbed are spliced, to vertical view unit 140
The image that the imaging lens (imaging lens 144 and 145, imaging lens 146 and 147) of two identical focal lengths are absorbed into
Row splicing, ultra-low illumination camera lens (ultra-low illumination camera lens 158 and 159, ultralow photograph to two identical focal lengths for overlooking unit 140
Degree camera lens 160 and the image 161) absorbed are spliced；
Before image co-registration submodule 214 is used for the first forward sight 25mm imaging lens 114 and second of forward sight unit 110
First forward sight 12.3mm heat of image after the image mosaic absorbed depending on 25mm imaging lens 115 and forward sight unit 110 at
Image after the image mosaic absorbed as camera lens 116 and the second forward sight 12.3mm imaging lens 117 is merged, to forward sight
The image that first forward sight 25mm ultra-low illumination camera lens 128 of unit 110 and the second forward sight 25mm ultra-low illumination camera lens 129 are absorbed
The the first forward sight 8mm ultra-low illumination camera lens 130 and the second forward sight 8mm ultra-low illumination mirror of spliced image and forward sight unit 110
Image after first 131 image mosaics absorbed is merged, and overlooks 25mm imaging lens to overlook unit 140 first
144 and second image after the image mosaic absorbed of vertical view 25mm imaging lens 145 and overlook the first of unit 140 and overlook
Image after the image mosaic that 12.3mm imaging lens 146 and the second vertical view 12.3mm imaging lens 147 are absorbed carries out
Fusion overlooks 25mm ultra-low illumination camera lens 158 and second to overlook unit 140 first and overlooks 25mm ultra-low illumination camera lens 159
First of image and vertical view unit 140 after the image mosaic absorbed overlooks 8mm ultra-low illumination camera lens 160 and second and overlooks
Image after the image mosaic that 8mm ultra-low illumination camera lens 161 is absorbed is merged.
The splicing for the video image that above-mentioned image processing process is absorbed by the camera lens to same focal length can form wide view
The video image at angle, and by the fusion of the video image to spliced different focal length, both reached the requirement of wide visual field angle,
The fine definition for also ensuring image center solves the problems, such as that image is unsharp at a distance.The rest part of the present embodiment with it is upper
One embodiment is identical, and details are not described herein again.Certainly it from the angle for saving cost, can also all be imaged using ultra-low illumination
Machine (cost of thermal camera is relatively high) enables ultra low illumination camera to collect clear figure with infrared lamp floor light
Picture.When all using ultra low illumination camera, the focal length of each video camera in forward sight/overlook direction is adjustable are as follows: two
4mm, two 8mm.
The technical effect that the portion of techniques scheme obtains: forward sight list is used using the aircraft of above-mentioned assisting in flying system
Member, overlook unit, can absorb aircraft forward, lower section video image send display unit be shown to pilot, make pilot
The ambient conditions that will appreciate that aircraft forward, lower section improves the safety of flight, landing.
Two, the device of the auxiliary security flying method in aircraft takeoff, flight and landing and application this method
The present invention also provides a kind of method of auxiliary security flight, apply in aircraft takeoff, flight and landing,
This method mainly utilizes optical sensor to detect brightness value, and selection enters ultra-low illumination mode or infrared mould according to testing result
Formula acquires image according to different focal lengths, the identical image of focusing carries out image respectively when entering corresponding mode respectively
Spliced image is carried out image co-registration, and shows fused image by splicing, the both of which involved in this programme, i.e.,
Ultra-low illumination mode and infrared mode are mutually switched by both modes, acquire image, can effectively solve the problem that rain, snow,
Under the severe weather conditions such as mist, haze, the unsafe problem of sight difference flight.In conjunction with identical focal length image mosaic, then will be after splicing
Image merged, obtain big field angle, clearly image, with this assisting in flying, further increase the safety of flight.
As shown in figure 5, specifically includes the following steps:
Step 101: detection brightness value enters ultra-low illumination mode or infrared mode according to obtained testing result judgement,
If it is ultra-low illumination mode, 102 are thened follow the steps；If it is infrared mode, 105 are thened follow the steps；
In the present invention, the brightness value for detecting current environment judges obtained testing result, if the detection knot
Fruit meets the first preset condition, it is determined that enters ultra-low illumination mode, executes step 102；Otherwise it determines and enters infrared mode, hold
Row step 105, wherein the first preset condition can be for greater than 0.0001Lux.In technical solution provided by the invention, comprising super
Low-light (level) mode and infrared mode, naturally it is also possible to it include other modes, such as: when testing result is greater than 0.1Lux, into
Enter general mode, image can be acquired using optical camera lens at this time；When testing result is less than or equal to greater than 0.01Lux
When 0.1Lux, into low-light (level) mode, image can be acquired using low-illuminance cameras at this time；When testing result is greater than
0.001Lux is less than or equal to 0.01Lux and enters a moon lighting level mode, acquires image using moon lighting level video camera；When testing result is greater than
When 0.0001Lux is less than or equal to 0.001Lux, into ultra-low illumination mode, image is acquired using ultra low illumination camera；Work as inspection
When surveying result less than or equal to 0.0001Lux, into infrared mode, image, various modes are acquired using thermal infrared imaging camera
The method for acquiring image is identical, and details are not described herein again.
Step 102: it is several to acquire several width of the first focal length ultra-low illumination image, the second focal length ultra-low illumination image respectively
Then width executes step 103；
When in the present invention, into ultra-low illumination mode, ultra low illumination camera can be used under the conditions of different focal length
Image is acquired, usually, the bigger field angle of focal length is smaller, and the distance of shooting is remoter, in the method, takes the photograph using ultra-low illumination
Camera, respectively using the first focal length, the second focal length as focal length value, acquires ultra-low illumination image, wherein first in preceding apparent direction
The value of focal length and the value of the second focal length can not be identical, and the first focal length value can be 25mm, and the second focal length value can be
8mm.Using collected ultra-low illumination image as in preceding apparent direction the first focal length ultra-low illumination image, in preceding apparent direction
The second focal length ultra-low illumination image.Using ultra low illumination camera respectively with the first focal length, the second focal length in overlook direction
As focal length value, ultra-low illumination image is acquired, it is burnt using collected ultra-low illumination image as first in overlook direction
Away from the second focal length ultra-low illumination image in ultra-low illumination image, overlook direction.During carrying out Image Acquisition, in order to mention
The clarity of high acquired image and the visual angle of image are open enough, can acquire several width focal lengths in preceding apparent direction
Image identical, shooting angle is different；Equally can also in overlook direction, acquire several width focal lengths are identical, shooting angle not
Same image.
Step 103: the identical ultra-low illumination image of focusing carries out image mosaic respectively, obtains the ultralow photograph of the first focal length
Spend the ultra-low illumination stitching image of stitching image and the second focal length；
In the present invention, image mosaic is carried out away from identical ultra-low illumination image to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs, obtains forward sight side
The ultra-low illumination stitching image of the second focal length on the ultra-low illumination stitching image and preceding apparent direction of the first upward focal length, also
It is to say, by the first focal length ultra-low illumination image mosaic in apparent direction before several width at piece image, before obtaining in apparent direction
The ultra-low illumination stitching image of first focal length.By the second focal length ultra-low illumination image mosaic in apparent direction before several width at a width
Image, the ultra-low illumination stitching image of the second focal length before obtaining in apparent direction.Same method obtains the in overlook direction
The ultra-low illumination stitching image of the second focal length on the ultra-low illumination stitching image and overlook direction of one focal length.
In the present invention, by, towards under the conditions of upper, identical focal length, carrying out figure for the image of each angle acquisition for identical
As splicing, the ultra-low illumination stitching image of the first focal length before obtaining in apparent direction and the ultra-low illumination spliced map of the second focal length
Picture, wherein the ultra-low illumination stitching image of the first focal length is that acquired image is spliced under the first focus condition, second
The ultra-low illumination stitching image of focal length is that acquired image is spliced under the second focus condition, and the image of each angle is spelled
When being connected into piece image, the clarity of picture material, raising characteristics of image can be increased.In addition, the ultralow photograph with the second focal length
Degree stitching image compares, and the ultra-low illumination stitching image field angle of the first focal length is narrow but can take mesh remotely
Mark, correspondingly, with a wide angle of view for the second ultra-low illumination splicing figure, but the characteristics of image of distant place is relatively fuzzyyer.
Step 104: the ultra-low illumination stitching image of the ultra-low illumination stitching image of the first focal length and the second focal length is carried out
Image co-registration obtains fused ultra-low illumination image, and fused ultra-low illumination image is sent to aircraft driver,
Show fused ultra-low illumination image, return terminates；
In the present invention, by second on the ultra-low illumination stitching image and preceding apparent direction of the first focal length in preceding apparent direction
The ultra-low illumination stitching image of focal length carries out image co-registration, fused ultra-low illumination image in apparent direction before obtaining；It will overlook
The ultra-low illumination stitching image of the second focal length on the ultra-low illumination stitching image and overlook direction of the first focal length on direction into
Row image co-registration obtains fused ultra-low illumination image in overlook direction.In the present invention, by by preceding apparent direction
The ultra-low illumination stitching image of one focal length and the ultra-low illumination stitching image of the second focal length carry out image co-registration, keep field angle relatively narrow
The ultra-low illumination stitching image of the first focal length be fused in the ultra-low illumination stitching image of wider second focal length of field angle, both
Achieve the purpose that wide visual field angle, and improved the clarity of image, and can see the characteristics of image of distant place.
Step 105: acquiring several width of third focal length infrared image and the 4th several width of focal length infrared image respectively, execute step
Rapid 106；
When in the present invention, into infrared mode, it can be adopted under the conditions of different focal length using thermal infrared imaging camera
Collect image, usually, the bigger field angle of focal length is smaller, and the distance of shooting is remoter, in the method, takes the photograph using infrared thermal imaging
Camera acquires infrared image using third focal length, the 4th focal length as focal length value respectively in preceding apparent direction (overlook direction), wherein
Third focal length and the 4th focal length can not be identical, and third focal length can be 25mm, and the 4th focal length can be 12.3mm.It will collect
Infrared image respectively as the third focal length infrared image in preceding apparent direction (or overlook direction), preceding apparent direction (or vertical view side
To) on the 4th focal length infrared image.During carrying out Image Acquisition, in order to improve the clarity of acquired image with
And the visual angle of image is open enough, can acquire the image that several width focal lengths are identical, shooting angle is different in preceding apparent direction；
Equally the image that several width focal lengths are identical, shooting angle is different can also be acquired in overlook direction.
Step 106: the identical several width infrared images of focusing carry out image mosaics respectively, and it is trifocal infrared to obtain the
The infrared mosaic image of stitching image and the 4th focal length；
In the present invention, image mosaic is carried out away from identical infrared image to the apparent direction part of the body cavity above the diaphragm housing the heart and lungs before several width, obtains forward sight
The infrared mosaic image of trifocal infrared mosaic image and the 4th focal length in preceding apparent direction on direction.Same method
Obtain the infrared mosaic image of the trifocal infrared mosaic image and the 4th focal length in overlook direction in overlook direction.
Step 107: the infrared mosaic image of trifocal infrared mosaic image and the 4th focal length is subjected to image co-registration,
Fused infrared image is obtained, fused infrared image is sent to aircraft driver, is shown fused infrared
Image, return terminate.
In the present invention, by the 4th focal length on the trifocal infrared mosaic image and preceding apparent direction in preceding apparent direction
Infrared mosaic image carry out image co-registration, fused infrared image in apparent direction before obtaining.It similarly, will be in overlook direction
The infrared mosaic image of trifocal infrared mosaic image and the 4th focal length in overlook direction carries out image co-registration, is bowed
Fused infrared image in apparent direction.
In the present invention, the trifocal infrared mosaic image co-registration that above-mentioned processing mode keeps field angle relatively narrow is to visual field
In the infrared mosaic image of wider 4th focal length in angle, not only achieve the purpose that wide visual field angle, but also improve the clarity of image,
And it can see the characteristics of image of distant place.
In the present invention, for the difference of brightness value, using infrared mode and ultra-low illumination type collection image, illumination item
When part ideal, using ultra-low illumination type collection image.In illumination conditions difference, than if any thick fog, haze, cloud layer, rain, snow, dark
Under the mal-conditions such as night, image is acquired using infrared mode, image can be collected, environment, assisting in flying are understood with this.
In the method, by obtaining the image of big field angle to image mosaic, and then more images can be collected
Content；The ultra-low illumination stitching image of the ultra-low illumination stitching image of first focal length and the second focal length is subjected to image co-registration, is obtained
To fused ultra-low illumination image, fused ultra-low illumination image is shown, usually, focal length value is bigger, and visual angle is smaller,
The distance of shooting is remoter, in the present invention, the different image of focal length is carried out image co-registration, obtains farther, more wide viewing angle with this
Image, further increase picture material.In addition, power consumption is big when being worked under infrared mode, cost is relatively high, because
This can effectively collect clear, big visual field in such a way that infrared mode is combined with ultra-low illumination mode in the present invention
The image at angle, power consumption is low, save the cost.
It should be noted that in the method can also include: whether detection forward sight shooting direction is in horizontal, work as detection
To when being not in level, adjustment orientation to level can be used gyroscope and detect whether in level, when in horizontal, energy
Front view, top view are enough collected, when being not in level, needs to adjust to level, then acquires front view, top view again.
In addition, in the present invention, can independently select image acquisition modality with user.It can be in aircraft takeoff, flight or landing
When, next step operation is carried out according to the image acquisition modality of user's selection instruction.In the present invention, available and parse use
The voice command of family input selects corresponding image acquisition modality according to parsing result.
The position that user touches on the screen can also be obtained, corresponding Image Acquisition mould is selected according to the location information
Formula.The physical button triggered by user can certainly be detected, when the physical button being triggered is that ultra-low illumination mode is corresponding
When key, step 102 is executed；When the physical button of user's triggering is the corresponding key of infrared mode, step 105 is executed.?
In the embodiment of the present invention, it will can be used to acquire the thermal camera of infrared image, and for acquiring ultra-low illumination image
Ultra low illumination camera, radial arrangement keeps acquired image field angle wider respectively with this broadening field angle.
Correspondingly, to realize above-mentioned this method, a kind of device of corresponding auxiliary security flight is also disclosed, such as Fig. 6 institute
Show, which is applied to acquire image when aircraft takeoff, flight and landing comprising: mode selection module 201 is used for
Brightness value is detected, ultra-low illumination mode or infrared mode are entered according to obtained testing result selection；
In the present invention, mode selection module 201, the detection specifically for detecting the brightness value of current environment, to obtaining
As a result judged, if the testing result meets the first preset condition, trigger ultra-low illumination image capture module 202；It is no
Then trigger infrared image acquisition module 205, wherein the first preset condition can be for greater than 0.0001Lux.Furthermore it is also possible to root
More accurate mode is marked off according to brightness value, is used in conjunction with each other the video camera of different types with this, reaches more
Clearly, the richer image of content, corresponding, mode selection module 201, specifically for detecting the brightness value of current environment,
Obtained testing result is judged, when testing result is greater than 0.1Lux, into general mode, optics can be used at this time
Pick-up lens acquires image；When testing result, which is greater than 0.01Lux, is less than or equal to 0.1Lux, into low-light (level) mode, at this time may be used
To acquire image using low-illuminance cameras；Enter a moon lighting level mould less than or equal to 0.01Lux when testing result is greater than 0.001Lux
Formula acquires image using moon lighting level video camera；When testing result, which is greater than 0.0001Lux, is less than or equal to 0.001Lux, into super
Low-light (level) mode acquires image using ultra low illumination camera；When testing result is less than or equal to 0.0001Lux, entrance is infrared
Mode acquires image using thermal infrared imaging camera, and the method for various type collection images is identical, and details are not described herein again.
Ultra-low illumination image capture module 202, for it is ultralow to acquire the first focal length respectively when entering ultra-low illumination mode
Illumination image, the second focal length ultra-low illumination image；
In the present invention, ultra-low illumination image capture module 202, for using ultra low illumination camera in preceding apparent direction
Respectively using the first focal length, the second focal length as focal length value, ultra-low illumination image is acquired, wherein the value of the first focal length and second
The value of focal length is not identical, and the first focal length value can be 25mm, and the second focal length value can be 8mm.By collected ultra-low illumination
Image is respectively as the first focal length ultra-low illumination image in preceding apparent direction, the second focal length ultra-low illumination figure in preceding apparent direction
Picture.Ultra low illumination camera is used, respectively using the first focal length, the second focal length as focal length value, to acquire ultralow photograph in overlook direction
Image is spent, using collected ultra-low illumination image as the first focal length ultra-low illumination image in overlook direction, vertical view side
The second upward focal length ultra-low illumination image.During carrying out Image Acquisition, in order to improve the clear of acquired image
The visual angle of degree and image is open enough, can acquire the figure that several width focal lengths are identical, shooting angle is different in preceding apparent direction
Picture；Equally the image that several width focal lengths are identical, shooting angle is different can also be acquired in overlook direction.
Ultra-low illumination image mosaic module 203 carries out image mosaic for distinguishing the identical ultra-low illumination image of focusing,
Obtain the ultra-low illumination stitching image of the first focal length and the ultra-low illumination stitching image of the second focal length；
In the present invention, ultra-low illumination image mosaic module 203 is specifically used for the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs away from identical ultralow
Illumination image carries out image mosaic, on the ultra-low illumination stitching image and preceding apparent direction of the first focal length before obtaining in apparent direction
The ultra-low illumination stitching image of second focal length, that is to say, that by the first focal length ultra-low illumination image in apparent direction before several width
It is spliced into piece image, the ultra-low illumination stitching image of the first focal length before obtaining in apparent direction.It will be in apparent direction before several width
The second focal length ultra-low illumination image mosaic at piece image, the ultra-low illumination spliced map of the second focal length before obtaining in apparent direction
Picture.
Ultra-low illumination image mosaic module 203 is specifically also used to the identical ultra-low illumination image of focal length in overlook direction
Image mosaic is carried out, the second focal length on the ultra-low illumination stitching image and overlook direction of the first focal length in overlook direction is obtained
Ultra-low illumination stitching image, that is to say, that by the first focal length ultra-low illumination image mosaic in several width overlook directions at one
Width image obtains the ultra-low illumination stitching image of the first focal length in overlook direction.Second in several width overlook directions is burnt
Away from ultra-low illumination image mosaic at piece image, the ultra-low illumination stitching image of the second focal length in overlook direction is obtained.
Ultra-low illumination image co-registration module 204, for by the ultra-low illumination stitching image of the first focal length and the second focal length
Ultra-low illumination stitching image carries out image co-registration, fused ultra-low illumination image is obtained, by the fused ultra-low illumination
Image is sent to aircraft driver, shows fused ultra-low illumination image.
In the present invention, ultra-low illumination image co-registration module 204, specifically for surpassing the first focal length in preceding apparent direction
The ultra-low illumination stitching image of the second focal length on low-light (level) stitching image and preceding apparent direction carries out image co-registration, obtains forward sight side
Upward fused ultra-low illumination image；
Ultra-low illumination image co-registration module 204 is specifically also used to spell the ultra-low illumination of the first focal length in overlook direction
The ultra-low illumination stitching image of the second focal length on map interlinking picture and overlook direction carries out image co-registration, obtains merging in overlook direction
Ultra-low illumination image afterwards.
Infrared image acquisition module 205, for acquiring third focal length infrared image, the respectively when entering infrared mode
Four focal length infrared images trigger infrared image splicing module 206；
In the present invention, infrared image acquisition module 205 is specifically used for using thermal infrared imaging camera in preceding apparent direction
It is upper respectively using third focal length, the 4th focal length as focal length value, acquire infrared image, wherein third focal length can be 25mm, the 4th
Focal length can be 12.3mm.Third focal length infrared image on using collected infrared image as preceding apparent direction, forward sight
The 4th focal length infrared image on direction.Using thermal infrared imaging camera respectively with third focal length, the 4th in overlook direction
Focal length acquires infrared image as focal length value, red using collected infrared image as the third focal length in overlook direction
The 4th focal length infrared image on outer image, overlook direction.During carrying out Image Acquisition, in order to improve collected figure
The clarity of picture and the visual angle of image are open enough, can acquire that several width focal lengths are identical, shooting angle in preceding apparent direction
Different images；Equally the image that several width focal lengths are identical, shooting angle is different can also be acquired in overlook direction.
Infrared image splicing module 206 carries out image mosaic for distinguishing the identical infrared image of focusing, obtains third
The infrared mosaic image of focal length and the infrared mosaic image of the 4th focal length；
In the present invention, infrared image splicing module 206 is specifically used for the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs away from identical infrared image
Carry out image mosaic, the trifocal infrared mosaic image before obtaining in apparent direction and the 4th focal length in preceding apparent direction it is red
Outer stitching image, that is to say, that the third focal length infrared image in apparent direction before several width is spliced into piece image, before obtaining
Trifocal infrared mosaic image in apparent direction.The 4th focal length infrared image in apparent direction before several width is spliced into one
Width image, the infrared mosaic image of the 4th focal length before obtaining in apparent direction.
It is also used to carry out image mosaic to the identical infrared image of focal length in overlook direction, obtains the third in overlook direction
The infrared mosaic image of the 4th focal length on the infrared mosaic image and overlook direction of focal length, that is to say, that overlook several width
Third focal length infrared image on direction is spliced into piece image, obtains the trifocal infrared mosaic figure in overlook direction
Picture.The 4th focal length infrared image in several width overlook directions is spliced into piece image, obtains the 4th coke in overlook direction
Away from infrared mosaic image.
Infrared image Fusion Module 207, for by the infrared mosaic of trifocal infrared mosaic image and the 4th focal length
Image carries out image co-registration, obtains fused infrared image, and the fused infrared image is sent to aircraft and is driven
Personnel show fused infrared image.
In the present invention, infrared image Fusion Module 207, specifically for by the trifocal infrared spelling in preceding apparent direction
The infrared mosaic image of the 4th focal length on map interlinking picture and preceding apparent direction carries out image co-registration, fused in apparent direction before obtaining
Infrared image.
It is also used to the red of the 4th focal length on the trifocal infrared mosaic image and overlook direction in overlook direction
Outer stitching image carries out image co-registration, obtains fused infrared image in overlook direction.
In the present invention, by by the infrared spelling of trifocal infrared mosaic image and the 4th focal length in preceding apparent direction
Map interlinking picture carries out image co-registration, the trifocal infrared mosaic image co-registration for keeping field angle relatively narrow to field angle the wider 4th
In the infrared mosaic image of focal length, wide visual field angle is not only achieved the purpose that, but also has improved the clarity of image, and can see clearly
The characteristics of image of Chu distant place.For the difference of brightness value, using infrared mode and ultra-low illumination type collection image, illumination conditions
When ideal, using ultra-low illumination type collection image.In illumination conditions difference, than if any thick fog, haze, cloud layer, rain, snow, dark night
Under equal mal-conditions, image is acquired using infrared mode, image can be collected, environment is understood with this, assisting in flying.In addition,
When being worked under infrared mode, power consumption is big, and cost is relatively high, therefore in the present invention, using infrared mode with it is ultralow
The mode that illumination pattern combines can effectively collect the image of clear, big field angle, and power consumption is low, save the cost.
The present apparatus may also include that detection orientation module, for detecting whether forward sight shooting direction is in horizontal, when detecting
When being not in level, adjustment orientation to level.Specific detection orientation module can be gyroscope, be detected whether using gyroscope
In level, when in horizontal, front view, top view are acquired, when being not in level, is needed to adjust to level, then again
Acquire front view, top view.By acquisition forward sight image and overhead view image, the mode that the two is combined will be in flight course
The picture showing of related angle is convenient for safe flight to operator.
Three, the device of methods and applications this method of aircraft landing safety is improved based on detection obstacle
For further assisting in flying, on the basis of foregoing teachings, fused front view, top view can be hindered
Hinder detection, after detecting obstacle, warning information can be generated, to warn aircraft operation personnel.It is specific as follows,
A kind of method that landing safety is improved based on detection obstacle is disclosed as shown in Figure 7, comprising the following steps:
Step 1010: adjustment capture apparatus itself orientation keeps forward sight shooting direction horizontal；
In embodiments of the present invention, whether capture apparatus real-time detection forward sight shooting direction is in horizontal, when being not in water
Usually, self-position is adjusted by servo platform, keeps forward sight shooting direction horizontal.Specifically gyroscope can be fixed on equipment
In, whether it is in horizontal by gyroscope detection device.
Step 1020: detection current illumination value judges whether testing result meets ultra-low illumination treatment conditions, is, executes
Step 1030；It is no to then follow the steps 1050；
In this embodiment, current illumination value is detected, obtained testing result is judged, if the testing result accords with
Close ultra-low illumination treatment conditions, it is determined that enter ultra-low illumination mode, execute step 1030；Otherwise it determines and enters infrared mode,
Execute step 1050.Wherein, ultra-low illumination treatment conditions can be for greater than 0.0001Lux.
Step 1030: using several width forward sight images and several width top views of ultra-low illumination camera acquisition current location
Picture obtains ultra-low illumination forward sight image and ultra-low illumination overhead view image after splicing and fusion, then executes step 1040；
In embodiment, before being acquired with 8 cameras (+4 ultra-low illumination cameras of 4 infrared thermal imaging cameras)
Visible image, 8 cameras (+4 ultra-low illumination cameras of 4 infrared thermal imaging cameras) acquire overhead view image, same type
Camera focal length may be the same or different, such as acquisition forward sight image 8 cameras in, the coke of two ultra-low illumination cameras
It is 8mm away from the focal length for 25mm, other two ultra-low illumination camera.
Several width forward sight images and several width overhead view images are acquired using ultra-low illumination camera；Wherein, forward sight image is
The image of the first predetermined angle range is covered in preceding apparent direction, overhead view image is that the second predetermined angle is covered in overlook direction
The image of range.
Optionally, the identical forward sight image of focal length is divided into one group, the identical forward sight image of every group of focal length is spelled
It is connected into piece image, obtains the corresponding first splicing forward sight image of the focal length.Then, splice front view to the first of different focal length
As carrying out image co-registration, it is finally fused into piece image, as ultra-low illumination forward sight image.
Optionally, the identical overhead view image of focal length is divided into one group, the identical overhead view image of every group of focal length is spelled
It is connected into piece image, obtains the corresponding first splicing overhead view image of the focal length.To the first of different focal length the splicing overhead view image into
Row image co-registration, is finally fused into piece image, as ultra-low illumination overhead view image.
In the technical solution of offer, different images can be acquired for different state of flights, assist pacifying with this
Full flight.State of flight can be detected when testing result meets ultra-low illumination treatment conditions, if being in takeoff condition or drop
State or state of flight are fallen, then acquires the ultra-low illumination forward sight image and ultra-low illumination of current location by ultra-low illumination camera
Overhead view image.
Step 1040: obstacle being carried out to the fused ultra-low illumination forward sight image of splicing and ultra-low illumination overhead view image respectively
Detection, when detecting in ultra-low illumination forward sight image and/or ultra-low illumination overhead view image there are when obstacle, generates and sends alarm
Information, return terminate.
In this embodiment, carrying out obstacle detection can be by judging that ultra-low illumination forward sight image and/or ultra-low illumination are bowed
Judge in visible image with the presence or absence of image characteristic point, when determining there are when image characteristic point, image characteristic point is extracted, according to figure
As feature point-rendering obstacle image, and obstacle figure is marked in corresponding ultra-low illumination forward sight image and ultra-low illumination overhead view image
Picture；When determining there is no when image characteristic point, determines and obstacle is not present.
By the location information of satellite positioning obstacle, according to the location information of obstacle, and it is marked with the super of obstacle image
Low-light (level) forward sight image and ultra-low illumination overhead view image generate warning information, send a warning message.
Step 1050: being overlooked using several width forward sight images and several width of infrared thermal imaging camera acquisition current location
Image obtains infrared grade forward sight image and infrared grade overhead view image after splicing and fusion, executes step 1060；
In embodiment, several width forward sight images and several width overhead view images are acquired using infrared thermal imaging camera,
In, forward sight image is the image that the first predetermined angle range is covered in preceding apparent direction, and overhead view image is to cover in overlook direction
The image of lid the second predetermined angle range.
Optionally, the identical forward sight image of focal length is divided into one group, the identical forward sight image of every group of focal length is spelled
It is connected into piece image, obtains the corresponding second splicing forward sight image of the focal length.To the second of different focal length the splicing forward sight image into
Row image co-registration, is finally fused into piece image, as infrared grade forward sight image.
Optionally, the identical overhead view image of focal length is divided into one group, the identical overhead view image of every group of focal length is spelled
It is connected into piece image, obtains the corresponding second splicing overhead view image of the focal length.To the second of different focal length the splicing overhead view image into
Row image co-registration, is finally fused into piece image, as infrared grade overhead view image.
In embodiment, different images can be acquired for different state of flights, auxiliary security flight is come with this.It can
To detect state of flight when testing result does not meet ultra-low illumination treatment conditions, if in takeoff condition or landing state
Or state of flight, then the infrared grade forward sight image and infrared grade overhead view image of current location are acquired by infrared grade camera.
Step 1060: obstacle inspection being carried out to splicing and fused infrared grade forward sight image and infrared grade overhead view image respectively
It surveys, when detecting in infrared grade forward sight image and/or infrared grade overhead view image there are when obstacle, generates and sends warning information.
In embodiment, the method for carrying out obstacle detection is same as above, can be by judging infrared grade forward sight image and/or infrared
It whether there is image characteristic point in grade overhead view image to determine whether, when determining there are when image characteristic point, extracting there are obstacle
Image characteristic point, according to characteristics of image point-rendering obstacle image, and in corresponding infrared grade forward sight image and infrared grade top view
Obstacle image is marked as in；When determining there is no when image characteristic point, determines and obstacle is not present.
By the location information of satellite positioning obstacle, according to the location information of obstacle, and it is marked with the red of obstacle image
Outer grade forward sight image and infrared grade overhead view image generate warning information, send a warning message.In embodiment, it can also show
The warning information, and when detecting touch-screen event, amplify obstacle image.
To realize the above method, the corresponding equipment that landing safety is improved based on detection obstacle of this method is amplified out, such as
Shown in Fig. 8, which includes:
Orientation adjustment module 2010 keeps forward sight shooting direction horizontal for adjusting itself orientation；
In embodiments of the present invention, whether orientation adjustment module 2010 is in water for real-time detection forward sight shooting direction
It is flat, when being not in level, self-position is adjusted by servo platform, keeps forward sight shooting direction horizontal.Orientation adjustment module
2010 specifically can be gyroscope, fix in a device, whether be in horizontal for detection device.
Luminance detection module 2020 judges whether testing result meets ultra-low illumination processing for detecting current illumination value
Condition；
In embodiments of the present invention, luminance detection module 2020 is specifically used for detection current illumination value, the detection to obtaining
As a result judged, if the testing result meets ultra-low illumination treatment conditions, trigger starlight acquisition module 2030；Otherwise it touches
Rubescent outer acquisition module 2050.Wherein, ultra-low illumination treatment conditions can be for greater than 0.0001Lux.
Starlight acquisition module 2030, for when testing result meets ultra-low illumination treatment conditions, then passing through ultra-low illumination
The ultra-low illumination forward sight image and ultra-low illumination overhead view image of camera acquisition current location simultaneously carry out splicing and fusion treatment, or
Person's splicing and fusion treatment function can be completed by other separate modulars；
In embodiments of the present invention, starlight acquisition module 2030 is for acquiring several width forward sight images and several width top views
Picture；Wherein, forward sight image is the image that the first predetermined angle range is covered in preceding apparent direction, and overhead view image is in overlook direction
The image of the second predetermined angle range of upper covering.
Selectively, the identical forward sight image of focal length can be also divided by starlight acquisition module 2030 or other separate modulars
One group, the identical forward sight image of every group of focal length is spliced into piece image, obtains the corresponding first splicing forward sight image of the focal length.
Image co-registration is carried out to the first splicing forward sight image of different focal length, piece image is finally fused into, as ultra-low illumination forward sight
Image.
The identical overhead view image of focal length is divided into one group, the identical overhead view image of every group of focal length is spliced into a width figure
Picture obtains the corresponding first splicing overhead view image of the focal length.Image co-registration is carried out to the first splicing overhead view image of different focal length,
It finally is fused into piece image, as ultra-low illumination overhead view image.
In the technical solution of offer, different images can be acquired for different state of flights, assist pacifying with this
Full flight.Can be when testing result meet ultra-low illumination treatment conditions, triggering state monitoring modular, for detecting flight shape
State acquires the ultra-low illumination forward sight image of current location by ultra-low illumination camera if being in takeoff condition；If place
In landing state, then the ultra-low illumination overhead view image of current location is acquired by ultra-low illumination camera；If being in flight shape
State then acquires the ultra-low illumination forward sight image and ultra-low illumination overhead view image of current location by ultra-low illumination camera.
Starlight obstacle detection module 2040, for respectively to by splicing fused ultra-low illumination forward sight image and ultralow
Illumination overhead view image carries out obstacle detection, exists when detecting in ultra-low illumination forward sight image and/or ultra-low illumination overhead view image
When obstacle, warning information is generated and sent；
In embodiment, starlight obstacle detection module 2040 can be by judging ultra-low illumination forward sight image and/or ultralow
It whether there is image characteristic point in illumination overhead view image to determine whether, when determining there are when image characteristic point, mentioning there are obstacle
Image characteristic point is taken, according to characteristics of image point-rendering obstacle image, and in corresponding ultra-low illumination forward sight image and ultra-low illumination
Obstacle image is marked in overhead view image；When determining there is no when image characteristic point, determines and obstacle is not present.
Starlight obstacle detection module 2040, is also used to the location information by satellite positioning obstacle, according to the position of obstacle
Information, and it is marked with the ultra-low illumination forward sight image and ultra-low illumination overhead view image of obstacle image, warning information is generated, is sent
Warning information.
Infrared collecting module 2050, for when testing result does not meet ultra-low illumination treatment conditions, then passing through infrared heat
The infrared grade forward sight image and infrared grade overhead view image of imaging camera head acquisition current location simultaneously carry out splicing and fusion treatment, or
Person's splicing and fusion treatment function can be completed by other separate modulars；
In embodiments of the present invention, before infrared collecting module 2050 is used to acquire several width using infrared thermal imaging camera
Visible image and several width overhead view images, wherein forward sight image is the image that the first predetermined angle range is covered in preceding apparent direction,
Overhead view image is the image that the second predetermined angle range is covered in overlook direction.
Selectively, the identical forward sight image of focal length can be also divided by infrared collecting module 2050 or other separate modulars
One group, the identical forward sight image of every group of focal length is spliced into piece image, obtains the corresponding second splicing forward sight image of the focal length.
Image co-registration is carried out to the second splicing forward sight image of different focal length, piece image is finally fused into, as infrared grade front view
Picture.
Similarly, also the identical overhead view image of focal length can be divided into one group, the identical overhead view image of every group of focal length is spliced
At piece image, the corresponding second splicing overhead view image of the focal length is obtained.Second splicing overhead view image of different focal length is carried out
Image co-registration is finally fused into piece image, as infrared grade overhead view image.
In embodiments of the present invention, different images can be acquired for different state of flights, auxiliary security is come with this
Flight.The present apparatus may include state detection module, for when testing result does not meet ultra-low illumination treatment conditions, detection to fly
Row state acquires the infrared grade forward sight image of current location by infrared grade camera if being in takeoff condition；If place
In landing state, then the infrared grade overhead view image of current location is acquired by infrared grade camera；When being in state of flight, then
The infrared grade forward sight image and infrared grade overhead view image of current location are acquired by infrared grade camera.
Infrared obstacle detection module 2060, for overlooking respectively the fused infrared grade forward sight image of splicing and infrared grade
Image carries out obstacle detection, when detecting in infrared grade forward sight image and/or infrared grade overhead view image there are when obstacle, generates simultaneously
It sends a warning message.
In embodiment, infrared obstacle detection module 2060 is used for by judging infrared grade forward sight image and/or infrared grade
It whether there is image characteristic point in overhead view image to determine whether, when determining there are when image characteristic point, extracting figure there are obstacle
As characteristic point, according to characteristics of image point-rendering obstacle image, and in corresponding infrared grade forward sight image and infrared grade overhead view image
Middle label obstacle image；When determining there is no when image characteristic point, determines and obstacle is not present.
It is also used to the location information by satellite positioning obstacle, according to the location information of obstacle, and is marked with obstacle figure
The infrared grade forward sight image and infrared grade overhead view image of picture generate warning information, send a warning message.It should be noted that
It can also include touch screen module in the embodiment of the present invention, for showing the warning information, and when detecting touch-screen event,
Amplify obstacle image.The ultra-low illumination camera mentioned in the embodiment of the present invention is specially low-light (level) ultra-low illumination camera.
The technical effect that the portion of techniques scheme obtains are as follows: equipment makes forward sight shooting direction by adjusting itself orientation
Level detects current illumination value, is imaged according to obtained testing result selection using ultra-low illumination camera or infrared thermal imaging
Head acquires the forward sight image and overhead view image of current location respectively, carries out obstacle detection to forward sight image and overhead view image respectively,
When detecting obstacle, warning information is generated and sent.Made using infrared thermal imaging camera and the cooperation of ultra-low illumination camera
Method, can, even 0Lux very poor in light condition under conditions of, use infrared thermal imaging camera to acquire artwork master
Picture detects obstacle, being capable of effective early warning obstacle.Further, when light condition meets ultra-low illumination condition, using super
Low-light (level) camera acquires color image, and the image of acquisition is apparent, true to nature, is more conducive to alarm obstruction, flies to improve
Row safety.
Four, the aircraft based on the synchronous method for avoiding collision obstacle of data and application this method
As shown in figure 9, the present invention also provides a kind of methods for avoiding collision obstacle synchronous based on data, comprising:
Step 401: aircraft obtains current location information, obtains environmental information request according to location information tissue, and
It will acquire environmental information request and be sent to data center；
In embodiment, aircraft obtains longitude, latitude and height above sea level by global position system, by longitude, latitude
Degree and height above sea level specifically can send Location Request to GPS or Beidou satellite alignment system, connect as current location information
Receive longitude, latitude and the height above sea level returned.
Step 402: when receiving the environmental information response of data center's return, obtaining obstacle from environmental information response
Information obtains flight parameter from environmental information response, as history flight parameter as history complaint message；
Data center is stored with environmental information response corresponding with location information, and the position comprising obstacle is believed in environmental response
Breath, dimension information, mobile attribute information and flight parameter when around the obstacle.In the present solution, aircraft can be from connecing
In the environmental information response received, the location information, dimension information, mobile attribute information of obstacle are obtained, the position of obstacle is believed
Breath, dimension information and mobile attribute information are used as history complaint message, from the environmental response acquisition flight parameter, as
History flight parameter.
Step 403: ambient image is acquired according to the state of flight of itself, current complaint message is obtained from ambient image,
According to current complaint message, history complaint message and history flight parameter, the obstacle is marked in ambient image, display has been marked
Remember the ambient image of obstacle；
For aircraft, there are four kinds of state of flights, that is, take off, fly, landing and is static, fly for different
The different ambient image assisting in flying of row state acquisition.The method that aircraft acquires image can be with are as follows: obtains the flight shape of itself
State then acquires forward sight image, overhead view image (referring to foregoing teachings one if it is takeoff condition or landing state or state of flight
With two part of content), using acquired image as ambient image.It, can be with of course for comprehensive carry out obstacle detection
Image, left view image, right view image and backsight image are looked up in acquisition, so as to the comprehensive environment for observing surrounding,
The obstacle for avoiding other sides from moving upwards interferes flight safety.
As previously mentioned, in order to improve the clarity of acquired image and save the cost, it, can when acquiring ambient image
To detect current illumination value, selects corresponding image pickup mode to acquire ambient image according to obtained testing result, work as testing result
When meeting ultra-low illumination treatment conditions, then ambient image is acquired by ultra-low illumination camera；When testing result do not meet it is ultralow
When illumination treatment conditions, then ambient image is acquired by infrared thermal imaging camera.Wherein, ultra-low illumination treatment conditions can be
Brightness value greater than 0.0001Lux.
Current complaint message can be obtained from ambient image after getting environmental information, for adopting in the same direction
The ambient image of identical focal length is carried out image mosaic, is spliced into piece image by the ambient image collected.It will be different in this direction
The spliced image of focal length carries out image co-registration, obtains fused image, extracts characteristic point from fused image, when
When extracting characteristic point, according to feature point-rendering obstacle (process and foregoing teachings three parts are same or similar), and barrier is marked
Hinder, the location information of obstacle is obtained by global position system, according to the location information of obstacle and the image of label obstacle, meter
Dimension information, the mobile attribute information for calculating obstacle, using the location information of obstacle, dimension information, mobile attribute information as current
Complaint message.Then, judge whether current complaint message is identical as history complaint message, be then to mark barrier in ambient image
Hinder, and prompts history flight parameter；Otherwise obstacle is marked in ambient image according to current complaint message.
In this aspect of invention, the motion track of obstacle can also be drawn on the image of label obstacle, it can be every pre-
If obstacle of timi requirement, in positioning obstacle every time, height above sea level, pitch angle, azimuth locating for obstacle are obtained, and obtain
The displacement of obstacle when positioning obstacle twice in succession；
The displacement of the height above sea level according to locating for obstacle, pitch angle, azimuth and obstacle calculates the mobile track letter of obstacle
The direction of motion and movement velocity of breath and obstacle；
According to the direction of motion and movement velocity of obstacle mobile trace information and obstacle, analog obstacle is in three dimensions
The track that will be moved；
The track drawing the mobile trace information of obstacle and will moving in three dimensions.
Step 404: when avoiding obstacle, obtaining the flight parameter avoided in obstructive process, join as current flight
Number, is sent to data center for current location information, current flight parameter and current complaint message.
In this aspect of invention, data center receives current location information, current flight parameter and current obstacle letter
When breath, flight parameter corresponding with current location information and complaint message are obtained, is flown with the replacement of current flight parameter is original
Row parameter replaces original complaint message with current complaint message.
It should be noted that aircraft does not receive the environmental information response of data center's return in the embodiment of the present invention
When, ambient image can be acquired according to the state of flight of itself, current complaint message is obtained from ambient image, according to current barrier
Hinder information to mark the obstacle in ambient image, show the ambient image of marked obstacle, when avoiding obstacle, acquisition is avoided hindering
Flight parameter during hindering, as current flight parameter, by current location information, current flight parameter and current barrier
Information is hindered to be sent to data center.In embodiments of the present invention, it can will be used to the radial arrangement of video camera of ambient image,
With this broadening field angle, keep acquired image field angle wider.
It on the other hand, in the technical solution provided by the present invention, can also be by step to reach the identical purpose of the present invention
401 replace with step a1 to step a3 to step 403.
Step a1: aircraft acquires ambient image according to the state of flight of itself, and current obstacle is obtained from ambient image
Ambient image and/or current complaint message are sent to data center by information；
The mode recorded in specific embodiment and above-mentioned steps 403 in this step is identical, and details are not described herein again.
Step a2: when receiving the environmental information response of data center's return, obstacle is obtained from environmental information response
Information obtains flight parameter from environmental information response, as history flight parameter as history complaint message；
Flight parameter is obtained from acquisition complaint message in environmental information response and from environmental information response in this step
Specific embodiment and above-mentioned steps 402 in the mode recorded it is identical, details are not described herein again.
Step a3: it according to current complaint message, history complaint message and history flight parameter, is marked in ambient image
The obstacle shows the ambient image of marked obstacle, executes step 404.
The specific embodiment and step 403 of the ambient image of label obstacle and the marked obstacle of display in this step
The mode of middle record is identical, and details are not described herein again.
It corresponds to the above method, as shown in Figure 10, is avoided collision the present invention also provides a kind of based on what data synchronized
The aircraft of obstacle, comprising:
Information request module 4010 obtains environmental information according to location information tissue for obtaining current location information
Request, and will acquire environmental information request and be sent to data center；
In the aircraft, information request module 4010 is used to obtain longitude, latitude and sea by global position system
Degree of lifting, using longitude, latitude and height above sea level as current location information.It can be sent out to GPS or Beidou satellite alignment system
Location Request is sent, the longitude, latitude and height above sea level of return are received.Environmental information request is obtained according to location information tissue,
And send it to data center.
Information receiving module 4020, for when receive data center return environmental information response when, from environmental information
Complaint message is obtained in response, as history complaint message, obtains flight parameter from environmental information response, as
History flight parameter；
In this aircraft, information receiving module 4020 obtains the position of obstacle from the environmental information response received
Information, dimension information, mobile attribute information hinder using the location information of obstacle, dimension information and mobile attribute information as history
Hinder information, flight parameter is obtained from the environmental response, as history flight parameter.
Obstacle detection module 4030 is used to acquire ambient image according to the state of flight of itself, obtains and works as from ambient image
Preceding complaint message marks the barrier according to current complaint message, history complaint message and history flight parameter in ambient image
Hinder, shows the ambient image of marked obstacle；
Data simultaneous module 4040, for obtaining the flight parameter avoided in obstructive process, being made when avoiding obstacle
For current flight parameter, current location information, current flight parameter and current complaint message are sent to data center.
Here, as shown in figure 11, obstacle detection module 4030, it may include:
State detection unit 2031, for obtaining itself state of flight；
Ambient image acquisition unit 2032, for acquiring front view in takeoff condition or landing state or state of flight
Picture and overhead view image, as ambient image；
Obstacle detection unit 2033, for current obstacle letter can be obtained from ambient image after getting environmental information
The ambient image of identical focal length is carried out image mosaic, is spliced into one by breath for collected ambient image in the same direction
Width image.The spliced image of different focal length in this direction is subjected to image co-registration, fused image is obtained, after fusion
Image on extract characteristic point, when extracting characteristic point, according to feature point-rendering obstacle, and mark obstacle, pass through satellite
Position system obtains the location information of obstacle, according to the location information of obstacle and the image of label obstacle, calculates the size of obstacle
Information, mobile attribute information, using the location information of obstacle, dimension information, mobile attribute information as current complaint message；Herein
Image Acquisition, splicing and fusion referring to foregoing teachings one, two and three parts, same or similar, details are not described herein.
Label obstacle unit 2034 is then in ring for judging whether current complaint message is identical as history complaint message
Obstacle is marked on the image of border, and prompts history flight parameter；Otherwise barrier is marked in ambient image according to current complaint message
Hinder.
In addition, obstacle detection module 4030 can also draw the motion track of obstacle, packet on the image of label obstacle
Include: obstacle positioning unit, in positioning obstacle every time, obtains obstacle institute for that can position an obstacle every preset time
The height above sea level at place, pitch angle, azimuth, and obtain the displacement of obstacle when positioning obstacle twice in succession；Computing unit is used for basis
The displacement of height above sea level locating for obstacle, pitch angle, azimuth and obstacle calculates the mobile trace information of obstacle and obstacle
The direction of motion and movement velocity；Analog track unit, for according to the direction of motion of the mobile trace information of obstacle and obstacle and
Movement velocity, the track that analog obstacle will move in three dimensions；Track drafting unit, for drawing the mobile rail of obstacle
Mark information and the track that will be moved in three dimensions.
In the present apparatus, obstacle detection module 4030 can also include: mode checking unit, in acquisition ambient image
When, current illumination value is detected, selects corresponding image pickup mode to acquire ambient image according to obtained testing result, works as testing result
When meeting ultra-low illumination treatment conditions, then ambient image is acquired by ultra-low illumination camera；Wherein, ultra-low illumination treatment conditions
It can be the brightness value greater than 0.0001Lux.When testing result does not meet ultra-low illumination treatment conditions, then by it is infrared heat at
As camera acquires ambient image.
In the technical solution of the present invention, data center receives current location information, current flight parameter and current barrier
When hindering information, flight parameter corresponding with current location information and complaint message are obtained, is replaced with current flight parameter original
Flight parameter, original complaint message is replaced with current complaint message.
What the contents of the section technical solution obtained has the beneficial effect that aircraft is obtained according to itself present position information tissue
Environmental information request, and send it to data center；When receiving the environmental information response of data center's return, from environment
History complaint message and history flight parameter are obtained in information response, and ambient image is acquired according to the state of flight of itself, from
Current complaint message is obtained in ambient image, according to current complaint message, history complaint message and history flight parameter, in ring
The obstacle is marked on the image of border, shows the ambient image of marked obstacle, with the flight of this assisting in flying device, in addition is avoiding hindering
Hinder, the flight parameter avoided in obstructive process is obtained, as current flight parameter, by current location information, current flight
Parameter and current complaint message are sent to data center and are backed up, to refer in subsequent flights.Further, this hair
In the technical solution of bright offer, also infrared camera and ultra-low illumination camera are used cooperatively, ambient image is acquired, is protected with this
The image clearly got is demonstrate,proved, and is not influenced by factors such as illumination, mist, haze, rain, snow.
It should be noted that the tetrameric each embodiment of the present invention is all made of the duplicate mode in progressive or part and describes,
Each embodiment focuses on the differences from other embodiments, and same and similar part is mutual between each embodiment
Mutually referring to.For system embodiment, since it is basically similar to the method embodiment, so be described relatively simple, it is related
Place illustrates referring to the part of embodiment of the method.
It should also be noted that, in the present invention, relational terms such as first and second and the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
Presently disclosed embodiment, for realizing or using the present invention those skilled in the art.To these embodiments
A variety of modifications or modification will be apparent for a person skilled in the art.General Principle described herein can be
In the case where not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to
Embodiment described herein, and it is to fit to the widest model consistent with principles disclosed herein and novel features
It encloses.
Claims (6)
1. a kind of method of assisting in flying device safe flight, comprising the following steps:
Brightness value is detected, ultra-low illumination mode is entered according to obtained testing result judgement or enters infrared mode；
When entering the ultra-low illumination mode, several width of the first focal length ultra-low illumination image are acquired respectively and the second focal length is ultralow
Several width of illumination image, the identical ultra-low illumination image of focusing carries out image mosaic respectively, obtains the ultralow photograph of the first focal length
Spend the ultra-low illumination stitching image of stitching image and the second focal length；
Then the ultra-low illumination stitching image of the ultra-low illumination stitching image of the first focal length and the second focal length is subjected to image co-registration,
Fused ultra-low illumination image is obtained, the fused ultra-low illumination image is sent to aircraft driver, is shown
Fused ultra-low illumination image, return terminate；
When entering the infrared mode, several width of third focal length infrared image are acquired respectively and the 4th focal length infrared image is several
Width, the identical infrared image of focusing carries out image mosaic respectively, obtains trifocal infrared mosaic image and the 4th focal length
Infrared mosaic image；
Then the infrared mosaic image of trifocal infrared mosaic image and the 4th focal length is subjected to image co-registration, is merged
The fused infrared image is sent to aircraft driver, shows fused infrared image by infrared image afterwards,
Return terminates.
2. the method for assisting in flying device safe flight according to claim 1,
It is described to acquire the first focal length ultra-low illumination image and the second focal length ultra-low illumination image respectively, comprising: to acquire forward sight respectively
The second focal length ultra-low illumination image on the first focal length ultra-low illumination image, preceding apparent direction on direction acquires in overlook direction
The first focal length ultra-low illumination image, the second focal length ultra-low illumination image in overlook direction；
The identical ultra-low illumination image of the focusing respectively carries out image mosaic, obtains the ultra-low illumination spliced map of the first focal length
The ultra-low illumination stitching image of picture and the second focal length, comprising: to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs away from identical ultra-low illumination image into
Row image mosaic obtains the second focal length on the ultra-low illumination stitching image and preceding apparent direction of the first focal length in preceding apparent direction
Ultra-low illumination stitching image；And image mosaic is carried out to the identical ultra-low illumination image of focal length in the overlook direction, it obtains
The ultra-low illumination spliced map of the second focal length on the ultra-low illumination stitching image and overlook direction of the first focal length in overlook direction
Picture；
It is described to carry out the ultra-low illumination stitching image of the ultra-low illumination stitching image of first focal length and second focal length
Image co-registration obtains fused ultra-low illumination image, comprising: spells the ultra-low illumination of the first focal length in the preceding apparent direction
The ultra-low illumination stitching image of map interlinking picture and the second focal length in the preceding apparent direction carries out image co-registration, before obtaining in apparent direction
Fused ultra-low illumination image；By the ultra-low illumination stitching image of the first focal length in the overlook direction and the vertical view side
The ultra-low illumination stitching image of the second upward focal length carries out image co-registration, obtains fused ultra-low illumination figure in overlook direction
Picture.
3. the method for assisting in flying device safe flight according to claim 1,
The acquisition third focal length infrared image and the 4th focal length infrared image, comprising: the third before acquiring respectively in apparent direction
The 4th focal length infrared image on focal length infrared image, preceding apparent direction acquires the third focal length infrared image in overlook direction, bows
The 4th focal length infrared image in apparent direction；
The identical infrared image of the focusing respectively carries out image mosaic, obtains trifocal infrared mosaic image and the 4th
The infrared mosaic image of focal length, comprising: image mosaic is carried out away from identical infrared image to the preceding apparent direction part of the body cavity above the diaphragm housing the heart and lungs, before obtaining
The infrared mosaic image of trifocal infrared mosaic image and the 4th focal length in preceding apparent direction in apparent direction；It bows to described
The identical infrared image of focal length carries out image mosaic in apparent direction, obtains the trifocal infrared mosaic image in overlook direction
With the infrared mosaic image of the 4th focal length of overlook direction；
It is described that the infrared mosaic image of the trifocal infrared mosaic image and the 4th focal length is subjected to image co-registration,
Obtain fused infrared image, comprising: by trifocal infrared mosaic image and the forward sight in the preceding apparent direction
The infrared mosaic image of the 4th focal length on direction carries out image co-registration, fused infrared image in apparent direction before obtaining；With
And by the infrared spelling of the 4th focal length on the trifocal infrared mosaic image and the overlook direction in the overlook direction
Map interlinking picture carries out image co-registration, obtains fused infrared image in overlook direction.
4. the method for assisting in flying device safe flight according to claim 1, the detection brightness value, according to obtained inspection
It surveys result selection and enters ultra-low illumination mode or infrared mode, comprising: current brightness value is detected, if obtained testing result
Meet the first preset condition, then enters ultra-low illumination mode；Otherwise enter infrared mode.
5. the method for assisting in flying device safe flight according to claim 1, the method also includes: detection forward sight shooting
Whether direction is in horizontal, when detect be not in level when, adjustment orientation to level.
6. a kind of device of assisting in flying device safe flight, which is characterized in that described device is installed on board the aircraft, is flown described
Row device acquires image when taking off, fly and landing, comprising:
Mode selection module enters ultra-low illumination mode or infrared according to obtained testing result selection for detecting brightness value
Mode；
Ultra-low illumination image capture module, for acquiring the ultralow photograph of the first focal length respectively when entering the ultra-low illumination mode
Spend several width of image and second several width of focal length ultra-low illumination image；
Ultra-low illumination image mosaic module carries out image mosaic for distinguishing the identical ultra-low illumination image of focusing, obtains the
The ultra-low illumination stitching image of one focal length and the ultra-low illumination stitching image of the second focal length；
Ultra-low illumination image co-registration module, for by the ultra-low illumination stitching image of first focal length and second focal length
Ultra-low illumination stitching image carries out image co-registration, fused ultra-low illumination image is obtained, by the fused ultra-low illumination
Image is sent to aircraft driver, shows the fused ultra-low illumination image；
Infrared image acquisition module, for acquiring several width of third focal length infrared image respectively when entering the infrared mode
With the 4th several width of focal length infrared image；
Infrared image splicing module carries out image mosaic for distinguishing the identical infrared image of focusing, and it is trifocal to obtain the
The infrared mosaic image of infrared mosaic image and the 4th focal length；
Infrared image Fusion Module, for by the infrared mosaic of the trifocal infrared mosaic image and the 4th focal length
Image carries out image co-registration, obtains fused infrared image, and the fused infrared image is sent to aircraft and is driven
Personnel show the fused infrared image.
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| CN201710134868.4A CN106828952B (en) | 2016-07-14 | 2016-07-14 | A kind of method and device of assisting in flying device safe flight |
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| CN201610556749.3A CN106184787B (en) | 2016-07-14 | 2016-07-14 | Aircraft and its landing with DAS (Driver Assistant System) and the method avoided collision |
| CN201710134868.4A CN106828952B (en) | 2016-07-14 | 2016-07-14 | A kind of method and device of assisting in flying device safe flight |
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| CN201710136026.2A Active CN106965946B (en) | 2016-07-14 | 2016-07-14 | A kind of method and apparatus improving landing safety based on detection obstacle |
| CN201710134868.4A Expired - Fee Related CN106828952B (en) | 2016-07-14 | 2016-07-14 | A kind of method and device of assisting in flying device safe flight |
| CN201710136148.1A Active CN106965945B (en) | 2016-07-14 | 2016-07-14 | A kind of method and aircraft for avoiding collision obstacle synchronous based on data |
| CN201610556749.3A Active CN106184787B (en) | 2016-07-14 | 2016-07-14 | Aircraft and its landing with DAS (Driver Assistant System) and the method avoided collision |
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| CN107071389A (en) * | 2017-01-17 | 2017-08-18 | 亿航智能设备（广州）有限公司 | Take photo by plane method, device and unmanned plane |
| CN109756685A (en) * | 2017-11-07 | 2019-05-14 | 科盾科技股份有限公司 | A kind of Vehicular night vision system based on image mosaic and image co-registration |
| CN109963070A (en) * | 2017-12-26 | 2019-07-02 | 富泰华工业（深圳）有限公司 | Picture sewing method and system |
| CN108318007B (en) * | 2018-01-26 | 2020-11-10 | 广州市红鹏直升机遥感科技有限公司 | Shooting method of spliced aerial oblique photography |
| CN108225277A (en) * | 2018-03-09 | 2018-06-29 | 深圳臻迪信息技术有限公司 | Image acquiring method, vision positioning method, device, the unmanned plane of unmanned plane |
| CN110874921A (en) * | 2018-08-31 | 2020-03-10 | 百度在线网络技术（北京）有限公司 | Intelligent road side unit and information processing method thereof |
| CN109700439B (en) * | 2019-02-19 | 2023-11-21 | 酷黑科技（北京）有限公司 | Data processing method and device and aircraft |
| CN110519540A (en) * | 2019-08-29 | 2019-11-29 | 深圳市道通智能航空技术有限公司 | A kind of image processing method, device, equipment and storage medium |
| CN112884807B (en) * | 2021-01-18 | 2024-02-27 | 珠海翔翼航空技术有限公司 | Flight control action monitoring method and system based on infrared thermal imaging |
| CN114927024A (en) * | 2022-05-18 | 2022-08-19 | 安胜（天津）飞行模拟***有限公司 | Visual scene generation system, method and equipment of flight simulator |
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| CN106965946A (en) | 2017-07-21 |
| CN106965945A (en) | 2017-07-21 |
| CN106828952A (en) | 2017-06-13 |
| CN106184787A (en) | 2016-12-07 |
| CN106965946B (en) | 2019-06-18 |
| CN106184787B (en) | 2018-10-26 |
| CN106965945B (en) | 2019-09-03 |
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