CN107168378A - A kind of system and method for Automatic-searching object - Google Patents
A kind of system and method for Automatic-searching object Download PDFInfo
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- CN107168378A CN107168378A CN201610130515.2A CN201610130515A CN107168378A CN 107168378 A CN107168378 A CN 107168378A CN 201610130515 A CN201610130515 A CN 201610130515A CN 107168378 A CN107168378 A CN 107168378A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses a kind of system and method for Automatic-searching object, in the system of Automatic-searching object, the reference point that auxiliary camera is used in the image for capturing shooting area, shooting area on object has the light of preset wavelength frequency band；Range finder module is used for the distance for measuring object in real time；Control module is used for the two-dimensional position for determining object relative flight device, the three-dimensional position of object relative flight device is determined again, and the three-dimensional position of object is determined with reference to own location information, predict the three-dimensional position of subsequent time object, control aircraft carries out the corresponding mobile three-dimensional position for causing the current location of aircraft to approach predicted object, and cause reference point in image after treatment image fall into ad-hoc location locking window it is intraoral, until aircraft is reached at the three-dimensional position of object；When performing module is used at the three-dimensional position for reaching object, corresponding action is performed.Implement technical scheme, Consumer's Experience can be greatly improved.
Description
Technical field
The present invention relates to field of photography, more particularly to a kind of system and method for Automatic-searching object.
Background technology
In some special occasions, aircraft is needed to use to do some things sometimes.For example, it is desired to which it is pleasantly surprised to manufacture by present to give specific people using aircraft；At the scene of marrying, it is necessary to be sent into wedding ring in bride and bridegroom's hand using aircraft；In golf course, it is necessary to replace caddie that club is sent in sportsman's hand using aircraft；For another example, it is necessary to which searching out specific object proceeds by shooting in reality TV show program.This requires that aircraft can search out object exactly, therefore, and market calls a kind of system for being capable of Automatic-searching object to go to realize above-mentioned functions, improves Consumer's Experience.
The content of the invention
The technical problem to be solved in the present invention is, for the defect of above-mentioned poor user experience of prior art, there is provided a kind of system and method for the Automatic-searching object that can improve Consumer's Experience.
The technical solution adopted for the present invention to solve the technical problems is：Construct a kind of system of Automatic-searching object, it is used for the locating module for obtaining own location information on board the aircraft including aircraft and setting, the system of the Automatic-searching object also includes being arranged on the carry-on control module, performing module, range finder module, auxiliary camera and the narrow band pass filter being arranged on before the auxiliary camera, and, the range finder module and the auxiliary camera are disposed proximate to and both centerline axis parallels, wherein
The auxiliary camera, the image for capturing shooting area, wherein, the reference point in shooting area on object has the light of preset wavelength frequency band；
The range finder module, the distance for measuring the object in real time；
The control module, handled for the distance value measured by the image and the range finder module that are captured to the auxiliary camera, the two-dimensional position of the object relative flight device is determined according to the image after processing, the three-dimensional position of the object relative flight device is determined further according to the distance value after processing, and the three-dimensional position of the object is determined with reference to own location information, the three-dimensional position of object according to the three-dimensional position of the object interior for the previous period at current time predicts subsequent time, the aircraft is controlled to carry out corresponding mobile so that the three-dimensional position of predicted object is approached in the current location of aircraft, and cause reference point described in image after treatment image fall into ad-hoc location locking window it is intraoral, until aircraft is reached at the three-dimensional position of the object；
The performing module, during at the three-dimensional position that aircraft reaches the object, performs corresponding action.
In the system of Automatic-searching object of the present invention, the system of the Automatic-searching object also includes：
The main camera for being arranged on the aircraft and being connected with the control module, moreover, the main camera and the auxiliary camera are disposed proximate to, the centerline axis parallel of the main camera and the auxiliary camera.
In the system of Automatic-searching object of the present invention, the system of the Automatic-searching object also includes：
It is arranged on the narrow-band light source in the reference point of object；Or,
The reflecting piece in the reference point of object is arranged on, and the reference point is located in the range of exposures of narrow-band light source.
In the system of Automatic-searching object of the present invention, the reference point transmitting or the light for reflecting specific flashing sequence, wherein, the flashing sequence is to carry out light modulation using the light wave of identification information pair narrow-band light source to be obtained；Moreover,
The control module, it is additionally operable to detect the flashing sequence that reference point is launched or reflected, and it is demodulated, obtains the identification information, and when the identification information acquired in judgement is consistent with default identification information, start to handle the image that the auxiliary camera is captured.
In the system of Automatic-searching object of the present invention, the control module is additionally operable to after the image captured to the auxiliary camera is handled, and the position in the image of the image of the reference point after the treatment is determined according to brightness value.
The present invention also constructs a kind of method of Automatic-searching object, including：
S1. the auxiliary camera with narrow band pass filter captures the image of shooting area, and range finder module measures the distance of object；Wherein, auxiliary camera is disposed proximate to and both centerline axis parallels with range finder module, moreover, the reference point in shooting area on object has the light of preset wavelength frequency band；
S2. the distance value measured by image and range finder module captured to auxiliary camera is handled；
S3. the two-dimensional position of the object relative flight device is determined according to the image after processing in the step S2, the three-dimensional position of the object relative flight device is determined further according to the distance value after processing, and determines with reference to own location information the three-dimensional position of the object；
S4. according to the three-dimensional position of the object interior for the previous period at current time predict subsequent time described in object three-dimensional position, and it is corresponding mobile so that the three-dimensional position of predicted object is approached in the current location of aircraft to control the aircraft to carry out, and cause reference point described in the image after step S2 processing image fall into ad-hoc location locking window it is intraoral, until aircraft is reached at the three-dimensional position of the object；
When S5. at the three-dimensional position that aircraft reaches the object, corresponding action is performed.
In the method for Automatic-searching object of the present invention, also include between the step S2 and the step S3：
S6. the position in image of the image of the reference point after step S2 processing is determined according to brightness value.
In the method for Automatic-searching object of the present invention, the reference point transmitting or the light for reflecting specific flashing sequence, wherein, the flashing sequence is to carry out light modulation using the light wave of identification information pair narrow-band light source to be obtained；Moreover,
Also include between the step S1 and the step S2：
S7. the flashing sequence that detection reference point is launched or reflected, and it is demodulated, to obtain the identification information, and judge whether acquired identification information is consistent with default identification information, if so, then performing step S2；If it is not, then re-executing step S1.
In the method for Automatic-searching object of the present invention, in addition to：
S8. window will be locked to be overlapped with the image after step S2 processing；
S9. the image after distance value and step S8 superpositions measured by showing.
In the method for Automatic-searching object of the present invention, in addition to：
S10. main camera captures the image of shooting area, wherein, main camera is disposed proximate to and both centerline axis parallels with auxiliary camera；
S11. the image that main camera is captured is handled；
S12. image after step display S11 is handled.
Implement technical scheme, due to being provided with narrow band pass filter before auxiliary camera, auxiliary camera is when being shot, and the light only with reference to the upper preset wavelength frequency band of point can pass through, therefore be only capable of shooting the image of reference point in image.Meanwhile, range finder module measures the distance of object.Then, the image and the distance value are handled.Then, the three-dimensional position of object is can determine that according to the position of the image and distance value after processing and combination aircraft itself, and the three-dimensional position of subsequent time object can be predicted out, and control aircraft carry out it is corresponding mobile make it that the three-dimensional position of predicted object is approached in the current location of aircraft, and so that in image after treatment the image of reference point fall into ad-hoc location locking window it is intraoral.When aircraft is reached at the three-dimensional position of object, corresponding action is performed, for example, object is passed by special article using manipulator, or, proceed by shooting.This can be applied to marriage occasion of proposing, present or ring are sent into specific human hand using the system of the Automatic-searching object, it can also be used for golf course and worked to substitute the part of caddie, it may also be used for the shooting of reality TV show program, drastically increase Consumer's Experience.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the logic chart of the system embodiment one of Automatic-searching object of the present invention；
Fig. 2A is in object and the position view of aircraft in one embodiment；
Fig. 2 B, 2C are the schematic diagrames of the image that auxiliary camera is captured during Automatic-searching；
Fig. 3 is the schematic diagram for the image embodiment one that auxiliary camera of the present invention is captured；
Fig. 4 is the logic chart of the system embodiment two of Automatic-searching object of the present invention；
Fig. 5 is the flow chart of the embodiment of the method one of Automatic-searching object of the present invention.
Embodiment
Fig. 1 is the logic chart of the system embodiment one of Automatic-searching object of the present invention, the system of the Automatic-searching object of the embodiment includes aircraft (not shown), is arranged on carry-on control module 11, performing module 15, locating module 16, range finder module 12, auxiliary camera 13 and the narrow band pass filter 14 being arranged on before the auxiliary camera 13, and, auxiliary camera 13 and range finder module 12 are disposed proximate to, and both centerline axis parallels.
In this embodiment, range finder module 12 is used for the distance for measuring the object in real time, and the range finder module 12 is, for example, laser ranging module, ultrasound measurement module or tellurometer survey module.Auxiliary camera 13 is used for the image for capturing shooting area, wherein, the reference point in shooting area on object has the light of preset wavelength frequency band, and object is such as people, animal, automobile.Locating module 16 is used to obtain own location information, and locating module 16 is, for example, gravity sensor, gyroscope and acceleration transducer.
In addition, control module 11 is used for the image that is captured to auxiliary camera 13 and the distance value measured by range finder module 12 is handled, the two-dimensional position of the object relative flight device is determined according to the image after processing, the three-dimensional position of the object relative flight device is determined further according to the distance value after processing, and the three-dimensional position of the object is determined with reference to own location information, the three-dimensional position of object according to the three-dimensional position of the object interior for the previous period at current time predicts subsequent time, for example position prediction can be carried out according to least square method or Prediction of Markov method.Then, control aircraft carries out the corresponding mobile three-dimensional position for causing the current location of aircraft to approach predicted object, and cause reference point described in image after treatment image fall into ad-hoc location locking window it is intraoral, until aircraft is reached at the three-dimensional position of the object.When performing module 15 is used at the three-dimensional position of aircraft arrival object, corresponding action is performed, the performing module 15 is, for example, manipulator or main camera.
Further, if the three-dimensional position at the discovery object current time of control module 11 and the three-dimensional position predicted are inconsistent, control aircraft, which is moved, makes aircraft return to again at the position of previous moment, re-starts searching.
On the light of preset wavelength frequency band in reference point, it can be more than 760nm light (such as infrared light) for wavelength, or wavelength is less than 380nm light (such as ultraviolet light).
Moreover, in certain embodiments, the light of reference point is directly sent by narrow-band light source, for example, setting infrared transmitting tube or ultraviolet emission pipe in reference point, corresponding fluorescer can be also set in reference point.In further embodiments, the light of reference point can also be reflected by reflecting piece, be specially：Reflecting piece is set in reference point, narrow-band light source is set other local (such as on board the aircraft), and the reflecting piece is located in the range of exposures of narrow-band light source.
In addition, either the light of preset wavelength frequency band is still reflected in transmitting in the reference point of object, it is preferable that the light of the transmitting or reflection can be the light of specific flashing sequence, wherein, the flashing sequence is to carry out light modulation using the light wave of identification information pair narrow-band light source to be obtained.And, after 13 pairs of flashing sequences of auxiliary camera are captured, control module 11 is additionally operable to detect the flashing sequence that reference point is launched or reflected, and it is demodulated, to obtain the identification information, and when the identification information acquired in judgement is consistent with default identification information, the image for just starting to capture auxiliary camera is handled.If inconsistent, illustrate it is interference light, can so avoid interference of other light to Automatic-searching on object.
Illustrate the principle of Automatic-searching with reference to the example shown in Fig. 2A, 2B, 2C：Before Automatic-searching, due to being provided with narrow band pass filter before auxiliary camera 13, auxiliary camera 13 is when being shot, and only the luminous energy of preset wavelength frequency band passes through in the reference point of object, therefore it is only capable of shooting the image 1 of reference point in image, then the image is handled.Meanwhile, range finder module 12 measures the distance of object, and then measured distance value is handled.The two-dimensional position of current target thing relative flight device is can determine that according to the image after processing, the three-dimensional position of object relative flight device is determined further according to the distance value after processing, the positional information then in conjunction with aircraft itself can determine that the three-dimensional position of object.As shown in Figure 2 A, the current location of aircraft is at O points, the three-dimensional system of coordinate set up using the current location O of aircraft as the origin of coordinates, and the three-dimensional position of object relative flight device is at M points.With the movement of object, according to current time it is interior for the previous period determined by the three-dimensional position of object the three-dimensional position of subsequent time object can be predicted out, for example, the three-dimensional position for predicting subsequent time object is moved at M ', now, control aircraft carries out the corresponding mobile current location (aircraft is moved at O ') for causing aircraft and approaches predicted three-dimensional position (at M '), until the current location of aircraft is reached at the three-dimensional position of object.It is last it should be noted that, object is mobile object in this embodiment, certainly in other embodiments, and object can also be static object.
Moreover, causing the image 1 of reference point in image after treatment to fall into the locking window 2 of ad-hoc location after control aircraft movement.With reference to Fig. 2 B, 2C, the position pre-set of locking window 2 is：Locking window 2 is centrally located at the center in image, and locking window 2 is rectangle.Before Automatic-searching, as shown in Figure 2 B, the image 1 of reference point is located at the upper left side of locking window 2, now, and control aircraft is moved up to the left, until the image 1 of reference point is fallen into locking window 2, as shown in Figure 2 C.Herein it should be noted that, it is one embodiment of the present of invention above, in other embodiments, the position of locking window 2 can be set in advance in other places of image, user by user interface can lock the setting of the window's position, moreover, the shape of locking window 2 can be also circle, ellipse, hexagon etc..
In some cases, due to there may be the reflective spot of one or more reference points on object, in the image captured by auxiliary camera, except there is the image of reference point, it there may also be the image of reflective spot, as shown in Figure 3, 1 is the image of reference point, 1 ', 1 " be respectively reference point reflective spot image, and the image 1 ' of reflective spot, 1 " brightness is big without reference to the brightness of an image 1, in order to reach the purpose accurately found, control module determines the position of the image of reference point in the picture firstly the need of elder generation according to brightness value, for example in figure 3, it is the image of reference point to determine 1, then position and the relation of the position of locking window further according to reference point adjusts the movement of aircraft.
Fig. 4 is the logic chart of the system embodiment two of Automatic-searching object of the present invention, the system of the Automatic-searching object of the embodiment is compared to the embodiment shown in Fig. 1, also include main camera 17, the main camera 17 sets on board the aircraft and is connected with control module 11, and, main camera 17 and auxiliary camera 13 are disposed proximate to, the centerline axis parallel of main camera 17 and auxiliary camera 13, can so ensure that both coverages are almost consistent.The main camera 17 is used for the image for capturing shooting area, for example, can be shot during Automatic-searching object, can also just start to shoot after object is searched out.
Furthermore it is preferred that the system of the Automatic-searching object may also include main display module and secondary module, the main display module and secondary module are arranged on the supervising device of distal end, and are wirelessly attached with control module 11.Image after secondary module is overlapped to locking window with the image captured by auxiliary camera is shown, can also further show measured distance value, can so facilitate user or tester to carry out real time inspection to Automatic-searching process.The image that main display module is used for captured by main camera is shown.Certainly, in further embodiments, also secondary module and main display module can be merged into one.So, user can see object and the image of reference point simultaneously in a display screen, and, further, when finding that identified reference point is not inconsistent with actual conditions in image, user can be corrected by choosing reference point again, and system re-starts Automatic-searching.
Fig. 5 is the flow chart of the embodiment of the method one of Automatic-searching object of the present invention, and the image pickup method of the Automatic-searching object includes：
S1. the auxiliary camera with narrow band pass filter captures the image of shooting area, and range finder module measures the distance of object；Wherein, auxiliary camera is disposed proximate to and both centerline axis parallels with range finder module, moreover, the reference point in shooting area on object has the light of preset wavelength frequency band；
S2. the distance value measured by image and range finder module captured to auxiliary camera is handled；
S3. the two-dimensional position of the object relative flight device is determined according to the image after processing in the step S2, the three-dimensional position of the object relative flight device is determined further according to the distance value after processing, and determines with reference to own location information the three-dimensional position of the object；
S4. according to the three-dimensional position of the object interior for the previous period at current time predict subsequent time described in object three-dimensional position, and it is corresponding mobile so that the three-dimensional position of predicted object is approached in the current location of aircraft to control the aircraft to carry out, and cause reference point described in the image after step S2 processing image fall into ad-hoc location locking window it is intraoral, until aircraft is reached at the three-dimensional position of the object；
When S5. at the three-dimensional position that aircraft reaches the object, corresponding action is performed.
Preferably, also include between step S2 and step S3：
S6. the position in image of the image of the reference point after step S2 processing is determined according to brightness value.
On the basis of above-described embodiment, the light of specific flashing sequence is launched or reflected to reference point, wherein, the flashing sequence is to carry out light modulation using the light wave of identification information pair narrow-band light source to be obtained；Moreover,
Also include between step S1 and step S2：
S7. the flashing sequence that detection reference point is launched or reflected, and it is demodulated, to obtain the identification information, and judge whether acquired identification information is consistent with default identification information, if so, then performing step S2；If it is not, then re-executing step S1.
The method of the Automatic-searching object of the present invention may also include：
S8. window will be locked to be overlapped with the image after step S2 processing；
S9. the image after distance value and step S8 superpositions measured by showing, further, may also display measured distance value.
On the basis of above-described embodiment, the method for Automatic-searching object of the invention may also include：
S10. main camera captures the image of shooting area, for example, can be shot during Automatic-searching, also can just be shot when searching out object；
S11. the image that main camera is captured is handled；
S12. image after step display S11 is handled.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art, the present invention there can be various modifications and variations.Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included within scope of the presently claimed invention.
Claims (10)
1. a kind of system of Automatic-searching object, including aircraft and setting are used to obtain on board the aircraft
The locating module of own location information, it is characterised in that the system of the Automatic-searching object also includes
It is arranged on the carry-on control module, performing module, range finder module, auxiliary camera and setting
Narrow band pass filter before the auxiliary camera, moreover, the range finder module and the second camera
Head is disposed proximate to and both centerline axis parallels, wherein,
The auxiliary camera, the image for capturing shooting area, wherein, object in shooting area
On reference point there is the light of preset wavelength frequency band；
The range finder module, the distance for measuring the object in real time；
The control module, for the image captured to the auxiliary camera and range finder module institute
The distance value of measurement is handled, and the two of the object relative flight device are determined according to the image after processing
Position is tieed up, the three-dimensional position of the object relative flight device is determined further according to the distance value after processing, and
The three-dimensional position of the object is determined with reference to own location information, according to current time for the previous period
The three-dimensional position of object, controls described fly described in the three-dimensional position prediction subsequent time of the interior object
Row device carries out the corresponding mobile three-dimensional position for causing the current location of aircraft to approach predicted object,
And cause reference point described in image after treatment image fall into ad-hoc location locking window it is intraoral, directly
At the three-dimensional position that the object is reached to aircraft；
The performing module, during at the three-dimensional position that aircraft reaches the object, performs phase
The action answered.
2. the system of Automatic-searching object according to claim 1, it is characterised in that it is described from
The dynamic system for finding object also includes：
The main camera for being arranged on the aircraft and being connected with the control module, moreover, the master
Camera and the auxiliary camera are disposed proximate to, the center of the main camera and the auxiliary camera
Diameter parallel.
3. the system of Automatic-searching object according to claim 1, it is characterised in that the institute
Stating the system of Automatic-searching object also includes：
It is arranged on the narrow-band light source in the reference point of object；Or,
The reflecting piece in the reference point of object is arranged on, and the reference point is located at the irradiation of narrow-band light source
In the range of.
4. the system of Automatic-searching object according to claim 3, it is characterised in that described
The light of specific flashing sequence is launched or reflected to reference point, wherein, the flashing sequence is to use identification information
What light modulation was obtained is carried out to the light wave of narrow-band light source；Moreover,
The control module, is additionally operable to detect the flashing sequence that reference point is launched or reflected, and enter it
Row demodulation, to obtain the identification information, and believes in the identification information acquired in judgement with default mark
When ceasing consistent, start to handle the image that the auxiliary camera is captured.
5. the system of Automatic-searching object according to claim 1, it is characterised in that described
Control module, is additionally operable to after the image captured to the auxiliary camera is handled, according to brightness
Value determines the position in the image of the image of the reference point after the treatment.
6. a kind of method of Automatic-searching object, it is characterised in that including：
S1. the auxiliary camera with narrow band pass filter captures the image of shooting area, and range finder module is measured
The distance of object；Wherein, auxiliary camera is disposed proximate to range finder module and both central axis are put down
OK, moreover, the reference point in shooting area on object has the light of preset wavelength frequency band；
S2. the distance value measured by image and range finder module captured to auxiliary camera is handled；
S3. the two dimension of the object relative flight device is determined according to the image after processing in the step S2
Position, the three-dimensional position of the object relative flight device is determined further according to the distance value after processing, and is tied
Close the three-dimensional position that own location information determines the object；
S4. subsequent time is predicted according to the three-dimensional position of the object interior for the previous period at current time
The three-dimensional position of the object, and control the corresponding movement of the aircraft progress to cause the current of aircraft
The three-dimensional position of predicted object is approached in position, and causes in the image after step S2 processing
The locking window that the image of the reference point falls into ad-hoc location is intraoral, until aircraft reaches the object
Three-dimensional position at；
When S5. at the three-dimensional position that aircraft reaches the object, corresponding action is performed.
7. the method for Automatic-searching object according to claim 6, it is characterised in that in institute
State also includes between step S2 and the step S3：
S6. determined according to brightness value in image of the image of the reference point after step S2 processing
Position.
8. the method for Automatic-searching object according to claim 6, it is characterised in that described
The light of specific flashing sequence is launched or reflected to reference point, wherein, the flashing sequence is to use identification information
What light modulation was obtained is carried out to the light wave of narrow-band light source；Moreover,
Also include between the step S1 and the step S2：
S7. the flashing sequence that detection reference point is launched or reflected, and it is demodulated, it is described to obtain
Identification information, and judge whether acquired identification information is consistent with default identification information, if so, then
Perform step S2；If it is not, then re-executing step S1.
9. the method for Automatic-searching object according to claim 6, it is characterised in that also wrap
Include：
S8. window will be locked to be overlapped with the image after step S2 processing；
S9. the image after distance value and step S8 superpositions measured by showing.
10. the method for Automatic-searching object according to claim 6, it is characterised in that also wrap
Include：
S10. main camera captures the image of shooting area, wherein, main camera and auxiliary camera close to
Set and both centerline axis parallels；
S11. the image that main camera is captured is handled；
S12. image after step display S11 is handled.
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| CN108673226A (en) * | 2018-05-28 | 2018-10-19 | 广东鸿图武汉压铸有限公司 | Machining center means of defence and system |
| CN109062262A (en) * | 2018-08-31 | 2018-12-21 | 深圳市研本品牌设计有限公司 | The method and system of unmanned plane Automatic-searching night scene |
| CN109581395A (en) * | 2018-11-29 | 2019-04-05 | 中国船舶工业***工程研究院 | Machine positioning device and method are gone straight up in a kind of operation on the sea based on reflecting piece |
| CN109712188A (en) * | 2018-12-28 | 2019-05-03 | 科大讯飞股份有限公司 | A kind of method for tracking target and device |
| CN110544278A (en) * | 2018-05-29 | 2019-12-06 | 杭州海康机器人技术有限公司 | rigid body motion capture method and device and AGV pose capture system |
| CN110544273A (en) * | 2018-05-29 | 2019-12-06 | 杭州海康机器人技术有限公司 | motion capture method, device and system |
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| CN109062262A (en) * | 2018-08-31 | 2018-12-21 | 深圳市研本品牌设计有限公司 | The method and system of unmanned plane Automatic-searching night scene |
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