CN107719683A - A kind of control method and device of unmanned plane carry - Google Patents
A kind of control method and device of unmanned plane carry Download PDFInfo
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- CN107719683A CN107719683A CN201710954578.4A CN201710954578A CN107719683A CN 107719683 A CN107719683 A CN 107719683A CN 201710954578 A CN201710954578 A CN 201710954578A CN 107719683 A CN107719683 A CN 107719683A
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- 238000000034 method Methods 0.000 title claims abstract description 68
- 239000013558 reference substance Substances 0.000 claims abstract description 108
- 238000000605 extraction Methods 0.000 claims description 9
- 239000000284 extract Substances 0.000 claims description 8
- 208000036829 Device dislocation Diseases 0.000 claims 1
- 238000004891 communication Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 2
- 238000013136 deep learning model Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
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- 238000003786 synthesis reaction Methods 0.000 description 2
- 239000003905 agrochemical Substances 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
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- Aviation & Aerospace Engineering (AREA)
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- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of control method and device of unmanned plane carry, wherein, this method includes：Target image is obtained by the image acquisition device being arranged on unmanned plane；The reference substance information in target image is extracted, wherein, reference substance information includes one kind or combination in following information：Terrestrial information and carry thing information, carry thing information are the information for the carry thing being arranged on unmanned plane；Carry thing is controlled to perform corresponding operation according to reference substance information.The present invention controls carry thing to perform different operations, the flexibility ratio of control and the degree of accuracy are preferable it is determined that after reference substance information in the target image that image acquisition device obtains according to different reference substance information.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of control method and device of unmanned plane carry.
Background technology
With making rapid progress for technology, UAV (UAV, Unmanned Aerial Vehicle) is popularized,
Be widely used in agricultural chemicals sow, shooting in the air, the field such as aerial broadcast, object transport, mapping.
UAV, if really to require execution task according to user to apply in every field, generally needs as a platform
Will on unmanned plane the related operation article of carry, such as carry medicine bucket, video camera, public address equipment, laser mapping equipment equipment.
At present, for how to control above-mentioned carry article to there is no perfect technical scheme.
The content of the invention
In view of this, it is an object of the invention to provide a kind of control method and device of unmanned plane carry, image is passed through
Processing mode realizes the control of carry thing, and the flexibility ratio of control and the degree of accuracy are preferable.
In a first aspect, the invention provides a kind of control method of unmanned plane carry, methods described includes：
Target image is obtained by the image acquisition device being arranged on unmanned plane；
The reference substance information in the target image is extracted, wherein, the reference substance information includes one in following information
Kind or combination：Terrestrial information and carry thing information, the carry thing information are the letter for the carry thing being arranged on the unmanned plane
Breath；
The carry thing is controlled to perform corresponding operation according to the reference substance information.
With reference in a first aspect, the invention provides the possible embodiment of the first of first aspect, wherein, the reference
Thing information is terrestrial information, described to control the carry thing to perform corresponding operation according to the reference substance information, including：
Determine whether the unmanned plane reaches preset geographical position region according to the terrestrial information；
If so, the carry thing is controlled to perform corresponding operation according to the first control signal.
With reference to the first possible embodiment of first aspect, the invention provides second of first aspect is possible
Embodiment, wherein, described to determine whether the unmanned plane reaches preset geographical position region according to the terrestrial information, bag
Include：
Reference ground information is compared with the terrestrial information, wherein, the reference ground information be include it is described
Terrestrial information in the reference picture in preset geographical position region；
If comparing successfully, determine that unmanned plane reaches the preset geographical position region.
With reference in a first aspect, the invention provides the possible embodiment of the third of first aspect, wherein, the reference
Thing information is carry thing information, described to control the carry thing to perform corresponding operation according to the reference substance information, including：
Determine position of the carry thing in the target image whether positioned at default model according to the carry thing information
In enclosing；
If it is not, then the carry thing is controlled to be moved with respect to described image collector so that institute according to the second control signal
Position of the carry thing in the target image is stated to be located in preset range.
With reference in a first aspect, the invention provides the possible embodiment of the 4th of first aspect kind, wherein, the reference
Thing information is terrestrial information and carry thing information, and described performed according to the reference substance information control carry thing is grasped accordingly
Make, including：
The height of the carry object distance from the ground is determined according to the terrestrial information and the carry thing information, and correspondingly
Ground location；
The carry thing is controlled to perform assigned operation based on the height and the ground location.
Second aspect, present invention also offers a kind of control method of unmanned plane carry, methods described includes：
Target image is obtained by the image acquisition device being arranged on unmanned plane；
The target image is sent to earth station, receives reference substance letter of the earth station in the target image
The control signal of generation is ceased, wherein, the reference substance information includes one kind or combination in following information：Terrestrial information and carry
Thing information, the carry thing information are the information for the carry thing being arranged on the unmanned plane；
Controlling the carry thing according to the control signal, either described image collector or the unmanned plane perform phase
The operation answered.
The third aspect, present invention also offers a kind of control method of unmanned plane carry, methods described includes：
The target image that unmanned plane is sent is received, wherein, the target image is the image being arranged on the unmanned plane
The image that collector obtains；
The reference substance information in the target image is extracted, wherein, the reference substance information includes one in following information
Kind or combination：Terrestrial information and carry thing information, the carry thing information are the letter for the carry thing being arranged on the unmanned plane
Breath；
Based on the reference substance information generation corresponding to control signal, and by the control signal send to it is described nobody
Machine, wherein, the control signal is used to control the carry thing either described image collector or unmanned plane execution phase
The operation answered.
With reference to the third aspect, the invention provides the possible embodiment of the first of the third aspect, wherein, the reference
Thing information is carry thing information, is generated based on the reference substance information for controlling the carry thing to perform the control operated accordingly
Signal processed, including：
Determine position of the carry thing in the target image whether positioned at default model according to the carry thing information
In enclosing；
If it is not, then control signal corresponding to generation is with according to the relative described image of the control signal control carry thing
Collector is moved so that position of the carry thing in the target image is located in preset range.
With reference to the third aspect, the invention provides the possible embodiment of second of the third aspect, wherein, the reference
Thing information is carry thing information, is generated based on the reference substance information for controlling the carry thing and the unmanned plane to perform phase
The control signal for the operation answered, including：
Determine position of the carry thing in the target image whether positioned at default model according to the carry thing information
In enclosing；
If it is not, then control signal corresponding to generation is with according to the relative described image of the control signal control carry thing
Collector moved and the carry thing motion reach capacity state when, control the unmanned plane to be moved so that institute
Position of the carry thing in the target image is stated to be located in preset range.
Fourth aspect, present invention also offers a kind of control device of unmanned plane carry, described device includes：
Acquisition module, target image is obtained for the image acquisition device by being arranged on unmanned plane；
Extraction module, for extracting the reference substance information in the target image, wherein, the reference substance information include with
One kind or combination in lower information：Terrestrial information and carry thing information, the carry thing information are to be arranged on the unmanned plane
Carry thing information；
Control module, for controlling the carry thing to perform corresponding operation according to the reference substance information.
The control method and device of unmanned plane carry provided by the invention, are adopted by the image being arranged on unmanned plane first
Storage obtains target image；Then extracting in above-mentioned target image includes terrestrial information and/or the reference substance of carry thing information
Information；Finally carry thing is controlled to perform corresponding operation according to reference substance information, that is, it is it is determined that what image acquisition device obtained
After reference substance information in target image, carry thing is controlled to perform different operations according to different reference substance information, control
Flexibility ratio and the degree of accuracy are preferable.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of flow chart of the control method for unmanned plane carry that the embodiment of the present invention one is provided；
Fig. 2 shows the flow chart of the control method for another unmanned plane carry that the embodiment of the present invention one is provided；
Fig. 3 shows the flow chart of the control method for another unmanned plane carry that the embodiment of the present invention one is provided；
Fig. 4 shows the flow chart of the control method for another unmanned plane carry that the embodiment of the present invention one is provided；
Fig. 5 shows the flow chart of the control method for another unmanned plane carry that the embodiment of the present invention one is provided；
Fig. 6 shows a kind of flow chart of the control method for unmanned plane carry that the embodiment of the present invention two is provided；
Fig. 7 shows a kind of flow chart of the control method for unmanned plane carry that the embodiment of the present invention three is provided；
Fig. 8 shows a kind of module composition signal of the control device for unmanned plane carry that the embodiment of the present invention four is provided
Figure.
Main element symbol description：
11st, acquisition module；22nd, extraction module；33rd, control module.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
It is part of the embodiment of the present invention, rather than whole embodiments.The present invention being generally described and illustrated herein in the accompanying drawings is real
Applying the component of example can be configured to arrange and design with a variety of.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
In view of correlation technique, for how to control carry article, there is urgent demand, based on this, the present invention provides
A kind of control method and device of unmanned plane carry, are described in detail below by several embodiments.
Embodiment one：
Referring to Fig. 1, the embodiments of the invention provide a kind of control method of unmanned plane carry, the executive agent of this method is
The controller of unmanned plane or other control chips, methods described specifically comprise the following steps：
S101, the image acquisition device acquisition target image by being arranged on unmanned plane；
Wherein, the target image in the control method of unmanned plane carry provided in an embodiment of the present invention is by unmanned plane
The image of the image acquisition device shooting of setting.Not only can may be used also in view of above-mentioned image acquisition device with automatically scanning ground target
To obtain the current motion conditions of carry thing, therefore, above-mentioned target image can only include ground, can also only include hanging
Loading, it can also not only include above-mentioned ground but also including above-mentioned carry thing.
S102, extraction target image in reference substance information, wherein, reference substance information include following information in one kind or
Combination：Terrestrial information and carry thing information, carry thing information are the information for the carry thing being arranged on unmanned plane；
The difference of the target image obtained based on step 101, will extract different reference substance information.Corresponding to ground
Target image, corresponding terrestrial information will be extracted；Corresponding to the target image of the carry thing set on unmanned plane, will extract
Corresponding carry thing information；Corresponding to above-mentioned ground and the target image of carry thing, corresponding terrestrial information and extension will be extracted
Loading information.
Wherein, terrestrial information can include the label information of ground specific objective, and carry thing information can include carry thing
The action message of body, and the elevation information of carry object distance from the ground.
S103, the corresponding operation of carry thing execution is controlled according to reference substance information.
The control method of unmanned plane carry provided in an embodiment of the present invention can be controlled based on different reference substance information
Carry thing performs different operations.For example when carry thing is when delivery of packages, aforesaid operations can be that control carry thing takes off
Fall；When carry thing is communication relays, aforesaid operations can be the opening for controlling carry thing；It is scanning module in carry thing
When, then aforesaid operations can be that control carry thing performs ground based scanning；When carry thing is loudspeaker, aforesaid operations can be control
Volume of carry thing etc. is adjusted, so as to meet the different demands of different user.
The control method of unmanned plane carry provided in an embodiment of the present invention, is adopted by the image being arranged on unmanned plane first
Storage obtains target image；Then extracting in above-mentioned target image includes terrestrial information and/or the reference substance of carry thing information
Information；Finally carry thing is controlled to perform corresponding operation according to reference substance information, that is, it is it is determined that what image acquisition device obtained
After reference substance information in target image, carry thing is controlled to perform different operations according to different reference substance information, control
Flexibility ratio and the degree of accuracy are preferable.
In view of in the control method of unmanned plane carry provided in an embodiment of the present invention, above-mentioned unmanned plane is according to reference substance
Information is controlled to carry thing, and different reference substance information corresponds to different control modes, specifically includes following three kinds
Situation.
The first situation：
When it is determined that reference substance information is terrestrial information, referring to Fig. 2, carry thing is controlled to perform according to the terrestrial information corresponding
Operation realized especially by following steps：
S201, according to terrestrial information determine whether unmanned plane reaches preset geographical position region；
In order to determine whether unmanned plane reaches preset geographical position region according to terrestrial information, the embodiment of the present invention passes through ginseng
The comparison result for examining terrestrial information and terrestrial information is further judged.Referring to Fig. 3, above-mentioned determination process specifically includes as follows
Step：
S2011, reference ground information is compared with terrestrial information, wherein, reference ground information is to include default ground
Manage the terrestrial information in the reference picture of the band of position；
If S2012, comparing successfully, determine that unmanned plane reaches preset geographical position region.
The control method of unmanned plane carry provided in an embodiment of the present invention can be based on the modes such as image comparison, deep learning
Carry out the comparison between reference ground information and terrestrial information.For deep learning mode, geographical position can be preset with training in advance
Deep learning model corresponding to region is put, the deep learning model is then based on and target is detected, to identify terrestrial information；
For image alignments, terrestrial information and reference ground information can carry out to aspect ratio pair, this mode can be by means of
The identification information carried in terrestrial information and reference ground information, it is compared based on any one above-mentioned alignments,
When comparing successfully, that is, determine that unmanned plane has reached preset geographical position region.
S202, if so, controlling carry thing to perform corresponding operation according to the first control signal.
When it is determined that unmanned plane reaches preset geographical position region, according to the first control signal carry thing can be controlled to perform
Corresponding operation.
Wherein, can be unmanned plane determine control signal that result is autonomously generated to above-mentioned first control signal based on position,
It can also be and position is determined that result is sent to earth station in unmanned plane, earth station synthesis determines result and/or other letters
The signal of unmanned plane is fed back to after control signal corresponding to breath generation.
Second of situation：
When it is determined that reference substance information is carry thing information, referring to Fig. 4, carry thing is controlled to perform according to the carry thing information
Corresponding operation is realized especially by following steps：
S301, determined according to carry thing information the position of carry thing in the target image whether in preset range；
S302, if it is not, then according to the second control signal control carry thing relative image collector moved so that carry
The position of thing in the target image is located in preset range.
The control method of unmanned plane carry provided in an embodiment of the present invention not only can control carry thing according to terrestrial information
Corresponding operation is performed, carry thing can also be controlled to perform corresponding operation according to carry thing information.
Wherein, the embodiment of the present invention is based on the carry thing information in target image, such as the chi of carry thing in the target image
Very little information, positional information etc., determine the relativeness between carry thing and image acquisition device.If both have deviation, that is, hang
The position of loading in the target image is not located in preset range, then controls carry thing relative image to adopt according to the second control signal
Storage is moved so that the position of carry thing in the target image is located in preset range.
Wherein, with the first control signal similarly, above-mentioned second control signal can be that unmanned plane is based on determining result
The control signal being autonomously generated, can also be will determine that result is sent to earth station in unmanned plane, and earth station synthesis determines
As a result the signal of unmanned plane and/or after control signal corresponding to other information generation is fed back to.In addition, above-mentioned preset range is preferred
For regional extent corresponding to target image center.
What deserves to be explained is the embodiment of the present invention determines that carry thing is adopted with image based on the carry thing information in target image
After relativeness between storage, carry thing relative image collector can be not only controlled to be moved, can be with control figure picture
Collector is moved with respect to carry thing, can also first be moved in control carry thing, and when motion reaches capacity state,
The flight angle of unmanned plane itself is controlled to be moved to realize that the position of carry thing in the target image is located at preset range again
It is interior, so as to meet the needs of different application scene.
The third situation：
When it is determined that reference substance information is terrestrial information and carry thing information, referring to Fig. 5, according to the terrestrial information and carry
Thing information control carry thing performs corresponding operation and realized especially by following steps：
S401, the height of carry object distance from the ground, and corresponding ground determined according to terrestrial information and carry thing information
Position；
S402, carry thing execution assigned operation is controlled based on height and ground location.
Consider that the image acquisition device in the embodiment of the present invention can be demarcated during setting, and determine the collector
Attribute information, wherein, the attribute information comprises at least shooting angle information and focus information.So based on terrestrial information, hang
Loading information and above-mentioned attribute information can determine the height of carry object distance from the ground, and corresponding ground location.Based on true
Fixed height and ground location can control carry thing to perform assigned operation.
Wherein, above-mentioned assigned operation, can carry the unmanned plane for needing delivery of packages full highly with ground location
Control the parcel to come off when sufficient, can also be the unmanned plane control when height and ground location are satisfied by for carrying scanning module
The scanning module starts to be scanned ground, can also be the unmanned plane for carrying communication relays in height and ground location
Repeater opening etc. is controlled when being satisfied by, so as to meet the different demands of different user.
The control method of unmanned plane carry provided in an embodiment of the present invention, is adopted by the image being arranged on unmanned plane first
Storage obtains target image；Then extracting in above-mentioned target image includes terrestrial information and/or the reference substance of carry thing information
Information；Finally carry thing is controlled to perform corresponding operation according to reference substance information, that is, it is it is determined that what image acquisition device obtained
After reference substance information in target image, carry thing is controlled to perform different operations according to different reference substance information, control
Flexibility ratio and the degree of accuracy are preferable.
Embodiment two：
Referring to Fig. 6, the embodiments of the invention provide a kind of control method of unmanned plane carry, the executive agent of this method is
The controller of unmanned plane or other control chips, methods described specifically comprise the following steps：
S501, the image acquisition device acquisition target image by being arranged on unmanned plane；
Wherein, the target image in the control method of unmanned plane carry provided in an embodiment of the present invention is by unmanned plane
The image of the image acquisition device shooting of setting.Not only can may be used also in view of above-mentioned image acquisition device with automatically scanning ground target
To obtain the current motion conditions of carry thing, therefore, above-mentioned target image can only include ground, can also only include hanging
Loading, it can also not only include above-mentioned ground but also including above-mentioned carry thing.
S502, target image sent to earth station, reference substance information generation of the satellite receiver in target image
Control signal, wherein, reference substance information include following information in one kind or combination：Terrestrial information and carry thing information, hang
Loading information is the information for the carry thing being arranged on unmanned plane；
The difference of the target image obtained based on step 501, earth station will extract different reference substance information, based on not
Same reference substance information will generate different control signals.Corresponding to the target image on ground, corresponding ground letter will be extracted
Breath；Corresponding to the target image of the carry thing set on unmanned plane, corresponding carry thing information will be extracted；Corresponding to above-mentioned
Face and the target image of carry thing, corresponding terrestrial information and carry thing information will be extracted.
Wherein, terrestrial information can include the label information of ground specific objective, and carry thing information can include carry thing
The action message of body, and the elevation information of carry object distance from the ground.
S503, carry thing either image acquisition device or the corresponding operation of unmanned plane execution are controlled according to control signal.
The control method of unmanned plane carry provided in an embodiment of the present invention be based on control signal can control carry thing or
Person's image acquisition device or unmanned plane perform different operations.Wherein, control the operation of carry thing to be exemplified below, be to treat in carry thing
During delivery of packages, aforesaid operations can be that control carry thing comes off；When carry thing is communication relays, aforesaid operations can be
Control the opening of carry thing；When carry thing is scanning module, then aforesaid operations can be that control carry thing performs ground based scanning；
When carry thing is loudspeaker, aforesaid operations can be volume for controlling to adjust carry thing etc., so as to meet different user not
Same demand.Control image acquisition device is exemplified below, can unmanned plane apart from ground farther out when, adjust Jiao of the image acquisition device
Away from, realized by zooming adjustment mode grab be afraid of image robustness.Control unmanned plane is exemplified below, and carry thing can be coordinated to change
The flight angle of itself, to meet the needs of different.
The control method of unmanned plane carry provided in an embodiment of the present invention, is adopted by the image being arranged on unmanned plane first
Storage obtains target image；Then above-mentioned target image is sent to earth station, and satellite receiver is according in target image
The control information of reference substance information generation；Finally carry thing or image acquisition device or unmanned plane is controlled to hold according to above-mentioned control signal
The corresponding operation of row, that is, it is it is determined that after reference substance information in the target image that image acquisition device obtains, according to different
Reference substance information control carry thing performs different operations, and the flexibility ratio of control and the degree of accuracy are preferable.
Embodiment three：
Referring to Fig. 7, the embodiments of the invention provide a kind of control method of unmanned plane carry, the executive agent of this method is
Earth station, methods described specifically comprise the following steps：
S601, the target image that unmanned plane is sent is received, wherein, target image is the IMAQ being arranged on unmanned plane
The image that device obtains；
Wherein, the target image in the control method of unmanned plane carry provided in an embodiment of the present invention is by unmanned plane
The image of the image acquisition device shooting of setting.Not only can may be used also in view of above-mentioned image acquisition device with automatically scanning ground target
To obtain the current motion conditions of carry thing, therefore, above-mentioned target image can only include ground, can also only include hanging
Loading, it can also not only include above-mentioned ground but also including above-mentioned carry thing.
S602, extraction target image in reference substance information, wherein, reference substance information include following information in one kind or
Combination：Terrestrial information and carry thing information, carry thing information are the information for the carry thing being arranged on unmanned plane；
The difference of the target image received based on step 601, will extract different reference substance information.Corresponding to ground
Target image, corresponding terrestrial information will be extracted；Corresponding to the target image of the carry thing set on unmanned plane, will extract
Corresponding carry thing information；Corresponding to above-mentioned ground and the target image of carry thing, corresponding terrestrial information and extension will be extracted
Loading information.
Wherein, terrestrial information can include the label information of ground specific objective, and carry thing information can include carry thing
The action message of body, and the elevation information of carry object distance from the ground.
S603, based on control signal corresponding to the generation of reference substance information, and send control signals to unmanned plane, wherein,
Control signal is used to control carry thing either image acquisition device or the corresponding operation of unmanned plane execution.
The control method of unmanned plane carry provided in an embodiment of the present invention will be generated different based on different reference substance information
Control signal, can controlling carry thing based on different control signals, either image acquisition device or unmanned plane perform difference
Operation.Wherein, the operation of carry thing is controlled to be exemplified below, when carry thing is when delivery of packages, aforesaid operations can be control
Carry thing comes off；When carry thing is communication relays, aforesaid operations can be the opening for controlling carry thing；It is to sweep in carry thing
When retouching module, then aforesaid operations can be that control carry thing performs ground based scanning；When carry thing is loudspeaker, aforesaid operations can be with
It is volume for controlling to adjust carry thing etc., so as to meet the different demands of different user.Control image acquisition device is exemplified below,
Can unmanned plane apart from ground farther out when, adjust the focal length of the image acquisition device, realized by zooming adjustment mode and grab fearness figure
The robustness of picture.Control unmanned plane is exemplified below, and carry thing can be coordinated to change the flight angle of itself, to meet different need
Ask.
In view of in the control method of unmanned plane carry provided in an embodiment of the present invention, above-mentioned earth station is according to reference substance
Information is controlled to carry thing, and different reference substance information corresponds to different control modes, with embodiment one nobody
Machine determine three kinds of situations similarly, earth station can determine reference substance information be respectively terrestrial information, carry thing information, with
And three kinds of situations of the combination of two information, based on control signal corresponding to the generation of above-mentioned three kinds of situations.
First, above-mentioned earth station can determine whether unmanned plane reaches preset geographical position region according to terrestrial information, and
After it is determined that reaching preset geographical position, control signal corresponding to generation, and the control signal is sent to unmanned plane so that nothing
Man-machine execution operates accordingly.
Second, above-mentioned earth station can also determine the height of carry object distance from the ground according to terrestrial information and carry thing information
Degree, and corresponding ground location, and based on control signal corresponding to above-mentioned height and geographical position generation, and the control is believed
Number send to unmanned plane so that unmanned plane perform assigned operation.
Third, above-mentioned earth station can also be determined according to carry thing information the position of carry thing in the target image whether position
In in preset range, if being not in preset range, control signal corresponding to generation is with according to control signal control carry
Thing relative image collector is moved so that the position of carry thing in the target image is located in preset range.In addition, this hair
Bright embodiment when the motion of above-mentioned carry thing reaches capacity state, can also coordinate the motion of regulation unmanned plane to cause carry
The position of thing in the target image is located in preset range.
The control method of unmanned plane carry provided in an embodiment of the present invention, the target image that unmanned plane is sent is received first；
Then the reference substance information for including terrestrial information and/or carry thing information in above-mentioned target image is extracted；Finally according to reference
Control signal corresponding to the generation of thing information, and the control signal is sent to unmanned plane to control the carry thing of carry thereon to perform
Corresponding operation, that is, it is it is determined that after reference substance information in the target image that image acquisition device obtains, according to different ginsengs
Examine thing information control carry thing and perform different operations, the flexibility ratio of control and the degree of accuracy are preferable.
Example IV：
Referring to Fig. 8, the embodiments of the invention provide a kind of control device of unmanned plane carry, the control device includes：
Acquisition module 11, target image is obtained for the image acquisition device by being arranged on unmanned plane；
Extraction module 22, for extracting the reference substance information in target image, wherein, reference substance information includes following information
In one kind or combination：Terrestrial information and carry thing information, carry thing information are the information for the carry thing being arranged on unmanned plane；
Control module 33, for controlling carry thing to perform corresponding operation according to reference substance information.
In view of in the control device of unmanned plane carry provided in an embodiment of the present invention, above-mentioned unmanned plane is according to reference substance
Information is controlled to carry thing, and different reference substance information corresponds to different control modes, specifically includes following three kinds
Situation.
The first situation：
When it is determined that reference substance information is terrestrial information, above-mentioned control module 33 specifically includes：
First determining unit, for determining whether unmanned plane reaches preset geographical position region according to terrestrial information；
First control unit, for it is determined that unmanned plane reach preset geographical position region when, according to the first control signal
Carry thing is controlled to perform corresponding operation.
Above-mentioned first determining unit specifically includes：
First comparison subunit, for reference ground information to be compared with terrestrial information, wherein, reference ground information
It is the terrestrial information in the reference picture for include preset geographical position region；
First determination subelement, for when reference ground information and terrestrial information compare successfully, determining that unmanned plane reaches
Preset geographical position region.
Second of situation：
When it is determined that reference substance information is carry thing information, above-mentioned control module 33 specifically also includes：
Second determining unit, for determining the position of carry thing in the target image whether positioned at pre- according to carry thing information
If in scope；
Second control unit, for when it is determined that the position of carry thing in the target image is not located in preset range, then
Carry thing relative image collector is controlled to be moved so that the position of carry thing in the target image according to the second control signal
In preset range.
The third situation：
When it is determined that reference substance information is terrestrial information and carry thing information, above-mentioned control module 33 specifically also includes：
3rd determining unit, for determining the height of carry object distance from the ground according to terrestrial information and carry thing information, with
And corresponding ground location；
3rd control unit, for performing assigned operation based on height and ground location control carry thing.
The control device of unmanned plane carry provided in an embodiment of the present invention, its acquisition module 11 is by being arranged on unmanned plane
Image acquisition device obtain target image；Extraction module 22 according to extract in above-mentioned target image include terrestrial information and/or
The reference substance information of carry thing information；Control module 33 controls carry thing to perform corresponding operation according to reference substance information, that is,
It controls carry it is determined that after reference substance information in the target image that image acquisition device obtains according to different reference substance information
Thing performs different operations, and the flexibility ratio of control and the degree of accuracy are preferable.
Embodiment five：
The embodiments of the invention provide a kind of control device of unmanned plane carry, the control device includes：
Acquisition module, target image is obtained for the image acquisition device by being arranged on unmanned plane；
Sending module, for target image to be sent to earth station, reference substance of the satellite receiver in target image
The control signal of information generation, wherein, reference substance information includes one kind or combination in following information：Terrestrial information and carry thing
Information, carry thing information are the information for the carry thing being arranged on unmanned plane；
Control module, for controlling carry thing according to control signal, either image acquisition device or unmanned plane perform accordingly
Operation.
The control device of unmanned plane carry provided in an embodiment of the present invention, its acquisition module is by being arranged on unmanned plane
Image acquisition device obtains target image；Sending module sends above-mentioned target image to earth station, and satellite receiver is according to mesh
The control information of reference substance information generation in logo image；Control module controls carry thing or image to adopt according to above-mentioned control signal
Storage or unmanned plane perform corresponding operation, that is, it is it is determined that the reference substance in the target image that image acquisition device obtains is believed
After breath, carry thing is controlled to perform different operations according to different reference substance information, the flexibility ratio of control and the degree of accuracy are preferable.
Embodiment six：
The embodiments of the invention provide a kind of control device of unmanned plane carry, the control device includes：
Receiving module, for receiving the target image of unmanned plane transmission, wherein, target image is to be arranged on unmanned plane
The image that image acquisition device obtains；
Extraction module, for extracting the reference substance information in target image, wherein, reference substance information is included in following information
One kind or combination：Terrestrial information and carry thing information, carry thing information are the information for the carry thing being arranged on unmanned plane；
Generation module, for based on control signal corresponding to the generation of reference substance information, and sending control signals to nobody
Machine, wherein, control signal is used to control carry thing either image acquisition device or the corresponding operation of unmanned plane execution.
Control device in view of unmanned plane carry provided in an embodiment of the present invention is to carry thing according to reference substance information
It is controlled, and different reference substance information corresponds to different control modes, three kinds determined with unmanned plane in embodiment one
Similarly, the embodiment of the present invention can determine that reference substance information is terrestrial information, carry thing information and two respectively to situation
Three kinds of situations of the combination of information, based on control signal corresponding to the generation of above-mentioned three kinds of situations.
First, above-mentioned generation module can determine whether unmanned plane reaches preset geographical position region according to terrestrial information,
And after it is determined that reaching preset geographical position, control signal corresponding to generation, and the control signal sent to unmanned plane so that
Unmanned plane performs corresponding operation.
Second, above-mentioned generation module can also determine the height of carry object distance from the ground according to terrestrial information and carry thing information
Degree, and corresponding ground location, and based on control signal corresponding to above-mentioned height and geographical position generation, and the control is believed
Number send to unmanned plane so that unmanned plane perform assigned operation.
Third, whether above-mentioned generation module can also determine the position of carry thing in the target image according to carry thing information
In preset range, if being not in preset range, control signal is hung with being controlled according to control signal corresponding to generation
Loading relative image collector is moved so that the position of carry thing in the target image is located in preset range.In addition, this
Inventive embodiments when the motion of above-mentioned carry thing reaches capacity state, can also coordinate the motion of regulation unmanned plane to hang
The position of loading in the target image is located in preset range.
The control device of unmanned plane carry provided in an embodiment of the present invention, its receiving module receive the target that unmanned plane is sent
Image；Extraction module extracts the reference substance information for including terrestrial information and/or carry thing information in above-mentioned target image；Generation
Module control signal according to corresponding to generating reference substance information, and the control signal is sent to unmanned plane to control carry thereon
Carry thing perform corresponding operation, that is, it is it is determined that after reference substance information in the target image that image acquisition device obtains,
Different operations is performed according to different reference substance information control carry things, the flexibility ratio of control and the degree of accuracy are preferable.
The computer program product of the control method for the unmanned plane carry that the embodiment of the present invention is provided, including store journey
The computer-readable recording medium of sequence code, the instruction that described program code includes can be used for performing institute in previous methods embodiment
The method stated, specific implementation can be found in embodiment of the method, will not be repeated here.
The control device for the unmanned plane carry that the embodiment of the present invention is provided can be specific hardware or peace in equipment
Loaded on the software in equipment or firmware etc..The device that the embodiment of the present invention is provided, its realization principle and caused technique effect
Identical with preceding method embodiment, to briefly describe, device embodiment part does not refer to part, refers to preceding method embodiment
Middle corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, described above is
The specific work process of system, device and unit, may be referred to the corresponding process in above method embodiment, no longer superfluous herein
State.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can be by others side
Formula is realized.Device embodiment described above is only schematical, for example, the division of the unit, only one kind are patrolled
Function division is collected, there can be other dividing mode when actually realizing, in another example, multiple units or component can combine or can
To be integrated into another system, or some features can be ignored, or not perform.Another, shown or discussed is mutual
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
Connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in embodiment provided by the invention can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing, in addition, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
- A kind of 1. control method of unmanned plane carry, it is characterised in that including：Target image is obtained by the image acquisition device being arranged on unmanned plane；Extract the reference substance information in the target image, wherein, the reference substance information include following information in one kind or Combination：Terrestrial information and carry thing information, the carry thing information are the information for the carry thing being arranged on the unmanned plane；The carry thing is controlled to perform corresponding operation according to the reference substance information.
- 2. according to the method for claim 1, it is characterised in that the reference substance information is terrestrial information, described according to institute Stating reference substance information controls the carry thing to perform corresponding operation, including：Determine whether the unmanned plane reaches preset geographical position region according to the terrestrial information；If so, the carry thing is controlled to perform corresponding operation according to the first control signal.
- 3. according to the method for claim 2, it is characterised in that described to determine that the unmanned plane is according to the terrestrial information No arrival preset geographical position region, including：Reference ground information is compared with the terrestrial information, wherein, the reference ground information is to include described preset Terrestrial information in the reference picture of geographic location area；If comparing successfully, determine that unmanned plane reaches the preset geographical position region.
- 4. according to the method for claim 1, it is characterised in that the reference substance information is carry thing information, the basis The reference substance information controls the carry thing to perform corresponding operation, including：Determine position of the carry thing in the target image whether in preset range according to the carry thing information；If it is not, then the carry thing is controlled to be moved with respect to described image collector so that the extension according to the second control signal Position of the loading in the target image is located in preset range.
- 5. according to the method for claim 1, it is characterised in that the reference substance information is that terrestrial information and carry thing are believed Breath, it is described to control the carry thing to perform corresponding operation according to the reference substance information, including：The height of the carry object distance from the ground is determined according to the terrestrial information and the carry thing information, and corresponding Face position；The carry thing is controlled to perform assigned operation based on the height and the ground location.
- A kind of 6. control method of unmanned plane carry, it is characterised in that including：Target image is obtained by the image acquisition device being arranged on unmanned plane；The target image is sent to earth station, receives reference substance information life of the earth station in the target image Into control signal, wherein, the reference substance information include following information in one kind or combination：Terrestrial information and carry thing letter Breath, the carry thing information is the information for the carry thing being arranged on the unmanned plane；Controlling the carry thing according to the control signal, either described image collector or the unmanned plane perform accordingly Operation.
- A kind of 7. control method of unmanned plane carry, it is characterised in that including：The target image that unmanned plane is sent is received, wherein, the target image is the IMAQ being arranged on the unmanned plane The image that device obtains；Extract the reference substance information in the target image, wherein, the reference substance information include following information in one kind or Combination：Terrestrial information and carry thing information, the carry thing information are the information for the carry thing being arranged on the unmanned plane；Based on control signal corresponding to reference substance information generation, and the control signal is sent to the unmanned plane, its In, the control signal is used to control the carry thing either described image collector or the corresponding behaviour of unmanned plane execution Make.
- 8. according to the method for claim 7, it is characterised in that the reference substance information is carry thing information, based on described Reference substance information generates the control signal for controlling the carry thing execution to operate accordingly, including：Determine position of the carry thing in the target image whether in preset range according to the carry thing information；If it is not, then control signal corresponding to generation is with according to the relative described image collection of the control signal control carry thing Device is moved so that position of the carry thing in the target image is located in preset range.
- 9. according to the method for claim 7, it is characterised in that the reference substance information is carry thing information, based on described Reference substance information is generated for controlling the carry thing and the unmanned plane to perform the control signal operated accordingly, including：Determine position of the carry thing in the target image whether in preset range according to the carry thing information；If it is not, then control signal corresponding to generation is with according to the relative described image collection of the control signal control carry thing Device moved and the carry thing motion reach capacity state when, control the unmanned plane to be moved so that the extension Position of the loading in the target image is located in preset range.
- A kind of 10. control device of unmanned plane carry, it is characterised in that including：Acquisition module, target image is obtained for the image acquisition device by being arranged on unmanned plane；Extraction module, for extracting the reference substance information in the target image, wherein, the reference substance information includes following letter One kind or combination in breath：Terrestrial information and carry thing information, the carry thing information are the extension being arranged on the unmanned plane The information of loading；Control module, for controlling the carry thing to perform corresponding operation according to the reference substance information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710954578.4A CN107719683B (en) | 2017-10-13 | 2017-10-13 | Unmanned aerial vehicle mounting control method and device |
| PCT/CN2018/080778 WO2019071922A1 (en) | 2017-10-13 | 2018-03-28 | Carrier apparatus, unmanned aerial vehicle, telepresence system thereof |
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| CN201710954578.4A CN107719683B (en) | 2017-10-13 | 2017-10-13 | Unmanned aerial vehicle mounting control method and device |
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| CN107719683B CN107719683B (en) | 2020-12-18 |
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| CN107719683B (en) | 2020-12-18 |
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Address after: 264200 Zone E, blue venture Valley, No. 40, Yangguang Road, Nanhai new area, Weihai City, Shandong Province Patentee after: Zhendi Technology Co., Ltd Address before: Unit 301, unit a, 9 Fulin Road, Chaoyang District, Beijing 100107 Patentee before: POWERVISION TECH Inc. |